+ python -m lidar_slam --no-model /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/6a7cb7c7-e085-4da8-9104-38a65ba66a05 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 0.00864 Adjusted end_distance from 9.223372036854776e+18 to 434.03864 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.00864 meters Centerline goodness : 0.162087 Centerline is valid? [0, False] SLAMing on 0.03864 meters Centerline goodness : 0.072315 Centerline is valid? [False, False] Translation: X:-0.01, Y:0.00, Z:0.01 [[ 9.99998058e-01 1.85311721e-03 6.70786336e-04 -5.29420241e-03] [-1.85404393e-03 9.99997324e-01 1.38356828e-03 1.20153385e-03] [-6.68220627e-04 -1.38480926e-03 9.99998818e-01 5.55299591e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.06863999999999999 meters SLAMing on 0.09863999999999999 meters Centerline goodness : 0.061246 Centerline is valid? [False, False] Translation: X:0.01, Y:0.00, Z:-0.01 [[ 9.99997720e-01 1.94311710e-03 -8.85156201e-04 5.17710731e-03] [-1.94227894e-03 9.99997666e-01 9.46783544e-04 3.92779763e-03] [ 8.86993846e-04 -9.45062166e-04 9.99999160e-01 -5.46094333e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.12864 meters SLAMing on 0.15864 meters Centerline goodness : 0.356112 Centerline is valid? [False, False] Translation: X:0.01, Y:0.01, Z:-0.02 [[ 9.99993480e-01 2.58931609e-03 -2.51719863e-03 1.48142927e-02] [-2.58866057e-03 9.99996615e-01 2.63640804e-04 1.09716514e-02] [ 2.51787275e-03 -2.57122912e-04 9.99996797e-01 -1.52745123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.18864 meters SLAMing on 0.21864 meters Centerline goodness : 0.071263 Centerline is valid? [False, False] Translation: X:0.03, Y:0.01, Z:-0.01 [[ 0.99998639 -0.00450068 -0.00263732 0.03284757] [ 0.00450563 0.9999881 0.0018721 0.01456123] [ 0.00262886 -0.00188396 0.99999477 -0.00852196] [ 0. 0. 0. 1. ]] SLAMing on 0.24864 meters Centerline goodness : 0.136184 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.02 [[ 0.99998286 -0.00418038 -0.00409823 0.04334231] [ 0.00418737 0.99998979 0.0016976 0.01742564] [ 0.0040911 -0.00171473 0.99999016 -0.01934752] [ 0. 0. 0. 1. ]] SLAMing on 0.27864 meters Centerline goodness : 0.167569 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.9999845 -0.00254914 -0.00494966 0.04884377] [ 0.00256262 0.99999302 0.00271948 0.01909347] [ 0.0049427 -0.00273212 0.99998405 -0.02465736] [ 0. 0. 0. 1. ]] SLAMing on 0.30863999999999997 meters Centerline goodness : 0.218043 Centerline is valid? [False, False] Translation: X:0.04, Y:0.02, Z:-0.01 [[ 0.99999104 -0.00239191 -0.00349234 0.03875002] [ 0.0024006 0.99999402 0.00248826 0.02078397] [ 0.00348637 -0.00249663 0.99999081 -0.01377224] [ 0. 0. 0. 1. ]] SLAMing on 0.33863999999999994 meters Centerline goodness : 0.743505 Centerline is valid? [False, False] Translation: X:0.05, Y:0.02, Z:-0.02 [[ 0.99998502 -0.00230342 -0.00496599 0.04923273] [ 0.00231455 0.99999482 0.00223568 0.02269917] [ 0.00496082 -0.00224714 0.99998517 -0.02456224] [ 0. 0. 0. 1. ]] SLAMing on 0.36863999999999997 meters Centerline goodness : 0.080068 Centerline is valid? [False, False] Translation: X:0.06, Y:0.03, Z:-0.04 [[ 0.99997557 -0.00216412 -0.00664687 0.06020297] [ 0.00217589 0.99999608 0.00176353 0.02606399] [ 0.00664302 -0.00177795 0.99997635 -0.0351102 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39864 meters Centerline goodness : 0.078275 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.05 [[ 0.99996335 -0.00215315 -0.00828594 0.07100065] [ 0.00216506 0.99999664 0.00142789 0.02822311] [ 0.00828284 -0.00144577 0.99996465 -0.04551299] [ 0. 0. 0. 1. ]] SLAMing on 0.42863999999999997 meters Centerline goodness : 0.078424 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.05 [[ 0.99996302 -0.00209081 -0.00834161 0.07130064] [ 0.00210115 0.99999704 0.00123065 0.02962458] [ 0.00833901 -0.00124814 0.99996445 -0.04528072] [ 0. 0. 0. 1. ]] SLAMing on 0.45863999999999994 meters Centerline goodness : 0.720810 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99963542e-01 -3.69838925e-03 -7.69656827e-03 6.71109179e-02] [ 3.69630742e-03 9.99993128e-01 -2.84694852e-04 3.04990939e-02] [ 7.69756829e-03 2.56235590e-04 9.99970340e-01 -4.03830300e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.48863999999999996 meters Centerline goodness : 0.076659 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99960293e-01 -3.98272175e-03 -7.97190371e-03 7.62730137e-02] [ 3.97911509e-03 9.99991974e-01 -4.68231998e-04 3.01201550e-02] [ 7.97370457e-03 4.36492284e-04 9.99968114e-01 -5.06567892e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.51864 meters Centerline goodness : 0.079448 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99960343e-01 -3.89121565e-03 -8.01071457e-03 7.67707939e-02] [ 3.88738442e-03 9.99992322e-01 -4.93778155e-04 3.07985171e-02] [ 8.01257446e-03 4.62617846e-04 9.99967792e-01 -5.04538532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.54864 meters SLAMing on 0.5786399999999999 meters Centerline goodness : 0.719744 Centerline is valid? [False, False] Translation: X:0.07, Y:0.03, Z:-0.04 [[ 9.99971909e-01 -3.75032153e-03 -6.48975195e-03 6.77640371e-02] [ 3.74860475e-03 9.99992936e-01 -2.76681322e-04 3.02999630e-02] [ 6.49074375e-03 2.52346035e-04 9.99978903e-01 -4.06563480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.60864 meters Centerline goodness : 0.719763 Centerline is valid? [False, False] Translation: X:0.08, Y:0.03, Z:-0.05 [[ 9.99958408e-01 -4.29364530e-03 -8.04660436e-03 7.88990657e-02] [ 4.29237678e-03 9.99990772e-01 -1.74909918e-04 2.69768202e-02] [ 8.04728111e-03 1.40363585e-04 9.99967610e-01 -5.10486648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.63864 meters Centerline goodness : 0.080428 Centerline is valid? [False, False] Translation: X:0.09, Y:0.03, Z:-0.06 [[ 9.99942861e-01 -4.55386740e-03 -9.67141915e-03 8.97615214e-02] [ 4.55314154e-03 9.99989630e-01 -9.70683368e-05 2.55163204e-02] [ 9.67176089e-03 5.30274502e-05 9.99953226e-01 -6.13576137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6686399999999999 meters Centerline goodness : 0.819015 Centerline is valid? [False, False] Translation: X:0.11, Y:0.03, Z:-0.06 [[ 0.99992696 0.00269532 -0.01178201 0.11101406] [-0.00271294 0.99999522 -0.00148035 0.02745564] [ 0.01177796 0.00151221 0.99992949 -0.05637855] [ 0. 0. 0. 1. ]] SLAMing on 0.6986399999999999 meters Centerline goodness : 0.835272 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 0.99997765 0.00143697 -0.00652898 0.14575017] [-0.0014477 0.99999761 -0.00163958 0.02451461] [ 0.00652661 0.001649 0.99997734 -0.04969266] [ 0. 0. 0. 1. ]] SLAMing on 0.72864 meters Centerline goodness : 0.297994 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.04 [[ 0.99998694 0.00121837 -0.00496376 0.13624508] [-0.00122552 0.99999821 -0.00143924 0.02190068] [ 0.004962 0.0014453 0.99998664 -0.03956317] [ 0. 0. 0. 1. ]] SLAMing on 0.75864 meters Centerline goodness : 0.079967 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 9.99986273e-01 1.03560781e-03 -5.13627559e-03 1.45953381e-01] [-1.04017828e-03 9.99999065e-01 -8.87251419e-04 1.82691842e-02] [ 5.13535194e-03 8.92581882e-04 9.99986416e-01 -4.98972360e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.78864 meters Centerline goodness : 0.152727 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.05 [[ 9.99986399e-01 9.45152376e-04 -5.12923043e-03 1.46437590e-01] [-9.48829442e-04 9.99999295e-01 -7.14498589e-04 1.69308883e-02] [ 5.12855150e-03 7.19355636e-04 9.99986590e-01 -4.97379308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8186399999999999 meters Centerline goodness : 0.782674 Centerline is valid? [False, False] Translation: X:0.14, Y:0.02, Z:-0.04 [[ 9.99993604e-01 9.61375272e-04 -3.44498287e-03 1.37058152e-01] [-9.62927157e-04 9.99999436e-01 -4.48846450e-04 1.53275832e-02] [ 3.44454941e-03 4.52160847e-04 9.99993965e-01 -4.02753710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.84864 meters Centerline goodness : 0.081731 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.05 [[ 9.99986984e-01 8.45746217e-04 -5.03156736e-03 1.48011422e-01] [-8.47677881e-04 9.99999568e-01 -3.81788782e-04 1.45067982e-02] [ 5.03124229e-03 3.86048961e-04 9.99987269e-01 -5.07161182e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.87864 meters Centerline goodness : 0.795573 Centerline is valid? [False, False] Translation: X:0.14, Y:0.01, Z:-0.04 [[ 9.99994283e-01 9.28665280e-04 -3.25143193e-03 1.39300769e-01] [-9.29360176e-04 9.99999546e-01 -2.12215729e-04 1.37758117e-02] [ 3.25123337e-03 2.15236267e-04 9.99994692e-01 -4.13523212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9086399999999999 meters Centerline goodness : 0.829388 Centerline is valid? [False, False] Translation: X:0.15, Y:0.01, Z:-0.03 [[ 9.99963307e-01 -7.63998490e-03 -3.87485678e-03 1.52927521e-01] [ 7.64328168e-03 9.99970440e-01 8.36719416e-04 1.14023664e-02] [ 3.86834971e-03 -8.66305336e-04 9.99992143e-01 -2.95274902e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9386399999999999 meters Centerline goodness : 0.081383 Centerline is valid? [False, False] Translation: X:0.16, Y:0.01, Z:-0.04 [[ 9.99956171e-01 -7.90793198e-03 -5.01195618e-03 1.63948846e-01] [ 7.91211480e-03 9.99968366e-01 8.15291243e-04 1.07009428e-02] [ 5.00535037e-03 -8.54910683e-04 9.99987108e-01 -3.95382513e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.96864 meters SLAMing on 0.99864 meters Centerline goodness : 0.084558 Centerline is valid? [False, False] Translation: X:0.19, Y:0.01, Z:-0.04 [[ 9.99977921e-01 -5.44665879e-04 -6.62273371e-03 1.85785550e-01] [ 5.38850713e-04 9.99999468e-01 -8.79813960e-04 1.29771159e-02] [ 6.62320939e-03 8.76225870e-04 9.99977682e-01 -3.52204028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.02864 meters SLAMing on 1.05864 meters SLAMing on 1.08864 meters SLAMing on 1.1186399999999999 meters Centerline goodness : 0.097382 Centerline is valid? [False, False] Translation: X:0.25, Y:0.01, Z:-0.04 [[ 9.99910224e-01 -2.22532271e-03 -1.32133002e-02 2.47871407e-01] [ 2.22226346e-03 9.99997500e-01 -2.46205802e-04 6.17035653e-03] [ 1.32138151e-02 2.16820264e-04 9.99912670e-01 -3.87750463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1486399999999999 meters SLAMing on 1.17864 meters SLAMing on 1.20864 meters SLAMing on 1.23864 meters SLAMing on 1.26864 meters SLAMing on 1.29864 meters SLAMing on 1.3286399999999998 meters Centerline goodness : 0.113130 Centerline is valid? [False, False] Translation: X:0.33, Y:-0.02, Z:-0.05 [[ 0.99979383 -0.01297585 -0.01561779 0.33240542] [ 0.01302059 0.9999114 0.00276609 -0.01728195] [ 0.01558052 -0.00296887 0.99987421 -0.04570622] [ 0. 0. 0. 1. ]] SLAMing on 1.3586399999999998 meters SLAMing on 1.3886399999999999 meters SLAMing on 1.41864 meters Centerline goodness : 0.096916 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.02, Z:-0.05 [[ 0.99996305 -0.0049729 -0.00701143 0.34833606] [ 0.00499417 0.99998297 0.00302053 -0.0222876 ] [ 0.00699629 -0.00305543 0.99997086 -0.04550525] [ 0. 0. 0. 1. ]] SLAMing on 1.44864 meters SLAMing on 1.47864 meters SLAMing on 1.50864 meters SLAMing on 1.53864 meters SLAMing on 1.56864 meters SLAMing on 1.5986399999999998 meters Centerline goodness : 0.069346 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.01, Z:-0.05 [[ 0.99998763 -0.0031958 -0.00381187 0.40677798] [ 0.00320402 0.99999255 0.00215299 -0.01192259] [ 0.00380496 -0.00216518 0.99999042 -0.05201775] [ 0. 0. 0. 1. ]] SLAMing on 1.6286399999999999 meters Centerline goodness : 0.074164 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.00, Z:-0.04 [[ 0.99998623 0.00252931 -0.00459872 0.42225177] [-0.00254318 0.99999222 -0.0030139 -0.00230032] [ 0.00459106 0.00302556 0.99998488 -0.04286695] [ 0. 0. 0. 1. ]] SLAMing on 1.65864 meters Centerline goodness : 0.073614 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:-0.05 [[ 9.99978866e-01 2.71035458e-03 -5.90940126e-03 4.33139797e-01] [-2.73052883e-03 9.99990463e-01 -3.40853433e-03 7.22880060e-04] [ 5.90010656e-03 3.42459809e-03 9.99976730e-01 -5.26468327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.68864 meters Centerline goodness : 0.247200 Centerline is valid? [False, False] Translation: X:0.43, Y:0.00, Z:-0.05 [[ 0.99998307 0.00270013 -0.00515429 0.4348441 ] [-0.00272066 0.99998838 -0.0039801 0.00343924] [ 0.00514348 0.00399406 0.9999788 -0.05278305] [ 0. 0. 0. 1. ]] SLAMing on 1.71864 meters Centerline goodness : 0.514444 Centerline is valid? [False, False] Translation: X:0.45, Y:0.00, Z:-0.05 [[ 9.99973804e-01 -3.73240147e-03 -6.20158422e-03 4.51979820e-01] [ 3.72750283e-03 9.99992732e-01 -8.01270745e-04 1.51000367e-03] [ 6.20452981e-03 7.78133333e-04 9.99980449e-01 -4.56796534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.74864 meters SLAMing on 1.77864 meters SLAMing on 1.8086399999999998 meters Centerline goodness : 0.072608 Centerline is valid? [False, False] Translation: X:0.46, Y:0.01, Z:-0.05 [[ 9.99966945e-01 -8.13060751e-03 -5.07280153e-05 4.58238186e-01] [ 8.13012465e-03 9.99946984e-01 -6.31905396e-03 1.00364846e-02] [ 1.02103073e-04 6.31843265e-03 9.99980033e-01 -5.36805262e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8386399999999998 meters Centerline goodness : 0.415351 Centerline is valid? [False, False] Translation: X:0.51, Y:0.01, Z:-0.05 [[ 0.99993377 -0.01021423 -0.00530313 0.50758151] [ 0.01017371 0.99991926 -0.00761378 0.00961181] [ 0.00538047 0.00755932 0.99995695 -0.05248973] [ 0. 0. 0. 1. ]] SLAMing on 1.8686399999999999 meters Centerline goodness : 0.073118 Centerline is valid? [False, False] Translation: X:0.51, Y:0.00, Z:-0.05 [[ 0.99996181 -0.00712938 -0.00505521 0.50880959] [ 0.00711383 0.99996993 -0.00308786 0.00235141] [ 0.00507707 0.00305178 0.99998245 -0.05334132] [ 0. 0. 0. 1. ]] SLAMing on 1.8986399999999999 meters Centerline goodness : 0.399453 Centerline is valid? [False, False] Translation: X:0.52, Y:-0.00, Z:-0.06 [[ 0.99995149 -0.00755561 -0.00631878 0.5193884 ] [ 0.00753799 0.99996765 -0.00280752 -0.00123479] [ 0.00633979 0.00275976 0.9999761 -0.06275812] [ 0. 0. 0. 1. ]] SLAMing on 1.92864 meters Centerline goodness : 0.440319 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.00, Z:-0.06 [[ 0.99995907 -0.00359571 -0.00830286 0.54260131] [ 0.00353331 0.99996549 -0.00751858 -0.00264765] [ 0.00832961 0.00748894 0.99993726 -0.0604496 ] [ 0. 0. 0. 1. ]] SLAMing on 1.95864 meters SLAMing on 1.98864 meters Centerline goodness : 0.510209 Centerline is valid? [False, False] Translation: X:0.58, Y:-0.01, Z:-0.06 [[ 0.99998514 -0.00359779 -0.00409689 0.57886059] [ 0.00357521 0.99997846 -0.00550517 -0.01133107] [ 0.00411661 0.00549045 0.99997645 -0.05610802] [ 0. 0. 0. 1. ]] SLAMing on 2.01864 meters Centerline goodness : 0.484906 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.05 [[ 0.99998509 0.00255823 -0.00482423 0.59517668] [-0.00260215 0.99995502 -0.00912016 -0.00890099] [ 0.00480069 0.00913258 0.99994677 -0.04853519] [ 0. 0. 0. 1. ]] SLAMing on 2.0486400000000002 meters Centerline goodness : 0.190715 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.01, Z:-0.06 [[ 0.99998306 0.00264986 -0.00518311 0.60484398] [-0.00269577 0.99995703 -0.00886941 -0.00987854] [ 0.00515938 0.00888323 0.99994723 -0.05809405] [ 0. 0. 0. 1. ]] SLAMing on 2.07864 meters Centerline goodness : 0.432816 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.01, Z:-0.07 [[ 0.9999774 0.00306392 -0.00598417 0.61592239] [-0.00311607 0.99995708 -0.00872508 -0.01033427] [ 0.00595718 0.00874353 0.99994403 -0.06716548] [ 0. 0. 0. 1. ]] SLAMing on 2.1086400000000003 meters Centerline goodness : 0.191787 Centerline is valid? [False, False] Translation: X:0.61, Y:-0.01, Z:-0.06 [[ 0.99997487 0.00481554 -0.00520366 0.6116784 ] [-0.00485184 0.99996382 -0.00698713 -0.01102567] [ 0.00516983 0.00701221 0.99996205 -0.06272955] [ 0. 0. 0. 1. ]] SLAMing on 2.13864 meters Centerline goodness : 0.205479 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.06 [[ 0.9999796 -0.00169521 -0.00615803 0.62985181] [ 0.00167323 0.99999222 -0.00357235 -0.01270123] [ 0.00616404 0.00356198 0.99997466 -0.05656112] [ 0. 0. 0. 1. ]] SLAMing on 2.1686400000000003 meters Centerline goodness : 0.200560 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.06 [[ 0.99998071 -0.00173902 -0.00596254 0.63005037] [ 0.00171675 0.99999154 -0.0037378 -0.01228916] [ 0.00596899 0.00372749 0.99997524 -0.05644745] [ 0. 0. 0. 1. ]] SLAMing on 2.19864 meters Centerline goodness : 0.168752 Centerline is valid? [False, False] Translation: X:0.64, Y:-0.01, Z:-0.05 [[ 0.99997397 0.0038805 -0.00608345 0.64455769] [-0.00393251 0.99995562 -0.00856062 -0.00671436] [ 0.00604996 0.00858432 0.99994485 -0.04774269] [ 0. 0. 0. 1. ]] SLAMing on 2.22864 meters Centerline goodness : 0.184469 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.06 [[ 0.99997325 0.00387315 -0.00620466 0.65374035] [-0.00392801 0.99995308 -0.00885521 -0.00537552] [ 0.00617007 0.00887934 0.99994154 -0.05706144] [ 0. 0. 0. 1. ]] SLAMing on 2.25864 meters SLAMing on 2.28864 meters SLAMing on 2.3186400000000003 meters Centerline goodness : 0.175322 Centerline is valid? [False, False] Translation: X:0.65, Y:0.00, Z:-0.05 [[ 9.99976233e-01 6.09005950e-03 -3.23172192e-03 6.47565971e-01] [-6.11550793e-03 9.99949904e-01 -7.92400155e-03 9.66989610e-05] [ 3.18330238e-03 7.94357685e-03 9.99963382e-01 -5.00426585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.34864 meters SLAMing on 2.3786400000000003 meters SLAMing on 2.40864 meters SLAMing on 2.43864 meters Centerline goodness : 0.974054 Centerline is valid? [False, True] Translation: X:0.66, Y:0.01, Z:-0.04 [[ 9.99984749e-01 4.51379504e-03 3.18222123e-03 6.56290527e-01] [-4.51064243e-03 9.99989330e-01 -9.97176135e-04 5.28551840e-03] [-3.18668833e-03 9.82807066e-04 9.99994440e-01 -4.05265488e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.46864 meters Centerline goodness : 0.972930 Centerline is valid? [True, True] Translation: X:0.61, Y:0.14, Z:-0.02 [[ 9.99958995e-01 9.00984715e-03 -9.11150440e-04 6.14542330e-01] [-9.04760224e-03 9.89703251e-01 -1.42848227e-01 1.40358650e-01] [-3.85272135e-04 1.42850613e-01 9.89744186e-01 -2.24571352e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.49864 meters Centerline goodness : 0.990477 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.06, Z:-0.06 [[ 0.99987793 -0.01258408 0.00926129 0.70312171] [ 0.01185432 0.99711102 0.07502731 -0.06137471] [-0.01017868 -0.07490836 0.99713847 -0.05796401] [ 0. 0. 0. 1. ]] SLAMing on 2.52864 meters Centerline goodness : 0.973374 Centerline is valid? [True, True] Translation: X:0.75, Y:-0.05, Z:-0.04 [[ 0.99969359 -0.01442639 0.02011462 0.7515595 ] [ 0.01291121 0.99720993 0.07352314 -0.0520309 ] [-0.02111917 -0.0732409 0.99709064 -0.03521204] [ 0. 0. 0. 1. ]] SLAMing on 2.55864 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:0.78, Y:0.01, Z:-0.07 [[ 9.99804433e-01 -1.25412137e-02 1.52909494e-02 7.80712111e-01] [ 1.25370843e-02 9.99921341e-01 3.65882794e-04 1.47134981e-02] [-1.52943353e-02 -1.74107317e-04 9.99883020e-01 -7.45544866e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5886400000000003 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:0.81, Y:0.02, Z:-0.07 [[ 9.99750294e-01 -1.27765169e-02 1.83332841e-02 8.13762036e-01] [ 1.27709226e-02 9.99918359e-01 4.22195631e-04 1.76239689e-02] [-1.83371816e-02 -1.87957254e-04 9.99831842e-01 -7.45363298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.61864 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:0.85, Y:0.02, Z:-0.07 [[ 9.99574443e-01 -1.57513234e-02 2.45525672e-02 8.47233973e-01] [ 1.57427808e-02 9.99875928e-01 5.41194866e-04 2.29503840e-02] [-2.45580455e-02 -1.54438873e-04 9.99698394e-01 -7.24377910e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.64864 meters Centerline goodness : 0.999838 Centerline is valid? [True, True] Translation: X:0.88, Y:0.10, Z:-0.07 [[ 0.9993696 -0.0104576 0.03392704 0.8782233 ] [ 0.01300711 0.9970368 -0.07581843 0.09993655] [-0.03303362 0.07621192 0.99654429 -0.07155888] [ 0. 0. 0. 1. ]] SLAMing on 2.67864 meters Centerline goodness : 0.999732 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.04, Z:-0.07 [[ 0.99937058 -0.02277893 0.02719485 0.91673514] [ 0.02063606 0.99684584 0.07663243 -0.04348656] [-0.02885468 -0.07602301 0.99668847 -0.07456272] [ 0. 0. 0. 1. ]] SLAMing on 2.70864 meters Centerline goodness : 0.999947 Centerline is valid? [True, True] Translation: X:0.95, Y:0.11, Z:-0.07 [[ 0.9992321 -0.01471888 0.03631199 0.94776319] [ 0.01756235 0.99669819 -0.0792735 0.10692299] [-0.03502527 0.07985035 0.99619132 -0.07055774] [ 0. 0. 0. 1. ]] SLAMing on 2.73864 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:0.99, Y:-0.05, Z:-0.08 [[ 0.99934277 -0.02645688 0.02478035 0.98535378] [ 0.02435663 0.99637334 0.0815286 -0.04556495] [-0.02684747 -0.08087145 0.9963629 -0.07666988] [ 0. 0. 0. 1. ]] SLAMing on 2.76864 meters Centerline goodness : 0.999791 Centerline is valid? [True, True] Translation: X:1.02, Y:-0.00, Z:-0.07 [[ 9.99655686e-01 -2.61481460e-02 2.18703889e-03 1.01578159e+00] [ 2.60579890e-02 9.99073558e-01 3.42491873e-02 -6.82324492e-04] [-3.08056547e-03 -3.41804050e-02 9.99410932e-01 -6.99285184e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7986400000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:1.05, Y:0.06, Z:-0.07 [[ 0.99898479 -0.02716744 0.03593507 1.04662006] [ 0.0284038 0.999006 -0.03435456 0.06408751] [-0.03496603 0.03534037 0.99876345 -0.0672926 ] [ 0. 0. 0. 1. ]] SLAMing on 2.82864 meters Centerline goodness : 0.999691 Centerline is valid? [True, True] Translation: X:1.08, Y:0.03, Z:-0.07 [[ 9.99487230e-01 -3.03953741e-02 1.00696773e-02 1.08036656e+00] [ 3.03948964e-02 9.99537948e-01 2.00505340e-04 2.94160100e-02] [-1.00711190e-02 1.05664271e-04 9.99949279e-01 -6.63777213e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8586400000000003 meters Centerline goodness : 0.999435 Centerline is valid? [True, True] Translation: X:1.11, Y:-0.03, Z:-0.07 [[ 0.99941113 -0.03429399 -0.00114546 1.11136745] [ 0.03429374 0.99716881 0.06692019 -0.03368463] [-0.00115275 -0.06692007 0.99775767 -0.0745097 ] [ 0. 0. 0. 1. ]] SLAMing on 2.88864 meters Centerline goodness : 0.999846 Centerline is valid? [True, True] Translation: X:1.14, Y:0.09, Z:-0.06 [[ 0.99847559 -0.02944421 0.04668538 1.1414401 ] [ 0.03240452 0.99742521 -0.06397569 0.08760352] [-0.04468146 0.06539099 0.99685886 -0.06010755] [ 0. 0. 0. 1. ]] SLAMing on 2.91864 meters Centerline goodness : 0.999949 Centerline is valid? [True, True] Translation: X:1.17, Y:-0.03, Z:-0.06 [[ 0.99936862 -0.03440238 0.00887932 1.17262321] [ 0.03382741 0.99772354 0.05833903 -0.02923367] [-0.01086611 -0.05800183 0.99825734 -0.06467368] [ 0. 0. 0. 1. ]] SLAMing on 2.94864 meters Centerline goodness : 0.999899 Centerline is valid? [True, True] Translation: X:1.20, Y:0.05, Z:-0.06 [[ 0.99946331 -0.02710321 0.01839872 1.20463706] [ 0.02762129 0.99921169 -0.02851409 0.05030751] [-0.01761139 0.02900698 0.99942405 -0.0621837 ] [ 0. 0. 0. 1. ]] SLAMing on 2.97864 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:1.24, Y:0.05, Z:-0.06 [[ 0.99811851 -0.02751814 0.05479235 1.23673328] [ 0.02902129 0.99921867 -0.02682951 0.04504543] [-0.05401124 0.02836917 0.99813725 -0.06297939] [ 0. 0. 0. 1. ]] SLAMing on 3.00864 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:1.27, Y:0.02, Z:-0.07 [[ 9.98104121e-01 -2.88222231e-02 5.43823838e-02 1.27047135e+00] [ 2.88185276e-02 9.99584297e-01 8.52305210e-04 2.01757546e-02] [-5.43843422e-02 7.16530888e-04 9.98519819e-01 -6.71341639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.03864 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:1.30, Y:0.04, Z:-0.07 [[ 0.99885557 -0.02554861 0.0404328 1.30372102] [ 0.02632291 0.99947791 -0.01873512 0.03624044] [-0.03993303 0.01977798 0.9990066 -0.06667452] [ 0. 0. 0. 1. ]] SLAMing on 3.0686400000000003 meters Centerline goodness : 0.868673 Centerline is valid? [True, False] Translation: X:1.33, Y:0.03, Z:-0.06 [[ 0.99923425 -0.01474654 0.03624167 1.32529804] [ 0.01533011 0.99975642 -0.01587717 0.03389971] [-0.03599871 0.0164206 0.99921692 -0.06392024] [ 0. 0. 0. 1. ]] SLAMing on 3.09864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:1.35, Y:0.03, Z:-0.06 [[ 0.99932479 -0.00517971 0.03637505 1.3471429 ] [ 0.00572646 0.99987195 -0.0149428 0.02909107] [-0.036293 0.01514101 0.99922648 -0.06462527] [ 0. 0. 0. 1. ]] SLAMing on 3.1286400000000003 meters Centerline goodness : 0.841503 Centerline is valid? [True, False] Translation: X:1.35, Y:0.02, Z:-0.06 [[ 9.99336295e-01 -1.28174685e-03 3.64050242e-02 1.34717002e+00] [ 1.62339981e-03 9.99954907e-01 -9.35676633e-03 2.27462418e-02] [-3.63913895e-02 9.40965611e-03 9.99293313e-01 -6.47602483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.15864 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:1.35, Y:0.02, Z:-0.07 [[ 9.99366428e-01 5.64709009e-04 3.55868470e-02 1.35203171e+00] [-3.32314291e-04 9.99978585e-01 -6.53593082e-03 1.86730858e-02] [-3.55897758e-02 6.51996382e-03 9.99345215e-01 -6.92845935e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.18864 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:1.38, Y:-0.04, Z:-0.07 [[ 0.99999294 0.00280676 -0.00250003 1.38173518] [-0.00268471 0.998865 0.04755527 -0.03561652] [ 0.00263067 -0.04754822 0.99886548 -0.06979448] [ 0. 0. 0. 1. ]] SLAMing on 3.21864 meters Centerline goodness : 0.932604 Centerline is valid? [True, False] Translation: X:1.36, Y:-0.01, Z:-0.07 [[ 0.99996538 0.00484881 0.00676229 1.35751433] [-0.00498933 0.9997687 0.02092012 -0.01417644] [-0.00665928 -0.02095313 0.99975828 -0.06827483] [ 0. 0. 0. 1. ]] SLAMing on 3.24864 meters Centerline goodness : 0.999605 Centerline is valid? [False, True] Translation: X:1.35, Y:-0.00, Z:-0.07 [[ 0.9999413 0.00946566 0.00527169 1.35428302] [-0.00948347 0.99994938 0.00336288 -0.00292702] [-0.00523959 -0.00341268 0.99998045 -0.06572861] [ 0. 0. 0. 1. ]] SLAMing on 3.27864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:1.39, Y:0.00, Z:-0.07 [[ 0.99989522 0.01217431 0.00783183 1.38602114] [-0.01214675 0.9999199 -0.00355718 0.00220535] [-0.00787451 0.00346168 0.999963 -0.06598204] [ 0. 0. 0. 1. ]] SLAMing on 3.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.00, Z:-0.07 [[ 9.99808788e-01 1.57259199e-02 1.16225085e-02 1.41756782e+00] [-1.57216269e-02 9.99876301e-01 -4.60649249e-04 -2.35941915e-03] [-1.16283149e-02 2.77836426e-04 9.99932350e-01 -6.54464675e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3386400000000003 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:1.45, Y:-0.02, Z:-0.06 [[ 0.99969937 0.022283 0.01022941 1.44814873] [-0.02243746 0.99963205 0.0152421 -0.01962629] [-0.009886 -0.01546704 0.9998315 -0.06499479] [ 0. 0. 0. 1. ]] SLAMing on 3.36864 meters Centerline goodness : 0.788003 Centerline is valid? [True, False] Translation: X:1.45, Y:-0.01, Z:-0.06 [[ 9.99888475e-01 1.03511883e-02 1.07652770e-02 1.44628159e+00] [-1.03587181e-02 9.99946140e-01 6.43928375e-04 -1.02455758e-02] [-1.07580318e-02 -7.55371031e-04 9.99941845e-01 -6.46280130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.39864 meters Centerline goodness : 0.999556 Centerline is valid? [False, True] Translation: X:1.47, Y:-0.01, Z:-0.06 [[ 0.99994274 0.00841463 -0.00661135 1.46632324] [-0.00838599 0.99995538 0.00434893 -0.01402276] [ 0.00664765 -0.00429324 0.99996869 -0.0635742 ] [ 0. 0. 0. 1. ]] SLAMing on 3.42864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:1.49, Y:0.02, Z:-0.06 [[ 0.99991742 0.01138034 0.00596987 1.49448885] [-0.011208 0.99954094 -0.02814772 0.01660741] [-0.00628746 0.02807849 0.99958595 -0.06016906] [ 0. 0. 0. 1. ]] SLAMing on 3.45864 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.03, Z:-0.06 [[ 0.99991031 0.01325963 0.00188447 1.52504026] [-0.0132946 0.99971263 0.01994756 -0.02607514] [-0.00161943 -0.01997082 0.99979925 -0.06138134] [ 0. 0. 0. 1. ]] SLAMing on 3.48864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:1.56, Y:0.02, Z:-0.06 [[ 0.99973253 0.02189418 0.00745139 1.55654391] [-0.02169139 0.99941909 -0.0262863 0.022029 ] [-0.00802258 0.02611763 0.99962668 -0.0649231 ] [ 0. 0. 0. 1. ]] SLAMing on 3.51864 meters Centerline goodness : 0.902361 Centerline is valid? [True, False] Translation: X:1.56, Y:0.01, Z:-0.07 [[ 0.99990972 0.01279585 0.00410016 1.56135538] [-0.01273581 0.99981593 -0.01434943 0.01289884] [-0.00428302 0.01429591 0.99988864 -0.06693416] [ 0. 0. 0. 1. ]] SLAMing on 3.5486400000000002 meters Centerline goodness : 0.999310 Centerline is valid? [False, True] Translation: X:1.57, Y:0.00, Z:-0.07 [[ 9.99987264e-01 5.01190208e-03 -5.93626055e-04 1.56544980e+00] [-5.01272223e-03 9.99986473e-01 -1.38825029e-03 2.98472315e-03] [ 5.86660250e-04 1.39120830e-03 9.99998860e-01 -6.71819496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.57864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:1.59, Y:0.01, Z:-0.07 [[ 0.99996678 0.00764959 0.00281555 1.59465978] [-0.00764121 0.99996638 -0.00297344 0.00944991] [-0.0028382 0.00295182 0.99999162 -0.06667203] [ 0. 0. 0. 1. ]] SLAMing on 3.60864 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.06, Z:-0.07 [[ 0.9985042 -0.05372449 0.01015103 1.62403743] [ 0.05317218 0.99740611 0.04851574 -0.06191139] [-0.01273118 -0.04790341 0.99877083 -0.07442922] [ 0. 0. 0. 1. ]] SLAMing on 3.63864 meters Centerline goodness : 0.897943 Centerline is valid? [True, False] Translation: X:1.60, Y:-0.04, Z:-0.07 [[ 0.99871328 -0.04823338 0.01566276 1.60267464] [ 0.04785257 0.99856986 0.02384041 -0.03957353] [-0.01679026 -0.02306023 0.99959307 -0.07437667] [ 0. 0. 0. 1. ]] SLAMing on 3.66864 meters Centerline goodness : 0.999754 Centerline is valid? [False, True] Translation: X:1.60, Y:-0.03, Z:-0.07 [[ 0.99904795 -0.04028992 0.01673085 1.59964367] [ 0.04012851 0.99914574 0.00987375 -0.0261236 ] [-0.01711437 -0.00919296 0.99981128 -0.07206163] [ 0. 0. 0. 1. ]] SLAMing on 3.69864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.01, Z:-0.07 [[ 0.99910509 -0.03914364 0.0160248 1.63100622] [ 0.0391768 0.99923074 -0.00175996 -0.01181467] [-0.01594358 0.00238619 0.99987005 -0.07123322] [ 0. 0. 0. 1. ]] SLAMing on 3.72864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.02, Z:-0.07 [[ 0.9988499 -0.04432597 0.01827782 1.66189678] [ 0.04411911 0.99895928 0.0115696 -0.02215545] [-0.01877163 -0.01074989 0.99976601 -0.07226163] [ 0. 0. 0. 1. ]] SLAMing on 3.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.02, Z:-0.07 [[ 0.99870186 -0.04728188 0.01894797 1.69080665] [ 0.04712083 0.99884992 0.00885822 -0.01524976] [-0.01934501 -0.00795387 0.99978123 -0.07215428] [ 0. 0. 0. 1. ]] SLAMing on 3.78864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.00, Z:-0.07 [[ 0.99907286 -0.04238389 0.00755181 1.72221711] [ 0.04235776 0.99909607 0.00358622 -0.00446196] [-0.00769698 -0.00326301 0.99996505 -0.06892613] [ 0. 0. 0. 1. ]] SLAMing on 3.8186400000000003 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.06, Z:-0.07 [[ 9.98971061e-01 -4.51103923e-02 -4.67681277e-03 1.75442265e+00] [ 4.53199765e-02 9.96825076e-01 6.54665304e-02 -5.54695897e-02] [ 1.70874337e-03 -6.56111224e-02 9.97843806e-01 -6.90221219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.84864 meters Centerline goodness : 0.991739 Centerline is valid? [True, True] Translation: X:1.74, Y:0.11, Z:-0.07 [[ 9.99849174e-01 -1.72578416e-02 1.94839692e-03 1.74335416e+00] [ 1.73671811e-02 9.92862433e-01 -1.17993938e-01 1.12360415e-01] [ 1.01830589e-04 1.18009980e-01 9.93012404e-01 -6.76618174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.87864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:1.81, Y:-0.01, Z:-0.07 [[ 0.99955694 -0.02764155 0.0110391 1.80974462] [ 0.02716195 0.99877094 0.04145889 -0.01470873] [-0.01217152 -0.04114068 0.99907923 -0.07039111] [ 0. 0. 0. 1. ]] SLAMing on 3.90864 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:1.84, Y:0.05, Z:-0.07 [[ 0.99931482 -0.02408067 0.028107 1.83682325] [ 0.02480453 0.99936203 -0.02569577 0.05414428] [-0.0274703 0.02637534 0.9992746 -0.06822479] [ 0. 0. 0. 1. ]] SLAMing on 3.93864 meters Centerline goodness : 0.833760 Centerline is valid? [True, False] Translation: X:1.85, Y:0.05, Z:-0.07 [[ 0.99975253 -0.01821696 0.01276827 1.84675554] [ 0.0184701 0.99962943 -0.01999637 0.05319365] [-0.01239926 0.02022725 0.99971852 -0.06734529] [ 0. 0. 0. 1. ]] SLAMing on 3.96864 meters Centerline goodness : 0.999114 Centerline is valid? [False, True] Translation: X:1.84, Y:0.06, Z:-0.07 [[ 0.99977939 -0.0134595 0.01612522 1.8382319 ] [ 0.0137419 0.99975187 -0.01753188 0.05895655] [-0.01588525 0.0177496 0.99971627 -0.0662672 ] [ 0. 0. 0. 1. ]] SLAMing on 3.99864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:1.87, Y:0.05, Z:-0.07 [[ 9.99762636e-01 -1.55809513e-02 1.52284553e-02 1.87187747e+00] [ 1.55681732e-02 9.99878350e-01 9.57289548e-04 4.79881434e-02] [-1.52415182e-02 -7.19983092e-04 9.99883582e-01 -6.63785606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.028639999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:1.91, Y:0.04, Z:-0.07 [[ 0.99966486 -0.02099897 -0.01513995 1.9056389 ] [ 0.02130437 0.99956691 0.02030067 0.04020175] [ 0.0147071 -0.02061642 0.99967928 -0.06779863] [ 0. 0. 0. 1. ]] SLAMing on 4.05864 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:1.93, Y:0.08, Z:-0.06 [[ 0.99947352 -0.02565467 0.01986257 1.93122162] [ 0.02603686 0.99947604 -0.01922839 0.08229072] [-0.01935887 0.01973542 0.9996178 -0.06284294] [ 0. 0. 0. 1. ]] SLAMing on 4.08864 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:1.96, Y:0.03, Z:-0.07 [[ 0.99926457 -0.02924689 -0.02479805 1.96493905] [ 0.03036544 0.99847987 0.04599875 0.02583634] [ 0.02341503 -0.04671792 0.99863365 -0.06719563] [ 0. 0. 0. 1. ]] SLAMing on 4.118639999999999 meters Centerline goodness : 0.860070 Centerline is valid? [True, False] Translation: X:1.93, Y:0.06, Z:-0.06 [[ 0.99945403 -0.0300615 -0.01370913 1.92619983] [ 0.03018768 0.9995029 0.00909198 0.0633289 ] [ 0.013429 -0.00950087 0.99986469 -0.06336715] [ 0. 0. 0. 1. ]] SLAMing on 4.148639999999999 meters Centerline goodness : 0.832612 Centerline is valid? [False, False] Translation: X:1.92, Y:0.08, Z:-0.06 [[ 0.99972 -0.02157127 -0.009726 1.92083823] [ 0.02153327 0.99976015 -0.00399582 0.07866538] [ 0.00980987 0.00378527 0.99994472 -0.06083716] [ 0. 0. 0. 1. ]] SLAMing on 4.17864 meters Centerline goodness : 0.999212 Centerline is valid? [False, True] Translation: X:1.92, Y:0.10, Z:-0.06 [[ 0.99985951 -0.01562355 -0.00607235 1.91629501] [ 0.01549571 0.99966857 -0.02055783 0.09803178] [ 0.00639152 0.02046084 0.99977022 -0.05857799] [ 0. 0. 0. 1. ]] SLAMing on 4.20864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:1.94, Y:0.04, Z:-0.06 [[ 0.99973626 -0.02138166 0.00838112 1.94203961] [ 0.02103434 0.99899647 0.03954253 0.04464024] [-0.00921819 -0.03935581 0.99918274 -0.06458943] [ 0. 0. 0. 1. ]] SLAMing on 4.238639999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:1.96, Y:0.17, Z:-0.05 [[ 0.99980844 -0.01877039 0.00554586 1.9637167 ] [ 0.01921598 0.99520384 -0.09591698 0.16796607] [-0.00371886 0.09600518 0.99537389 -0.05086142] [ 0. 0. 0. 1. ]] SLAMing on 4.2686399999999995 meters Centerline goodness : 0.949936 Centerline is valid? [True, False] Translation: X:1.97, Y:0.13, Z:-0.06 [[ 0.99978813 -0.02037745 -0.00290688 1.96622928] [ 0.02018945 0.99831776 -0.05435105 0.13099318] [ 0.00400952 0.05428085 0.99851766 -0.05694943] [ 0. 0. 0. 1. ]] SLAMing on 4.29864 meters Centerline goodness : 0.999310 Centerline is valid? [False, True] Translation: X:1.99, Y:0.12, Z:-0.06 [[ 0.99981234 -0.0170643 -0.00917028 1.99332445] [ 0.01669622 0.99910679 -0.03881831 0.11831797] [ 0.0098245 0.03865792 0.99920421 -0.05734829] [ 0. 0. 0. 1. ]] SLAMing on 4.32864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:2.02, Y:0.14, Z:-0.05 [[ 0.998828 -0.02142387 0.04340095 2.0236375 ] [ 0.02407658 0.99781355 -0.06155024 0.13946599] [-0.04198741 0.06252305 0.99715993 -0.05402431] [ 0. 0. 0. 1. ]] SLAMing on 4.358639999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:2.05, Y:0.03, Z:-0.07 [[ 0.99959786 -0.0277109 -0.00601863 2.05355145] [ 0.02801622 0.99788995 0.05857252 0.02892922] [ 0.00438283 -0.05871758 0.99826501 -0.06642919] [ 0. 0. 0. 1. ]] SLAMing on 4.38864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:2.08, Y:0.13, Z:-0.06 [[ 0.99856947 -0.02834169 0.04534058 2.08464282] [ 0.03089321 0.99791881 -0.05660079 0.13371134] [-0.04364206 0.05792054 0.99736682 -0.05671657] [ 0. 0. 0. 1. ]] SLAMing on 4.41864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.04, Z:-0.07 [[ 9.99236571e-01 -3.84722173e-02 -6.79437610e-03 2.11310233e+00] [ 3.90111740e-02 9.91930001e-01 1.20635818e-01 -3.56541567e-02] [ 2.09841807e-03 -1.20808778e-01 9.92673580e-01 -6.94293174e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.448639999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:2.14, Y:0.18, Z:-0.05 [[ 0.99811466 -0.03581206 0.04984594 2.14454452] [ 0.04144312 0.99227229 -0.11695373 0.17910758] [-0.04527239 0.11879901 0.99188568 -0.04596884] [ 0. 0. 0. 1. ]] SLAMing on 4.4786399999999995 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.03, Z:-0.07 [[ 0.99886676 -0.04549948 -0.01396418 2.17464803] [ 0.04664808 0.99413373 0.09758121 -0.02593781] [ 0.00944237 -0.09812203 0.99512959 -0.06609842] [ 0. 0. 0. 1. ]] SLAMing on 4.50864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:2.20, Y:0.04, Z:-0.06 [[ 0.9989392 -0.04567395 -0.00586191 2.20255696] [ 0.04578697 0.99873332 0.0208641 0.04054831] [ 0.00490154 -0.02111037 0.99976514 -0.06320684] [ 0. 0. 0. 1. ]] SLAMing on 4.53864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:2.23, Y:0.10, Z:-0.06 [[ 9.99027916e-01 -4.39832917e-02 2.94853921e-03 2.23066894e+00] [ 4.40722886e-02 9.97975575e-01 -4.58517723e-02 9.64115833e-02] [-9.25858241e-04 4.59371494e-02 9.98943903e-01 -5.73358941e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.568639999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.01, Z:-0.06 [[ 9.98970861e-01 -4.51062392e-02 -4.75884160e-03 2.26111076e+00] [ 4.53101042e-02 9.97187695e-01 5.96966868e-02 -8.53513711e-03] [ 2.05276526e-03 -5.98508742e-02 9.98205219e-01 -6.41681988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.59864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:2.29, Y:0.16, Z:-0.05 [[ 0.99778475 -0.03504468 0.05654606 2.29183239] [ 0.04187353 0.99133625 -0.12449515 0.15683713] [-0.05169327 0.12658714 0.99060764 -0.04844483] [ 0. 0. 0. 1. ]] SLAMing on 4.62864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:2.33, Y:0.03, Z:-0.07 [[ 9.97858710e-01 -3.23301609e-02 5.68573328e-02 2.32587768e+00] [ 3.23498325e-02 9.99476442e-01 5.74631690e-04 3.35988926e-02] [-5.68461426e-02 1.26592396e-03 9.98382148e-01 -6.50231454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.658639999999999 meters Centerline goodness : 0.993032 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.08, Z:-0.07 [[ 9.99997305e-01 7.99554074e-04 2.17981818e-03 2.34626328e+00] [-1.08733214e-03 9.90790995e-01 1.35395801e-01 -7.91220868e-02] [-2.05148796e-03 -1.35397806e-01 9.90789193e-01 -7.21691822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6886399999999995 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:2.39, Y:0.15, Z:-0.05 [[ 0.99801085 -0.02111787 0.05940019 2.38658938] [ 0.02879208 0.99090259 -0.13146513 0.14908714] [-0.05608354 0.13291388 0.98953956 -0.05014506] [ 0. 0. 0. 1. ]] SLAMing on 4.71864 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:2.42, Y:-0.03, Z:-0.07 [[ 0.99977059 -0.02127351 0.00249262 2.41663885] [ 0.02108579 0.99797681 0.0599806 -0.02834587] [-0.00376357 -0.05991428 0.99819643 -0.06510937] [ 0. 0. 0. 1. ]] SLAMing on 4.74864 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:2.45, Y:-0.04, Z:-0.07 [[ 9.99856187e-01 -1.69423015e-02 7.51166087e-04 2.44664708e+00] [ 1.68485058e-02 9.97416748e-01 6.98280636e-02 -3.91381116e-02] [-1.93227374e-03 -6.98053654e-02 9.97558759e-01 -6.59948308e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.778639999999999 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.02, Z:-0.07 [[ 0.99984808 -0.01467479 0.00940553 2.47634552] [ 0.01423356 0.99886855 0.04537639 -0.01919996] [-0.01006078 -0.04523562 0.99892568 -0.0663401 ] [ 0. 0. 0. 1. ]] SLAMing on 4.80864 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:2.51, Y:0.09, Z:-0.06 [[ 0.9999628 -0.00643978 0.00573797 2.50535187] [ 0.00686089 0.99703239 -0.07667684 0.08971755] [-0.00522716 0.07671336 0.99703949 -0.0592212 ] [ 0. 0. 0. 1. ]] SLAMing on 4.83864 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:2.53, Y:0.02, Z:-0.06 [[ 9.99953169e-01 -7.57309739e-03 6.02561553e-03 2.53430428e+00] [ 7.56724667e-03 9.99970875e-01 9.93181892e-04 1.76786157e-02] [-6.03296149e-03 -9.47538061e-04 9.99981353e-01 -6.47488981e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.868639999999999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:2.56, Y:0.02, Z:-0.06 [[ 0.99993392 -0.00372226 0.01087694 2.56420072] [ 0.00378842 0.99997441 -0.00606783 0.02239733] [-0.01085407 0.00610863 0.99992243 -0.06318794] [ 0. 0. 0. 1. ]] SLAMing on 4.898639999999999 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:2.59, Y:0.02, Z:-0.06 [[ 9.99901857e-01 -3.67567341e-03 1.35191093e-02 2.59446851e+00] [ 3.68404779e-03 9.99993037e-01 -5.94595710e-04 1.77876197e-02] [-1.35168297e-02 6.44342400e-04 9.99908436e-01 -6.37387962e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.92864 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:2.63, Y:0.02, Z:-0.06 [[ 9.99846715e-01 -2.09257522e-03 1.73829677e-02 2.62767932e+00] [ 2.08252873e-03 9.99997654e-01 5.96031415e-04 1.75001105e-02] [-1.73841742e-02 -5.59739523e-04 9.99848727e-01 -6.23442908e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.95864 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:2.66, Y:0.09, Z:-0.06 [[ 9.97135856e-01 3.94954769e-03 7.55280438e-02 2.65887348e+00] [ 2.18167207e-03 9.96717912e-01 -8.09236950e-02 9.42916035e-02] [-7.55997661e-02 8.08566953e-02 9.93854552e-01 -6.00698166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.988639999999999 meters Centerline goodness : 0.997488 Centerline is valid? [True, True] Translation: X:2.69, Y:-0.04, Z:-0.07 [[ 9.99701952e-01 -1.73246222e-03 2.43517120e-02 2.68901457e+00] [ 1.36577253e-04 9.97860151e-01 6.53842519e-02 -3.78658128e-02] [-2.44128787e-02 -6.53614383e-02 9.97562977e-01 -6.63851850e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0186399999999995 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:2.72, Y:0.03, Z:-0.06 [[ 0.99953696 0.00317708 0.03026173 2.7200285 ] [-0.00290984 0.99995642 -0.00887122 0.03087736] [-0.0302886 0.00877906 0.99950264 -0.06486204] [ 0. 0. 0. 1. ]] SLAMing on 5.04864 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:2.75, Y:0.03, Z:-0.07 [[ 9.99407745e-01 4.00312900e-03 3.41779890e-02 2.75136057e+00] [-3.93581026e-03 9.99990181e-01 -2.03670350e-03 2.59662568e-02] [-3.41858066e-02 1.90097917e-03 9.99413687e-01 -6.60286696e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.078639999999999 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:2.78, Y:0.03, Z:-0.07 [[ 9.99378687e-01 5.72597402e-03 3.47772019e-02 2.78262305e+00] [-5.76295447e-03 9.99982930e-01 9.63205539e-04 2.81779556e-02] [-3.47710930e-02 -1.16302652e-03 9.99394626e-01 -6.90385749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.108639999999999 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:2.81, Y:0.03, Z:-0.07 [[ 9.99306624e-01 5.92261303e-03 3.67585865e-02 2.81288735e+00] [-5.90173882e-03 9.99982356e-01 -6.76354335e-04 3.12069265e-02] [-3.67619437e-02 4.58945790e-04 9.99323946e-01 -7.11512212e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.13864 meters Centerline goodness : 0.898001 Centerline is valid? [True, False] Translation: X:2.84, Y:0.03, Z:-0.07 [[ 0.99985169 0.00400379 0.01675017 2.83939732] [-0.00406372 0.99998546 0.0035453 0.02946991] [-0.01673573 -0.00361284 0.99985342 -0.07229625] [ 0. 0. 0. 1. ]] SLAMing on 5.16864 meters Centerline goodness : 0.997735 Centerline is valid? [False, True] Translation: X:2.85, Y:0.03, Z:-0.07 [[ 9.99999377e-01 7.33899163e-04 8.41408323e-04 2.84703791e+00] [-7.32862730e-04 9.99998973e-01 -1.23143080e-03 3.47986420e-02] [-8.42311205e-04 1.23081340e-03 9.99998888e-01 -7.03988691e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.198639999999999 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:2.88, Y:0.03, Z:-0.07 [[ 9.99999828e-01 5.10224230e-04 -2.87562877e-04 2.87654222e+00] [-5.09480797e-04 9.99996543e-01 2.57945768e-03 3.44767777e-02] [ 2.88877984e-04 -2.57931073e-03 9.99996632e-01 -7.23250791e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.2286399999999995 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:2.91, Y:0.03, Z:-0.07 [[ 9.99983621e-01 -7.14704399e-04 -5.67871243e-03 2.90539227e+00] [ 8.02857281e-04 9.99878982e-01 1.55363076e-02 2.61583985e-02] [ 5.66692133e-03 -1.55406123e-02 9.99863178e-01 -7.31211830e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.25864 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:2.97, Y:0.03, Z:-0.08 [[ 0.99812216 0.05924698 0.01555485 2.96744903] [-0.05984869 0.99734083 0.04158612 0.03045342] [-0.01304963 -0.04243896 0.99901383 -0.08430267] [ 0. 0. 0. 1. ]] SLAMing on 5.288639999999999 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:2.95, Y:0.05, Z:-0.07 [[ 0.9998884 -0.01402093 0.00515836 2.9542348 ] [ 0.01411133 0.9997397 -0.01792786 0.05334586] [-0.00490566 0.01799865 0.99982598 -0.07356405] [ 0. 0. 0. 1. ]] SLAMing on 5.318639999999999 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:2.99, Y:0.07, Z:-0.07 [[ 0.99995491 -0.00815016 0.00487422 2.98582509] [ 0.00831316 0.99937313 -0.03441276 0.07251849] [-0.00459069 0.03445173 0.99939582 -0.07130048] [ 0. 0. 0. 1. ]] SLAMing on 5.34864 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:3.02, Y:0.05, Z:-0.07 [[ 0.99991954 -0.00936669 0.00855503 3.01608547] [ 0.00947917 0.9998679 -0.01320362 0.0536911 ] [-0.00843023 0.01328365 0.99987623 -0.07119704] [ 0. 0. 0. 1. ]] SLAMing on 5.37864 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:3.05, Y:0.08, Z:-0.07 [[ 0.99862478 -0.00995698 0.05147241 3.04699107] [ 0.01201836 0.9991316 -0.03989497 0.07815804] [-0.05103048 0.04045872 0.99787724 -0.07057418] [ 0. 0. 0. 1. ]] SLAMing on 5.408639999999999 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.01, Z:-0.07 [[ 0.99990773 -0.01283715 0.00444299 3.07704633] [ 0.01256147 0.99827639 0.05732766 -0.01105786] [-0.00517125 -0.05726656 0.99834553 -0.07457311] [ 0. 0. 0. 1. ]] SLAMing on 5.4386399999999995 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:3.11, Y:0.04, Z:-0.07 [[ 9.99899437e-01 -8.39992326e-03 1.14261738e-02 3.10711014e+00] [ 8.38059465e-03 9.99963371e-01 1.73843882e-03 4.10116830e-02] [-1.14403581e-02 -1.64250587e-03 9.99933208e-01 -7.43170509e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.46864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:3.14, Y:-0.01, Z:-0.07 [[ 0.99982997 -0.00810104 0.01656496 3.13694554] [ 0.00718319 0.99847496 0.05473713 -0.0069254 ] [-0.01698313 -0.05460884 0.99836338 -0.07440406] [ 0. 0. 0. 1. ]] SLAMing on 5.49864 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:3.17, Y:0.09, Z:-0.07 [[ 9.99867011e-01 -3.08571279e-03 1.60136867e-02 3.16766521e+00] [ 3.92041121e-03 9.98620722e-01 -5.23572817e-02 9.15081756e-02] [-1.58300398e-02 5.24130990e-02 9.98500013e-01 -6.92390689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.528639999999999 meters Centerline goodness : 0.996895 Centerline is valid? [True, True] Translation: X:3.20, Y:0.05, Z:-0.08 [[ 0.99982523 -0.00581599 0.01776754 3.1979602 ] [ 0.00594887 0.99995467 -0.0074347 0.05118243] [-0.0177235 0.0075391 0.9998145 -0.07503875] [ 0. 0. 0. 1. ]] SLAMing on 5.55864 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:3.23, Y:0.09, Z:-0.07 [[ 0.99783053 -0.00508662 0.06563816 3.22969365] [ 0.0083918 0.99870506 -0.05017745 0.09086837] [-0.06529793 0.05061942 0.99658108 -0.07181279] [ 0. 0. 0. 1. ]] SLAMing on 5.58864 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:3.26, Y:0.04, Z:-0.08 [[ 9.97824378e-01 -9.46160626e-03 6.52456018e-02 3.26264267e+00] [ 9.43210247e-03 9.99955228e-01 7.60217660e-04 4.42747503e-02] [-6.52498735e-02 -1.43160512e-04 9.97868946e-01 -7.66106364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.618639999999999 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:3.29, Y:-0.06, Z:-0.08 [[ 0.99978424 -0.01573402 0.01356154 3.29194667] [ 0.01400788 0.99278006 0.11912821 -0.06429882] [-0.01533799 -0.11891253 0.99278626 -0.07617748] [ 0. 0. 0. 1. ]] SLAMing on 5.648639999999999 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:3.32, Y:0.15, Z:-0.06 [[ 0.99761959 -0.00463737 0.06880156 3.3233052 ] [ 0.01249019 0.9933849 -0.11415096 0.15121344] [-0.06781707 0.11473858 0.99107815 -0.06297018] [ 0. 0. 0. 1. ]] SLAMing on 5.67864 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:3.35, Y:0.00, Z:-0.08 [[ 0.99969423 -0.01024142 0.02250708 3.35362998] [ 0.00912296 0.99874498 0.04924677 0.00369818] [-0.02298319 -0.04902638 0.99853302 -0.07913526] [ 0. 0. 0. 1. ]] SLAMing on 5.70864 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:3.39, Y:0.09, Z:-0.07 [[ 0.9975054 -0.00390626 0.07048205 3.38544468] [ 0.00723552 0.99886669 -0.0470423 0.09477436] [-0.07021841 0.04743493 0.99640318 -0.07422664] [ 0. 0. 0. 1. ]] SLAMing on 5.738639999999999 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:3.42, Y:0.01, Z:-0.08 [[ 0.99959517 -0.00649026 0.02770144 3.41594649] [ 0.00505556 0.99865758 0.05155081 0.00808376] [-0.02799883 -0.0513899 0.9982861 -0.08014409] [ 0. 0. 0. 1. ]] SLAMing on 5.7686399999999995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:3.45, Y:0.10, Z:-0.07 [[ 9.97273694e-01 -1.11506639e-03 7.37830295e-02 3.44669797e+00] [ 4.77411218e-03 9.98765972e-01 -4.94342148e-02 1.02093855e-01] [-7.36368567e-02 4.96516905e-02 9.96048354e-01 -7.45026493e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.79864 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:3.48, Y:0.01, Z:-0.08 [[ 0.99953307 -0.00588313 0.02998374 3.4782603 ] [ 0.00445221 0.99885805 0.04756866 0.01317578] [-0.03022936 -0.04741295 0.99841785 -0.08319834] [ 0. 0. 0. 1. ]] SLAMing on 5.828639999999999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:3.51, Y:0.10, Z:-0.08 [[ 9.97342075e-01 -2.25630197e-03 7.28264632e-02 3.50999537e+00] [ 5.59209666e-03 9.98942603e-01 -4.56333725e-02 9.89167857e-02] [-7.26464940e-02 4.59193351e-02 9.96300106e-01 -7.83559303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.858639999999999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:3.54, Y:0.06, Z:-0.08 [[ 9.97288861e-01 -4.38185945e-03 7.34556101e-02 3.54304849e+00] [ 4.34536893e-03 9.99990343e-01 6.56574795e-04 5.77673098e-02] [-7.34577777e-02 -3.35603003e-04 9.97298271e-01 -8.38559128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.88864 meters Centerline goodness : 0.890865 Centerline is valid? [True, False] Translation: X:3.57, Y:0.07, Z:-0.08 [[ 0.9985348 -0.00515301 0.05386744 3.56841883] [ 0.00573305 0.99992718 -0.0106189 0.06830433] [-0.0538088 0.01091216 0.99849163 -0.08296475] [ 0. 0. 0. 1. ]] SLAMing on 5.91864 meters Centerline goodness : 0.998862 Centerline is valid? [False, True] Translation: X:3.61, Y:0.08, Z:-0.08 [[ 0.99951287 -0.00395204 0.03095826 3.60831137] [ 0.00477452 0.99963638 -0.02653876 0.08490353] [-0.03084212 0.02667365 0.99916829 -0.08069302] [ 0. 0. 0. 1. ]] SLAMing on 5.948639999999999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.65, Y:0.05, Z:-0.12 [[ 9.99600485e-01 -2.80930730e-02 3.10633508e-03 3.64852574e+00] [ 2.80556422e-02 9.99540211e-01 1.14998839e-02 4.82769884e-02] [-3.42797390e-03 -1.14081393e-02 9.99929049e-01 -1.21208630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.9786399999999995 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:3.67, Y:0.07, Z:-0.08 [[ 9.99483770e-01 -3.07448604e-03 3.19803182e-02 3.66728528e+00] [ 3.36798624e-03 9.99952670e-01 -9.12770957e-03 7.07895071e-02] [-3.19507415e-02 9.23070684e-03 9.99446819e-01 -8.38863721e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.00864 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:3.70, Y:0.08, Z:-0.09 [[ 9.99490632e-01 -1.94175363e-03 3.18544507e-02 3.69655472e+00] [ 2.36012253e-03 9.99911387e-01 -1.31014280e-02 7.56514155e-02] [-3.18261883e-02 1.31699349e-02 9.99406647e-01 -8.50669644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.038639999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:3.73, Y:0.06, Z:-0.09 [[ 9.99302419e-01 -2.59078868e-03 3.72553894e-02 3.72875162e+00] [ 2.51932608e-03 9.99994896e-01 1.96499938e-03 6.34987995e-02] [-3.72602901e-02 -1.86977016e-03 9.99303845e-01 -8.75905350e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.068639999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:3.76, Y:0.07, Z:-0.09 [[ 9.99267847e-01 -3.00303714e-03 3.81411987e-02 3.76044705e+00] [ 3.12272300e-03 9.99990385e-01 -3.07878194e-03 6.95352408e-02] [-3.81315863e-02 3.19563220e-03 9.99267617e-01 -8.90929204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.09864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:3.79, Y:0.05, Z:-0.09 [[ 9.99298022e-01 -4.16287358e-03 3.72308097e-02 3.79216355e+00] [ 3.62492496e-03 9.99888228e-01 1.45048670e-02 5.45629229e-02] [-3.72870302e-02 -1.43597260e-02 9.99201419e-01 -8.95122303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.12864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:3.82, Y:0.08, Z:-0.09 [[ 9.99188337e-01 -2.64989589e-03 4.01951014e-02 3.82262311e+00] [ 2.83643296e-03 9.99985469e-01 -4.58447265e-03 7.56019873e-02] [-4.01823689e-02 4.69476232e-03 9.99181333e-01 -8.93705489e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.158639999999999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:3.85, Y:0.07, Z:-0.09 [[ 9.99278270e-01 -3.61530510e-03 3.78136110e-02 3.85480802e+00] [ 3.38022498e-03 9.99974574e-01 6.27889784e-03 6.75594877e-02] [-3.78353497e-02 -6.14654766e-03 9.99265083e-01 -9.22800166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1886399999999995 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:3.87, Y:0.01, Z:-0.10 [[ 0.99587687 -0.06707885 0.06107111 3.8713706 ] [ 0.06490269 0.99720736 0.03694769 0.01150188] [-0.06337897 -0.03283167 0.99744934 -0.10335067] [ 0. 0. 0. 1. ]] SLAMing on 6.21864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:3.91, Y:0.11, Z:-0.09 [[ 9.98857496e-01 1.24592700e-03 4.77718520e-02 3.91343771e+00] [ 6.19848207e-04 9.99238188e-01 -3.90212602e-02 1.11640838e-01] [-4.77840765e-02 3.90062895e-02 9.98095783e-01 -8.84756020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.24864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:3.94, Y:0.07, Z:-0.09 [[ 9.98984069e-01 -1.89131484e-03 4.50250227e-02 3.94367670e+00] [ 1.45740689e-03 9.99952203e-01 9.66791680e-03 6.73666197e-02] [-4.50411557e-02 -9.59247509e-03 9.98939077e-01 -9.48982025e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.278639999999999 meters Centerline goodness : 0.973800 Centerline is valid? [True, True] Translation: X:3.96, Y:0.02, Z:-0.11 [[ 0.99383133 -0.08267134 0.07392393 3.95750021] [ 0.08101276 0.99639533 0.02516522 0.01530542] [-0.0757379 -0.0190212 0.99694632 -0.10701089] [ 0. 0. 0. 1. ]] SLAMing on 6.30864 meters Centerline goodness : 0.839647 Centerline is valid? [True, False] Translation: X:3.96, Y:0.04, Z:-0.10 [[ 9.95386476e-01 -6.85030936e-02 6.71795269e-02 3.96091709e+00] [ 6.89048391e-02 9.97616455e-01 -3.67867490e-03 4.23396818e-02] [-6.67674009e-02 8.29069775e-03 9.97734122e-01 -1.03250549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.33864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:3.96, Y:0.05, Z:-0.10 [[ 0.9963544 -0.05746056 0.06305703 3.96384482] [ 0.05844364 0.99819454 -0.01385674 0.05242066] [-0.06214697 0.01749151 0.99791372 -0.10286388] [ 0. 0. 0. 1. ]] SLAMing on 6.368639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.00, Y:0.04, Z:-0.11 [[ 9.96458026e-01 -5.72636202e-02 6.15815005e-02 3.99745773e+00] [ 5.71524723e-02 9.98359092e-01 3.56626860e-03 4.00526426e-02] [-6.16846684e-02 -3.41019644e-05 9.98095687e-01 -1.06330818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.398639999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.01, Z:-0.11 [[ 0.99816335 -0.05918802 0.01291176 4.02896621] [ 0.05840126 0.99680036 0.05457405 -0.00628739] [-0.01610057 -0.05371975 0.99842624 -0.10809891] [ 0. 0. 0. 1. ]] SLAMing on 6.42864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:4.06, Y:0.04, Z:-0.10 [[ 9.98199011e-01 -5.76562563e-02 1.65677784e-02 4.05768855e+00] [ 5.76159048e-02 9.98334603e-01 2.90302030e-03 4.38751368e-02] [-1.67075637e-02 -1.94322445e-03 9.99858531e-01 -1.04853344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.45864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.09, Y:0.10, Z:-0.10 [[ 0.99612227 -0.05381621 0.06960057 4.08782593] [ 0.05742684 0.9970483 -0.05095933 0.09841535] [-0.06665269 0.05475867 0.99627251 -0.10105102] [ 0. 0. 0. 1. ]] SLAMing on 6.488639999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.00, Z:-0.11 [[ 9.98167214e-01 -5.92889183e-02 1.21259086e-02 4.12227865e+00] [ 5.84535863e-02 9.96460279e-01 6.04159825e-02 -3.38522758e-03] [-1.56649845e-02 -5.95964500e-02 9.98099630e-01 -1.09172466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.5186399999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.15, Y:0.11, Z:-0.10 [[ 0.99608993 -0.05514707 0.06901917 4.14927635] [ 0.058949 0.99678218 -0.05431664 0.108737 ] [-0.06580167 0.05817287 0.99613556 -0.10116167] [ 0. 0. 0. 1. ]] SLAMing on 6.54864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:4.18, Y:0.06, Z:-0.11 [[ 9.96156955e-01 -5.75929265e-02 6.59876944e-02 4.18466111e+00] [ 5.74768820e-02 9.98340139e-01 3.65726620e-03 5.99308653e-02] [-6.60887967e-02 1.49555765e-04 9.97813734e-01 -1.09716879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.578639999999999 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:4.22, Y:-0.06, Z:-0.11 [[ 9.97803680e-01 -6.50804521e-02 -1.23430441e-02 4.21956097e+00] [ 6.61575669e-02 9.88425893e-01 1.36518974e-01 -6.12317132e-02] [ 3.31546786e-03 -1.37035720e-01 9.90560558e-01 -1.10813585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.608639999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:4.24, Y:0.14, Z:-0.10 [[ 0.99801807 -0.05755218 0.02544947 4.23936399] [ 0.05932015 0.9953982 -0.07525649 0.13621571] [-0.02100118 0.07661701 0.9968394 -0.09683239] [ 0. 0. 0. 1. ]] SLAMing on 6.63864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:4.27, Y:0.06, Z:-0.11 [[ 0.99784867 -0.06227158 0.02050079 4.27376786] [ 0.06197443 0.99796764 0.01482447 0.05690273] [-0.02138227 -0.01352206 0.99967993 -0.10930651] [ 0. 0. 0. 1. ]] SLAMing on 6.66864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:4.30, Y:0.14, Z:-0.10 [[ 0.99505505 -0.06162933 0.07789275 4.30130343] [ 0.06693852 0.99547167 -0.06749366 0.1373459 ] [-0.07338044 0.07237393 0.99467448 -0.10357103] [ 0. 0. 0. 1. ]] SLAMing on 6.698639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:4.34, Y:0.00, Z:-0.12 [[ 9.97315591e-01 -7.10052047e-02 1.78849867e-02 4.33648541e+00] [ 6.94308414e-02 9.94607581e-01 7.70397151e-02 4.05362554e-03] [-2.32587641e-02 -7.55911393e-02 9.96867599e-01 -1.16100596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.7286399999999995 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:4.36, Y:0.09, Z:-0.11 [[ 0.99719928 -0.0692879 0.02815655 4.36383118] [ 0.06982677 0.99738521 -0.01862717 0.09163305] [-0.02679229 0.02054109 0.99942996 -0.11010366] [ 0. 0. 0. 1. ]] SLAMing on 6.75864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:4.39, Y:0.07, Z:-0.11 [[ 9.96966144e-01 -7.25226017e-02 2.82662440e-02 4.39324269e+00] [ 7.24708757e-02 9.97366453e-01 2.85147753e-03 7.33432727e-02] [-2.83986001e-02 -7.94347099e-04 9.99596363e-01 -1.13284547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.788639999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:4.43, Y:0.13, Z:-0.11 [[ 0.99426292 -0.07035516 0.08056927 4.42512173] [ 0.07469922 0.9958372 -0.05223308 0.12806268] [-0.07655901 0.05795188 0.99537947 -0.11053346] [ 0. 0. 0. 1. ]] SLAMing on 6.818639999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:4.46, Y:0.08, Z:-0.12 [[ 9.94290097e-01 -7.31974121e-02 7.76488398e-02 4.46090889e+00] [ 7.30973767e-02 9.97316242e-01 4.13361263e-03 7.85689326e-02] [-7.77430189e-02 1.56591639e-03 9.96972202e-01 -1.19509678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.84864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.49, Y:0.08, Z:-0.12 [[ 9.94248281e-01 -7.44798000e-02 7.69617718e-02 4.49357237e+00] [ 7.43871629e-02 9.97221116e-01 4.07371657e-03 7.93171741e-02] [-7.70513136e-02 1.67468216e-03 9.97025722e-01 -1.21987733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.87864 meters Centerline goodness : 0.978021 Centerline is valid? [True, True] Translation: X:4.54, Y:0.03, Z:-0.14 [[ 9.99323807e-01 1.37553028e-03 3.67428375e-02 4.53588031e+00] [-5.00548724e-03 9.95086236e-01 9.88854309e-02 2.78972368e-02] [-3.64262720e-02 -9.90024811e-02 9.94420251e-01 -1.43323640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.908639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:4.55, Y:0.17, Z:-0.11 [[ 0.99435686 -0.06757536 0.08178025 4.55429147] [ 0.07527659 0.99262 -0.09507353 0.16778764] [-0.07475208 0.10069316 0.99210534 -0.11123432] [ 0. 0. 0. 1. ]] SLAMing on 6.9386399999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:4.59, Y:0.08, Z:-0.13 [[ 9.94546424e-01 -7.08940885e-02 7.64946994e-02 4.59131169e+00] [ 7.07962203e-02 9.97482804e-01 3.99382552e-03 7.93044499e-02] [-7.65852859e-02 1.44349070e-03 9.97061989e-01 -1.27389241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.96864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:4.62, Y:0.00, Z:-0.13 [[ 9.97138522e-01 -7.31740320e-02 1.89823515e-02 4.62275232e+00] [ 7.12200146e-02 9.93512089e-01 8.86647486e-02 1.25194343e-03] [-2.53471529e-02 -8.70591130e-02 9.95880632e-01 -1.27592527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.998639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:4.65, Y:0.07, Z:-0.13 [[ 0.99740063 -0.06613477 0.02860363 4.64933243] [ 0.06565941 0.99769295 0.01725166 0.06791468] [-0.02967857 -0.01532872 0.99944195 -0.12619693] [ 0. 0. 0. 1. ]] SLAMing on 7.028639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:4.68, Y:0.09, Z:-0.12 [[ 9.97381203e-01 -6.37435948e-02 3.41685664e-02 4.67794258e+00] [ 6.38922338e-02 9.97951430e-01 -3.27498076e-03 8.78023091e-02] [-3.38898107e-02 5.44951029e-03 9.99410718e-01 -1.24000282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.05864 meters Centerline goodness : 0.975427 Centerline is valid? [True, True] Translation: X:4.72, Y:0.10, Z:-0.14 [[ 0.99851471 0.0196116 0.0508307 4.72235658] [-0.02075983 0.99953886 0.02216062 0.10329542] [-0.05037266 -0.02318294 0.99846139 -0.14372406] [ 0. 0. 0. 1. ]] SLAMing on 7.08864 meters Centerline goodness : 0.984893 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.01, Z:-0.15 [[ 0.99565371 -0.08207385 0.04401778 4.78616712] [ 0.07762917 0.99248195 0.09462186 -0.01402617] [-0.05145284 -0.09079354 0.99453966 -0.1540738 ] [ 0. 0. 0. 1. ]] SLAMing on 7.118639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:4.76, Y:0.18, Z:-0.11 [[ 0.99801061 -0.05564765 0.02963369 4.75722577] [ 0.05861685 0.99207395 -0.11114561 0.18432323] [-0.02321382 0.11266153 0.99336222 -0.10781306] [ 0. 0. 0. 1. ]] SLAMing on 7.148639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.79, Y:0.11, Z:-0.12 [[ 0.99722473 -0.06027727 0.04369771 4.78532669] [ 0.06168853 0.99759192 -0.03169982 0.11480362] [-0.04168171 0.0343075 0.99854175 -0.12432287] [ 0. 0. 0. 1. ]] SLAMing on 7.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.82, Y:0.10, Z:-0.13 [[ 0.9971555 -0.06101952 0.04424385 4.81525444] [ 0.06158124 0.99803645 -0.01144497 0.09985762] [-0.04345861 0.01413701 0.9989552 -0.12819416] [ 0. 0. 0. 1. ]] SLAMing on 7.208639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.84, Y:0.16, Z:-0.12 [[ 0.99334608 -0.04996996 0.10376207 4.84350473] [ 0.05774173 0.99563712 -0.07329821 0.16414377] [-0.09964666 0.07880189 0.99189758 -0.11988862] [ 0. 0. 0. 1. ]] SLAMing on 7.238639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.88, Y:0.10, Z:-0.13 [[ 9.93482705e-01 -5.36752100e-02 1.00553900e-01 4.87922806e+00] [ 5.34123032e-02 9.98558442e-01 5.30695114e-03 9.66827215e-02] [-1.00693797e-01 9.84511996e-05 9.94917459e-01 -1.32821964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.2686399999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.91, Y:0.02, Z:-0.14 [[ 0.99737164 -0.05845112 0.04281686 4.91031282] [ 0.05402691 0.99371269 0.09806212 0.01551746] [-0.0482795 -0.09549111 0.99425879 -0.139292 ] [ 0. 0. 0. 1. ]] SLAMing on 7.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:4.94, Y:0.13, Z:-0.13 [[ 0.99727741 -0.04712257 0.05672058 4.93589722] [ 0.04857457 0.99851908 -0.02449794 0.13443145] [-0.05548218 0.02718642 0.99808949 -0.13259815] [ 0. 0. 0. 1. ]] SLAMing on 7.328639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:4.97, Y:0.13, Z:-0.13 [[ 0.99702099 -0.04645429 0.06157231 4.96686079] [ 0.04737556 0.99878473 -0.01358715 0.13058209] [-0.06086631 0.0164637 0.99801014 -0.13428208] [ 0. 0. 0. 1. ]] SLAMing on 7.358639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.00, Y:0.12, Z:-0.14 [[ 9.96722878e-01 -4.58654990e-02 6.66322791e-02 4.99724428e+00] [ 4.55794539e-02 9.98943835e-01 5.80759036e-03 1.20617415e-01] [-6.68282725e-02 -2.75149528e-03 9.97760698e-01 -1.41062191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.03, Y:0.11, Z:-0.14 [[ 0.99718539 -0.04473987 0.06016346 5.0296748 ] [ 0.04371129 0.99887648 0.01830577 0.1128194 ] [-0.06091486 -0.01562442 0.99802067 -0.1432526 ] [ 0. 0. 0. 1. ]] SLAMing on 7.41864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.06, Y:0.15, Z:-0.14 [[ 0.99682303 -0.04069933 0.0684647 5.05969326] [ 0.04195903 0.99897363 -0.01706237 0.14996178] [-0.06770001 0.01988088 0.99750762 -0.13995215] [ 0. 0. 0. 1. ]] SLAMing on 7.448639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.09, Y:0.14, Z:-0.15 [[ 9.96835826e-01 -4.10455040e-02 6.80705691e-02 5.09081668e+00] [ 4.10477670e-02 9.99156251e-01 1.36604165e-03 1.41507964e-01] [-6.80692046e-02 1.43242561e-03 9.97679574e-01 -1.45821146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4786399999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:5.12, Y:0.10, Z:-0.15 [[ 0.99732599 -0.04456968 0.05791735 5.121683 ] [ 0.04178293 0.99795043 0.04846786 0.1021629 ] [-0.05995884 -0.0459183 0.99714415 -0.15162159] [ 0. 0. 0. 1. ]] SLAMing on 7.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.15, Y:0.18, Z:-0.14 [[ 0.99637905 -0.03650174 0.07678805 5.14847834] [ 0.03921642 0.99864712 -0.03414672 0.18220276] [-0.07543775 0.03703443 0.99646254 -0.14439333] [ 0. 0. 0. 1. ]] SLAMing on 7.538639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.18, Y:0.16, Z:-0.15 [[ 0.99601926 -0.03794714 0.08065758 5.17974181] [ 0.03883685 0.9992005 -0.00949012 0.162566 ] [-0.08023297 0.01258482 0.99669669 -0.14907963] [ 0. 0. 0. 1. ]] SLAMing on 7.568639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.21, Y:0.15, Z:-0.15 [[ 0.99624757 -0.03989183 0.07680764 5.21125115] [ 0.0390993 0.99916571 0.01179529 0.14544201] [-0.07721409 -0.0087479 0.99697616 -0.15376308] [ 0. 0. 0. 1. ]] SLAMing on 7.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.24, Y:0.16, Z:-0.16 [[ 9.96126769e-01 -3.96197680e-02 7.84967119e-02 5.24276950e+00] [ 3.95396721e-02 9.99214684e-01 2.57498820e-03 1.57657370e-01] [-7.85370876e-02 5.38719570e-04 9.96911047e-01 -1.55992746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.27, Y:0.16, Z:-0.16 [[ 9.96162665e-01 -4.01760056e-02 7.77549589e-02 5.27369127e+00] [ 3.97591541e-02 9.99185452e-01 6.90239375e-03 1.55416419e-01] [-7.79689344e-02 -3.78443556e-03 9.96948606e-01 -1.58563206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.658639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.30, Y:0.18, Z:-0.16 [[ 0.99516158 -0.03788836 0.09065265 5.30444683] [ 0.0397973 0.99902053 -0.01934306 0.18113783] [-0.08983099 0.0228572 0.9956947 -0.15915555] [ 0. 0. 0. 1. ]] SLAMing on 7.6886399999999995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:5.34, Y:0.15, Z:-0.17 [[ 0.9953973 -0.0435373 0.08537399 5.3363295 ] [ 0.04258164 0.99900862 0.01298391 0.15066758] [-0.08585464 -0.00928879 0.99626437 -0.16578383] [ 0. 0. 0. 1. ]] SLAMing on 7.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.37, Y:0.15, Z:-0.17 [[ 0.99559457 -0.0445586 0.08249843 5.36740901] [ 0.04352635 0.99895036 0.01426974 0.14911076] [-0.08304768 -0.01061602 0.99648903 -0.16760563] [ 0. 0. 0. 1. ]] SLAMing on 7.748639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.40, Y:0.16, Z:-0.17 [[ 9.95715788e-01 -4.41325357e-02 8.12550793e-02 5.39815076e+00] [ 4.38402488e-02 9.99024075e-01 5.37858978e-03 1.56163849e-01] [-8.14131512e-02 -1.79330387e-03 9.96678826e-01 -1.67491183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.778639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.43, Y:0.15, Z:-0.17 [[ 0.99586772 -0.04337555 0.07978755 5.42944293] [ 0.04209387 0.99895727 0.01767683 0.14575553] [-0.0804711 -0.01424522 0.99665514 -0.17142981] [ 0. 0. 0. 1. ]] SLAMing on 7.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.46, Y:0.17, Z:-0.17 [[ 9.95793359e-01 -3.92691116e-02 8.27860121e-02 5.45884017e+00] [ 3.97768465e-02 9.99198491e-01 -4.49209407e-03 1.67453245e-01] [-8.25432578e-02 7.76616394e-03 9.96557222e-01 -1.70512037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.49, Y:0.14, Z:-0.18 [[ 0.99621454 -0.03970641 0.07733034 5.48955521] [ 0.03769387 0.99891598 0.02731378 0.13910771] [-0.07833105 -0.02429551 0.99663131 -0.17921897] [ 0. 0. 0. 1. ]] SLAMing on 7.868639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.52, Y:0.19, Z:-0.17 [[ 0.99506834 -0.03137192 0.0941 5.51870405] [ 0.03437115 0.99894598 -0.03042287 0.19269663] [-0.0930464 0.03350716 0.9950978 -0.17238565] [ 0. 0. 0. 1. ]] SLAMing on 7.898639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.55, Y:0.16, Z:-0.18 [[ 9.95218525e-01 -3.41609812e-02 9.15047297e-02 5.55107274e+00] [ 3.35648995e-02 9.99404155e-01 8.04566961e-03 1.59732093e-01] [-9.17250550e-02 -4.93585239e-03 9.95772138e-01 -1.79833068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.58, Y:0.17, Z:-0.18 [[ 9.94755910e-01 -3.14750020e-02 9.73139495e-02 5.58239781e+00] [ 3.18504376e-02 9.99489985e-01 -2.30657315e-03 1.71761158e-01] [-9.71917185e-02 5.39396914e-03 9.95251061e-01 -1.81258739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.958639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.61, Y:0.15, Z:-0.19 [[ 0.99528782 -0.03269065 0.09128792 5.61344307] [ 0.03107467 0.99933517 0.01906794 0.15339576] [-0.09185057 -0.01614134 0.99564197 -0.18588085] [ 0. 0. 0. 1. ]] SLAMing on 7.988639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.64, Y:0.16, Z:-0.19 [[ 0.9953584 -0.03147245 0.09094582 5.64358309] [ 0.02997803 0.99939291 0.01775187 0.15652317] [-0.0914493 -0.01494309 0.99569761 -0.19063579] [ 0. 0. 0. 1. ]] SLAMing on 8.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.67, Y:0.17, Z:-0.19 [[ 9.95577548e-01 -2.88980660e-02 8.93881889e-02 5.67480922e+00] [ 2.87505886e-02 9.99582301e-01 2.93724270e-03 1.74547538e-01] [-8.94357321e-02 -3.54289841e-04 9.95992532e-01 -1.90134150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.048639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:5.71, Y:0.19, Z:-0.19 [[ 0.99485225 -0.02609666 0.09791819 5.70537311] [ 0.02762847 0.99951568 -0.01432034 0.19324424] [-0.09749706 0.01695196 0.99509143 -0.19160175] [ 0. 0. 0. 1. ]] SLAMing on 8.07864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:5.74, Y:0.18, Z:-0.20 [[ 9.94744890e-01 -2.75152280e-02 9.86180337e-02 5.73607836e+00] [ 2.69756373e-02 9.99612956e-01 6.80099767e-03 1.76497198e-01] [-9.87669951e-02 -4.10497337e-03 9.95102120e-01 -1.96953348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.10864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.77, Y:0.17, Z:-0.20 [[ 0.99504996 -0.02498964 0.09618261 5.76722595] [ 0.02366195 0.99960868 0.01491995 0.17354621] [-0.09651781 -0.01257023 0.99525188 -0.20026503] [ 0. 0. 0. 1. ]] SLAMing on 8.138639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.80, Y:0.19, Z:-0.20 [[ 9.94866441e-01 -2.27812058e-02 9.85990941e-02 5.79718897e+00] [ 2.25397841e-02 9.99739602e-01 3.56188669e-03 1.87484162e-01] [-9.86545631e-02 -1.32119924e-03 9.95120863e-01 -2.02438892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:5.83, Y:0.16, Z:-0.21 [[ 0.99522654 -0.02699992 0.09378238 5.82550897] [ 0.02406336 0.99918839 0.03230361 0.16471064] [-0.09457846 -0.02989269 0.99506851 -0.21048278] [ 0. 0. 0. 1. ]] SLAMing on 8.19864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:5.86, Y:0.22, Z:-0.20 [[ 0.99410972 -0.02000568 0.10651588 5.85698969] [ 0.02285226 0.99941177 -0.02557121 0.2199411 ] [-0.10594166 0.02785472 0.99398213 -0.20260215] [ 0. 0. 0. 1. ]] SLAMing on 8.228639999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:5.88, Y:0.16, Z:-0.22 [[ 0.99486516 -0.03152778 0.0961733 5.88496182] [ 0.02791696 0.99886228 0.03866243 0.16223367] [-0.09728283 -0.03577904 0.99461345 -0.21653617] [ 0. 0. 0. 1. ]] SLAMing on 8.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.91, Y:0.25, Z:-0.20 [[ 0.99237102 -0.02416016 0.12089682 5.91463611] [ 0.03128221 0.99786316 -0.0573632 0.25323013] [-0.11925257 0.0607075 0.99100627 -0.20412661] [ 0. 0. 0. 1. ]] SLAMing on 8.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:5.95, Y:0.18, Z:-0.22 [[ 0.99292252 -0.03737098 0.11273099 5.94540309] [ 0.03525921 0.99916443 0.02066947 0.18222473] [-0.11340924 -0.01654837 0.99341054 -0.21878355] [ 0. 0. 0. 1. ]] SLAMing on 8.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:5.97, Y:0.15, Z:-0.22 [[ 0.99390497 -0.05025791 0.09811753 5.9747817 ] [ 0.04565085 0.99777215 0.04864921 0.15153498] [-0.10034395 -0.04387355 0.99398501 -0.22447568] [ 0. 0. 0. 1. ]] SLAMing on 8.34864 meters Centerline goodness : 0.996007 Centerline is valid? [True, True] Translation: X:6.02, Y:0.19, Z:-0.24 [[ 9.93170107e-01 -4.54685470e-03 1.16586723e-01 6.02442204e+00] [ 8.75236447e-04 9.99502597e-01 3.15244678e-02 1.88654115e-01] [-1.16672070e-01 -3.12071181e-02 9.92680081e-01 -2.35629157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.378639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.03, Y:0.25, Z:-0.22 [[ 0.99153203 -0.04392136 0.12220945 6.02955999] [ 0.0522012 0.99649315 -0.06539445 0.25217818] [-0.11890866 0.07122018 0.99034762 -0.21555936] [ 0. 0. 0. 1. ]] SLAMing on 8.40864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.06, Y:0.19, Z:-0.23 [[ 9.90692693e-01 -5.66253667e-02 1.23780276e-01 6.06133722e+00] [ 5.66706151e-02 9.98387934e-01 3.15816549e-03 1.88706942e-01] [-1.23759566e-01 3.88593291e-03 9.92304625e-01 -2.29486765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.43864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:6.09, Y:0.22, Z:-0.23 [[ 0.98469255 -0.04995531 0.16698816 6.09471798] [ 0.05570432 0.99799891 -0.02991998 0.22104732] [-0.16515934 0.03876395 0.98550482 -0.23063213] [ 0. 0. 0. 1. ]] SLAMing on 8.468639999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.13, Y:0.14, Z:-0.24 [[ 0.99082202 -0.06318374 0.11949703 6.12529162] [ 0.05689992 0.99684779 0.05528906 0.14070671] [-0.12261372 -0.04798225 0.99129389 -0.24396524] [ 0. 0. 0. 1. ]] SLAMing on 8.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:6.16, Y:0.20, Z:-0.24 [[ 0.99031316 -0.05539707 0.12732244 6.15536295] [ 0.05697852 0.99833654 -0.00880958 0.19958049] [-0.12662262 0.01597889 0.99182226 -0.23911832] [ 0. 0. 0. 1. ]] SLAMing on 8.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.19, Y:0.22, Z:-0.24 [[ 0.9845635 -0.04865158 0.16813013 6.18890027] [ 0.05405154 0.99815417 -0.02768921 0.21834065] [-0.16647267 0.03634948 0.98537585 -0.24319508] [ 0. 0. 0. 1. ]] SLAMing on 8.558639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.22, Y:0.19, Z:-0.25 [[ 9.84797140e-01 -5.11589621e-02 1.66004076e-01 6.22230811e+00] [ 5.08052550e-02 9.98688205e-01 6.37925398e-03 1.88546162e-01] [-1.66112669e-01 2.15160834e-03 9.86104433e-01 -2.53061677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:6.25, Y:0.19, Z:-0.26 [[ 9.85330938e-01 -4.60746942e-02 1.64316964e-01 6.25444573e+00] [ 4.56701632e-02 9.98937078e-01 6.24096030e-03 1.89809885e-01] [-1.64429858e-01 1.35497130e-03 9.86387848e-01 -2.58220642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.61864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.28, Y:0.15, Z:-0.26 [[ 0.99162443 -0.05075522 0.11876403 6.28474135] [ 0.04514551 0.99775535 0.04945854 0.15039479] [-0.12100773 -0.04368263 0.99168995 -0.26392559] [ 0. 0. 0. 1. ]] SLAMing on 8.64864 meters Centerline goodness : 0.970598 Centerline is valid? [True, True] Translation: X:6.32, Y:0.19, Z:-0.29 [[ 0.99081129 0.03341353 0.13105926 6.31815029] [-0.04052423 0.99782616 0.05196861 0.1869734 ] [-0.1290379 -0.05680216 0.99001148 -0.28667064] [ 0. 0. 0. 1. ]] SLAMing on 8.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.35, Y:0.25, Z:-0.26 [[ 0.99114989 -0.02882278 0.12958062 6.34513174] [ 0.03679267 0.99754777 -0.05953783 0.25283792] [-0.12754681 0.06377853 0.98977983 -0.25810697] [ 0. 0. 0. 1. ]] SLAMing on 8.708639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.38, Y:0.20, Z:-0.27 [[ 9.91012264e-01 -3.77008311e-02 1.28348511e-01 6.37745098e+00] [ 3.74226262e-02 9.99289036e-01 4.57929467e-03 1.95828975e-01] [-1.28429903e-01 2.65001174e-04 9.91718554e-01 -2.72121532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.73864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:6.41, Y:0.13, Z:-0.29 [[ 9.91890769e-01 -1.61895457e-02 1.26057927e-01 6.41106807e+00] [ 5.15148873e-03 9.96159840e-01 8.74015730e-02 1.34549106e-01] [-1.26988836e-01 -8.60434274e-02 9.88165150e-01 -2.92472370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.76864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.44, Y:0.27, Z:-0.27 [[ 0.99068932 -0.02439452 0.13393875 6.43827399] [ 0.03404568 0.99694856 -0.07024565 0.2677192 ] [-0.13181643 0.07415165 0.98849682 -0.26662997] [ 0. 0. 0. 1. ]] SLAMing on 8.798639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.47, Y:0.16, Z:-0.29 [[ 0.99218531 -0.04194059 0.11751299 6.46784608] [ 0.03615111 0.9980455 0.05097321 0.15920919] [-0.11942116 -0.04632664 0.99176228 -0.28874698] [ 0. 0. 0. 1. ]] SLAMing on 8.82864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:6.50, Y:0.17, Z:-0.29 [[ 0.99097463 -0.03717423 0.12879195 6.49966586] [ 0.03153633 0.99846451 0.04554204 0.16797125] [-0.13028718 -0.04106938 0.99062534 -0.29154202] [ 0. 0. 0. 1. ]] SLAMing on 8.85864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.53, Y:0.23, Z:-0.29 [[ 0.9911532 -0.0259182 0.13016749 6.52646645] [ 0.02921787 0.9992967 -0.02350368 0.23376505] [-0.12946677 0.02709896 0.9912134 -0.28888682] [ 0. 0. 0. 1. ]] SLAMing on 8.888639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.56, Y:0.22, Z:-0.29 [[ 9.91204608e-01 -2.86031616e-02 1.29210235e-01 6.55820269e+00] [ 2.89820923e-02 9.99579376e-01 -1.05295839e-03 2.16060714e-01] [-1.29125768e-01 4.78848015e-03 9.91616663e-01 -2.92551871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:6.59, Y:0.23, Z:-0.30 [[ 0.9908559 -0.02559638 0.13247416 6.58747759] [ 0.0277123 0.99951574 -0.01415306 0.22988079] [-0.13204775 0.0176948 0.99108541 -0.29677006] [ 0. 0. 0. 1. ]] SLAMing on 8.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.62, Y:0.25, Z:-0.30 [[ 0.9882226 -0.02335596 0.15123023 6.61635961] [ 0.02826835 0.99913755 -0.0304146 0.24780812] [-0.15038944 0.03433142 0.98803055 -0.29971989] [ 0. 0. 0. 1. ]] SLAMing on 8.978639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.65, Y:0.14, Z:-0.31 [[ 0.98836532 -0.04203236 0.14617552 6.64868224] [ 0.02932134 0.9956844 0.08805013 0.14116252] [-0.14924564 -0.08273963 0.98533238 -0.31446549] [ 0. 0. 0. 1. ]] SLAMing on 9.00864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:6.68, Y:0.32, Z:-0.29 [[ 0.98116759 -0.01006171 0.19289615 6.68000366] [ 0.02985326 0.99454228 -0.0999722 0.31750849] [-0.19083749 0.10384806 0.97611302 -0.29272132] [ 0. 0. 0. 1. ]] SLAMing on 9.03864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:6.71, Y:0.17, Z:-0.32 [[ 0.98878593 -0.03894924 0.1441712 6.70826835] [ 0.03080695 0.99782453 0.05828504 0.17462049] [-0.14612772 -0.05318995 0.98783476 -0.32207597] [ 0. 0. 0. 1. ]] SLAMing on 9.06864 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:6.74, Y:0.17, Z:-0.33 [[ 0.98281399 -0.08390467 0.1644283 6.73883762] [ 0.07820049 0.99609939 0.04087403 0.17068222] [-0.16721645 -0.02731319 0.9855418 -0.33140559] [ 0. 0. 0. 1. ]] SLAMing on 9.09864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:6.77, Y:0.19, Z:-0.33 [[ 0.98795332 -0.0350295 0.15073546 6.77019599] [ 0.02878394 0.99864223 0.04341875 0.19310985] [-0.15205174 -0.03855694 0.98762019 -0.32569859] [ 0. 0. 0. 1. ]] SLAMing on 9.128639999999999 meters Centerline goodness : 0.847046 Centerline is valid? [True, False] Translation: X:6.80, Y:0.22, Z:-0.33 [[ 0.99030981 -0.02771298 0.13608259 6.80370644] [ 0.02582854 0.99954475 0.01559425 0.22042152] [-0.1364528 -0.01192833 0.99057476 -0.32610279] [ 0. 0. 0. 1. ]] SLAMing on 9.15864 meters Centerline goodness : 0.999557 Centerline is valid? [False, True] Translation: X:6.85, Y:0.24, Z:-0.33 [[ 9.93397525e-01 -2.57428119e-02 1.11797432e-01 6.84962980e+00] [ 2.60895028e-02 9.99658267e-01 -1.63897067e-03 2.37958712e-01] [-1.11717036e-01 4.54488882e-03 9.93729665e-01 -3.28424601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.18864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:6.88, Y:0.30, Z:-0.32 [[ 0.98636305 -0.01610664 0.16379413 6.8805975 ] [ 0.02768595 0.99725594 -0.06865913 0.30207451] [-0.1622388 0.07225762 0.98410234 -0.32169777] [ 0. 0. 0. 1. ]] SLAMing on 9.218639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:6.91, Y:0.19, Z:-0.34 [[ 0.99241693 -0.03467016 0.11792636 6.91093326] [ 0.02882587 0.99828721 0.05090884 0.19237459] [-0.1194894 -0.04712346 0.99171652 -0.34451432] [ 0. 0. 0. 1. ]] SLAMing on 9.24864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:6.94, Y:0.28, Z:-0.33 [[ 0.98635855 -0.02294023 0.16300479 6.94358276] [ 0.03004099 0.99869793 -0.04123089 0.27899786] [-0.1618467 0.04556526 0.98576339 -0.3335484 ] [ 0. 0. 0. 1. ]] SLAMing on 9.27864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:6.97, Y:0.16, Z:-0.35 [[ 0.99349679 -0.04131086 0.10610152 6.9731302 ] [ 0.03254585 0.99601359 0.08305237 0.16448638] [-0.10910952 -0.0790591 0.99088081 -0.3509312 ] [ 0. 0. 0. 1. ]] SLAMing on 9.308639999999999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:7.00, Y:0.26, Z:-0.35 [[ 0.99251994 -0.02804706 0.11881718 7.00199102] [ 0.03071878 0.9993134 -0.02071415 0.26045073] [-0.11815463 0.02420913 0.99270006 -0.34525009] [ 0. 0. 0. 1. ]] SLAMing on 9.33864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:7.03, Y:0.19, Z:-0.36 [[ 0.99173609 -0.03991986 0.12192592 7.03180299] [ 0.03286184 0.99769556 0.05936056 0.18603667] [-0.12401461 -0.0548633 0.99076253 -0.35646036] [ 0. 0. 0. 1. ]] SLAMing on 9.36864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:7.06, Y:0.28, Z:-0.35 [[ 0.99237325 -0.02640172 0.12040883 7.06187437] [ 0.03134569 0.99873363 -0.03935212 0.27517262] [-0.11921738 0.04282629 0.99194411 -0.34819172] [ 0. 0. 0. 1. ]] SLAMing on 9.398639999999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:7.09, Y:0.24, Z:-0.36 [[ 9.91885505e-01 -3.22416386e-02 1.22978137e-01 7.09125582e+00] [ 3.29466731e-02 9.99450250e-01 -3.70320896e-03 2.40447157e-01] [-1.22791132e-01 7.72487977e-03 9.92402471e-01 -3.56209710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.42864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:7.13, Y:0.25, Z:-0.36 [[ 0.99220288 -0.0262799 0.12183107 7.12532146] [ 0.02777623 0.99955797 -0.01059967 0.24640033] [-0.12149865 0.01390104 0.99249425 -0.35902193] [ 0. 0. 0. 1. ]] SLAMing on 9.458639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:7.15, Y:0.20, Z:-0.37 [[ 0.9913687 -0.03762227 0.12558925 7.15183626] [ 0.03344803 0.998821 0.03518284 0.19955986] [-0.12676484 -0.03067845 0.99145827 -0.37216026] [ 0. 0. 0. 1. ]] SLAMing on 9.48864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:7.18, Y:0.22, Z:-0.37 [[ 9.90259603e-01 -3.40984934e-02 1.34993377e-01 7.18030161e+00] [ 3.34092066e-02 9.99414591e-01 7.36883704e-03 2.23526408e-01] [-1.35165617e-01 -2.78704002e-03 9.90819100e-01 -3.70027832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.51864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:7.21, Y:0.30, Z:-0.36 [[ 0.98371531 -0.01740049 0.17888936 7.21297454] [ 0.03208917 0.99631443 -0.07954773 0.30396751] [-0.17684589 0.08399273 0.98064813 -0.35934548] [ 0. 0. 0. 1. ]] SLAMing on 9.548639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:7.25, Y:0.23, Z:-0.38 [[ 9.83667411e-01 -2.78328353e-02 1.77830698e-01 7.24563062e+00] [ 2.74791789e-02 9.99612463e-01 4.45185372e-03 2.29202032e-01] [-1.77885690e-01 5.07498149e-04 9.84051027e-01 -3.77716407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.57864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:7.28, Y:0.23, Z:-0.38 [[ 9.83503099e-01 -2.60018603e-02 1.79012731e-01 7.27820087e+00] [ 2.56302749e-02 9.99661857e-01 4.38858849e-03 2.29258696e-01] [-1.79066310e-01 2.71955117e-04 9.83836969e-01 -3.83014135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.60864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:7.31, Y:0.23, Z:-0.39 [[ 9.83822059e-01 -2.18574694e-02 1.77810032e-01 7.31055848e+00] [ 2.14402330e-02 9.99761022e-01 4.26787940e-03 2.26027447e-01] [-1.77860824e-01 -3.86545391e-04 9.84055577e-01 -3.87717491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.638639999999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:7.34, Y:0.14, Z:-0.40 [[ 0.99195427 -0.03595517 0.12138346 7.34031523] [ 0.02443675 0.99516948 0.09508177 0.1420663 ] [-0.12421579 -0.09135055 0.98804125 -0.39604863] [ 0. 0. 0. 1. ]] SLAMing on 9.66864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:7.37, Y:0.27, Z:-0.39 [[ 0.98975295 -0.01139775 0.14233481 7.37108686] [ 0.01813913 0.99876956 -0.04615553 0.27418445] [-0.14163361 0.0482644 0.98874186 -0.38630424] [ 0. 0. 0. 1. ]] SLAMing on 9.69864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:7.40, Y:0.24, Z:-0.40 [[ 9.89655176e-01 -1.48403328e-02 1.42696874e-01 7.40149389e+00] [ 1.53324811e-02 9.99879689e-01 -2.34988973e-03 2.36068233e-01] [-1.42644833e-01 4.51347766e-03 9.89763649e-01 -3.98579510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.728639999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:7.43, Y:0.23, Z:-0.40 [[ 9.89649587e-01 -1.44015080e-02 1.42780568e-01 7.43304092e+00] [ 1.39010663e-02 9.99893241e-01 4.50191497e-03 2.29736694e-01] [-1.42830160e-01 -2.47051614e-03 9.89744130e-01 -4.04326662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.75864 meters Centerline goodness : 0.869415 Centerline is valid? [True, False] Translation: X:7.47, Y:0.23, Z:-0.41 [[ 9.92820263e-01 -1.13807783e-02 1.19073104e-01 7.47397556e+00] [ 1.14316500e-02 9.99934624e-01 2.55813062e-04 2.33244197e-01] [-1.19068231e-01 1.10722566e-03 9.92885457e-01 -4.08730727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.78864 meters Centerline goodness : 0.999261 Centerline is valid? [False, True] Translation: X:7.50, Y:0.24, Z:-0.41 [[ 9.95034800e-01 -7.98484072e-03 9.92067955e-02 7.50311700e+00] [ 8.24806388e-03 9.99963468e-01 -2.24341060e-03 2.35762985e-01] [-9.91852580e-02 3.05053560e-03 9.95064309e-01 -4.11422153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.81864 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:7.53, Y:0.23, Z:-0.42 [[ 9.94969645e-01 -9.31404377e-03 9.97429395e-02 7.53359944e+00] [ 8.55353456e-03 9.99931018e-01 8.04963266e-03 2.25420691e-01] [-9.98110336e-02 -7.15598547e-03 9.94980678e-01 -4.18169016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.84864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:7.56, Y:0.23, Z:-0.42 [[ 9.94596423e-01 -8.49899070e-03 1.03468463e-01 7.56476069e+00] [ 8.77097999e-03 9.99959171e-01 -2.17401144e-03 2.32832931e-01] [-1.03445762e-01 3.06978382e-03 9.94630359e-01 -4.17485284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.878639999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:7.60, Y:0.27, Z:-0.42 [[ 9.88948230e-01 -7.68690714e-04 1.48259259e-01 7.59723502e+00] [ 7.64210605e-03 9.98921548e-01 -4.57967049e-02 2.73602179e-01] [-1.48064165e-01 4.64235832e-02 9.87887572e-01 -4.16724282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.90864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:7.63, Y:0.23, Z:-0.43 [[ 9.89303403e-01 -4.54733696e-03 1.45801571e-01 7.62962000e+00] [ 4.26426544e-03 9.99988368e-01 2.25396581e-03 2.31766045e-01] [-1.45810125e-01 -1.60811945e-03 9.89311286e-01 -4.27067458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.93864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:7.66, Y:0.17, Z:-0.43 [[ 9.95478893e-01 -1.20840966e-02 9.42111908e-02 7.65913213e+00] [ 5.51082078e-03 9.97551233e-01 6.97220753e-02 1.70949202e-01] [-9.48230178e-02 -6.88876734e-02 9.93107791e-01 -4.32720762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.968639999999999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:7.69, Y:0.17, Z:-0.44 [[ 9.95096770e-01 -4.99371591e-03 9.87799607e-02 7.68806689e+00] [-2.28406411e-03 9.97298000e-01 7.34267118e-02 1.69959585e-01] [-9.88797294e-02 -7.32923035e-02 9.92396613e-01 -4.35846552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.99864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:7.72, Y:0.23, Z:-0.43 [[ 9.94503809e-01 5.37479795e-03 1.04562354e-01 7.71860877e+00] [-6.86450012e-03 9.99879933e-01 1.38923698e-02 2.26889621e-01] [-1.04475131e-01 -1.45337830e-02 9.94421297e-01 -4.33774820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.02864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:7.75, Y:0.22, Z:-0.44 [[ 0.99448898 0.00914617 0.10444143 7.74720734] [-0.01174071 0.99963687 0.02425437 0.22156871] [-0.10418167 -0.02534692 0.99423524 -0.43763997] [ 0. 0. 0. 1. ]] SLAMing on 10.058639999999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:7.78, Y:0.33, Z:-0.42 [[ 0.99407305 0.02746034 0.10518891 7.78019637] [-0.01753264 0.995402 -0.09416726 0.33200879] [-0.10729112 0.09176489 0.98998375 -0.42490919] [ 0. 0. 0. 1. ]] SLAMing on 10.08864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:7.81, Y:0.26, Z:-0.44 [[ 0.99351101 0.01757035 0.11237059 7.80857333] [-0.01587867 0.99974699 -0.01593178 0.26377682] [-0.11262209 0.0140441 0.99353864 -0.44019092] [ 0. 0. 0. 1. ]] SLAMing on 10.11864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:7.84, Y:0.26, Z:-0.45 [[ 9.93169460e-01 1.65712881e-02 1.15498120e-01 7.83877548e+00] [-1.63803974e-02 9.99862447e-01 -2.60175855e-03 2.57993609e-01] [-1.15525347e-01 6.92082030e-04 9.93304291e-01 -4.45635713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.148639999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:7.87, Y:0.23, Z:-0.46 [[ 0.9933741 0.01202252 0.11429508 7.86581993] [-0.01556528 0.99942404 0.03015488 0.23149966] [-0.11386671 -0.03173411 0.99298908 -0.45595699] [ 0. 0. 0. 1. ]] SLAMing on 10.17864 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:7.90, Y:0.27, Z:-0.45 [[ 0.99316872 0.01833642 0.11523748 7.89740904] [-0.01694841 0.99977168 -0.0130132 0.27486775] [-0.11544978 0.01097121 0.99325273 -0.45303462] [ 0. 0. 0. 1. ]] SLAMing on 10.208639999999999 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:7.93, Y:0.28, Z:-0.46 [[ 0.99252857 0.01768757 0.12072359 7.92699622] [-0.01647859 0.99980365 -0.01100552 0.2758091 ] [-0.12089455 0.00893393 0.99262515 -0.45881144] [ 0. 0. 0. 1. ]] SLAMing on 10.23864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:7.96, Y:0.32, Z:-0.45 [[ 0.98490842 0.02360175 0.17145952 7.95885728] [-0.01467333 0.99847846 -0.05315508 0.31882599] [-0.17245319 0.049837 0.98375615 -0.45471895] [ 0. 0. 0. 1. ]] SLAMing on 10.26864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:7.98, Y:0.15, Z:-0.48 [[ 9.92548598e-01 -6.75722397e-03 1.21661913e-01 7.98434207e+00] [-9.91112539e-03 9.90675648e-01 1.35880576e-01 1.46556449e-01] [-1.21445670e-01 -1.36073882e-01 9.83226753e-01 -4.75058221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.298639999999999 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:8.02, Y:0.32, Z:-0.46 [[ 0.99199484 0.02075899 0.12456041 8.02218744] [-0.01445762 0.99857959 -0.05128137 0.32153374] [-0.12544803 0.04907 0.99088593 -0.45822987] [ 0. 0. 0. 1. ]] SLAMing on 10.32864 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:8.05, Y:0.28, Z:-0.47 [[ 9.91698971e-01 1.40331489e-02 1.27813231e-01 8.05179857e+00] [-1.38146334e-02 9.99901203e-01 -2.59601240e-03 2.78852669e-01] [-1.27837034e-01 8.08769890e-04 9.91794857e-01 -4.70874646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.35864 meters Centerline goodness : 0.777701 Centerline is valid? [True, False] Translation: X:8.08, Y:0.29, Z:-0.47 [[ 0.99412705 0.01681918 0.10690432 8.07922766] [-0.0158196 0.99982292 -0.01019144 0.28778419] [-0.1070568 0.00844041 0.99421708 -0.4725294 ] [ 0. 0. 0. 1. ]] SLAMing on 10.388639999999999 meters Centerline goodness : 0.999067 Centerline is valid? [False, True] Translation: X:8.09, Y:0.29, Z:-0.47 [[ 9.95338696e-01 3.07847538e-02 9.13957250e-02 8.09297735e+00] [-3.02212965e-02 9.99514771e-01 -7.54291624e-03 2.93484263e-01] [-9.15835840e-02 4.74565911e-03 9.95786084e-01 -4.72747400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.41864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:8.13, Y:0.34, Z:-0.47 [[ 0.99502719 0.03732073 0.09234741 8.12772859] [-0.03177705 0.99764462 -0.06078998 0.34362303] [-0.09439862 0.05755316 0.99386948 -0.46516389] [ 0. 0. 0. 1. ]] SLAMing on 10.44864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:8.15, Y:0.27, Z:-0.48 [[ 0.99591927 0.0267905 0.08618052 8.15351887] [-0.02876883 0.99934843 0.02179596 0.27026402] [-0.08554045 -0.02418633 0.99604109 -0.48124783] [ 0. 0. 0. 1. ]] SLAMing on 10.478639999999999 meters Centerline goodness : 0.844701 Centerline is valid? [True, False] Translation: X:8.16, Y:0.28, Z:-0.48 [[ 0.99659741 0.03543658 0.07441679 8.16401651] [-0.03637209 0.99927495 0.01125341 0.2819589 ] [-0.07396405 -0.01392181 0.99716373 -0.48168988] [ 0. 0. 0. 1. ]] SLAMing on 10.50864 meters Centerline goodness : 0.999018 Centerline is valid? [False, True] Translation: X:8.16, Y:0.29, Z:-0.48 [[ 9.96712534e-01 3.18457246e-02 7.44981486e-02 8.16348131e+00] [-3.23640157e-02 9.99459551e-01 5.75996159e-03 2.86767341e-01] [-7.42744560e-02 -8.15208517e-03 9.97204517e-01 -4.82345630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.53864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:8.20, Y:0.30, Z:-0.48 [[ 9.96546528e-01 3.26869347e-02 7.63320557e-02 8.19620135e+00] [-3.24956412e-02 9.99464853e-01 -3.74710154e-03 2.96374635e-01] [-7.64136881e-02 1.25370193e-03 9.97075412e-01 -4.84742547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.568639999999998 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:8.23, Y:0.30, Z:-0.49 [[ 9.96363562e-01 3.34302330e-02 7.83713752e-02 8.22891618e+00] [-3.31785198e-02 9.99439256e-01 -4.51209457e-03 3.01350200e-01] [-7.84782693e-02 1.89544039e-03 9.96914023e-01 -4.88018347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.59864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:8.26, Y:0.28, Z:-0.49 [[ 0.99690573 0.03126877 0.07211958 8.25901443] [-0.03290962 0.99922324 0.02167655 0.28049163] [-0.07138576 -0.02398291 0.99716042 -0.49196371] [ 0. 0. 0. 1. ]] SLAMing on 10.628639999999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:8.29, Y:0.30, Z:-0.49 [[ 9.96710975e-01 3.36274237e-02 7.37321471e-02 8.29141602e+00] [-3.36373953e-02 9.99433490e-01 -1.10687658e-03 3.01097031e-01] [-7.37275985e-02 -1.37692134e-03 9.97277467e-01 -4.90710383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.65864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:8.32, Y:0.30, Z:-0.49 [[ 9.96505636e-01 3.50861459e-02 7.57989437e-02 8.32332040e+00] [-3.50852967e-02 9.99383419e-01 -1.34324490e-03 3.03820981e-01] [-7.57993368e-02 -1.32087732e-03 9.97122217e-01 -4.93963249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.68864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:8.35, Y:0.27, Z:-0.50 [[ 0.99714934 0.03149017 0.06856801 8.34985647] [-0.0336297 0.9989757 0.03027538 0.2748033 ] [-0.0675444 -0.032495 0.99718696 -0.49985534] [ 0. 0. 0. 1. ]] SLAMing on 10.718639999999999 meters Centerline goodness : 0.790963 Centerline is valid? [True, False] Translation: X:8.38, Y:0.28, Z:-0.50 [[ 0.99798431 0.02633218 0.05774028 8.38085121] [-0.02745423 0.99944765 0.01872618 0.28399757] [-0.05721528 -0.02027365 0.99815599 -0.49869411] [ 0. 0. 0. 1. ]] SLAMing on 10.74864 meters Centerline goodness : 0.998920 Centerline is valid? [False, True] Translation: X:8.38, Y:0.29, Z:-0.50 [[ 0.99804772 0.02280577 0.05814328 8.37957584] [-0.0236341 0.99962818 0.01359859 0.28810733] [-0.05781154 -0.01494621 0.99821563 -0.49821909] [ 0. 0. 0. 1. ]] SLAMing on 10.77864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:8.41, Y:0.30, Z:-0.50 [[ 9.98080453e-01 2.28628803e-02 5.75560498e-02 8.41236301e+00] [-2.29128259e-02 9.99737445e-01 2.07903019e-04 3.03866415e-01] [-5.75361849e-02 -1.52627569e-03 9.98342255e-01 -4.97185402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.808639999999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:8.44, Y:0.25, Z:-0.50 [[ 9.99762224e-01 1.95858707e-02 9.58588413e-03 8.44200236e+00] [-2.01578070e-02 9.97763289e-01 6.37344633e-02 2.46404407e-01] [-8.31614833e-03 -6.39125391e-02 9.97920853e-01 -5.04254210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.83864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:8.47, Y:0.27, Z:-0.50 [[ 0.99948199 0.02062327 0.02470703 8.46690602] [-0.02165531 0.99887199 0.04225877 0.26688759] [-0.02380765 -0.04277192 0.99880116 -0.50271009] [ 0. 0. 0. 1. ]] SLAMing on 10.86864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:8.50, Y:0.41, Z:-0.47 [[ 0.99738781 0.02630329 0.06727326 8.49943009] [-0.01892237 0.9939611 -0.10808917 0.40626271] [-0.0697101 0.10653385 0.99186241 -0.47120477] [ 0. 0. 0. 1. ]] SLAMing on 10.898639999999999 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:8.53, Y:0.26, Z:-0.50 [[ 0.99953873 0.01941212 0.02335604 8.52933135] [-0.02065853 0.99830743 0.05436451 0.26087188] [-0.02226118 -0.05482194 0.99824796 -0.50168933] [ 0. 0. 0. 1. ]] SLAMing on 10.92864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:8.56, Y:0.32, Z:-0.49 [[ 0.99935435 0.02311884 0.02750263 8.56208154] [-0.02278458 0.99966343 -0.01240562 0.3233134 ] [-0.02778018 0.01177097 0.99954475 -0.49166368] [ 0. 0. 0. 1. ]] SLAMing on 10.958639999999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:8.59, Y:0.35, Z:-0.49 [[ 0.99731276 0.02332132 0.06945055 8.59264345] [-0.02056539 0.99898256 -0.04013607 0.34952464] [-0.07031592 0.03859993 0.99677767 -0.49000408] [ 0. 0. 0. 1. ]] SLAMing on 10.98864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:8.62, Y:0.26, Z:-0.51 [[ 0.99950244 0.01756731 0.02619662 8.62234836] [-0.01920664 0.99778432 0.06369889 0.25866103] [-0.02501956 -0.06417035 0.99762527 -0.50758769] [ 0. 0. 0. 1. ]] SLAMing on 11.01864 meters Centerline goodness : 0.907384 Centerline is valid? [True, False] Translation: X:8.61, Y:0.29, Z:-0.50 [[ 0.9994075 0.0200312 0.02798912 8.60678702] [-0.0210382 0.99912457 0.03615932 0.28618261] [-0.0272403 -0.03672673 0.99895401 -0.50395578] [ 0. 0. 0. 1. ]] SLAMing on 11.048639999999999 meters Centerline goodness : 0.999017 Centerline is valid? [False, True] Translation: X:8.64, Y:0.30, Z:-0.50 [[ 0.99980481 0.00989647 0.01709984 8.63755822] [-0.0102169 0.99977193 0.01875394 0.30262822] [-0.01691034 -0.01892499 0.99967789 -0.50215518] [ 0. 0. 0. 1. ]] SLAMing on 11.07864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:8.67, Y:0.32, Z:-0.50 [[ 9.99786114e-01 1.02547213e-02 1.79601690e-02 8.66884456e+00] [-1.02490447e-02 9.99947394e-01 -4.08085537e-04 3.22681081e-01] [-1.79634090e-02 2.23923678e-04 9.99838620e-01 -4.99602736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.10864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:8.70, Y:0.33, Z:-0.50 [[ 9.99798647e-01 9.08260501e-03 1.78933451e-02 8.69930283e+00] [-9.06668032e-03 9.99958425e-01 -9.70902186e-04 3.28394970e-01] [-1.79014195e-02 8.08473452e-04 9.99839430e-01 -4.99843571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.138639999999999 meters Centerline goodness : 0.940452 Centerline is valid? [True, False] Translation: X:8.70, Y:0.33, Z:-0.50 [[ 9.99827550e-01 5.08492858e-03 1.78609573e-02 8.69939318e+00] [-4.96872835e-03 9.99966242e-01 -6.54418670e-03 3.34616393e-01] [-1.78936311e-02 6.45431191e-03 9.99819064e-01 -4.99361432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.16864 meters Centerline goodness : 0.999068 Centerline is valid? [False, True] Translation: X:8.70, Y:0.34, Z:-0.50 [[ 9.99838755e-01 1.07613368e-03 1.79249942e-02 8.69925921e+00] [-8.59639474e-04 9.99926651e-01 -1.20811134e-02 3.40608015e-01] [-1.79366803e-02 1.20637563e-02 9.99766343e-01 -4.98852516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.19864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:8.73, Y:0.42, Z:-0.48 [[ 9.96536777e-01 3.19471612e-03 8.30917871e-02 8.72988618e+00] [ 4.42979672e-03 9.95803110e-01 -9.14141320e-02 4.16834853e-01] [-8.30351022e-02 9.14656242e-02 9.92340270e-01 -4.80726570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.228639999999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:8.76, Y:0.33, Z:-0.51 [[ 9.96491707e-01 -4.84265261e-03 8.35513366e-02 8.76315891e+00] [ 4.73786646e-03 9.99987722e-01 1.45238263e-03 3.34674585e-01] [-8.35573441e-02 -1.05143217e-03 9.96502416e-01 -5.06667473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.25864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:8.79, Y:0.22, Z:-0.52 [[ 0.99933687 -0.02198651 0.02902439 8.78918455] [ 0.0181595 0.99185165 0.12609734 0.21799875] [-0.03156033 -0.12548666 0.99159319 -0.52267119] [ 0. 0. 0. 1. ]] SLAMing on 11.28864 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:8.82, Y:0.35, Z:-0.51 [[ 9.99046052e-01 3.55560784e-03 4.35240561e-02 8.82215724e+00] [-3.08610158e-03 9.99936378e-01 -1.08497247e-02 3.52383093e-01] [-4.35598644e-02 1.07050549e-02 9.98993463e-01 -5.06187566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.318639999999998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:8.85, Y:0.42, Z:-0.48 [[ 0.99557595 -0.01195815 0.09319623 8.85269398] [ 0.02114329 0.99494184 -0.09820235 0.42261838] [-0.09155051 0.09973838 0.990793 -0.48043194] [ 0. 0. 0. 1. ]] SLAMing on 11.34864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:8.89, Y:0.33, Z:-0.51 [[ 9.95603447e-01 -2.08525305e-02 9.13178407e-02 8.88578939e+00] [ 2.08011200e-02 9.99782486e-01 1.51479751e-03 3.32294827e-01] [-9.13295651e-02 3.91375737e-04 9.95820645e-01 -5.08476500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.378639999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:8.92, Y:0.33, Z:-0.51 [[ 9.95792231e-01 -2.36790813e-02 8.85275867e-02 8.91846270e+00] [ 2.36457478e-02 9.99719384e-01 1.42537043e-03 3.29214492e-01] [-8.85364959e-02 6.73928189e-04 9.96072706e-01 -5.11590963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.40864 meters Centerline goodness : 0.880625 Centerline is valid? [True, False] Translation: X:8.95, Y:0.33, Z:-0.51 [[ 9.97353652e-01 -2.20402946e-02 6.92814383e-02 8.95068894e+00] [ 2.24872382e-02 9.99731007e-01 -5.67775799e-03 3.34133100e-01] [-6.91376627e-02 7.22068088e-03 9.97580997e-01 -5.11320308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.43864 meters Centerline goodness : 0.999459 Centerline is valid? [False, True] Translation: X:8.98, Y:0.34, Z:-0.51 [[ 0.99812314 -0.02114606 0.05747215 8.9765989 ] [ 0.02174655 0.99971506 -0.00984296 0.33751012] [-0.05724764 0.0110743 0.99829859 -0.51108466] [ 0. 0. 0. 1. ]] SLAMing on 11.468639999999999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:9.01, Y:0.27, Z:-0.52 [[ 0.99958871 -0.025401 0.01331137 9.0056436 ] [ 0.02458816 0.998012 0.05802994 0.26930895] [-0.01475892 -0.05767877 0.99822609 -0.52274729] [ 0. 0. 0. 1. ]] SLAMing on 11.49864 meters Centerline goodness : 0.871315 Centerline is valid? [True, False] Translation: X:8.99, Y:0.30, Z:-0.51 [[ 0.99969046 -0.02147634 0.01255974 8.99385505] [ 0.02122533 0.99957887 0.01978785 0.30119658] [-0.01297942 -0.01951514 0.99972531 -0.51358936] [ 0. 0. 0. 1. ]] SLAMing on 11.52864 meters Centerline goodness : 0.999018 Centerline is valid? [False, True] Translation: X:8.97, Y:0.31, Z:-0.51 [[ 9.99816202e-01 -1.13148699e-02 1.54769177e-02 8.97055711e+00] [ 1.13231824e-02 9.99935790e-01 -4.49567315e-04 3.14939048e-01] [-1.54708371e-02 6.24732648e-04 9.99880124e-01 -5.11087468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.558639999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:9.00, Y:0.35, Z:-0.50 [[ 9.99936871e-01 -1.08879147e-02 2.77636676e-03 9.00090121e+00] [ 1.10041621e-02 9.98880316e-01 -4.60111141e-02 3.52703366e-01] [-2.27229302e-03 4.60387610e-02 9.98937070e-01 -5.03176449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.58864 meters Centerline goodness : 0.877654 Centerline is valid? [True, False] Translation: X:9.02, Y:0.34, Z:-0.50 [[ 9.99958465e-01 -7.03659033e-03 -5.79264718e-03 9.02480064e+00] [ 6.84320151e-03 9.99440015e-01 -3.27540524e-02 3.36778297e-01] [ 6.01988023e-03 3.27130517e-02 9.99446656e-01 -5.04676689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.61864 meters Centerline goodness : 0.999410 Centerline is valid? [False, True] Translation: X:9.02, Y:0.31, Z:-0.51 [[ 9.99958545e-01 -8.70054923e-03 2.68486774e-03 9.02170060e+00] [ 8.73269322e-03 9.99887416e-01 -1.22022843e-02 3.10466258e-01] [-2.57839889e-03 1.22252246e-02 9.99921945e-01 -5.08828217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.648639999999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:9.05, Y:0.30, Z:-0.51 [[ 9.99952453e-01 -9.45939246e-03 2.36886323e-03 9.05429550e+00] [ 9.45945233e-03 9.99955258e-01 -1.40671184e-05 2.96335108e-01] [-2.36862417e-03 3.64745983e-05 9.99997194e-01 -5.09431861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.67864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:9.09, Y:0.29, Z:-0.51 [[ 9.99945058e-01 -9.51811207e-03 4.39166073e-03 9.08780171e+00] [ 9.51835120e-03 9.99954699e-01 -3.35529002e-05 2.93890025e-01] [-4.39114242e-03 7.53524258e-05 9.99990356e-01 -5.07981041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.708639999999999 meters Centerline goodness : 0.779547 Centerline is valid? [True, False] Translation: X:9.11, Y:0.29, Z:-0.50 [[ 9.99996361e-01 -2.69761794e-03 -1.20825731e-05 9.11028018e+00] [ 2.69760948e-03 9.99996148e-01 -6.53077732e-04 2.89298936e-01] [ 1.38442808e-05 6.53042762e-04 9.99999787e-01 -5.04872486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.73864 meters Centerline goodness : 0.999556 Centerline is valid? [False, True] Translation: X:9.13, Y:0.29, Z:-0.50 [[ 9.99989313e-01 -3.38833237e-04 -4.61083227e-03 9.13187706e+00] [ 3.07266739e-04 9.99976524e-01 -6.84514778e-03 2.90686488e-01] [ 4.61304339e-03 6.84365787e-03 9.99965942e-01 -5.00711477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.76864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:9.16, Y:0.27, Z:-0.50 [[ 9.99993594e-01 8.09784140e-04 3.48657077e-03 9.15690752e+00] [-8.17927053e-04 9.99996940e-01 2.33471573e-03 2.74860945e-01] [-3.48466949e-03 -2.33755253e-03 9.99991196e-01 -5.02429164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.798639999999999 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:9.18, Y:0.24, Z:-0.51 [[ 9.99959875e-01 -2.45736527e-03 8.61447889e-03 9.18133313e+00] [ 2.11498611e-03 9.99216112e-01 3.95308563e-02 2.38937497e-01] [-8.70486785e-03 -3.95110506e-02 9.99181216e-01 -5.05191228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.82864 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:9.21, Y:0.30, Z:-0.49 [[ 9.99983318e-01 1.88116208e-03 5.46128103e-03 9.21389980e+00] [-1.69056249e-03 9.99396433e-01 -3.46974246e-02 3.03280191e-01] [-5.52325626e-03 3.46876131e-02 9.99382941e-01 -4.93553879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.85864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:9.24, Y:0.30, Z:-0.49 [[ 9.99914858e-01 5.24304217e-03 1.19493727e-02 9.24348453e+00] [-4.81913852e-03 9.99367548e-01 -3.52318067e-02 2.96877118e-01] [-1.21265372e-02 3.51712213e-02 9.99307727e-01 -4.92917567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.888639999999999 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:9.27, Y:0.21, Z:-0.51 [[ 9.99820535e-01 -2.41112963e-03 1.87905243e-02 9.26658038e+00] [ 1.25364350e-03 9.98114330e-01 6.13694699e-02 2.05436954e-01] [-1.89030613e-02 -6.13348996e-02 9.97938227e-01 -5.06348533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.91864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:9.30, Y:0.24, Z:-0.50 [[ 9.99751586e-01 -3.54669972e-04 2.22854263e-02 9.29922863e+00] [-1.77126008e-04 9.99715379e-01 2.38564443e-02 2.36554072e-01] [-2.22875446e-02 -2.38544654e-02 9.99466973e-01 -5.04311549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.94864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:9.33, Y:0.38, Z:-0.48 [[ 9.97598246e-01 6.29145494e-03 6.89794035e-02 9.33354127e+00] [ 3.71743729e-03 9.89567969e-01 -1.44018804e-01 3.81084380e-01] [-6.91658960e-02 1.43929333e-01 9.87167881e-01 -4.76362225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.978639999999999 meters Centerline goodness : 0.994485 Centerline is valid? [True, True] Translation: X:9.40, Y:0.19, Z:-0.52 [[ 9.99931311e-01 -5.79583194e-03 1.01872942e-02 9.39769293e+00] [ 5.11436782e-03 9.97826863e-01 6.56916608e-02 1.92642707e-01] [-1.05458936e-02 -6.56350469e-02 9.97787966e-01 -5.22085077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.00864 meters Centerline goodness : 0.996994 Centerline is valid? [True, True] Translation: X:9.39, Y:0.22, Z:-0.50 [[ 9.99964110e-01 1.22835554e-03 8.38269601e-03 9.38684283e+00] [-1.38855036e-03 9.99816018e-01 1.91311933e-02 2.23460609e-01] [-8.35765383e-03 -1.91421465e-02 9.99781840e-01 -5.00380293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.03864 meters Centerline goodness : 0.996599 Centerline is valid? [True, True] Translation: X:9.42, Y:0.31, Z:-0.49 [[ 9.99583765e-01 4.58382084e-03 2.84830854e-02 9.41767783e+00] [-2.41636803e-03 9.97130020e-01 -7.56695798e-02 3.05197519e-01] [-2.87481953e-02 7.55692578e-02 9.96726055e-01 -4.88035549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.068639999999998 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:9.44, Y:0.20, Z:-0.50 [[ 9.99812914e-01 -2.35917991e-03 1.91982118e-02 9.44374197e+00] [ 1.71150708e-03 9.99431106e-01 3.36828720e-02 2.01484430e-01] [-1.92667540e-02 -3.36437125e-02 9.99248164e-01 -5.01849529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.09864 meters Centerline goodness : 0.997092 Centerline is valid? [True, True] Translation: X:9.48, Y:0.25, Z:-0.50 [[ 9.99416762e-01 1.11310076e-03 3.41305820e-02 9.47568394e+00] [-1.05133896e-04 9.99564177e-01 -2.95202427e-02 2.54669220e-01] [-3.41485662e-02 2.94994371e-02 9.98981310e-01 -4.99678289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.128639999999999 meters Centerline goodness : 0.847600 Centerline is valid? [True, False] Translation: X:9.48, Y:0.23, Z:-0.50 [[ 9.99689912e-01 -4.69764832e-03 2.44542654e-02 9.48138051e+00] [ 5.03450980e-03 9.99893039e-01 -1.37318704e-02 2.33300809e-01] [-2.43871423e-02 1.38507275e-02 9.99606635e-01 -5.01117906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.15864 meters Centerline goodness : 0.950929 Centerline is valid? [False, True] Translation: X:9.48, Y:0.23, Z:-0.50 [[ 9.99702735e-01 -8.29651477e-04 2.43670366e-02 9.48155029e+00] [ 1.02358871e-03 9.99967893e-01 -7.94760562e-03 2.25958284e-01] [-2.43596605e-02 7.97018490e-03 9.99671488e-01 -5.01651263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.18864 meters Centerline goodness : 0.897574 Centerline is valid? [True, False] Translation: X:9.48, Y:0.22, Z:-0.50 [[ 9.99707125e-01 -9.27223320e-04 2.41827318e-02 9.48203866e+00] [ 1.09381775e-03 9.99975757e-01 -6.87666540e-03 2.21096661e-01] [-2.41757693e-02 6.90110289e-03 9.99683904e-01 -5.02143817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.218639999999999 meters Centerline goodness : 0.998130 Centerline is valid? [False, True] Translation: X:9.48, Y:0.21, Z:-0.50 [[ 9.99709332e-01 -1.18024788e-03 2.40802398e-02 9.48228290e+00] [ 1.29453410e-03 9.99987971e-01 -4.73102204e-03 2.11110370e-01] [-2.40743663e-02 4.76081958e-03 9.99698834e-01 -5.02722918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.24864 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:9.51, Y:0.20, Z:-0.50 [[ 9.99710907e-01 -6.18405191e-04 2.40357862e-02 9.51494283e+00] [ 6.31368089e-04 9.99999659e-01 -5.31731504e-04 2.03678073e-01] [-2.40354492e-02 5.46753213e-04 9.99710957e-01 -5.02167212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.27864 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:9.54, Y:0.07, Z:-0.50 [[ 9.99821439e-01 5.49332161e-04 -1.88888578e-02 9.53959437e+00] [ 1.99102449e-03 9.90951223e-01 1.34207710e-01 7.34457239e-02] [ 1.87916614e-02 -1.34221353e-01 9.90773184e-01 -5.00913504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.308639999999999 meters Centerline goodness : 0.766195 Centerline is valid? [True, False] Translation: X:9.51, Y:0.13, Z:-0.50 [[ 9.99780966e-01 -2.32420824e-03 -2.07994966e-02 9.51211277e+00] [ 3.80216469e-03 9.97447491e-01 7.13025047e-02 1.26272761e-01] [ 2.05806838e-02 -7.13659701e-02 9.97237852e-01 -4.99776041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.33864 meters Centerline goodness : 0.997440 Centerline is valid? [False, True] Translation: X:9.48, Y:0.17, Z:-0.50 [[ 9.99853789e-01 1.33943699e-03 -1.70471820e-02 9.48455459e+00] [-9.27165435e-04 9.99707454e-01 2.41691132e-02 1.65877088e-01] [ 1.70745679e-02 -2.41497739e-02 9.99562528e-01 -4.97690672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.36864 meters Centerline goodness : 0.997491 Centerline is valid? [True, True] Translation: X:9.52, Y:0.24, Z:-0.49 [[ 9.99305209e-01 9.51088096e-03 3.60366740e-02 9.51583165e+00] [-7.02517447e-03 9.97627317e-01 -6.84863762e-02 2.44961216e-01] [-3.66025362e-02 6.81856286e-02 9.97000990e-01 -4.91597265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.398639999999999 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:9.55, Y:0.18, Z:-0.50 [[ 9.99250759e-01 1.28373756e-02 3.65119526e-02 9.54728632e+00] [-1.28188095e-02 9.99917560e-01 -7.42556150e-04 1.83080768e-01] [-3.65184750e-02 2.73960031e-04 9.99332940e-01 -4.98217411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.42864 meters Centerline goodness : 0.997239 Centerline is valid? [True, True] Translation: X:9.58, Y:0.18, Z:-0.50 [[ 9.99166031e-01 1.72322162e-02 3.70174708e-02 9.58000189e+00] [-1.72156978e-02 9.99851506e-01 -7.64959891e-04 1.82699753e-01] [-3.70251559e-02 1.27040346e-04 9.99314326e-01 -4.99243514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.458639999999999 meters Centerline goodness : 0.997585 Centerline is valid? [True, True] Translation: X:9.61, Y:0.06, Z:-0.50 [[ 9.99732529e-01 2.25934295e-02 -4.94042332e-03 9.60625538e+00] [-2.17578685e-02 9.91241974e-01 1.30253381e-01 6.19273241e-02] [ 7.84002556e-03 -1.30111049e-01 9.91468431e-01 -4.96153003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.48864 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:9.64, Y:0.29, Z:-0.48 [[ 0.99874422 0.02864818 0.04110061 9.64341998] [-0.02322589 0.99165386 -0.12681948 0.29363351] [-0.04439072 0.12570563 0.99107394 -0.48194203] [ 0. 0. 0. 1. ]] SLAMing on 12.51864 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:9.67, Y:0.18, Z:-0.50 [[ 9.98672382e-01 2.69983986e-02 4.38697950e-02 9.67431157e+00] [-2.69837467e-02 9.99635443e-01 -9.26231071e-04 1.79124122e-01] [-4.38788088e-02 -2.58770047e-04 9.99036828e-01 -4.96625339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.548639999999999 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:9.71, Y:0.18, Z:-0.50 [[ 9.98578103e-01 2.87266728e-02 4.49060276e-02 9.70767886e+00] [-2.87122264e-02 9.99587251e-01 -9.66805413e-04 1.79229266e-01] [-4.49152658e-02 -3.23921315e-04 9.98990748e-01 -4.96364269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.57864 meters Centerline goodness : 0.969847 Centerline is valid? [True, True] Translation: X:9.76, Y:0.03, Z:-0.51 [[ 9.99454531e-01 -3.28992238e-02 2.87789839e-03 9.76342159e+00] [ 3.21904998e-02 9.89962247e-01 1.37617299e-01 2.83590174e-02] [-7.37651306e-03 -1.37449592e-01 9.90481296e-01 -5.06885936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.60864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:9.77, Y:0.27, Z:-0.52 [[ 9.99412737e-01 6.84763120e-03 -3.35751695e-02 9.77292366e+00] [-1.03771618e-02 9.94300881e-01 -1.06104065e-01 2.74925460e-01] [ 3.26572591e-02 1.06390169e-01 9.93788023e-01 -5.18568362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.638639999999999 meters Centerline goodness : 0.953578 Centerline is valid? [True, True] Translation: X:9.75, Y:0.24, Z:-0.52 [[ 0.99672039 0.06833829 -0.04333985 9.74824504] [-0.07091219 0.99561995 -0.06092925 0.24122359] [ 0.03898622 0.06380275 0.99720072 -0.51705605] [ 0. 0. 0. 1. ]] SLAMing on 12.66864 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:9.80, Y:0.19, Z:-0.50 [[ 9.96476232e-01 8.38597287e-02 1.63271015e-03 9.79900146e+00] [-8.38751124e-02 9.96213578e-01 2.28795246e-02 1.86851552e-01] [ 2.92142706e-04 -2.29358462e-02 9.99736896e-01 -4.97132918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.69864 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:9.83, Y:0.26, Z:-0.49 [[ 0.99566464 0.08362687 0.04072428 9.83386626] [-0.08121721 0.99503005 -0.05761046 0.2554634 ] [-0.04533967 0.05405318 0.99750818 -0.49204665] [ 0. 0. 0. 1. ]] SLAMing on 12.728639999999999 meters Centerline goodness : 0.865626 Centerline is valid? [True, False] Translation: X:9.83, Y:0.24, Z:-0.49 [[ 0.99606513 0.07580395 0.0459132 9.82838809] [-0.07383777 0.99633821 -0.0431063 0.24264487] [-0.0490127 0.03954655 0.99801494 -0.49197557] [ 0. 0. 0. 1. ]] SLAMing on 12.75864 meters Centerline goodness : 0.997139 Centerline is valid? [False, True] Translation: X:9.83, Y:0.23, Z:-0.49 [[ 0.99664928 0.06495824 0.04970543 9.82659247] [-0.06344483 0.99748986 -0.03144411 0.2290602 ] [-0.05162321 0.0281852 0.99826882 -0.49249368] [ 0. 0. 0. 1. ]] SLAMing on 12.78864 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:9.90, Y:0.19, Z:-0.54 [[ 0.99667116 0.08012364 0.01505989 9.90251997] [-0.08057376 0.99623056 0.03213318 0.18682689] [-0.01242849 -0.03323965 0.99937013 -0.53933969] [ 0. 0. 0. 1. ]] SLAMing on 12.818639999999998 meters Centerline goodness : 0.996353 Centerline is valid? [True, True] Translation: X:9.88, Y:0.21, Z:-0.50 [[ 0.99701435 0.04938447 0.05935959 9.87787821] [-0.0476145 0.99838859 -0.030872 0.21100144] [-0.06078854 0.02795345 0.99775917 -0.49703768] [ 0. 0. 0. 1. ]] SLAMing on 12.84864 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:9.91, Y:0.23, Z:-0.50 [[ 0.99343727 0.05061769 0.10256818 9.90951746] [-0.04491503 0.9973538 -0.05716669 0.22852692] [-0.10519041 0.05218467 0.99308194 -0.49721493] [ 0. 0. 0. 1. ]] SLAMing on 12.878639999999999 meters Centerline goodness : 0.993995 Centerline is valid? [True, True] Translation: X:9.90, Y:0.14, Z:-0.52 [[ 0.998578 0.03675883 0.03861045 9.89893187] [-0.03736681 0.99918685 0.01514468 0.14430231] [-0.03802236 -0.0165659 0.99913957 -0.51759584] [ 0. 0. 0. 1. ]] SLAMing on 12.90864 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:9.96, Y:0.18, Z:-0.50 [[ 0.99335635 0.05311745 0.10208677 9.960555 ] [-0.05169634 0.99852623 -0.01651812 0.18480774] [-0.10281372 0.01113087 0.99463835 -0.5046672 ] [ 0. 0. 0. 1. ]] SLAMing on 12.93864 meters Centerline goodness : 0.996697 Centerline is valid? [True, True] Translation: X:9.99, Y:0.12, Z:-0.51 [[ 0.99725342 0.04829804 0.05615085 9.98670636] [-0.0514383 0.99711078 0.05589452 0.11819895] [-0.05328903 -0.05862931 0.9968565 -0.50763688] [ 0. 0. 0. 1. ]] SLAMing on 12.968639999999999 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:10.07, Y:0.14, Z:-0.53 [[ 0.99814058 0.04713958 0.03864245 10.0658796 ] [-0.04870792 0.9979834 0.04070213 0.13614358] [-0.03664585 -0.04250864 0.99842381 -0.53215017] [ 0. 0. 0. 1. ]] SLAMing on 12.99864 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:10.03, Y:0.25, Z:-0.53 [[ 0.99654997 0.08141404 0.01612153 10.03261915] [-0.07991426 0.99371461 -0.07838997 0.24911354] [-0.02240225 0.07683119 0.99679241 -0.52500308] [ 0. 0. 0. 1. ]] SLAMing on 13.02864 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:10.07, Y:0.17, Z:-0.51 [[ 0.99269717 0.05701602 0.10630852 10.07264821] [-0.05507708 0.99825938 -0.02108874 0.17036796] [-0.10732588 0.01507957 0.99410953 -0.51131151] [ 0. 0. 0. 1. ]] SLAMing on 13.058639999999999 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:10.14, Y:0.10, Z:-0.53 [[ 0.99767694 0.0503087 0.04593201 10.13917782] [-0.05309835 0.99668241 0.06168254 0.10091312] [-0.04267646 -0.06397816 0.99703837 -0.53156859] [ 0. 0. 0. 1. ]] SLAMing on 13.08864 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:10.13, Y:0.21, Z:-0.51 [[ 0.99299854 0.05353165 0.10530085 10.13344795] [-0.04547668 0.99595747 -0.07746353 0.20680222] [-0.10902192 0.07213244 0.99141875 -0.51325135] [ 0. 0. 0. 1. ]] SLAMing on 13.11864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:10.16, Y:0.14, Z:-0.52 [[ 9.92711928e-01 4.79415757e-02 1.10565064e-01 1.01623354e+01] [-4.75214566e-02 9.98849500e-01 -6.43333424e-03 1.38119067e-01] [-1.10746283e-01 1.13223474e-03 9.93848066e-01 -5.19505465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.148639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:10.19, Y:0.13, Z:-0.52 [[ 9.92676842e-01 4.87988907e-02 1.10505001e-01 1.01946129e+01] [-4.83782036e-02 9.98808026e-01 -6.48659590e-03 1.31746910e-01] [-1.10689821e-01 1.09306007e-03 9.93854400e-01 -5.22758683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.23, Y:0.13, Z:-0.52 [[ 9.92547377e-01 4.99858207e-02 1.11135603e-01 1.02278518e+01] [-4.95612885e-02 9.98749403e-01 -6.58098435e-03 1.27256852e-01] [-1.11325573e-01 1.02391507e-03 9.93783462e-01 -5.24699406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.208639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.25, Y:0.01, Z:-0.52 [[ 0.99741596 0.0405178 0.05932718 10.24971128] [-0.04728935 0.99193603 0.1175867 0.01280565] [-0.05408441 -0.12008839 0.99128889 -0.52012933] [ 0. 0. 0. 1. ]] SLAMing on 13.238639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.30, Y:0.22, Z:-0.52 [[ 0.99202714 0.0653378 0.10776422 10.29618854] [-0.05195613 0.9910929 -0.12261904 0.2229186 ] [-0.11481601 0.1160424 0.98658575 -0.51918445] [ 0. 0. 0. 1. ]] SLAMing on 13.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.32, Y:0.12, Z:-0.53 [[ 9.91604988e-01 6.04996415e-02 1.14277473e-01 1.03217576e+01] [-6.01055792e-02 9.98168218e-01 -6.89398511e-03 1.15713542e-01] [-1.14485225e-01 -3.26036830e-05 9.93424950e-01 -5.29442308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.298639999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:10.35, Y:0.05, Z:-0.53 [[ 0.99604896 0.05904918 0.06632996 10.34642484] [-0.06354365 0.99567144 0.06782757 0.04929405] [-0.06203769 -0.07177443 0.99548971 -0.52616424] [ 0. 0. 0. 1. ]] SLAMing on 13.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.39, Y:0.18, Z:-0.53 [[ 0.99100192 0.07536381 0.11061414 10.38706374] [-0.06710798 0.9948044 -0.07655542 0.1760757 ] [-0.11580894 0.06844348 0.99091058 -0.53213196] [ 0. 0. 0. 1. ]] SLAMing on 13.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.41, Y:0.12, Z:-0.54 [[ 9.91918401e-01 7.24205015e-02 1.04178486e-01 1.04144183e+01] [-7.10244926e-02 9.97328792e-01 -1.70529461e-02 1.21134005e-01] [-1.05135187e-01 9.51590686e-03 9.94412409e-01 -5.40503412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.388639999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.45, Y:0.10, Z:-0.54 [[ 9.90868217e-01 7.60823089e-02 1.11317832e-01 1.04472950e+01] [-7.70498246e-02 9.97017494e-01 4.40926147e-03 9.92932999e-02] [-1.10650359e-01 -1.29460164e-02 9.93775075e-01 -5.41043392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.41864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:10.47, Y:0.05, Z:-0.54 [[ 0.99533302 0.07146 0.06485091 10.47475466] [-0.0751747 0.99555303 0.05677087 0.05397832] [-0.06050567 -0.06138107 0.99627879 -0.53728455] [ 0. 0. 0. 1. ]] SLAMing on 13.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.51, Y:0.10, Z:-0.54 [[ 9.95012939e-01 7.77538176e-02 6.24787625e-02 1.05091262e+01] [-7.78966744e-02 9.96961426e-01 -1.49779206e-04 1.04574602e-01] [-6.23005621e-02 -4.71785557e-03 9.98046282e-01 -5.39672590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.478639999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.55, Y:0.18, Z:-0.55 [[ 0.99108972 0.08521285 0.10237155 10.54521463] [-0.07648827 0.99332633 -0.08632701 0.17827453] [-0.10904452 0.07772759 0.9909933 -0.54693058] [ 0. 0. 0. 1. ]] SLAMing on 13.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.57, Y:0.09, Z:-0.55 [[ 9.91580291e-01 7.82409793e-02 1.03183698e-01 1.05725160e+01] [-7.90350131e-02 9.96865257e-01 3.62312456e-03 9.48980545e-02] [-1.02576767e-01 -1.17477438e-02 9.94655718e-01 -5.52329055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.60, Y:0.04, Z:-0.55 [[ 0.99498211 0.07311853 0.06829554 10.60009486] [-0.0777266 0.99469072 0.06744589 0.04118692] [-0.06300139 -0.07241584 0.99538273 -0.54587998] [ 0. 0. 0. 1. ]] SLAMing on 13.568639999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:10.64, Y:0.11, Z:-0.55 [[ 9.94560928e-01 8.05318771e-02 6.60543504e-02 1.06360299e+01] [-8.00922497e-02 9.96744246e-01 -9.28118973e-03 1.09804930e-01] [-6.65867253e-02 3.94026715e-03 9.97772861e-01 -5.49248229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.59864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:10.67, Y:0.10, Z:-0.55 [[ 9.94470139e-01 7.98294713e-02 6.82378039e-02 1.06661368e+01] [-8.00258615e-02 9.96792777e-01 1.44922904e-04 9.91104312e-02] [-6.80073809e-02 -5.60491054e-03 9.97669074e-01 -5.51648011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.628639999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:10.70, Y:0.10, Z:-0.55 [[ 9.94323496e-01 7.97736980e-02 7.04055582e-02 1.06964515e+01] [-7.95102246e-02 9.96812588e-01 -6.54127132e-03 1.03229557e-01] [-7.07029681e-02 9.06178021e-04 9.97497002e-01 -5.53971502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.65864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:10.73, Y:0.10, Z:-0.56 [[ 9.94337671e-01 7.87276042e-02 7.13761848e-02 1.07277493e+01] [-7.87199736e-02 9.96892479e-01 -2.92424253e-03 1.01193485e-01] [-7.13846004e-02 -2.71104687e-03 9.97445181e-01 -5.56160750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.68864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.76, Y:0.11, Z:-0.56 [[ 9.94154635e-01 7.78916264e-02 7.47626702e-02 1.07589324e+01] [-7.73418837e-02 9.96952198e-01 -1.02248358e-02 1.07686933e-01] [-7.53312375e-02 4.38278217e-03 9.97148934e-01 -5.57925873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.718639999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.79, Y:0.10, Z:-0.56 [[ 9.94131540e-01 7.58643264e-02 7.71173498e-02 1.07889315e+01] [-7.59061428e-02 9.97112095e-01 -2.39306531e-03 1.00737428e-01] [-7.70761906e-02 -3.47465886e-03 9.97019151e-01 -5.59932150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.74864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:10.81, Y:0.01, Z:-0.56 [[ 9.94617222e-01 5.99527790e-02 8.45118104e-02 1.08059854e+01] [-6.86959838e-02 9.92132498e-01 1.04661208e-01 5.95936413e-03] [-7.75721832e-02 -1.09903462e-01 9.90910584e-01 -5.58372699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:10.86, Y:0.27, Z:-0.55 [[ 0.98790027 0.09138141 0.1253096 10.85840869] [-0.06746193 0.98073104 -0.18334533 0.26567578] [-0.13964937 0.17267327 0.97502923 -0.54604666] [ 0. 0. 0. 1. ]] SLAMing on 13.808639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:10.87, Y:0.05, Z:-0.56 [[ 0.99441484 0.06182433 0.08553879 10.87082812] [-0.0673843 0.99569064 0.06371432 0.04748611] [-0.08123107 -0.06912244 0.99429553 -0.56431539] [ 0. 0. 0. 1. ]] SLAMing on 13.83864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:10.91, Y:0.11, Z:-0.57 [[ 9.94059514e-01 6.88886433e-02 8.42617236e-02 1.09052212e+01] [-6.89407777e-02 9.97618116e-01 -2.29431022e-03 1.06966994e-01] [-8.42190739e-02 -3.52838785e-03 9.96441016e-01 -5.67203525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:10.94, Y:0.17, Z:-0.57 [[ 0.98773296 0.07773795 0.13542674 10.94142447] [-0.06734033 0.99453838 -0.07974136 0.17350871] [-0.14088602 0.06964349 0.98757324 -0.56883818] [ 0. 0. 0. 1. ]] SLAMing on 13.898639999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:10.97, Y:0.11, Z:-0.58 [[ 9.87411358e-01 6.75958710e-02 1.43002127e-01 1.09701483e+01] [-6.68977866e-02 9.97712783e-01 -9.68957820e-03 1.14130182e-01] [-1.43330025e-01 1.07381141e-06 9.89674949e-01 -5.75937336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.92864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:11.00, Y:0.12, Z:-0.58 [[ 9.87492607e-01 6.69522963e-02 1.42743624e-01 1.10025961e+01] [-6.62391955e-02 9.97756163e-01 -9.74719842e-03 1.15255977e-01] [-1.43075927e-01 1.70063594e-04 9.89711700e-01 -5.80029113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.958639999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.04, Y:0.11, Z:-0.58 [[ 9.87564890e-01 6.60924966e-02 1.42644204e-01 1.10350036e+01] [-6.53606197e-02 9.97813432e-01 -9.81552379e-03 1.14456006e-01] [-1.42981036e-01 3.70153083e-04 9.89725359e-01 -5.84524402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.988639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:11.05, Y:0.00, Z:-0.58 [[ 9.94364818e-01 4.65977231e-02 9.52221703e-02 1.10543824e+01] [-5.76970331e-02 9.91413171e-01 1.17349807e-01 1.18550911e-05] [-8.89362800e-02 -1.22182556e-01 9.88514927e-01 -5.83340234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.01864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:11.10, Y:0.15, Z:-0.58 [[ 0.99420792 0.065339 0.08533129 11.09740633] [-0.06134407 0.99693127 -0.04863082 0.14993243] [-0.08824692 0.04311458 0.99516512 -0.58386603] [ 0. 0. 0. 1. ]] SLAMing on 14.048639999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:11.12, Y:0.13, Z:-0.59 [[ 0.99366762 0.06109687 0.09429648 11.12496026] [-0.05827845 0.99777571 -0.03236145 0.13491025] [-0.09606392 0.02666107 0.99501805 -0.58743809] [ 0. 0. 0. 1. ]] SLAMing on 14.07864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.15, Y:0.09, Z:-0.60 [[ 0.99336221 0.05449639 0.10129983 11.15116992] [-0.05618891 0.998323 0.01392835 0.09103429] [-0.10037091 -0.01952782 0.99475844 -0.59672562] [ 0. 0. 0. 1. ]] SLAMing on 14.10864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:11.19, Y:0.11, Z:-0.60 [[ 9.94079564e-01 5.98055457e-02 9.07144764e-02 1.11858990e+01] [-5.98404337e-02 9.98205218e-01 -2.33761551e-03 1.06278380e-01] [-9.06914661e-02 -3.10461780e-03 9.95874199e-01 -5.95690836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.138639999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:11.22, Y:0.13, Z:-0.60 [[ 0.99276132 0.06432714 0.10142473 11.21747238] [-0.06151696 0.9976369 -0.03059877 0.13017007] [-0.10315339 0.02413794 0.99437254 -0.59776965] [ 0. 0. 0. 1. ]] SLAMing on 14.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:11.25, Y:0.16, Z:-0.60 [[ 0.98663782 0.07233398 0.14599178 11.25099285] [-0.06396442 0.99607157 -0.06123708 0.15501895] [-0.14984778 0.05108054 0.98738869 -0.60228797] [ 0. 0. 0. 1. ]] SLAMing on 14.19864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:11.27, Y:0.00, Z:-0.60 [[ 9.92308683e-01 5.41441413e-02 1.11318863e-01 1.12685738e+01] [-6.62603012e-02 9.91919137e-01 1.08194263e-01 2.32971190e-03] [-1.04561225e-01 -1.14738128e-01 9.87877580e-01 -6.04937566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.228639999999999 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:11.30, Y:0.10, Z:-0.61 [[ 9.91745797e-01 7.13077474e-02 1.06562089e-01 1.13045082e+01] [-7.17660091e-02 9.97421386e-01 4.67010950e-04 9.83293394e-02] [-1.06254005e-01 -8.11069198e-03 9.94305940e-01 -6.06363340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.25864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:11.34, Y:0.15, Z:-0.61 [[ 0.99190892 0.07933188 0.0991118 11.34051142] [-0.0732267 0.99527297 -0.06379321 0.15430769] [-0.10370413 0.05601942 0.99302934 -0.60762768] [ 0. 0. 0. 1. ]] SLAMing on 14.28864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:11.35, Y:0.06, Z:-0.61 [[ 0.99028612 0.06378919 0.12354897 11.35362352] [-0.06945535 0.99669603 0.0421067 0.0555897 ] [-0.12045481 -0.05027882 0.99144474 -0.61407301] [ 0. 0. 0. 1. ]] SLAMing on 14.318639999999998 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:11.40, Y:0.17, Z:-0.61 [[ 0.9901695 0.08081858 0.1141609 11.39809579] [-0.07122343 0.99376601 -0.08576914 0.16819945] [-0.12038096 0.07679506 0.98975297 -0.61154977] [ 0. 0. 0. 1. ]] SLAMing on 14.34864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:11.42, Y:0.13, Z:-0.62 [[ 0.98342502 0.07493029 0.16510811 11.42481278] [-0.06719403 0.99638597 -0.05196109 0.13214977] [-0.16840486 0.04000556 0.98490576 -0.61889692] [ 0. 0. 0. 1. ]] SLAMing on 14.378639999999999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:11.45, Y:0.05, Z:-0.62 [[ 0.99015518 0.06245063 0.12527023 11.44845442] [-0.06738014 0.99709548 0.03550369 0.05365019] [-0.12268915 -0.04359489 0.99148719 -0.62340457] [ 0. 0. 0. 1. ]] SLAMing on 14.408639999999998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:11.48, Y:0.07, Z:-0.63 [[ 0.99056061 0.06552446 0.12040024 11.4785996 ] [-0.0683249 0.99747689 0.0192759 0.06636454] [-0.11883342 -0.02732029 0.99253827 -0.62777199] [ 0. 0. 0. 1. ]] SLAMing on 14.43864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:11.51, Y:0.09, Z:-0.63 [[ 9.90211703e-01 7.00139013e-02 1.20742852e-01 1.15118056e+01] [-6.94596345e-02 9.97545963e-01 -8.79838107e-03 8.96498587e-02] [-1.21062553e-01 3.25505541e-04 9.92644827e-01 -6.30428301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.468639999999999 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:11.54, Y:0.11, Z:-0.63 [[ 0.98945466 0.07440288 0.12427262 11.54474735] [-0.07137486 0.99703804 -0.02864925 0.10538497] [-0.12603612 0.01947719 0.99183443 -0.63358227] [ 0. 0. 0. 1. ]] SLAMing on 14.49864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:11.57, Y:0.10, Z:-0.64 [[ 9.88470740e-01 7.51570251e-02 1.31442073e-01 1.15732611e+01] [-7.30848939e-02 9.97114493e-01 -2.05252386e-02 9.80039905e-02] [-1.32605412e-01 1.06821679e-02 9.91111344e-01 -6.39890444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.52864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:11.60, Y:0.09, Z:-0.65 [[ 9.88420125e-01 7.42497818e-02 1.32335282e-01 1.16031918e+01] [-7.36549110e-02 9.97239567e-01 -9.39147880e-03 8.63246629e-02] [-1.32667295e-01 -4.64416785e-04 9.91160518e-01 -6.45369867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.558639999999999 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:11.63, Y:0.04, Z:-0.65 [[ 0.98878623 0.06709866 0.13341501 11.6270107 ] [-0.07214083 0.99683774 0.03331992 0.04406512] [-0.13075739 -0.04257095 0.99049998 -0.65132505] [ 0. 0. 0. 1. ]] SLAMing on 14.58864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:11.66, Y:0.04, Z:-0.65 [[ 0.98863338 0.06537331 0.1353897 11.65539582] [-0.07005671 0.99708829 0.0301163 0.04413321] [-0.13302669 -0.03925893 0.99033461 -0.65186798] [ 0. 0. 0. 1. ]] SLAMing on 14.61864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:11.70, Y:0.14, Z:-0.65 [[ 0.98801821 0.08215805 0.13065248 11.69501738] [-0.07288426 0.99457256 -0.07425172 0.13624632] [-0.13604375 0.06383954 0.98864382 -0.65041427] [ 0. 0. 0. 1. ]] SLAMing on 14.648639999999999 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:11.72, Y:0.07, Z:-0.66 [[ 9.88198013e-01 6.86410814e-02 1.36941919e-01 1.17164393e+01] [-6.93887591e-02 9.97589458e-01 6.87989905e-04 6.67503733e-02] [-1.36564590e-01 -1.01821001e-02 9.90578840e-01 -6.57140790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.67864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:11.75, Y:0.09, Z:-0.66 [[ 0.98766374 0.07387743 0.13806686 11.74759705] [-0.07078207 0.9971208 -0.02720307 0.09091734] [-0.13967903 0.01709483 0.99004926 -0.66021208] [ 0. 0. 0. 1. ]] SLAMing on 14.708639999999999 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:11.78, Y:0.13, Z:-0.66 [[ 0.97862859 0.08558152 0.186981 11.7838238 ] [-0.07377498 0.99486928 -0.06922693 0.12512155] [-0.1919462 0.05395293 0.97992129 -0.6639325 ] [ 0. 0. 0. 1. ]] SLAMing on 14.738639999999998 meters Centerline goodness : 0.737483 Centerline is valid? [True, False] Translation: X:11.80, Y:0.11, Z:-0.67 [[ 0.98081449 0.07720203 0.17900499 11.79745417] [-0.06961054 0.99640336 -0.04831899 0.10526549] [-0.1820915 0.03493134 0.98266092 -0.66721877] [ 0. 0. 0. 1. ]] SLAMing on 14.76864 meters Centerline goodness : 0.999113 Centerline is valid? [False, True] Translation: X:11.83, Y:0.09, Z:-0.67 [[ 0.98482911 0.07192469 0.15791916 11.83029435] [-0.06703345 0.99709777 -0.03609094 0.0928053 ] [-0.16005667 0.02495755 0.98679227 -0.67320362] [ 0. 0. 0. 1. ]] SLAMing on 14.798639999999999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:11.86, Y:0.07, Z:-0.68 [[ 9.84193016e-01 7.01430444e-02 1.62616301e-01 1.18592052e+01] [-6.88692201e-02 9.97534832e-01 -1.34643613e-02 7.11783219e-02] [-1.63159855e-01 2.05227253e-03 9.86597512e-01 -6.79209405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.82864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:11.89, Y:0.08, Z:-0.68 [[ 9.82982365e-01 7.42274824e-02 1.68035562e-01 1.18895217e+01] [-7.18505416e-02 9.97211041e-01 -2.01900696e-02 7.87938120e-02] [-1.69065576e-01 7.77303627e-03 9.85574153e-01 -6.83109440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.85864 meters Centerline goodness : 0.764657 Centerline is valid? [True, False] Translation: X:11.89, Y:0.08, Z:-0.68 [[ 9.82988212e-01 7.43128219e-02 1.67963626e-01 1.18897515e+01] [-7.18665310e-02 9.97201401e-01 -2.06050409e-02 8.05045252e-02] [-1.69024781e-01 8.18354921e-03 9.85577827e-01 -6.83509403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.888639999999999 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:11.91, Y:0.08, Z:-0.69 [[ 9.86125400e-01 7.20981346e-02 1.49527771e-01 1.19127275e+01] [-7.07852658e-02 9.97392048e-01 -1.40907443e-02 7.81915869e-02] [-1.50153726e-01 3.31087789e-03 9.88657118e-01 -6.88148848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.91864 meters Centerline goodness : 0.770541 Centerline is valid? [True, False] Translation: X:11.94, Y:0.08, Z:-0.69 [[ 9.89046357e-01 6.79393916e-02 1.31040231e-01 1.19352739e+01] [-6.71007469e-02 9.97687644e-01 -1.08099799e-02 7.71184718e-02] [-1.31471643e-01 1.89867388e-03 9.91318114e-01 -6.90047240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.94864 meters Centerline goodness : 0.999212 Centerline is valid? [False, True] Translation: X:11.96, Y:0.08, Z:-0.69 [[ 9.91471012e-01 6.48472581e-02 1.13048951e-01 1.19562333e+01] [-6.46166323e-02 9.97893843e-01 -5.70692394e-03 7.55918205e-02] [-1.13180931e-01 -1.64659284e-03 9.93573030e-01 -6.90618848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.978639999999999 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:11.99, Y:0.09, Z:-0.69 [[ 0.99069354 0.06732742 0.11829343 11.98713713] [-0.06497974 0.99760755 -0.02359672 0.09226192] [-0.11959913 0.01569044 0.99269827 -0.69339926] [ 0. 0. 0. 1. ]] SLAMing on 15.00864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.02, Y:0.07, Z:-0.70 [[ 9.90861686e-01 6.23221257e-02 1.19620530e-01 1.20168920e+01] [-6.35889492e-02 9.97953014e-01 6.79900159e-03 6.59386487e-02] [-1.18951941e-01 -1.43434140e-02 9.92796405e-01 -6.96465870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.03864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:12.05, Y:0.08, Z:-0.70 [[ 9.90470040e-01 6.36237956e-02 1.22152005e-01 1.20472939e+01] [-6.25985274e-02 9.97964016e-01 -1.22166851e-02 8.33940803e-02] [-1.22680577e-01 4.45372491e-03 9.92436215e-01 -7.00742501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.068639999999998 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:12.07, Y:0.01, Z:-0.71 [[ 0.99326568 0.048018 0.10543987 12.06986015] [-0.05515066 0.99630717 0.065806 0.01477666] [-0.10189062 -0.07117792 0.99224594 -0.70551036] [ 0. 0. 0. 1. ]] SLAMing on 15.09864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.11, Y:0.13, Z:-0.70 [[ 0.98998863 0.0669753 0.124245 12.10825992] [-0.05894558 0.99599548 -0.06721921 0.13314529] [-0.12824949 0.05922256 0.9899721 -0.70098779] [ 0. 0. 0. 1. ]] SLAMing on 15.128639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:12.13, Y:0.06, Z:-0.71 [[ 9.90652168e-01 5.56815717e-02 1.24530500e-01 1.21324888e+01] [-5.74709815e-02 9.98288537e-01 1.08204633e-02 6.08197787e-02] [-1.23714871e-01 -1.78762055e-02 9.92156778e-01 -7.12074615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.158639999999998 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:12.17, Y:0.08, Z:-0.71 [[ 9.90508464e-01 6.07270889e-02 1.23309384e-01 1.21663814e+01] [-5.97153917e-02 9.98144661e-01 -1.18873245e-02 8.25139654e-02] [-1.23802486e-01 4.41102732e-03 9.92297076e-01 -7.12460169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.18864 meters Centerline goodness : 0.999604 Centerline is valid? [True, True] Translation: X:12.19, Y:0.03, Z:-0.72 [[ 0.99102674 0.05291569 0.12274337 12.18887314] [-0.05963642 0.99687834 0.05174036 0.02548313] [-0.11962233 -0.05859605 0.9910888 -0.71844507] [ 0. 0. 0. 1. ]] SLAMing on 15.218639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:12.23, Y:0.13, Z:-0.71 [[ 0.98948729 0.07688627 0.1224884 12.22905283] [-0.06950306 0.99556149 -0.06345588 0.13075054] [-0.12682362 0.05427547 0.99043927 -0.71322217] [ 0. 0. 0. 1. ]] SLAMing on 15.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:12.26, Y:0.13, Z:-0.72 [[ 0.98247209 0.08084593 0.16796583 12.26067211] [-0.07003736 0.99513319 -0.06931597 0.13392144] [-0.17275228 0.05633712 0.98335282 -0.71906677] [ 0. 0. 0. 1. ]] SLAMing on 15.27864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:12.28, Y:0.03, Z:-0.73 [[ 0.98875864 0.06457444 0.13485733 12.28363289] [-0.07109821 0.99649272 0.04412821 0.03373759] [-0.13153479 -0.05322027 0.98988191 -0.73034454] [ 0. 0. 0. 1. ]] SLAMing on 15.308639999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:12.32, Y:0.09, Z:-0.73 [[ 9.87377291e-01 7.60384056e-02 1.38939722e-01 1.23184106e+01] [-7.41612487e-02 9.97071937e-01 -1.86456941e-02 9.04060964e-02] [-1.39950686e-01 8.10639172e-03 9.90125291e-01 -7.30313269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.33864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.35, Y:0.12, Z:-0.73 [[ 0.98099521 0.08676971 0.17354948 12.35292099] [-0.07961454 0.99567965 -0.04778668 0.11743282] [-0.17694612 0.03306144 0.98366509 -0.73267893] [ 0. 0. 0. 1. ]] SLAMing on 15.36864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:12.38, Y:0.04, Z:-0.74 [[ 0.98721264 0.07375833 0.14131849 12.37701389] [-0.08067584 0.99577516 0.04385479 0.03803324] [-0.13748679 -0.05469499 0.98899234 -0.74192259] [ 0. 0. 0. 1. ]] SLAMing on 15.398639999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:12.41, Y:0.11, Z:-0.74 [[ 0.98455184 0.09127067 0.14942334 12.41448191] [-0.08716983 0.99562053 -0.03378143 0.11015601] [-0.15185219 0.02023436 0.98819607 -0.74112272] [ 0. 0. 0. 1. ]] SLAMing on 15.42864 meters Centerline goodness : 0.983658 Centerline is valid? [True, True] Translation: X:12.42, Y:0.03, Z:-0.76 [[ 0.98552959 0.01552796 0.16879075 12.42395491] [-0.0214238 0.99922025 0.03316494 0.02667934] [-0.16814416 -0.03630117 0.98509379 -0.76316466] [ 0. 0. 0. 1. ]] SLAMing on 15.458639999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:12.47, Y:0.06, Z:-0.76 [[ 0.98665232 0.0928026 0.13380912 12.46942267] [-0.09787798 0.99468863 0.03185016 0.06265737] [-0.13014264 -0.044522 0.99049517 -0.75648539] [ 0. 0. 0. 1. ]] SLAMing on 15.488639999999998 meters Centerline goodness : 0.892884 Centerline is valid? [True, False] Translation: X:12.50, Y:0.09, Z:-0.76 [[ 9.88816807e-01 8.35187869e-02 1.23555390e-01 1.24965904e+01] [-8.50245279e-02 9.96354583e-01 6.95523031e-03 9.15493001e-02] [-1.22524087e-01 -1.73826873e-02 9.92313303e-01 -7.57419696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.51864 meters Centerline goodness : 0.999557 Centerline is valid? [False, True] Translation: X:12.50, Y:0.10, Z:-0.76 [[ 9.89336714e-01 7.71723503e-02 1.23520423e-01 1.24953999e+01] [-7.72245110e-02 9.97004140e-01 -4.37262772e-03 1.03740843e-01] [-1.23487819e-01 -5.21280312e-03 9.92332397e-01 -7.57481961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.548639999999999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:12.53, Y:0.12, Z:-0.76 [[ 9.88301320e-01 7.82640986e-02 1.30901614e-01 1.25268268e+01] [-7.62644426e-02 9.96882425e-01 -2.02278270e-02 1.20838191e-01] [-1.32076631e-01 1.00080495e-02 9.91188984e-01 -7.60406896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.57864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:12.56, Y:0.13, Z:-0.77 [[ 9.87550742e-01 7.33439792e-02 1.39155282e-01 1.25578744e+01] [-7.14940828e-02 9.97273996e-01 -1.82530526e-02 1.25048552e-01] [-1.40114695e-01 8.07703638e-03 9.90102335e-01 -7.66429753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.60864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:12.59, Y:0.11, Z:-0.77 [[ 9.87751804e-01 6.72281453e-02 1.40807492e-01 1.25889357e+01] [-6.75893363e-02 9.97710754e-01 -2.22115012e-03 1.13864135e-01] [-1.40634472e-01 -7.32313988e-03 9.90034503e-01 -7.73354271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.638639999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:12.62, Y:0.10, Z:-0.78 [[ 0.98935132 0.06050345 0.13237558 12.61803537] [-0.06403933 0.9976911 0.0226147 0.09503697] [-0.13070167 -0.03085113 0.99094161 -0.77805997] [ 0. 0. 0. 1. ]] SLAMing on 15.66864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:12.65, Y:0.15, Z:-0.78 [[ 0.98813051 0.06460643 0.13937035 12.65187907] [-0.05991736 0.99749544 -0.03758655 0.15409995] [-0.14144962 0.02878971 0.98952673 -0.7759605 ] [ 0. 0. 0. 1. ]] SLAMing on 15.69864 meters Centerline goodness : 0.858533 Centerline is valid? [True, False] Translation: X:12.68, Y:0.15, Z:-0.78 [[ 0.99101465 0.06225783 0.11838043 12.68308622] [-0.05969432 0.99790153 -0.02508223 0.14532325] [-0.11969358 0.01779022 0.99265148 -0.77924982] [ 0. 0. 0. 1. ]] SLAMing on 15.728639999999999 meters Centerline goodness : 0.999214 Centerline is valid? [False, True] Translation: X:12.72, Y:0.14, Z:-0.78 [[ 9.93556174e-01 5.93711246e-02 9.65463515e-02 1.27170532e+01] [-5.82302930e-02 9.98196500e-01 -1.45938363e-02 1.40003909e-01] [-9.72386826e-02 8.87787385e-03 9.95221494e-01 -7.81338351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.75864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:12.75, Y:0.13, Z:-0.79 [[ 9.93841068e-01 5.46030831e-02 9.64283910e-02 1.27460497e+01] [-5.49053191e-02 9.98491449e-01 4.81698720e-04 1.26393110e-01] [-9.62566216e-02 -5.77316355e-03 9.95339808e-01 -7.85170909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.78864 meters Centerline goodness : 0.994645 Centerline is valid? [True, True] Translation: X:12.78, Y:0.06, Z:-0.81 [[ 0.99066309 0.09325061 0.09945333 12.7798363 ] [-0.10236504 0.99058871 0.09085932 0.06203434] [-0.09004465 -0.10019152 0.99088527 -0.81238087] [ 0. 0. 0. 1. ]] SLAMing on 15.818639999999998 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:12.81, Y:0.22, Z:-0.77 [[ 0.99338671 0.06047048 0.0976021 12.81468991] [-0.04995503 0.99302468 -0.10680114 0.22173247] [-0.10337961 0.10121912 0.98947832 -0.76706002] [ 0. 0. 0. 1. ]] SLAMing on 15.84864 meters Centerline goodness : 0.924301 Centerline is valid? [True, False] Translation: X:12.82, Y:0.20, Z:-0.77 [[ 0.9939441 0.0642928 0.08911542 12.81949644] [-0.05718421 0.99514124 -0.08014906 0.20239183] [-0.09383544 0.07456769 0.9927913 -0.77197681] [ 0. 0. 0. 1. ]] SLAMing on 15.878639999999999 meters Centerline goodness : 0.999558 Centerline is valid? [False, True] Translation: X:12.82, Y:0.19, Z:-0.78 [[ 0.994428 0.06674937 0.08159335 12.82123509] [-0.06218213 0.99641906 -0.05729259 0.18754268] [-0.08512541 0.05189971 0.99501763 -0.77592601] [ 0. 0. 0. 1. ]] SLAMing on 15.908639999999998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:12.85, Y:0.21, Z:-0.77 [[ 0.9938933 0.06818629 0.08675679 12.85122139] [-0.06067977 0.99441071 -0.08640205 0.21181579] [-0.09216332 0.08061003 0.99247566 -0.77253469] [ 0. 0. 0. 1. ]] SLAMing on 15.93864 meters Centerline goodness : 0.990620 Centerline is valid? [True, True] Translation: X:12.88, Y:0.11, Z:-0.82 [[ 0.98793593 0.1161684 0.10240845 12.88120516] [-0.12157459 0.99141073 0.04821186 0.11444243] [-0.09592815 -0.06008049 0.99357341 -0.81630216] [ 0. 0. 0. 1. ]] SLAMing on 15.968639999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:12.91, Y:0.22, Z:-0.78 [[ 0.98963663 0.06652165 0.12725645 12.91385897] [-0.05467554 0.99402988 -0.09442027 0.21617693] [-0.1327777 0.08648395 0.98736549 -0.77743555] [ 0. 0. 0. 1. ]] SLAMing on 15.99864 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:12.93, Y:0.08, Z:-0.81 [[ 0.9950881 0.04757055 0.08681426 12.93287893] [-0.05306671 0.99665571 0.0621395 0.07651754] [-0.08356792 -0.06644123 0.99428465 -0.80638429] [ 0. 0. 0. 1. ]] SLAMing on 16.02864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:12.97, Y:0.13, Z:-0.80 [[ 9.94354080e-01 5.10724073e-02 9.30138352e-02 1.29650905e+01] [-5.16875935e-02 9.98654406e-01 4.21533946e-03 1.28155886e-01] [-9.26733889e-02 -8.99920130e-03 9.95655893e-01 -7.99482553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.05864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:13.00, Y:0.14, Z:-0.80 [[ 9.92077374e-01 5.13177068e-02 1.14668989e-01 1.29950175e+01] [-5.01219332e-02 9.98654693e-01 -1.32889708e-02 1.41920220e-01] [-1.15196684e-01 7.43625589e-03 9.93314868e-01 -7.99568836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.088639999999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:13.02, Y:0.11, Z:-0.81 [[ 0.9927466 0.04381062 0.11195905 13.02169255] [-0.04656661 0.99867025 0.02211956 0.10870705] [-0.1108411 -0.02717267 0.99346661 -0.80829808] [ 0. 0. 0. 1. ]] SLAMing on 16.11864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:13.06, Y:0.22, Z:-0.79 [[ 0.98829272 0.05423983 0.14260276 13.06187531] [-0.03946107 0.9937422 -0.1044953 0.21672219] [-0.14737819 0.09764469 0.98424854 -0.78665438] [ 0. 0. 0. 1. ]] SLAMing on 16.14864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.09, Y:0.13, Z:-0.81 [[ 9.88082959e-01 4.29417596e-02 1.47810933e-01 1.30880296e+01] [-4.23212442e-02 9.99077078e-01 -7.34199738e-03 1.27847930e-01] [-1.47989793e-01 9.98959916e-04 9.88988384e-01 -8.11617063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.178639999999998 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.12, Y:0.13, Z:-0.82 [[ 9.87868798e-01 4.36870115e-02 1.49019070e-01 1.31208755e+01] [-4.30533421e-02 9.99044795e-01 -7.47708456e-03 1.26112148e-01] [-1.49203378e-01 9.70609536e-04 9.88806053e-01 -8.15187979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.20864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:13.15, Y:0.12, Z:-0.82 [[ 9.87682265e-01 4.56240229e-02 1.49673617e-01 1.31532580e+01] [-4.49954194e-02 9.98958395e-01 -7.58532434e-03 1.22916358e-01] [-1.49863790e-01 7.57263147e-04 9.88706362e-01 -8.18334359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.23864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:13.18, Y:0.07, Z:-0.83 [[ 0.99336396 0.0379346 0.10857725 13.17901954] [-0.04327705 0.99794385 0.0472775 0.07183737] [-0.10656054 -0.05166267 0.99296315 -0.82806865] [ 0. 0. 0. 1. ]] SLAMing on 16.268639999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.21, Y:0.12, Z:-0.82 [[ 9.93166792e-01 4.69216455e-02 1.06855424e-01 1.32146479e+01] [-4.62039184e-02 9.98889810e-01 -9.18396168e-03 1.20041399e-01] [-1.07167721e-01 4.18406647e-03 9.94232153e-01 -8.23470336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.29864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.24, Y:0.09, Z:-0.83 [[ 0.99360594 0.04300575 0.10439222 13.24200753] [-0.04578619 0.9986536 0.02438484 0.08789707] [-0.10320298 -0.02900864 0.99423722 -0.83033778] [ 0. 0. 0. 1. ]] SLAMing on 16.32864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.28, Y:0.11, Z:-0.83 [[ 9.93310046e-01 4.72828327e-02 1.05354098e-01 1.32752925e+01] [-4.70835529e-02 9.98881355e-01 -4.37926873e-03 1.12381967e-01] [-1.05443308e-01 -6.10473624e-04 9.94425128e-01 -8.28895249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.358639999999998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:13.30, Y:0.10, Z:-0.83 [[ 9.92897925e-01 4.59736434e-02 1.09727543e-01 1.33039191e+01] [-4.67224774e-02 9.98898817e-01 4.26176297e-03 1.01039010e-01] [-1.09410784e-01 -9.35823827e-03 9.93952566e-01 -8.33977288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.38864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:13.34, Y:0.18, Z:-0.82 [[ 0.98626379 0.05813667 0.15460872 13.34396151] [-0.0439191 0.9946184 -0.09383682 0.18070493] [-0.15923204 0.08575758 0.98350943 -0.82000778] [ 0. 0. 0. 1. ]] SLAMing on 16.41864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.02, Z:-0.85 [[ 0.9926815 0.02486962 0.11817337 13.35480147] [-0.0396723 0.991412 0.12461282 -0.01706732] [-0.11405942 -0.12838905 0.98514298 -0.85120766] [ 0. 0. 0. 1. ]] SLAMing on 16.448639999999997 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:13.40, Y:0.15, Z:-0.83 [[ 0.99205005 0.05039404 0.11531324 13.40111351] [-0.04384837 0.99731721 -0.05861483 0.14621226] [-0.11795772 0.05309255 0.99159828 -0.83169572] [ 0. 0. 0. 1. ]] SLAMing on 16.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:13.42, Y:0.06, Z:-0.85 [[ 0.99087711 0.03860141 0.129122 13.42422316] [-0.04268748 0.9986667 0.0290276 0.06194333] [-0.12782934 -0.03427468 0.99120377 -0.85151598] [ 0. 0. 0. 1. ]] SLAMing on 16.50864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:13.46, Y:0.08, Z:-0.85 [[ 9.91229973e-01 4.20902890e-02 1.25265908e-01 1.34553672e+01] [-4.26614884e-02 9.99087816e-01 1.87961029e-03 8.26631428e-02] [-1.25072529e-01 -7.20715615e-03 9.92121424e-01 -8.50441959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.53864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:13.49, Y:0.10, Z:-0.85 [[ 9.91848432e-01 4.41148393e-02 1.19543170e-01 1.34852328e+01] [-4.24546891e-02 9.98963783e-01 -1.64000160e-02 9.50736476e-02] [-1.20142781e-01 1.11911620e-02 9.92693543e-01 -8.48951573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.56864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:13.51, Y:0.06, Z:-0.86 [[ 0.9913859 0.038855 0.12507712 13.50996909] [-0.04198177 0.9988659 0.02245975 0.05725414] [-0.12406259 -0.02751724 0.99189277 -0.85727014] [ 0. 0. 0. 1. ]] SLAMing on 16.59864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:13.55, Y:0.11, Z:-0.85 [[ 0.99196021 0.05056517 0.11600909 13.54870767] [-0.04664564 0.99825326 -0.03625769 0.10703534] [-0.11763983 0.03055487 0.99258615 -0.85232595] [ 0. 0. 0. 1. ]] SLAMing on 16.62864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:13.58, Y:0.16, Z:-0.85 [[ 0.98425694 0.05913458 0.16655743 13.58172045] [-0.0420612 0.99366307 -0.10423322 0.16114845] [-0.17166575 0.09558667 0.98050704 -0.84647258] [ 0. 0. 0. 1. ]] SLAMing on 16.65864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:13.61, Y:0.07, Z:-0.87 [[ 9.83329307e-01 4.94133203e-02 1.74990850e-01 1.36074910e+01] [-4.84522955e-02 9.98777787e-01 -9.76259334e-03 7.33582762e-02] [-1.75259375e-01 1.12113579e-03 9.84521658e-01 -8.68543716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.68864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:13.63, Y:-0.03, Z:-0.88 [[ 0.98898442 0.0352596 0.14375876 13.62951015] [-0.0498432 0.99382435 0.09914038 -0.02564755] [-0.13937531 -0.10521369 0.98463425 -0.88005385] [ 0. 0. 0. 1. ]] SLAMing on 16.71864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:13.66, Y:0.04, Z:-0.88 [[ 0.9899814 0.04757416 0.1329418 13.66231003] [-0.05113444 0.99841539 0.02349431 0.04183967] [-0.13161342 -0.03005684 0.99084534 -0.8765278 ] [ 0. 0. 0. 1. ]] SLAMing on 16.748639999999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:13.71, Y:0.19, Z:-0.85 [[ 0.98243352 0.07417746 0.17123694 13.70822528] [-0.04940188 0.98824701 -0.14466269 0.1876117 ] [-0.17995511 0.13366205 0.97455149 -0.84939136] [ 0. 0. 0. 1. ]] SLAMing on 16.77864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:13.73, Y:0.07, Z:-0.88 [[ 9.82231425e-01 5.56172056e-02 1.79243283e-01 1.37300681e+01] [-5.46672166e-02 9.98452132e-01 -1.02389302e-02 6.65223604e-02] [-1.79535299e-01 2.58267668e-04 9.83751498e-01 -8.82461187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.80864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:13.76, Y:0.06, Z:-0.89 [[ 9.82005706e-01 5.47218053e-02 1.80749322e-01 1.37629354e+01] [-5.37234257e-02 9.98501504e-01 -1.04182647e-02 6.42985089e-02] [-1.81048576e-01 5.20322589e-04 9.83474017e-01 -8.86731633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.838639999999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:13.80, Y:0.06, Z:-0.89 [[ 9.81963037e-01 5.47226941e-02 1.80980719e-01 1.37956696e+01] [-5.37044766e-02 9.98501401e-01 -1.05252968e-02 6.22555248e-02] [-1.81285474e-01 6.15977641e-04 9.83430322e-01 -8.92325724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.86864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:13.83, Y:0.06, Z:-0.90 [[ 9.81776724e-01 5.51016945e-02 1.81874317e-01 1.38284403e+01] [-5.40623504e-02 9.98480540e-01 -1.06711733e-02 5.98996311e-02] [-1.82185966e-01 6.44156530e-04 9.83263881e-01 -8.97493311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.89864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:13.86, Y:0.01, Z:-0.91 [[ 9.89003109e-01 4.84364150e-02 1.39738199e-01 1.38564835e+01] [-5.47416958e-02 9.97632138e-01 4.16348794e-02 1.34146188e-02] [-1.37390674e-01 -4.88265312e-02 9.89312778e-01 -9.05666953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.928639999999998 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:13.88, Y:0.01, Z:-0.91 [[ 9.90363821e-01 4.72332139e-02 1.30186501e-01 1.38840036e+01] [-5.40599637e-02 9.97314422e-01 4.94111658e-02 6.74515315e-03] [-1.27503027e-01 -5.59729085e-02 9.90257548e-01 -9.09754091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.95864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:13.93, Y:0.12, Z:-0.90 [[ 0.98751945 0.07023589 0.14096896 13.92589783] [-0.05988408 0.99527865 -0.07638269 0.12253626] [-0.1456682 0.06698759 0.98706304 -0.89658566] [ 0. 0. 0. 1. ]] SLAMing on 16.98864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:13.95, Y:0.09, Z:-0.91 [[ 0.98054463 0.06680126 0.18458013 13.9546524 ] [-0.05897001 0.99712415 -0.04760223 0.09482782] [-0.1872292 0.03579142 0.981664 -0.90856302] [ 0. 0. 0. 1. ]] SLAMing on 17.018639999999998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:13.98, Y:0.06, Z:-0.92 [[ 9.80516774e-01 6.05612469e-02 1.86866774e-01 1.39845489e+01] [-5.95054696e-02 9.98164480e-01 -1.12592217e-02 6.02903255e-02] [-1.87205648e-01 -7.97393945e-05 9.82320741e-01 -9.19941431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.04864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:14.01, Y:-0.02, Z:-0.93 [[ 0.99055321 0.04251311 0.13037242 14.0060272 ] [-0.05310365 0.99547012 0.07886219 -0.01960757] [-0.12642917 -0.08504045 0.98832373 -0.93065082] [ 0. 0. 0. 1. ]] SLAMing on 17.07864 meters Centerline goodness : 0.986085 Centerline is valid? [True, True] Translation: X:14.08, Y:0.05, Z:-0.95 [[ 0.9818589 0.11173461 0.15319427 14.07696716] [-0.11816541 0.99242843 0.03350747 0.04741354] [-0.1482904 -0.05100188 0.98762785 -0.94928861] [ 0. 0. 0. 1. ]] SLAMing on 17.108639999999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:14.08, Y:0.14, Z:-0.92 [[ 0.98214877 0.06199796 0.17759516 14.08131464] [-0.04292935 0.99308443 -0.10927212 0.14155917] [-0.18314163 0.09969743 0.97801818 -0.91748831] [ 0. 0. 0. 1. ]] SLAMing on 17.13864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:14.11, Y:0.05, Z:-0.94 [[ 9.82063325e-01 4.42861191e-02 1.83276747e-01 1.41059214e+01] [-4.31106920e-02 9.99016224e-01 -1.03947829e-02 5.11976458e-02] [-1.83556789e-01 2.30714766e-03 9.83006400e-01 -9.41613528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.16864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:14.14, Y:0.05, Z:-0.95 [[ 9.81855054e-01 4.17936081e-02 1.84970123e-01 1.41387018e+01] [-4.05345635e-02 9.99122071e-01 -1.05846838e-02 4.92552352e-02] [-1.85250104e-01 2.89494208e-03 9.82687142e-01 -9.46122209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.198639999999997 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:14.16, Y:-0.01, Z:-0.95 [[ 9.89144393e-01 2.71515667e-02 1.44416628e-01 1.41620940e+01] [-3.49951976e-02 9.98031016e-01 5.20521624e-02 -7.04440308e-03] [-1.42718976e-01 -5.65409930e-02 9.88146958e-01 -9.52869525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.22864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:14.20, Y:0.10, Z:-0.94 [[ 0.98144768 0.04651776 0.18600149 14.20460457] [-0.03434822 0.9970854 -0.0681242 0.09623188] [-0.18862836 0.06047152 0.98018495 -0.94317903] [ 0. 0. 0. 1. ]] SLAMing on 17.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:14.23, Y:0.04, Z:-0.96 [[ 9.81642465e-01 3.45091785e-02 1.87582482e-01 1.42319713e+01] [-3.30397772e-02 9.99393994e-01 -1.09552735e-02 3.90066881e-02] [-1.87846863e-01 4.55647825e-03 9.82187759e-01 -9.60314429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.28864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:14.26, Y:0.04, Z:-0.97 [[ 9.81777301e-01 3.29733519e-02 1.87152582e-01 1.42645529e+01] [-3.14658159e-02 9.99444066e-01 -1.10209382e-02 3.52178774e-02] [-1.87411935e-01 4.93119823e-03 9.82269031e-01 -9.65754964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.31864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:14.28, Y:-0.07, Z:-0.98 [[ 9.87995740e-01 1.38393448e-02 1.53859970e-01 1.42847340e+01] [-2.92532181e-02 9.94719481e-01 9.83737942e-02 -6.55377983e-02] [-1.51686080e-01 -1.01693789e-01 9.83183455e-01 -9.77163434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.34864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.33, Y:0.12, Z:-0.95 [[ 0.98151682 0.04591654 0.18578589 14.33498394] [-0.02478372 0.9931127 -0.11451171 0.11787132] [-0.18976431 0.10779071 0.97589481 -0.95336454] [ 0. 0. 0. 1. ]] SLAMing on 17.37864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.07, Z:-0.98 [[ 9.87960969e-01 1.26708020e-02 1.54183575e-01 1.43465399e+01] [-2.75916567e-02 9.95092703e-01 9.50221664e-02 -7.34712171e-02] [-1.52222943e-01 -9.81323719e-02 9.83462360e-01 -9.81659205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.40864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:14.38, Y:0.03, Z:-0.97 [[ 0.98852056 0.03146662 0.14777332 14.38477788] [-0.02877308 0.9993792 -0.02033045 0.02608924] [-0.14832131 0.01584517 0.98881228 -0.974697 ] [ 0. 0. 0. 1. ]] SLAMing on 17.43864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:14.42, Y:0.03, Z:-0.98 [[ 0.98771587 0.03667658 0.15189533 14.41535433] [-0.03327486 0.99913657 -0.02487768 0.02574961] [-0.15267661 0.01951778 0.98808345 -0.97868727] [ 0. 0. 0. 1. ]] SLAMing on 17.46864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:14.45, Y:0.07, Z:-0.98 [[ 0.98007791 0.04674053 0.19303528 14.45170859] [-0.03134827 0.99613608 -0.08203775 0.07152478] [-0.1961239 0.07435206 0.9777562 -0.97791934] [ 0. 0. 0. 1. ]] SLAMing on 17.498639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:14.48, Y:0.00, Z:-0.99 [[ 9.78676285e-01 3.98570731e-02 2.01504696e-01 1.44781444e+01] [-3.81639803e-02 9.99196010e-01 -1.22818278e-02 1.46570993e-03] [-2.01832206e-01 4.32971234e-03 9.79410544e-01 -9.93839051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.52864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:14.50, Y:-0.06, Z:-1.00 [[ 0.98638465 0.03072081 0.16155976 14.5028764 ] [-0.03958341 0.99786613 0.05192637 -0.05962238] [-0.15961979 -0.05761446 0.98549586 -1.00101174] [ 0. 0. 0. 1. ]] SLAMing on 17.55864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:14.54, Y:0.04, Z:-1.00 [[ 0.9784583 0.05429695 0.19917629 14.54431977] [-0.04087293 0.9966454 -0.07090379 0.04319564] [-0.20235799 0.06123548 0.97739524 -0.99588664] [ 0. 0. 0. 1. ]] SLAMing on 17.588639999999998 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:14.57, Y:-0.01, Z:-1.01 [[ 9.78651367e-01 4.58809504e-02 2.00340813e-01 1.45719377e+01] [-4.42854334e-02 9.98941454e-01 -1.24407170e-02 -1.19762610e-02] [-2.00699535e-01 3.30294494e-03 9.79647277e-01 -1.01104886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.61864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.60, Y:-0.01, Z:-1.02 [[ 9.78606904e-01 4.83908718e-02 1.99967123e-01 1.46043524e+01] [-4.68327901e-02 9.98824310e-01 -1.25174949e-02 -1.44638497e-02] [-2.00337756e-01 2.88468867e-03 9.79722645e-01 -1.01637727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.64864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:14.63, Y:-0.07, Z:-1.02 [[ 0.98661869 0.04417295 0.15694684 14.63009677] [-0.05187148 0.99762593 0.04529745 -0.06835845] [-0.15457332 -0.05283238 0.9865677 -1.02366258] [ 0. 0. 0. 1. ]] SLAMing on 17.678639999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.06, Z:-1.03 [[ 0.98585719 0.04989754 0.15998698 14.66130354] [-0.05667425 0.99766641 0.03807569 -0.06415332] [-0.15771376 -0.04660433 0.98638451 -1.02800454] [ 0. 0. 0. 1. ]] SLAMing on 17.70864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:14.70, Y:0.03, Z:-1.02 [[ 0.98482192 0.0759453 0.15607083 14.70211295] [-0.06567563 0.99538667 -0.06994352 0.03275359] [-0.1606627 0.05863186 0.98526636 -1.02093255] [ 0. 0. 0. 1. ]] SLAMing on 17.73864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.73, Y:-0.04, Z:-1.03 [[ 9.85199022e-01 6.68232640e-02 1.57852902e-01 1.47264324e+01] [-6.84032473e-02 9.97647189e-01 4.59143131e-03 -3.51627285e-02] [-1.57174690e-01 -1.53211248e-02 9.87451963e-01 -1.03442860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.768639999999998 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:14.76, Y:-0.02, Z:-1.04 [[ 9.84921668e-01 7.26435466e-02 1.57010267e-01 1.47593603e+01] [-7.17715855e-02 9.97357944e-01 -1.12236519e-02 -2.26336192e-02] [-1.57410763e-01 -2.14457890e-04 9.87533192e-01 -1.03822917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.79864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:14.79, Y:-0.02, Z:-1.04 [[ 9.84060471e-01 7.60233737e-02 1.60765160e-01 1.47899238e+01] [-7.46652130e-02 9.97103504e-01 -1.44812946e-02 -2.16836041e-02] [-1.61400422e-01 2.24690463e-03 9.86886445e-01 -1.04189563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.82864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:14.82, Y:-0.03, Z:-1.05 [[ 9.83852929e-01 7.79188525e-02 1.61127483e-01 1.48216522e+01] [-7.76190698e-02 9.96949663e-01 -8.16387428e-03 -2.83223224e-02] [-1.61272110e-01 -4.47451373e-03 9.86899836e-01 -1.04616841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.858639999999998 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:14.85, Y:-0.03, Z:-1.05 [[ 9.83456700e-01 7.98559724e-02 1.62591337e-01 1.48529866e+01] [-7.87511247e-02 9.96806389e-01 -1.32394647e-02 -2.50647820e-02] [-1.63129334e-01 2.16189577e-04 9.86604669e-01 -1.05097046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.88864 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:14.88, Y:-0.07, Z:-1.06 [[ 0.98484718 0.07222465 0.15766938 14.87873649] [-0.07882712 0.99623722 0.03602338 -0.06927101] [-0.15447433 -0.04790615 0.98683468 -1.05941548] [ 0. 0. 0. 1. ]] SLAMing on 17.91864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:14.92, Y:0.02, Z:-1.05 [[ 0.98164794 0.08861851 0.16886116 14.9157333 ] [-0.07780474 0.99453432 -0.06962695 0.0224131 ] [-0.17410845 0.05521096 0.9831775 -1.05234503] [ 0. 0. 0. 1. ]] SLAMing on 17.948639999999997 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:14.94, Y:-0.04, Z:-1.07 [[ 9.82859358e-01 7.47274996e-02 1.68532736e-01 1.49402388e+01] [-7.59716905e-02 9.97109534e-01 9.37412174e-04 -4.17564295e-02] [-1.67975547e-01 -1.37250612e-02 9.85695611e-01 -1.06650740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.97864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:14.97, Y:-0.03, Z:-1.07 [[ 9.82101416e-01 7.75094627e-02 1.71665641e-01 1.49713593e+01] [-7.57723107e-02 9.96985977e-01 -1.66588600e-02 -2.74906889e-02] [-1.72439456e-01 3.35318768e-03 9.85014411e-01 -1.06970419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.00864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:15.01, Y:0.01, Z:-1.07 [[ 9.72892989e-01 8.50523087e-02 2.15047291e-01 1.50056650e+01] [-7.28710423e-02 9.95287950e-01 -6.39664504e-02 1.13570021e-02] [-2.19474471e-01 4.65617909e-02 9.74506519e-01 -1.07076667e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.038639999999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:15.03, Y:-0.03, Z:-1.08 [[ 9.72644553e-01 7.52650586e-02 2.19767477e-01 1.50338683e+01] [-7.38613352e-02 9.97161511e-01 -1.46090506e-02 -3.42938197e-02] [-2.20243221e-01 -2.02290583e-03 9.75442890e-01 -1.08344288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.06864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:15.06, Y:-0.09, Z:-1.09 [[ 0.98262614 0.06092055 0.17531275 15.05817361] [-0.07161243 0.99589748 0.05531613 -0.09383519] [-0.17122363 -0.06690965 0.98295756 -1.09101596] [ 0. 0. 0. 1. ]] SLAMing on 18.09864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:15.09, Y:-0.05, Z:-1.09 [[ 9.82832108e-01 7.02626902e-02 1.70599535e-01 1.50922026e+01] [-7.18960378e-02 9.97406311e-01 3.40729915e-03 -4.85087075e-02] [-1.69917647e-01 -1.56142337e-02 9.85334557e-01 -1.09210970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.12864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.01, Z:-1.09 [[ 9.81240245e-01 7.97803867e-02 1.75506899e-01 1.51264743e+01] [-7.30492665e-02 9.96335296e-01 -4.44947467e-02 -8.00370954e-03] [-1.78413526e-01 3.08393859e-02 9.83472189e-01 -1.09230159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.15864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:15.15, Y:-0.05, Z:-1.10 [[ 9.81435191e-01 7.11579062e-02 1.78105360e-01 1.51524857e+01] [-7.13001110e-02 9.97439130e-01 -5.61039822e-03 -4.61185769e-02] [-1.78048479e-01 -7.19268968e-03 9.83995429e-01 -1.10312135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.18864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:15.18, Y:-0.05, Z:-1.11 [[ 9.81366509e-01 7.19385624e-02 1.78170194e-01 1.51845534e+01] [-7.16165313e-02 9.97398147e-01 -8.24674180e-03 -4.64260192e-02] [-1.78299881e-01 -4.66685509e-03 9.83965128e-01 -1.10859301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.21864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.04, Z:-1.11 [[ 9.80986747e-01 7.46294345e-02 1.79152030e-01 1.52141921e+01] [-7.18916673e-02 9.97175599e-01 -2.17350494e-02 -3.58448166e-02] [-1.80268108e-01 8.44225723e-03 9.83581282e-01 -1.11356258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.248639999999998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.05, Z:-1.12 [[ 9.80704189e-01 7.30355490e-02 1.81342498e-01 1.52440841e+01] [-7.20706072e-02 9.97328376e-01 -1.19138043e-02 -4.67074008e-02] [-1.81728150e-01 -1.38554617e-03 9.83347832e-01 -1.12047681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.27864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:15.28, Y:-0.05, Z:-1.13 [[ 9.80290427e-01 7.55969480e-02 1.82526109e-01 1.52756806e+01] [-7.39967349e-02 9.97136906e-01 -1.55715585e-02 -4.53059273e-02] [-1.83180682e-01 1.75831360e-03 9.83077691e-01 -1.12619127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.30864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.07, Z:-1.13 [[ 9.81168068e-01 7.23581963e-02 1.79090799e-01 1.53032739e+01] [-7.46297749e-02 9.97193437e-01 5.97034303e-03 -6.53634195e-02] [-1.78156166e-01 -1.92234159e-02 9.83814434e-01 -1.13421844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.338639999999998 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:15.34, Y:-0.04, Z:-1.14 [[ 9.79711148e-01 7.93735174e-02 1.84026933e-01 1.53357533e+01] [-7.68981438e-02 9.96826936e-01 -2.05605306e-02 -4.28499772e-02] [-1.85074965e-01 5.99205153e-03 9.82706137e-01 -1.13764154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.36864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.07, Z:-1.15 [[ 9.80623544e-01 7.30368668e-02 1.81777562e-01 1.53625021e+01] [-7.57437568e-02 9.97095348e-01 7.98443519e-03 -6.97476740e-02] [-1.80666403e-01 -2.15982406e-02 9.83307260e-01 -1.14547376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.39864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:15.40, Y:0.01, Z:-1.14 [[ 9.68498018e-01 9.62365803e-02 2.29673919e-01 1.54030789e+01] [-7.79189459e-02 9.93107688e-01 -8.75543167e-02 1.02483579e-02] [-2.36516863e-01 6.69002325e-02 9.69321480e-01 -1.14246619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.428639999999998 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.14, Z:-1.16 [[ 0.98087574 0.06715592 0.18268243 15.42165249] [-0.08273971 0.99343034 0.07905879 -0.13756835] [-0.17617301 -0.09266195 0.97998818 -1.16340951] [ 0. 0. 0. 1. ]] SLAMing on 18.45864 meters Centerline goodness : 0.996162 Centerline is valid? [True, True] Translation: X:15.48, Y:-0.07, Z:-1.17 [[ 9.74989911e-01 1.07655646e-01 1.94434912e-01 1.54763822e+01] [-1.11846223e-01 9.93668223e-01 1.06716664e-02 -6.87669217e-02] [-1.92054929e-01 -3.21515775e-02 9.80857370e-01 -1.17490416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.48864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:15.49, Y:0.03, Z:-1.15 [[ 0.96842912 0.09270042 0.23141233 15.49302427] [-0.06503013 0.99008963 -0.1244733 0.03023921] [-0.24065768 0.1054948 0.96485995 -1.15276165] [ 0. 0. 0. 1. ]] SLAMing on 18.518639999999998 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:15.51, Y:-0.07, Z:-1.18 [[ 9.68405488e-01 6.99698650e-02 2.39363799e-01 1.55149541e+01] [-6.83523499e-02 9.97547528e-01 -1.50627419e-02 -7.03183167e-02] [-2.39830704e-01 -1.77423628e-03 9.70813105e-01 -1.17754833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.54864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:15.55, Y:-0.08, Z:-1.18 [[ 9.68276569e-01 6.90936275e-02 2.40138620e-01 1.55468378e+01] [-6.74072927e-02 9.97609153e-01 -1.52392528e-02 -7.56779527e-02] [-2.40617420e-01 -1.43128283e-03 9.70618982e-01 -1.18482286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.57864 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:15.57, Y:-0.18, Z:-1.20 [[ 0.9824429 0.04281257 0.18158476 15.5662254 ] [-0.0607873 0.99365717 0.09460616 -0.17560755] [-0.17638266 -0.1039832 0.9788139 -1.19581095] [ 0. 0. 0. 1. ]] SLAMing on 18.608639999999998 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:15.60, Y:-0.13, Z:-1.20 [[ 0.97804577 0.05788846 0.20018843 15.59684227] [-0.06658931 0.99709418 0.03700084 -0.12583623] [-0.19746479 -0.04951893 0.97905849 -1.19605638] [ 0. 0. 0. 1. ]] SLAMing on 18.63864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:15.65, Y:0.05, Z:-1.17 [[ 0.96493023 0.10723525 0.23960436 15.64907487] [-0.06888161 0.98420481 -0.16308344 0.04737613] [-0.25330806 0.1408598 0.95707552 -1.17332185] [ 0. 0. 0. 1. ]] SLAMing on 18.66864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.17, Z:-1.21 [[ 0.9744388 0.04417719 0.22026664 15.65202109] [-0.06133254 0.99554156 0.07166121 -0.16989036] [-0.21611881 -0.08333898 0.97280382 -1.21140541] [ 0. 0. 0. 1. ]] SLAMing on 18.698639999999997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:15.69, Y:-0.09, Z:-1.21 [[ 9.73848264e-01 7.54649561e-02 2.14300253e-01 1.56925384e+01] [-7.37198883e-02 9.97148451e-01 -1.61352062e-02 -8.84220898e-02] [-2.14906808e-01 -8.49481815e-05 9.76634556e-01 -1.21173043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.72864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.11, Z:-1.22 [[ 9.72184118e-01 2.30655536e-02 2.33079432e-01 1.57057968e+01] [-1.97011523e-02 9.99665551e-01 -1.67526237e-02 -1.11174532e-01] [-2.33387887e-01 1.16947014e-02 9.72313390e-01 -1.21787656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.75864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.10, Z:-1.22 [[ 9.73821271e-01 8.15323288e-02 2.12190035e-01 1.57525754e+01] [-8.32487326e-02 9.96528439e-01 -8.47813977e-04 -1.00712563e-01] [-2.11522528e-01 -1.68389322e-02 9.77228054e-01 -1.22371520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.788639999999997 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:15.79, Y:-0.09, Z:-1.23 [[ 9.73437225e-01 8.88270286e-02 2.11020682e-01 1.57853506e+01] [-8.76647804e-02 9.96038959e-01 -1.48754167e-02 -8.78958046e-02] [-2.11506159e-01 -4.01879741e-03 9.77368402e-01 -1.22590312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.81864 meters Centerline goodness : 0.952336 Centerline is valid? [True, True] Translation: X:15.75, Y:-0.06, Z:-1.25 [[ 9.64233518e-01 1.33762301e-01 2.28826070e-01 1.57543686e+01] [-1.30587695e-01 9.91011643e-01 -2.90306322e-02 -5.63837781e-02] [-2.30652503e-01 -1.88956030e-03 9.73034353e-01 -1.25398054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.84864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.18, Z:-1.25 [[ 0.97122503 0.07402326 0.22636807 15.82869553] [-0.094139 0.99238895 0.07938526 -0.17631463] [-0.21876882 -0.09841101 0.97080146 -1.25049104] [ 0. 0. 0. 1. ]] SLAMing on 18.87864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:15.87, Y:-0.06, Z:-1.25 [[ 0.96970402 0.10750922 0.21935331 15.87318664] [-0.10017556 0.99398222 -0.04431942 -0.05973934] [-0.22279804 0.02100288 0.97463835 -1.24696765] [ 0. 0. 0. 1. ]] SLAMing on 18.90864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:15.90, Y:-0.09, Z:-1.26 [[ 9.69585237e-01 9.91841809e-02 2.23756488e-01 1.59004118e+01] [-9.88696668e-02 9.95020144e-01 -1.26373481e-02 -8.68094846e-02] [-2.23895637e-01 -9.86974319e-03 9.74563149e-01 -1.25729090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.93864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:15.93, Y:-0.07, Z:-1.26 [[ 9.69564214e-01 1.00000773e-01 2.23483958e-01 1.59309647e+01] [-9.66042438e-02 9.94980390e-01 -2.61083167e-02 -6.90171098e-02] [-2.24973008e-01 3.72419077e-03 9.74357879e-01 -1.26310522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.96864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.12, Z:-1.28 [[ 0.96899728 0.0977069 0.22693092 15.96562476] [-0.10934931 0.99322693 0.03928095 -0.12268922] [-0.22155588 -0.06287787 0.97311837 -1.28215156] [ 0. 0. 0. 1. ]] SLAMing on 18.998639999999998 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:16.01, Y:0.02, Z:-1.26 [[ 0.95920087 0.11809939 0.25687784 16.0061847 ] [-0.08833333 0.9882777 -0.12451672 0.01687153] [-0.26857199 0.09674567 0.95838894 -1.25847496] [ 0. 0. 0. 1. ]] SLAMing on 19.02864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:16.01, Y:-0.14, Z:-1.29 [[ 0.97221087 0.06745984 0.2241767 16.01374783] [-0.08303905 0.99468987 0.06079955 -0.14159088] [-0.21888476 -0.0777254 0.9726501 -1.29177279] [ 0. 0. 0. 1. ]] SLAMing on 19.05864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:16.06, Y:-0.00, Z:-1.28 [[ 9.58808409e-01 1.04281485e-01 2.64219240e-01 1.60644937e+01] [-8.19250897e-02 9.92167797e-01 -9.42939144e-02 -4.08359456e-03] [-2.71982930e-01 6.87636131e-02 9.59842097e-01 -1.27657260e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.088639999999998 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:16.07, Y:-0.18, Z:-1.31 [[ 0.97170167 0.04776785 0.23133114 16.07028032] [-0.07491323 0.9911025 0.1100175 -0.18214544] [-0.22401757 -0.12423395 0.96663439 -1.30543613] [ 0. 0. 0. 1. ]] SLAMing on 19.11864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:16.13, Y:0.04, Z:-1.28 [[ 0.95768945 0.11043374 0.26577304 16.13358393] [-0.07438021 0.98705146 -0.14211616 0.04300311] [-0.27802609 0.11633489 0.95350285 -1.27598359] [ 0. 0. 0. 1. ]] SLAMing on 19.14864 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:16.13, Y:-0.19, Z:-1.32 [[ 0.97118868 0.04280213 0.23443661 16.13016551] [-0.07237377 0.99025004 0.11902481 -0.18680237] [-0.22705635 -0.13256261 0.96481738 -1.31936444] [ 0. 0. 0. 1. ]] SLAMing on 19.178639999999998 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:16.19, Y:0.01, Z:-1.30 [[ 9.69490786e-01 9.51417372e-02 2.25910747e-01 1.61863286e+01] [-7.65100069e-02 9.93010996e-01 -8.98631192e-02 6.48447440e-03] [-2.32881590e-01 6.98370333e-02 9.69994306e-01 -1.29858824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.20864 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:16.20, Y:-0.12, Z:-1.33 [[ 0.96770378 0.05878194 0.24514093 16.19590899] [-0.07360209 0.99594509 0.05173122 -0.12234767] [-0.24110605 -0.06810338 0.9681063 -1.32969359] [ 0. 0. 0. 1. ]] SLAMing on 19.23864 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:16.24, Y:-0.03, Z:-1.33 [[ 9.63968716e-01 1.10457144e-01 2.41999035e-01 1.62433613e+01] [-1.04512439e-01 9.93823605e-01 -3.73067448e-02 -2.97403366e-02] [-2.44625150e-01 1.06706256e-02 9.69559010e-01 -1.33247940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.268639999999998 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:16.27, Y:-0.04, Z:-1.33 [[ 0.96989099 0.07905469 0.23035154 16.26667722] [-0.07048104 0.99648731 -0.04522687 -0.03532447] [-0.23311778 0.02762972 0.97205591 -1.32679276] [ 0. 0. 0. 1. ]] SLAMing on 19.29864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:16.29, Y:-0.07, Z:-1.34 [[ 9.69958725e-01 6.72650542e-02 2.33785124e-01 1.62888251e+01] [-6.84013854e-02 9.97652577e-01 -3.25356078e-03 -7.34525360e-02] [-2.33455183e-01 -1.28354067e-02 9.72282845e-01 -1.34307235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.32864 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:16.33, Y:-0.02, Z:-1.34 [[ 0.966035 0.08296754 0.24472997 16.32812998] [-0.06877817 0.99544762 -0.06598178 -0.0200468 ] [-0.24909021 0.04690863 0.9673436 -1.33673558] [ 0. 0. 0. 1. ]] SLAMing on 19.358639999999998 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:16.35, Y:-0.06, Z:-1.35 [[ 9.65346141e-01 7.07779025e-02 2.51191794e-01 1.63507138e+01] [-6.62338581e-02 9.97451916e-01 -2.65094457e-02 -5.76025589e-02] [-2.52428019e-01 8.95338950e-03 9.67574251e-01 -1.35146153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.38864 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.09, Z:-1.37 [[ 0.96592717 0.07514625 0.2476646 16.38533898] [-0.08315956 0.9962925 0.02203964 -0.0937984 ] [-0.24509018 -0.04188436 0.96859512 -1.36855433] [ 0. 0. 0. 1. ]] SLAMing on 19.41864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.04, Z:-1.36 [[ 0.96546995 0.0769989 0.24887534 16.41520195] [-0.06657549 0.99652561 -0.05004412 -0.03895433] [-0.251864 0.0317471 0.96724177 -1.36106195] [ 0. 0. 0. 1. ]] SLAMing on 19.448639999999997 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:16.43, Y:-0.12, Z:-1.38 [[ 0.96428936 0.05372206 0.25934526 16.43382992] [-0.06584008 0.99709637 0.03826103 -0.12197786] [-0.25653676 -0.05397002 0.96502649 -1.38385251] [ 0. 0. 0. 1. ]] SLAMing on 19.47864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:16.49, Y:0.04, Z:-1.35 [[ 0.95094423 0.10573391 0.29073253 16.49251585] [-0.06258566 0.98609967 -0.15391708 0.04131402] [-0.30296551 0.12817088 0.94434322 -1.35494852] [ 0. 0. 0. 1. ]] SLAMing on 19.50864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:16.49, Y:-0.15, Z:-1.40 [[ 0.96436236 0.04503928 0.26072344 16.49034289] [-0.06220614 0.99637861 0.05796597 -0.14765766] [-0.25716851 -0.07211879 0.96367175 -1.39969672] [ 0. 0. 0. 1. ]] SLAMing on 19.538639999999997 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:16.52, Y:-0.14, Z:-1.41 [[ 0.96306094 0.05186525 0.26424162 16.52219179] [-0.06541318 0.9969431 0.04272674 -0.1370158 ] [-0.26121782 -0.05843334 0.96350962 -1.40706249] [ 0. 0. 0. 1. ]] SLAMing on 19.56864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:16.56, Y:-0.08, Z:-1.41 [[ 9.62766584e-01 7.22693715e-02 2.60494997e-01 1.65606136e+01] [-6.89090246e-02 9.97379849e-01 -2.20223368e-02 -8.23693126e-02] [-2.61404001e-01 3.25191378e-03 9.65224002e-01 -1.40576624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.59864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.04, Z:-1.40 [[ 0.96346878 0.0881506 0.25289798 16.59633843] [-0.07063921 0.99448483 -0.07752439 -0.03644416] [-0.25833702 0.05682782 0.96438197 -1.40043817] [ 0. 0. 0. 1. ]] SLAMing on 19.62864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.09, Z:-1.42 [[ 9.63561559e-01 7.08097538e-02 2.57943987e-01 1.66150064e+01] [-6.81925382e-02 9.97489514e-01 -1.90904951e-02 -9.23777220e-02] [-2.58648215e-01 8.05012085e-04 9.65971248e-01 -1.41920272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.65864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.09, Z:-1.43 [[ 9.61122302e-01 7.39457237e-02 2.66037498e-01 1.66463710e+01] [-7.06138718e-02 9.97259290e-01 -2.20814469e-02 -9.34925384e-02] [-2.66941195e-01 2.43703328e-03 9.63709738e-01 -1.42723252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.68864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.08, Z:-1.43 [[ 0.96061832 0.07995089 0.26612083 16.67802996] [-0.07227242 0.99664007 -0.03853907 -0.0828374 ] [-0.26830791 0.01778814 0.96316896 -1.43397381] [ 0. 0. 0. 1. ]] SLAMing on 19.71864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:16.72, Y:-0.04, Z:-1.44 [[ 0.94476066 0.09805597 0.3127496 16.71781788] [-0.07249719 0.99308307 -0.09235897 -0.04237699] [-0.31964268 0.06458365 0.9453346 -1.43586552] [ 0. 0. 0. 1. ]] SLAMing on 19.748639999999998 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.10, Z:-1.46 [[ 9.43643515e-01 8.14416988e-02 3.20786794e-01 1.67416803e+01] [-7.59209456e-02 9.96671334e-01 -2.97029016e-02 -1.01503849e-01] [-3.22138057e-01 3.67451377e-03 9.46685571e-01 -1.45785572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.77864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.11, Z:-1.47 [[ 9.43276910e-01 8.46762085e-02 3.21027429e-01 1.67739479e+01] [-7.92643040e-02 9.96404664e-01 -2.99151425e-02 -1.05605584e-01] [-3.22406329e-01 2.77224746e-03 9.46597314e-01 -1.46813171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.80864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:16.78, Y:-0.23, Z:-1.49 [[ 0.95649207 0.04370765 0.28846586 16.78404688] [-0.07658369 0.99165771 0.10368182 -0.22785383] [-0.28152771 -0.12126262 0.95186004 -1.48774669] [ 0. 0. 0. 1. ]] SLAMing on 19.838639999999998 meters Centerline goodness : 0.848734 Centerline is valid? [True, False] Translation: X:16.81, Y:-0.20, Z:-1.49 [[ 0.96140625 0.063633 0.26767304 16.81467506] [-0.08522204 0.99391308 0.06981401 -0.19779693] [-0.26160126 -0.08993127 0.96097718 -1.49091342] [ 0. 0. 0. 1. ]] SLAMing on 19.86864 meters Centerline goodness : 0.997884 Centerline is valid? [False, True] Translation: X:16.84, Y:-0.17, Z:-1.49 [[ 0.96522268 0.08336206 0.24778203 16.84442759] [-0.09556665 0.99471185 0.03762126 -0.17172618] [-0.24333554 -0.0599926 0.96808507 -1.49314159] [ 0. 0. 0. 1. ]] SLAMing on 19.89864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:16.87, Y:-0.17, Z:-1.50 [[ 0.95986989 0.08692104 0.26663557 16.8740409 ] [-0.09884865 0.99460008 0.03161682 -0.1728981 ] [-0.26244759 -0.0567046 0.9632787 -1.50122125] [ 0. 0. 0. 1. ]] SLAMing on 19.928639999999998 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.11, Z:-1.50 [[ 9.59278364e-01 1.07202803e-01 2.61328489e-01 1.69103795e+01] [-9.99614074e-02 9.94150878e-01 -4.08870273e-02 -1.14536937e-01] [-2.64183151e-01 1.30992771e-02 9.64383571e-01 -1.49731176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.95864 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:16.96, Y:-0.02, Z:-1.49 [[ 0.94542683 0.13918525 0.2946109 16.96129992] [-0.09606077 0.98304897 -0.15616357 -0.02185553] [-0.31135261 0.11934068 0.94277111 -1.48529239] [ 0. 0. 0. 1. ]] SLAMing on 19.98864 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.13, Z:-1.52 [[ 9.44781752e-01 1.06991699e-01 3.09742179e-01 1.69727179e+01] [-1.00951337e-01 9.94257289e-01 -3.55143613e-02 -1.33168272e-01] [-3.11763162e-01 2.28443340e-03 9.50157099e-01 -1.51894152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.018639999999998 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:16.99, Y:-0.20, Z:-1.53 [[ 0.959299 0.08861978 0.26812678 16.99174068] [-0.10216322 0.99408082 0.03695954 -0.20007274] [-0.26326434 -0.06284795 0.96267441 -1.53247543] [ 0. 0. 0. 1. ]] SLAMing on 20.04864 meters Centerline goodness : 0.994360 Centerline is valid? [True, True] Translation: X:17.02, Y:-0.16, Z:-1.55 [[ 9.53030268e-01 1.28502854e-01 2.74263241e-01 1.70246063e+01] [-1.34424549e-01 9.90919807e-01 2.82444173e-03 -1.61235766e-01] [-2.71409929e-01 -3.95594910e-02 9.61650507e-01 -1.54702943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.07864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.06, Z:-1.53 [[ 0.94224685 0.13950935 0.3044799 17.0788464 ] [-0.10330823 0.98585066 -0.13200716 -0.06114657] [-0.31858794 0.09292805 0.94332714 -1.52510009] [ 0. 0. 0. 1. ]] SLAMing on 20.108639999999998 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:17.08, Y:-0.20, Z:-1.56 [[ 0.95656988 0.09290469 0.27630198 17.08391938] [-0.10340218 0.99435874 0.02363653 -0.20021567] [-0.27254735 -0.05118023 0.96078017 -1.55580566] [ 0. 0. 0. 1. ]] SLAMing on 20.13864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.16, Z:-1.56 [[ 9.56014272e-01 1.08831791e-01 2.72382734e-01 1.71219773e+01] [-1.05145753e-01 9.94058658e-01 -2.81381393e-02 -1.56996296e-01] [-2.73826740e-01 -1.73942504e-03 9.61777464e-01 -1.55852929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.16864 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.15, Z:-1.57 [[ 9.55131353e-01 1.12103965e-01 2.74147406e-01 1.71530388e+01] [-1.04892477e-01 9.93643275e-01 -4.08731121e-02 -1.50950305e-01] [-2.76986764e-01 1.02831903e-02 9.60818707e-01 -1.56607087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.198639999999997 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:17.19, Y:-0.13, Z:-1.57 [[ 0.94056473 0.12192866 0.31697223 17.19045253] [-0.10125697 0.99156093 -0.08095647 -0.12919659] [-0.3241682 0.04404915 0.94497336 -1.57358229] [ 0. 0. 0. 1. ]] SLAMing on 20.22864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:17.20, Y:-0.22, Z:-1.59 [[ 0.95583481 0.08818855 0.28036155 17.20382123] [-0.09881885 0.99481646 0.02398003 -0.22487811] [-0.27679352 -0.05062596 0.95959489 -1.59030067] [ 0. 0. 0. 1. ]] SLAMing on 20.25864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:17.23, Y:-0.26, Z:-1.60 [[ 0.95650587 0.08047682 0.28039259 17.22712385] [-0.09974667 0.99348487 0.0551219 -0.26040439] [-0.27412976 -0.08069265 0.9583014 -1.59948343] [ 0. 0. 0. 1. ]] SLAMing on 20.288639999999997 meters Centerline goodness : 0.987373 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.20, Z:-1.63 [[ 9.45714834e-01 1.59684745e-01 2.83062245e-01 1.73035388e+01] [-1.69415147e-01 9.85493340e-01 1.00690389e-02 -2.02124722e-01] [-2.77348085e-01 -5.74774713e-02 9.59048685e-01 -1.62912519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.31864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.12, Z:-1.60 [[ 0.95631399 0.13748403 0.25799553 17.31586855] [-0.1088959 0.98652963 -0.12206952 -0.11546203] [-0.27130284 0.08864214 0.95840354 -1.596495 ] [ 0. 0. 0. 1. ]] SLAMing on 20.34864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:17.34, Y:-0.17, Z:-1.62 [[ 0.95407793 0.12705058 0.27128113 17.33564564] [-0.11326188 0.99137326 -0.06596068 -0.17064723] [-0.2773212 0.03220582 0.96023733 -1.61569239] [ 0. 0. 0. 1. ]] SLAMing on 20.37864 meters Centerline goodness : 0.956468 Centerline is valid? [True, True] Translation: X:17.40, Y:-0.25, Z:-1.67 [[ 0.93845947 0.17583839 0.29727878 17.39670155] [-0.19995455 0.97839721 0.05250779 -0.2503037 ] [-0.28162385 -0.10871868 0.95334582 -1.66803036] [ 0. 0. 0. 1. ]] SLAMing on 20.40864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:18.10, Y:-0.05, Z:-0.03 [[ 0.93124919 0.1436956 -0.33485298 18.09768975] [-0.05736825 -0.84968004 -0.52416859 -0.05416032] [-0.35983862 0.5073415 -0.78302029 -0.02928816] [ 0. 0. 0. 1. ]] SLAMing on 20.43864 meters Centerline goodness : 0.888763 Centerline is valid? [True, False] Translation: X:18.34, Y:0.39, Z:-1.04 [[-8.48658795e-01 -4.07657405e-01 -3.37036630e-01 1.83447733e+01] [ 2.99432274e-01 1.54995931e-01 -9.41443878e-01 3.93765429e-01] [ 4.36025874e-01 -8.99884271e-01 -9.47287613e-03 -1.03824629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.46864 meters Centerline goodness : 0.999165 Centerline is valid? [False, True] Translation: X:16.87, Y:-1.83, Z:-0.84 [[ 0.75767274 -0.36460867 0.54128785 16.86812502] [-0.50199426 0.20441796 0.84036603 -1.82916464] [-0.4170537 -0.90844582 -0.02814954 -0.8416977 ] [ 0. 0. 0. 1. ]] SLAMing on 20.498639999999998 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:16.97, Y:-1.89, Z:-0.96 [[ 0.78088805 -0.3111499 0.54166373 16.96830707] [-0.51500567 0.17006429 0.84014718 -1.89369144] [-0.35352937 -0.93502079 -0.02744279 -0.95818288] [ 0. 0. 0. 1. ]] SLAMing on 20.52864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:17.07, Y:-1.96, Z:-1.06 [[ 0.79973704 -0.25657192 0.54276286 17.07124898] [-0.5262077 0.13564895 0.83946698 -1.95980663] [-0.28900887 -0.95695884 -0.02652664 -1.06124314] [ 0. 0. 0. 1. ]] SLAMing on 20.55864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:18.21, Y:-0.54, Z:-0.86 [[ 0.77153197 0.33585309 -0.54031576 18.20602482] [-0.51585302 -0.16680017 -0.84028172 -0.53689866] [-0.37233597 0.92702773 0.04455916 -0.85597432] [ 0. 0. 0. 1. ]] SLAMing on 20.588639999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.99, Z:-1.79 [[ 0.7789205 0.54420656 0.31164416 17.52052967] [-0.49257329 0.8384829 -0.23306218 -0.98636292] [-0.38814227 0.02802932 0.92117313 -1.78940809] [ 0. 0. 0. 1. ]] SLAMing on 20.61864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:17.48, Y:-1.10, Z:-1.81 [[ 0.79862733 0.49656026 0.34003279 17.47529877] [-0.49924721 0.86213757 -0.08643516 -1.10469683] [-0.33607531 -0.10073094 0.93643295 -1.808822 ] [ 0. 0. 0. 1. ]] SLAMing on 20.64864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:17.57, Y:-1.02, Z:-1.81 [[ 0.7931378 0.5432861 0.2752683 17.57379026] [-0.50350895 0.83919308 -0.20550842 -1.0168231 ] [-0.34265312 0.02439644 0.93914517 -1.80823799] [ 0. 0. 0. 1. ]] SLAMing on 20.678639999999998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:17.55, Y:-1.10, Z:-1.83 [[ 0.79046373 0.51394996 0.33320044 17.54660399] [-0.50108783 0.85545951 -0.13076702 -1.09719891] [-0.35224719 -0.0635961 0.93374378 -1.82844788] [ 0. 0. 0. 1. ]] SLAMing on 20.70864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:17.61, Y:-1.06, Z:-1.83 [[ 7.86309882e-01 5.39298720e-01 3.01452583e-01 1.76103086e+01] [-5.04856568e-01 8.42108990e-01 -1.89663634e-01 -1.06150067e+00] [-3.56141285e-01 -3.05592698e-03 9.34427122e-01 -1.83411490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.73864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:17.63, Y:-1.08, Z:-1.84 [[ 7.86529543e-01 5.37857268e-01 3.03448245e-01 1.76336940e+01] [-5.05138827e-01 8.42999309e-01 -1.84897080e-01 -1.07932277e+00] [-3.55254899e-01 -7.85647471e-03 9.34736451e-01 -1.84410614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.768639999999998 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.07, Z:-1.85 [[ 0.78811714 0.54950102 0.27734456 17.68033155] [-0.50880974 0.83516315 -0.20884244 -1.07009763] [-0.34638709 0.02347669 0.93779786 -1.84862569] [ 0. 0. 0. 1. ]] SLAMing on 20.79864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.11, Z:-1.87 [[ 7.88958581e-01 5.35708035e-01 3.00933978e-01 1.76831815e+01] [-5.06375435e-01 8.44287105e-01 -1.75394424e-01 -1.11157625e+00] [-3.48034880e-01 -1.40066378e-02 9.37376945e-01 -1.86518617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.82864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:17.77, Y:-1.05, Z:-1.86 [[ 0.7656415 0.57088192 0.2964573 17.76670552] [-0.49490972 0.81717545 -0.29544652 -1.05128436] [-0.41092271 0.07948652 0.90819845 -1.86336843] [ 0. 0. 0. 1. ]] SLAMing on 20.858639999999998 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:17.67, Y:-1.23, Z:-1.90 [[ 0.78348261 0.49136846 0.38041035 17.67169492] [-0.50184167 0.8613441 -0.07900179 -1.23285796] [-0.3664832 -0.12900923 0.92143729 -1.89771295] [ 0. 0. 0. 1. ]] SLAMing on 20.88864 meters Centerline goodness : 0.855110 Centerline is valid? [True, False] Translation: X:17.66, Y:-1.22, Z:-1.89 [[ 0.78691073 0.47925694 0.38869563 17.65764532] [-0.48264043 0.87051552 -0.09623383 -1.21652189] [-0.38448631 -0.11187279 0.91632677 -1.88873674] [ 0. 0. 0. 1. ]] SLAMing on 20.91864 meters Centerline goodness : 0.998673 Centerline is valid? [False, True] Translation: X:17.66, Y:-1.20, Z:-1.89 [[ 0.79288191 0.47513707 0.38155347 17.65744828] [-0.4687686 0.87563373 -0.11628226 -1.19890989] [-0.3893511 -0.08666218 0.91700348 -1.88590173] [ 0. 0. 0. 1. ]] SLAMing on 20.948639999999997 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:17.68, Y:-1.22, Z:-1.89 [[ 0.81380522 0.4720094 0.33901061 17.68109809] [-0.47341294 0.87679438 -0.08433147 -1.21757548] [-0.33704784 -0.09186262 0.9369952 -1.89299054] [ 0. 0. 0. 1. ]] SLAMing on 20.97864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:17.74, Y:-1.18, Z:-1.90 [[ 0.80590342 0.49597174 0.32331364 17.73583229] [-0.47581377 0.86754411 -0.14480495 -1.18399626] [-0.35230801 -0.03713828 0.93514695 -1.89970502] [ 0. 0. 0. 1. ]] SLAMing on 21.00864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.13, Z:-1.90 [[ 0.80325318 0.52704204 0.27750858 17.80910651] [-0.47957054 0.84857045 -0.22347323 -1.13068389] [-0.35326537 0.04642064 0.93437075 -1.89763507] [ 0. 0. 0. 1. ]] SLAMing on 21.038639999999997 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:17.79, Y:-1.21, Z:-1.92 [[ 0.80527018 0.50229005 0.31503118 17.79308103] [-0.48144804 0.86405814 -0.14700785 -1.20857492] [-0.34604584 -0.0332901 0.93762682 -1.92133278] [ 0. 0. 0. 1. ]] SLAMing on 21.06864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:17.82, Y:-1.23, Z:-1.93 [[ 0.79878891 0.50256117 0.33070915 17.8150591 ] [-0.48132994 0.86363896 -0.14983072 -1.22577998] [-0.36091241 -0.0394971 0.93176296 -1.93185905] [ 0. 0. 0. 1. ]] SLAMing on 21.09864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:17.90, Y:-1.16, Z:-1.93 [[ 0.79624269 0.53696155 0.27869315 17.89737543] [-0.48234675 0.84152131 -0.24327657 -1.16020183] [-0.36515639 0.05928045 0.92905685 -1.92631173] [ 0. 0. 0. 1. ]] SLAMing on 21.128639999999997 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:17.87, Y:-1.24, Z:-1.95 [[ 0.80055037 0.50639341 0.32044471 17.87483836] [-0.48146783 0.86188477 -0.15919601 -1.24369692] [-0.35680222 -0.02683939 0.93379431 -1.95306976] [ 0. 0. 0. 1. ]] SLAMing on 21.15864 meters Centerline goodness : 0.858982 Centerline is valid? [True, False] Translation: X:17.84, Y:-1.23, Z:-1.94 [[ 0.80245385 0.49230158 0.33720464 17.84331499] [-0.46592469 0.86998621 -0.1613635 -1.23466528] [-0.37280289 -0.02762521 0.92749925 -1.94179555] [ 0. 0. 0. 1. ]] SLAMing on 21.18864 meters Centerline goodness : 0.998426 Centerline is valid? [False, True] Translation: X:17.81, Y:-1.23, Z:-1.93 [[ 0.80500008 0.47691855 0.35287896 17.81341135] [-0.45129719 0.87835011 -0.15758149 -1.23183932] [-0.38510481 -0.03240018 0.92230391 -1.93217996] [ 0. 0. 0. 1. ]] SLAMing on 21.21864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.18, Z:-1.93 [[ 0.801679 0.50896985 0.31346526 17.88471624] [-0.45293626 0.85943993 -0.23709016 -1.17995956] [-0.39007631 0.04809042 0.91952585 -1.93145326] [ 0. 0. 0. 1. ]] SLAMing on 21.248639999999998 meters Centerline goodness : 0.766414 Centerline is valid? [True, False] Translation: X:17.84, Y:-1.19, Z:-1.92 [[ 0.80328558 0.49318759 0.33391358 17.84460693] [-0.44618722 0.86967882 -0.2111296 -1.19078176] [-0.39452407 0.02060939 0.91865446 -1.92316267] [ 0. 0. 0. 1. ]] SLAMing on 21.27864 meters Centerline goodness : 0.998916 Centerline is valid? [False, True] Translation: X:17.81, Y:-1.20, Z:-1.92 [[ 8.05394993e-01 4.77722518e-01 3.50884740e-01 1.78134674e+01] [-4.37953278e-01 8.78510783e-01 -1.90829063e-01 -1.19994658e+00] [-3.99419368e-01 2.16495194e-05 9.16768328e-01 -1.91706156e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.30864 meters Centerline goodness : 0.997685 Centerline is valid? [True, True] Translation: X:17.81, Y:-1.27, Z:-1.93 [[ 0.82407643 0.45104047 0.34272516 17.80734072] [-0.44346461 0.89010676 -0.10511466 -1.26928975] [-0.35247295 -0.06536396 0.93353649 -1.93418098] [ 0. 0. 0. 1. ]] SLAMing on 21.338639999999998 meters Centerline goodness : 0.932097 Centerline is valid? [True, False] Translation: X:17.80, Y:-1.26, Z:-1.93 [[ 0.8293607 0.43606833 0.34929249 17.79875684] [-0.42526917 0.89816731 -0.111542 -1.26434794] [-0.36236303 -0.05603478 0.93035108 -1.93025614] [ 0. 0. 0. 1. ]] SLAMing on 21.36864 meters Centerline goodness : 0.998372 Centerline is valid? [False, True] Translation: X:17.80, Y:-1.27, Z:-1.93 [[ 0.83641031 0.41977923 0.35242472 17.79574811] [-0.40820835 0.90616994 -0.11055311 -1.26829699] [-0.36576458 -0.05139495 0.92928727 -1.92835212] [ 0. 0. 0. 1. ]] SLAMing on 21.39864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:17.84, Y:-1.25, Z:-1.93 [[ 0.83493043 0.43472277 0.33750155 17.84055324] [-0.41065003 0.90037446 -0.14384845 -1.25202487] [-0.36641197 -0.01849157 0.93026895 -1.9343995 ] [ 0. 0. 0. 1. ]] SLAMing on 21.428639999999998 meters Centerline goodness : 0.997686 Centerline is valid? [True, True] Translation: X:17.88, Y:-1.25, Z:-1.94 [[ 8.32973627e-01 4.42708977e-01 3.31909172e-01 1.78781099e+01] [-4.10563426e-01 8.96663760e-01 -1.65625403e-01 -1.24694516e+00] [-3.70934779e-01 1.69182545e-03 9.28657379e-01 -1.94318636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.45864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:17.89, Y:-1.28, Z:-1.96 [[ 0.83449289 0.43286107 0.34095882 17.89350105] [-0.41017298 0.90117039 -0.14017864 -1.28046043] [-0.36793987 -0.02287401 0.9295682 -1.95754679] [ 0. 0. 0. 1. ]] SLAMing on 21.48864 meters Centerline goodness : 0.981761 Centerline is valid? [True, True] Translation: X:17.94, Y:-1.33, Z:-2.00 [[ 0.80718788 0.45990786 0.3700439 17.94048416] [-0.45940854 0.88308507 -0.09541777 -1.33123187] [-0.37066363 -0.09298126 0.92410116 -2.00382077] [ 0. 0. 0. 1. ]] SLAMing on 21.518639999999998 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.46, Z:-0.46 [[ 0.82994712 -0.05822534 -0.55479509 18.7938157 ] [-0.31756181 -0.86697491 -0.38406901 -1.45740257] [-0.45863088 0.4949387 -0.73803347 -0.45561999] [ 0. 0. 0. 1. ]] SLAMing on 21.54864 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:18.42, Y:-2.48, Z:-0.76 [[ 0.88490068 -0.4539094 -0.10448469 18.42327839] [-0.25042001 -0.65277319 0.71496642 -2.47924963] [-0.39273478 -0.60650921 -0.69130744 -0.75714595] [ 0. 0. 0. 1. ]] SLAMing on 21.57864 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:18.15, Y:-1.62, Z:-2.15 [[ 0.88368516 0.2726195 0.38049854 18.14759231] [-0.30306426 0.95273352 0.0212344 -1.62352144] [-0.3567248 -0.13408003 0.9245377 -2.14551045] [ 0. 0. 0. 1. ]] SLAMing on 21.608639999999998 meters Centerline goodness : 0.863887 Centerline is valid? [True, False] Translation: X:18.15, Y:-1.60, Z:-2.14 [[ 8.83565500e-01 2.75066509e-01 3.79012430e-01 1.81534947e+01] [-2.92432584e-01 9.56207862e-01 -1.22355255e-02 -1.59574948e+00] [-3.65780249e-01 -1.00024696e-01 9.25310688e-01 -2.14202286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.63864 meters Centerline goodness : 0.813630 Centerline is valid? [False, False] Translation: X:18.16, Y:-1.57, Z:-2.14 [[ 0.88255418 0.27895695 0.37852495 18.15965818] [-0.28528301 0.95758534 -0.0405452 -1.57299997] [-0.37378031 -0.0722034 0.92470263 -2.14052387] [ 0. 0. 0. 1. ]] SLAMing on 21.66864 meters Centerline goodness : 0.997341 Centerline is valid? [False, True] Translation: X:18.19, Y:-1.56, Z:-2.15 [[ 0.88847756 0.27841828 0.36481624 18.19220068] [-0.2772448 0.95912063 -0.05677084 -1.56057572] [-0.36570882 -0.05070379 0.92934718 -2.14892701] [ 0. 0. 0. 1. ]] SLAMing on 21.698639999999997 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:18.24, Y:-1.53, Z:-2.15 [[ 8.86361142e-01 2.97225303e-01 3.54994430e-01 1.82363792e+01] [-2.78512845e-01 9.54784005e-01 -1.04010088e-01 -1.52557994e+00] [-3.69857434e-01 -6.68000867e-03 9.29064506e-01 -2.15436030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.72864 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:18.27, Y:-1.52, Z:-2.17 [[ 8.83382636e-01 3.03873804e-01 3.56785411e-01 1.82706439e+01] [-2.79508581e-01 9.52695143e-01 -1.19360457e-01 -1.51999258e+00] [-3.76178244e-01 5.71637150e-03 9.26529682e-01 -2.16575143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.75864 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:18.29, Y:-1.55, Z:-2.18 [[ 0.88564458 0.29164111 0.36135737 18.29179032] [-0.27725419 0.95635043 -0.09232533 -1.54744974] [-0.37251013 -0.01842042 0.92784529 -2.18086256] [ 0. 0. 0. 1. ]] SLAMing on 21.788639999999997 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:18.33, Y:-1.53, Z:-2.19 [[ 8.83248651e-01 3.02215965e-01 3.58521033e-01 1.83309914e+01] [-2.76910301e-01 9.53206974e-01 -1.21314264e-01 -1.52973546e+00] [-3.78407856e-01 7.87249323e-03 9.25605487e-01 -2.18981246e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.81864 meters Centerline goodness : 0.997200 Centerline is valid? [True, True] Translation: X:18.36, Y:-1.55, Z:-2.21 [[ 8.82682991e-01 2.94662500e-01 3.66121221e-01 1.83552316e+01] [-2.75539959e-01 9.55564362e-01 -1.04759154e-01 -1.55102856e+00] [-3.80720986e-01 -8.41190260e-03 9.24651702e-01 -2.20566299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.84864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:18.40, Y:-1.53, Z:-2.21 [[ 0.86818748 0.30965588 0.38776763 18.39751792] [-0.27326793 0.95059643 -0.14727888 -1.52906979] [-0.4142163 0.02190122 0.90991494 -2.21495024] [ 0. 0. 0. 1. ]] SLAMing on 21.878639999999997 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:18.41, Y:-1.59, Z:-2.24 [[ 0.88153252 0.28462809 0.37667925 18.40929176] [-0.27464445 0.95810883 -0.08122741 -1.58697364] [-0.38401932 -0.03184826 0.92277562 -2.23569988] [ 0. 0. 0. 1. ]] SLAMing on 21.90864 meters Centerline goodness : 0.996903 Centerline is valid? [True, True] Translation: X:18.45, Y:-1.58, Z:-2.25 [[ 8.81070872e-01 2.92199219e-01 3.71932433e-01 1.84456115e+01] [-2.75438018e-01 9.56232919e-01 -9.87547560e-02 -1.57828698e+00] [-3.84510099e-01 -1.54343933e-02 9.22991746e-01 -2.24603769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.93864 meters Centerline goodness : 0.996908 Centerline is valid? [True, True] Translation: X:18.48, Y:-1.58, Z:-2.26 [[ 8.80466304e-01 2.97120679e-01 3.69456885e-01 1.84789376e+01] [-2.76124407e-01 9.54825180e-01 -1.09837094e-01 -1.57724256e+00] [-3.85401609e-01 -5.30820265e-03 9.22733669e-01 -2.25783188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.96864 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:18.51, Y:-1.59, Z:-2.27 [[ 8.80081721e-01 2.95520023e-01 3.71650482e-01 1.85086156e+01] [-2.74326215e-01 9.55322770e-01 -1.10016054e-01 -1.58671599e+00] [-3.87558115e-01 -5.13035174e-03 9.21830997e-01 -2.27142077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.998639999999998 meters Centerline goodness : 0.997339 Centerline is valid? [True, True] Translation: X:18.54, Y:-1.60, Z:-2.28 [[ 8.79799845e-01 2.94098945e-01 3.73440817e-01 1.85377541e+01] [-2.73935344e-01 9.55742447e-01 -1.07311709e-01 -1.59743892e+00] [-3.88473500e-01 -7.88581363e-03 9.21426152e-01 -2.28481818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.02864 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:18.56, Y:-1.62, Z:-2.30 [[ 0.87672375 0.28336498 0.38866406 18.55841367] [-0.27158922 0.95854375 -0.08621586 -1.62320661] [-0.39698206 -0.02996948 0.91733695 -2.29936487] [ 0. 0. 0. 1. ]] SLAMing on 22.05864 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:18.60, Y:-1.61, Z:-2.31 [[ 8.75563992e-01 2.93922758e-01 3.83402019e-01 1.85970432e+01] [-2.72310461e-01 9.55801041e-01 -1.10866512e-01 -1.61074004e+00] [-3.99042240e-01 -7.33365470e-03 9.16903216e-01 -2.30885951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.088639999999998 meters Centerline goodness : 0.997345 Centerline is valid? [True, True] Translation: X:18.65, Y:-1.57, Z:-2.31 [[ 0.86489596 0.31511434 0.39071464 18.64648135] [-0.26816998 0.94807364 -0.17100067 -1.57367661] [-0.42431102 0.04311985 0.90448927 -2.31442057] [ 0. 0. 0. 1. ]] SLAMing on 22.11864 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:18.66, Y:-1.63, Z:-2.34 [[ 8.64945031e-01 2.94262896e-01 4.06545743e-01 1.86597771e+01] [-2.68964322e-01 9.55705868e-01 -1.19517726e-01 -1.62786549e+00] [-4.23707785e-01 -5.97003676e-03 9.05779262e-01 -2.33954861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.14864 meters Centerline goodness : 0.996453 Centerline is valid? [True, True] Translation: X:18.69, Y:-1.65, Z:-2.35 [[ 8.76933121e-01 2.86749972e-01 3.85697751e-01 1.86866773e+01] [-2.68711434e-01 9.57889653e-01 -1.01200680e-01 -1.64686398e+00] [-3.98475177e-01 -1.48951669e-02 9.17058159e-01 -2.35433153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.178639999999998 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:18.70, Y:-1.69, Z:-2.37 [[ 0.87329303 0.27070245 0.40506724 18.70318377] [-0.26921211 0.96109043 -0.06188719 -1.68888263] [-0.40605926 -0.05500336 0.91218995 -2.37284958] [ 0. 0. 0. 1. ]] SLAMing on 22.20864 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:18.77, Y:-1.61, Z:-2.37 [[ 0.87474888 0.30851209 0.37367725 18.76772333] [-0.26842264 0.95051949 -0.15640329 -1.61425335] [-0.40343981 0.03651017 0.91427749 -2.37238515] [ 0. 0. 0. 1. ]] SLAMing on 22.23864 meters Centerline goodness : 0.996707 Centerline is valid? [True, True] Translation: X:18.79, Y:-1.64, Z:-2.39 [[ 8.61484574e-01 2.99975774e-01 4.09705826e-01 1.87909767e+01] [-2.64422908e-01 9.53839341e-01 -1.42376395e-01 -1.64266412e+00] [-4.33503005e-01 1.43194623e-02 9.01038344e-01 -2.39129458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.268639999999998 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:18.82, Y:-1.67, Z:-2.41 [[ 8.61371798e-01 2.92496429e-01 4.15312491e-01 1.88168981e+01] [-2.64904271e-01 9.56261395e-01 -1.24055924e-01 -1.66747033e+00] [-4.33433216e-01 -3.15977813e-03 9.01180150e-01 -2.40952399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.29864 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:18.85, Y:-1.68, Z:-2.42 [[ 8.60843943e-01 2.92817660e-01 4.16179677e-01 1.88493845e+01] [-2.64951653e-01 9.56163853e-01 -1.24704879e-01 -1.67547975e+00] [-4.34451755e-01 -2.91605363e-03 9.00690385e-01 -2.42444768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.32864 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:18.88, Y:-1.68, Z:-2.44 [[ 8.60538740e-01 2.93321301e-01 4.16456110e-01 1.88824815e+01] [-2.65284320e-01 9.56009936e-01 -1.25176802e-01 -1.68218359e+00] [-4.34853202e-01 -2.75978917e-03 9.00497128e-01 -2.43914362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.358639999999998 meters Centerline goodness : 0.996020 Centerline is valid? [True, True] Translation: X:18.91, Y:-1.69, Z:-2.45 [[ 8.60095771e-01 2.94409432e-01 4.16603349e-01 1.89142079e+01] [-2.66284795e-01 9.55674988e-01 -1.25609418e-01 -1.69081480e+00] [-4.35117998e-01 -2.89900854e-03 9.00368771e-01 -2.45408091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.38864 meters Centerline goodness : 0.995485 Centerline is valid? [True, True] Translation: X:18.92, Y:-1.77, Z:-2.48 [[ 0.87142975 0.26120353 0.41519021 18.91751446] [-0.27041212 0.96200793 -0.03765672 -1.77108148] [-0.40925234 -0.07945728 0.90895493 -2.47774988] [ 0. 0. 0. 1. ]] SLAMing on 22.41864 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:19.71, Y:-1.18, Z:-1.56 [[ 0.84193188 0.48191373 -0.24271354 19.710831 ] [-0.23339736 -0.08030331 -0.96905988 -1.18253928] [-0.48649396 0.87253111 0.04486748 -1.5571197 ] [ 0. 0. 0. 1. ]] SLAMing on 22.448639999999997 meters Centerline goodness : 0.995425 Centerline is valid? [True, True] Translation: X:19.06, Y:-1.73, Z:-2.47 [[ 8.23890263e-01 3.01518918e-01 4.79886630e-01 1.90616896e+01] [-2.62609685e-01 9.53452148e-01 -1.48206457e-01 -1.73021638e+00] [-5.02235988e-01 -3.91702012e-03 8.64721729e-01 -2.46821219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.47864 meters Centerline goodness : 0.994783 Centerline is valid? [True, True] Translation: X:19.10, Y:-1.74, Z:-2.49 [[ 8.21587537e-01 3.04968973e-01 4.81651164e-01 1.90954234e+01] [-2.66084420e-01 9.52345562e-01 -1.49120796e-01 -1.74057621e+00] [-5.04175565e-01 -5.64408278e-03 8.63582737e-01 -2.48774084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.50864 meters Centerline goodness : 0.994982 Centerline is valid? [True, True] Translation: X:19.13, Y:-1.75, Z:-2.51 [[ 8.20299617e-01 3.07882215e-01 4.81992822e-01 1.91301224e+01] [-2.68920896e-01 9.51402070e-01 -1.50052171e-01 -1.74917894e+00] [-5.04767363e-01 -6.53020314e-03 8.63230714e-01 -2.50682473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.538639999999997 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:19.16, Y:-1.76, Z:-2.53 [[ 8.20109877e-01 3.09955565e-01 4.80985797e-01 1.91644948e+01] [-2.71022887e-01 9.50726097e-01 -1.50553922e-01 -1.75760712e+00] [-5.03950775e-01 -6.88740066e-03 8.63704915e-01 -2.52601257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.56864 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:19.20, Y:-1.77, Z:-2.55 [[ 8.20196635e-01 3.12235148e-01 4.79360713e-01 1.91981558e+01] [-2.73470335e-01 9.49976371e-01 -1.50860432e-01 -1.76719751e+00] [-5.02485280e-01 -7.35571575e-03 8.64554473e-01 -2.54515533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.59864 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:19.23, Y:-1.78, Z:-2.56 [[ 8.19711886e-01 3.13608304e-01 4.79293497e-01 1.92311914e+01] [-2.74598490e-01 9.49524375e-01 -1.51654640e-01 -1.77688328e+00] [-5.02661012e-01 -7.30015973e-03 8.64452783e-01 -2.56464675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.628639999999997 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:19.22, Y:-1.89, Z:-2.59 [[ 0.83919886 0.25593477 0.47983609 19.22037581] [-0.27803711 0.96022122 -0.02589544 -1.88687369] [-0.46737634 -0.11168081 0.87697592 -2.59203495] [ 0. 0. 0. 1. ]] SLAMing on 22.65864 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:20.06, Y:-1.27, Z:-1.82 [[ 7.93758912e-01 5.78199125e-01 -1.88765889e-01 2.00597395e+01] [-2.39109498e-01 1.12718315e-02 -9.70927182e-01 -1.26770248e+00] [-5.59261510e-01 8.15817821e-01 1.47200020e-01 -1.81742048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.68864 meters Centerline goodness : 0.994206 Centerline is valid? [True, True] Translation: X:19.39, Y:-1.81, Z:-2.59 [[ 7.74205715e-01 3.31025162e-01 5.39469974e-01 1.93915939e+01] [-2.76626983e-01 9.43585199e-01 -1.82001329e-01 -1.80824558e+00] [-5.69282903e-01 -8.32548210e-03 8.22099546e-01 -2.59384342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.71864 meters Centerline goodness : 0.994694 Centerline is valid? [True, True] Translation: X:19.43, Y:-1.82, Z:-2.62 [[ 7.71789671e-01 3.34558822e-01 5.40750496e-01 1.94296833e+01] [-2.80269735e-01 9.42318287e-01 -1.82989401e-01 -1.81795088e+00] [-5.70779800e-01 -1.03266681e-02 8.21038233e-01 -2.61965592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.748639999999998 meters Centerline goodness : 0.994055 Centerline is valid? [True, True] Translation: X:19.47, Y:-1.83, Z:-2.64 [[ 7.71469109e-01 3.37761155e-01 5.39215000e-01 1.94651961e+01] [-2.83416287e-01 9.41169524e-01 -1.84051993e-01 -1.82610412e+00] [-5.69658339e-01 -1.08318859e-02 8.21810226e-01 -2.64320237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.77864 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:19.50, Y:-1.83, Z:-2.67 [[ 7.70314923e-01 3.42283499e-01 5.38012012e-01 1.95012360e+01] [-2.88370038e-01 9.39509998e-01 -1.84834212e-01 -1.83237558e+00] [-5.68733365e-01 -1.27659929e-02 8.22422877e-01 -2.66696990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.80864 meters Centerline goodness : 0.993021 Centerline is valid? [True, True] Translation: X:19.54, Y:-1.84, Z:-2.69 [[ 7.69292777e-01 3.45581578e-01 5.37365793e-01 1.95374862e+01] [-2.91706315e-01 9.38287060e-01 -1.85808555e-01 -1.84136955e+00] [-5.68415384e-01 -1.38118161e-02 8.22625787e-01 -2.69052459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.838639999999998 meters Centerline goodness : 0.991355 Centerline is valid? [True, True] Translation: X:19.55, Y:-1.90, Z:-2.72 [[ 0.79430864 0.31584641 0.51895552 19.54820036] [-0.29754304 0.9470153 -0.12095521 -1.89648311] [-0.52966208 -0.05833584 0.84620034 -2.71699525] [ 0. 0. 0. 1. ]] SLAMing on 22.86864 meters Centerline goodness : 0.993272 Centerline is valid? [True, True] Translation: X:20.47, Y:-1.40, Z:-1.94 [[ 0.74634081 0.62020264 -0.24150379 20.46807091] [-0.23950335 -0.08828164 -0.96687357 -1.39692871] [-0.62097789 0.77945817 0.08265243 -1.93512259] [ 0. 0. 0. 1. ]] SLAMing on 22.89864 meters Centerline goodness : 0.993222 Centerline is valid? [True, True] Translation: X:19.70, Y:-1.88, Z:-2.74 [[ 7.25518921e-01 3.55023438e-01 5.89559712e-01 1.97009633e+01] [-2.83730699e-01 9.34777799e-01 -2.13746012e-01 -1.87713991e+00] [-6.26992174e-01 -1.21994126e-02 7.78930028e-01 -2.73787628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.928639999999998 meters Centerline goodness : 0.993087 Centerline is valid? [True, True] Translation: X:19.74, Y:-1.89, Z:-2.77 [[ 7.25578998e-01 3.54093566e-01 5.90044799e-01 1.97355274e+01] [-2.81553724e-01 9.35154915e-01 -2.14971591e-01 -1.88719549e+00] [-6.27903351e-01 -1.01504391e-02 7.78225128e-01 -2.76514042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.95864 meters Centerline goodness : 0.992616 Centerline is valid? [True, True] Translation: X:19.77, Y:-1.90, Z:-2.79 [[ 7.26525503e-01 3.54155623e-01 5.88841649e-01 1.97698814e+01] [-2.80559200e-01 9.35151677e-01 -2.16281935e-01 -1.89769529e+00] [-6.27253720e-01 -8.07060001e-03 7.78773161e-01 -2.79271880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.98864 meters Centerline goodness : 0.991446 Centerline is valid? [True, True] Translation: X:19.78, Y:-1.95, Z:-2.82 [[ 0.75502505 0.3226478 0.57082009 19.7793255 ] [-0.28445854 0.94554511 -0.15820174 -1.94744796] [-0.59077959 -0.04292837 0.80569016 -2.81937948] [ 0. 0. 0. 1. ]] SLAMing on 23.018639999999998 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:19.89, Y:-1.89, Z:-2.86 [[ 0.72160092 0.38808293 0.57330947 19.89100068] [-0.28532417 0.92122125 -0.26446461 -1.88794696] [-0.63077907 0.02725885 0.77548354 -2.86057434] [ 0. 0. 0. 1. ]] SLAMing on 23.04864 meters Centerline goodness : 0.992878 Centerline is valid? [True, True] Translation: X:19.87, Y:-1.99, Z:-2.90 [[ 0.74293459 0.3217436 0.58696614 19.87122217] [-0.29183584 0.94486361 -0.14854159 -1.99085194] [-0.60239525 -0.06094108 0.79586817 -2.89883363] [ 0. 0. 0. 1. ]] SLAMing on 23.07864 meters Centerline goodness : 0.992560 Centerline is valid? [True, True] Translation: X:19.95, Y:-1.96, Z:-2.93 [[ 7.43286369e-01 3.62028730e-01 5.62548285e-01 1.99460783e+01] [-2.98150984e-01 9.32051083e-01 -2.05880475e-01 -1.95872540e+00] [-5.98858385e-01 -1.46961736e-02 8.00720087e-01 -2.92663311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.108639999999998 meters Centerline goodness : 0.992275 Centerline is valid? [True, True] Translation: X:20.91, Y:-1.54, Z:-2.25 [[ 0.69121147 0.67792817 -0.25028005 20.90935383] [-0.26236313 -0.08728662 -0.96101334 -1.53868309] [-0.67334412 0.72992769 0.11752984 -2.25274784] [ 0. 0. 0. 1. ]] SLAMing on 23.13864 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:20.09, Y:-1.98, Z:-2.97 [[ 6.66462227e-01 3.92966569e-01 6.33565605e-01 2.00915329e+01] [-2.88017808e-01 9.19542770e-01 -2.67370224e-01 -1.98031906e+00] [-6.87658231e-01 -4.28602204e-03 7.26021892e-01 -2.96504842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.16864 meters Centerline goodness : 0.992480 Centerline is valid? [True, True] Translation: X:20.12, Y:-1.99, Z:-3.00 [[ 6.64422832e-01 3.97468708e-01 6.32898828e-01 2.01245740e+01] [-2.93023865e-01 9.17589298e-01 -2.68638966e-01 -1.99122091e+00] [-6.87516775e-01 -6.96459785e-03 7.26135097e-01 -2.99705428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.198639999999997 meters Centerline goodness : 0.993371 Centerline is valid? [True, True] Translation: X:20.16, Y:-2.00, Z:-3.03 [[ 6.62604497e-01 4.01404343e-01 6.32320990e-01 2.01576182e+01] [-2.96525769e-01 9.15864693e-01 -2.70673851e-01 -2.00206961e+00] [-6.87770128e-01 -8.14975657e-03 7.25882795e-01 -3.02826562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.22864 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:20.15, Y:-2.07, Z:-3.06 [[ 0.70127664 0.35279518 0.61947287 20.15303007] [-0.30699499 0.93371111 -0.18422173 -2.07229514] [-0.64340123 -0.06098468 0.76309614 -3.06070296] [ 0. 0. 0. 1. ]] SLAMing on 23.25864 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:20.34, Y:-1.96, Z:-3.12 [[ 0.64212482 0.48575143 0.59306093 20.33864577] [-0.32267304 0.87301642 -0.36568352 -1.95928494] [-0.69538322 0.04344969 0.7173244 -3.12305051] [ 0. 0. 0. 1. ]] SLAMing on 23.288639999999997 meters Centerline goodness : 0.991445 Centerline is valid? [True, True] Translation: X:20.31, Y:-2.06, Z:-3.17 [[ 0.6705967 0.41408924 0.61549181 20.30775605] [-0.33647037 0.90923326 -0.24511746 -2.06106191] [-0.66112613 -0.0427198 0.74905758 -3.16710451] [ 0. 0. 0. 1. ]] SLAMing on 23.31864 meters Centerline goodness : 0.992828 Centerline is valid? [True, True] Translation: X:20.48, Y:-2.00, Z:-3.25 [[ 6.17481779e-01 5.14044354e-01 5.95377741e-01 2.04784658e+01] [-3.57183681e-01 8.57617729e-01 -3.70015741e-01 -1.99744960e+00] [-7.00811009e-01 1.58187649e-02 7.13171576e-01 -3.24923160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.34864 meters Centerline goodness : 0.993022 Centerline is valid? [True, True] Translation: X:20.49, Y:-2.04, Z:-3.29 [[ 6.15791061e-01 4.93857582e-01 6.13926753e-01 2.04883900e+01] [-3.61947681e-01 8.69411669e-01 -3.36329044e-01 -2.04145076e+00] [-6.99853732e-01 -1.51009461e-02 7.14126540e-01 -3.28811530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.378639999999997 meters Centerline goodness : 0.992535 Centerline is valid? [True, True] Translation: X:20.50, Y:-2.08, Z:-3.32 [[ 0.64272776 0.47037762 0.60468663 20.4979802 ] [-0.3748099 0.88146554 -0.28729085 -2.08299456] [-0.66814561 -0.04199273 0.74284457 -3.31867858] [ 0. 0. 0. 1. ]] SLAMing on 23.40864 meters Centerline goodness : 0.992245 Centerline is valid? [True, True] Translation: X:20.57, Y:-2.08, Z:-3.37 [[ 0.63582235 0.49876597 0.58903518 20.57195275] [-0.38708644 0.86630761 -0.31571382 -2.07900285] [-0.66775297 -0.02726963 0.74388329 -3.36565923] [ 0. 0. 0. 1. ]] SLAMing on 23.43864 meters Centerline goodness : 0.993513 Centerline is valid? [True, True] Translation: X:20.65, Y:-2.10, Z:-3.43 [[ 0.62581052 0.51703928 0.58397909 20.64959779] [-0.39995978 0.85551079 -0.32883651 -2.09778444] [-0.66962181 -0.0277788 0.74218257 -3.42988549] [ 0. 0. 0. 1. ]] SLAMing on 23.46864 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:21.56, Y:-1.80, Z:-3.01 [[ 5.46885355e-01 8.08932412e-01 -2.15742349e-01 2.15616792e+01] [-3.86981903e-01 1.57373200e-02 -9.21953005e-01 -1.79660810e+00] [-7.42402461e-01 5.87690982e-01 3.21648714e-01 -3.00883552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.498639999999998 meters Centerline goodness : 0.994460 Centerline is valid? [True, True] Translation: X:22.06, Y:-2.58, Z:-2.45 [[ 0.54958496 0.15548881 -0.82084079 22.06203632] [-0.2903167 -0.8857507 -0.36216283 -2.58069285] [-0.78337257 0.43734303 -0.44165427 -2.44612685] [ 0. 0. 0. 1. ]] SLAMing on 23.52864 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:21.62, Y:-3.54, Z:-2.60 [[ 0.62087283 -0.63416112 -0.46082166 21.62462479] [-0.23352181 -0.71078256 0.66351768 -3.54256348] [-0.74832112 -0.30434819 -0.58939604 -2.59872353] [ 0. 0. 0. 1. ]] SLAMing on 23.55864 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:20.84, Y:-3.48, Z:-3.49 [[ 0.67157111 -0.52963764 0.51814691 20.84230957] [-0.30063669 0.44437721 0.84388772 -3.47868055] [-0.67720737 -0.72250458 0.13920239 -3.48868726] [ 0. 0. 0. 1. ]] SLAMing on 23.588639999999998 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:20.98, Y:-2.40, Z:-3.91 [[ 0.62185874 0.42015748 0.66087775 20.97879607] [-0.31943508 0.90658661 -0.27579329 -2.39704579] [-0.71501953 -0.03960307 0.69798185 -3.90797268] [ 0. 0. 0. 1. ]] SLAMing on 23.61864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:21.03, Y:-2.38, Z:-3.94 [[ 6.21260482e-01 4.40670837e-01 6.47954185e-01 2.10277749e+01] [-3.18889064e-01 8.97500731e-01 -3.04634540e-01 -2.38376802e+00] [-7.15782913e-01 -1.73681020e-02 6.98106848e-01 -3.93675943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.64864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:21.06, Y:-2.39, Z:-3.97 [[ 6.20671504e-01 4.42066451e-01 6.47567862e-01 2.10630605e+01] [-3.18424987e-01 8.96846085e-01 -3.07038477e-01 -2.39389473e+00] [-7.16500113e-01 -1.56317546e-02 6.97411813e-01 -3.96982711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.678639999999998 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:21.07, Y:-2.44, Z:-4.00 [[ 0.65849115 0.40942532 0.63147471 21.07340571] [-0.32815939 0.91130676 -0.24865921 -2.43863119] [-0.67727455 -0.04348447 0.7344442 -4.00285433] [ 0. 0. 0. 1. ]] SLAMing on 23.70864 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:21.14, Y:-2.44, Z:-4.05 [[ 0.65148409 0.43310451 0.62288761 21.14411363] [-0.33517971 0.90087439 -0.27582586 -2.43796351] [-0.68060492 -0.02908313 0.73207317 -4.05494262] [ 0. 0. 0. 1. ]] SLAMing on 23.73864 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:22.23, Y:-2.17, Z:-3.43 [[ 0.57915698 0.73500476 -0.35262615 22.22978638] [-0.31040727 -0.20114564 -0.92907898 -2.17099343] [-0.75380668 0.6475403 0.11165592 -3.4288895 ] [ 0. 0. 0. 1. ]] SLAMing on 23.768639999999998 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:22.52, Y:-3.25, Z:-3.00 [[ 0.62141274 -0.10918248 -0.77583851 22.52306552] [-0.22389041 -0.97369595 -0.0422998 -3.25400444] [-0.75081242 0.19998844 -0.62951198 -2.99774555] [ 0. 0. 0. 1. ]] SLAMing on 23.79864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:21.31, Y:-2.60, Z:-4.21 [[ 5.75347526e-01 3.67745801e-01 7.30573918e-01 2.13103168e+01] [-2.33475968e-01 9.29899619e-01 -2.84210611e-01 -2.59956577e+00] [-7.83877667e-01 -7.05158105e-03 6.20875252e-01 -4.20931333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.82864 meters Centerline goodness : 0.978562 Centerline is valid? [True, True] Translation: X:21.34, Y:-2.63, Z:-4.29 [[ 0.58464286 0.36421648 0.72494074 21.34009449] [-0.31424444 0.9254741 -0.2115375 -2.63438533] [-0.74795933 -0.10413471 0.65552483 -4.29443424] [ 0. 0. 0. 1. ]] SLAMing on 23.858639999999998 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:22.75, Y:-3.28, Z:-3.24 [[ 0.61741351 0.02598939 -0.78620933 22.75012322] [-0.15656983 -0.97539704 -0.15519824 -3.27616995] [-0.77089976 0.21891815 -0.59815416 -3.24275121] [ 0. 0. 0. 1. ]] SLAMing on 23.88864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:21.39, Y:-2.85, Z:-4.41 [[ 0.60559749 0.18960109 0.77285387 21.3937966 ] [-0.1628842 0.98017273 -0.112828 -2.84989566] [-0.7789226 -0.05755734 0.62447316 -4.41379546] [ 0. 0. 0. 1. ]] SLAMing on 23.91864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:22.49, Y:-2.33, Z:-3.93 [[ 0.53715797 0.83812865 -0.09487718 22.49320084] [-0.13264216 -0.0271483 -0.99079212 -2.33270134] [-0.83298702 0.5447966 0.09658827 -3.92948059] [ 0. 0. 0. 1. ]] SLAMing on 23.948639999999997 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:21.93, Y:-4.12, Z:-4.17 [[ 0.58017263 -0.80009846 0.15245382 21.92614069] [-0.19761469 0.04330823 0.97932264 -4.11615035] [-0.79015704 -0.59830331 -0.13298496 -4.16518739] [ 0. 0. 0. 1. ]] SLAMing on 23.97864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:22.65, Y:-2.38, Z:-4.22 [[ 5.34009766e-01 8.41172045e-01 -8.52241810e-02 2.26474110e+01] [-1.75359958e-01 1.15864063e-02 -9.84436204e-01 -2.38188199e+00] [-8.27092773e-01 5.40643456e-01 1.53695149e-01 -4.21890968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.00864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:23.24, Y:-3.50, Z:-3.85 [[ 0.55662298 0.03167273 -0.83016125 23.23727284] [-0.09018773 -0.99106344 -0.09828241 -3.50028538] [-0.82585533 0.12957661 -0.54879219 -3.8466427 ] [ 0. 0. 0. 1. ]] SLAMing on 24.038639999999997 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:21.75, Y:-3.08, Z:-4.88 [[ 0.53387452 0.08008942 0.84176225 21.75390889] [-0.08565212 0.99550593 -0.04039384 -3.08248814] [-0.84121442 -0.05053348 0.53833508 -4.87788918] [ 0. 0. 0. 1. ]] SLAMing on 24.06864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:22.86, Y:-2.47, Z:-4.48 [[ 4.66622196e-01 8.84449445e-01 -3.59230282e-03 2.28566590e+01] [-6.40792637e-02 2.97557773e-02 -9.97501099e-01 -2.46586114e+00] [-8.82132402e-01 4.65686345e-01 7.05595754e-02 -4.47508831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.09864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:22.41, Y:-4.28, Z:-4.73 [[ 5.19430336e-01 -8.52354145e-01 6.07003989e-02 2.24109200e+01] [-1.23188623e-01 -4.40009502e-03 9.92373520e-01 -4.28204525e+00] [-8.45586595e-01 -5.22946509e-01 -1.07285876e-01 -4.72832628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.128639999999997 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:22.48, Y:-4.31, Z:-4.90 [[ 0.57875222 -0.81452136 0.04001032 22.47791003] [-0.11964478 -0.03627688 0.99215378 -4.30766711] [-0.80667899 -0.57899823 -0.11844856 -4.90419455] [ 0. 0. 0. 1. ]] SLAMing on 24.15864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:22.55, Y:-4.33, Z:-5.08 [[ 0.63392742 -0.77291818 0.02708343 22.55269527] [-0.11703942 -0.06125929 0.99123613 -4.33097878] [-0.76448531 -0.6315416 -0.12929584 -5.07749876] [ 0. 0. 0. 1. ]] SLAMing on 24.18864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:22.65, Y:-4.35, Z:-5.22 [[ 0.68403407 -0.72907018 -0.02353853 22.65073588] [-0.08323302 -0.11006836 0.99043284 -4.35284355] [-0.7246859 -0.67553063 -0.13597322 -5.22189454] [ 0. 0. 0. 1. ]] SLAMing on 24.21864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:22.22, Y:-3.20, Z:-5.87 [[ 6.62575495e-01 5.97825331e-02 7.46605493e-01 2.22171058e+01] [-9.72867805e-02 9.95234198e-01 6.64636870e-03 -3.20068768e+00] [-7.42649982e-01 -7.70385658e-02 6.65233841e-01 -5.87223517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.248639999999998 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:22.25, Y:-3.18, Z:-5.90 [[ 6.99602471e-01 7.67169752e-02 7.10401920e-01 2.22544453e+01] [-9.57083991e-02 9.95321461e-01 -1.32322550e-02 -3.18016489e+00] [-7.08093415e-01 -5.87341122e-02 7.03671812e-01 -5.89810677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.27864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:23.19, Y:-2.52, Z:-5.35 [[ 0.62541447 0.77792769 0.0607063 23.19347082] [-0.08179102 0.14272864 -0.98637658 -2.52418913] [-0.77599418 0.61192896 0.15289206 -5.35151351] [ 0. 0. 0. 1. ]] SLAMing on 24.30864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:23.39, Y:-2.56, Z:-5.41 [[ 5.73340707e-01 8.19252100e-01 -1.03164799e-02 2.33895084e+01] [-1.27187062e-01 7.65568353e-02 -9.88919866e-01 -2.55548851e+00] [-8.09384881e-01 5.68300138e-01 1.48091418e-01 -5.41420682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.338639999999998 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:24.05, Y:-3.63, Z:-5.03 [[ 0.5870724 0.12882505 -0.79921843 24.05288679] [-0.02540592 -0.98383862 -0.17724588 -3.62596593] [-0.80913567 0.12436105 -0.57431159 -5.03336584] [ 0. 0. 0. 1. ]] SLAMing on 24.36864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:22.57, Y:-3.32, Z:-6.12 [[ 5.83778681e-01 -6.37400061e-03 8.11887815e-01 2.25684027e+01] [-3.55185823e-02 9.98811372e-01 3.33807392e-02 -3.31566688e+00] [-8.11135551e-01 -4.83240680e-02 5.82858389e-01 -6.11870307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.39864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:22.69, Y:-3.16, Z:-6.21 [[ 5.67507939e-01 1.38487550e-01 8.11637812e-01 2.26922693e+01] [-6.66956675e-02 9.90246143e-01 -1.22328507e-01 -3.16244455e+00] [-8.20662188e-01 1.52896731e-02 5.71209068e-01 -6.20942485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.428639999999998 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:22.70, Y:-3.25, Z:-6.28 [[ 0.55891504 0.06450614 0.82671212 22.70090031] [-0.07280003 0.99693725 -0.02857046 -3.24534063] [-0.82602308 -0.04421621 0.56189927 -6.27529091] [ 0. 0. 0. 1. ]] SLAMing on 24.45864 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:22.82, Y:-3.12, Z:-6.35 [[ 5.62459820e-01 1.92219779e-01 8.04170696e-01 2.28220496e+01] [-9.52999384e-02 9.81190700e-01 -1.67877136e-01 -3.11822570e+00] [-8.21314114e-01 1.77867258e-02 5.70198877e-01 -6.35184099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.48864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:23.83, Y:-2.62, Z:-5.97 [[ 0.47401138 0.87974567 0.0368886 23.83066429] [-0.10746205 0.09938047 -0.98922972 -2.61998978] [-0.87393657 0.46494201 0.14164675 -5.97365612] [ 0. 0. 0. 1. ]] SLAMing on 24.518639999999998 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:24.54, Y:-3.26, Z:-5.74 [[ 0.42726402 0.53778054 -0.72679953 24.53634397] [-0.0366355 -0.79291092 -0.60823525 -3.25682587] [-0.90338436 0.2865037 -0.31908044 -5.73726829] [ 0. 0. 0. 1. ]] SLAMing on 24.54864 meters Centerline goodness : 0.995049 Centerline is valid? [True, True] Translation: X:24.30, Y:-4.39, Z:-6.03 [[ 0.45753162 -0.50580062 -0.7313211 24.30349677] [ 0.04998697 -0.80652323 0.58908538 -4.38602037] [-0.8877872 -0.30608171 -0.34372644 -6.02875207] [ 0. 0. 0. 1. ]] SLAMing on 24.57864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:23.00, Y:-3.55, Z:-6.78 [[ 0.49227912 -0.17691301 0.85226936 23.00469476] [ 0.03271293 0.98219621 0.18498775 -3.54706007] [-0.86982247 -0.06318538 0.48930203 -6.77807997] [ 0. 0. 0. 1. ]] SLAMing on 24.608639999999998 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:23.06, Y:-3.42, Z:-6.84 [[ 4.90625120e-01 -6.39770090e-02 8.69018949e-01 2.30641765e+01] [ 1.97012407e-02 9.97860535e-01 6.23395024e-02 -3.42174375e+00] [-8.71148008e-01 -1.34645744e-02 4.90835871e-01 -6.84482907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.63864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:23.12, Y:-3.38, Z:-6.94 [[ 4.82775410e-01 -2.75979742e-02 8.75309234e-01 2.31245437e+01] [ 4.22128117e-03 9.99565042e-01 2.91874443e-02 -3.37788275e+00] [-8.75734026e-01 -1.03960540e-02 4.82681922e-01 -6.93652012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.66864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:24.06, Y:-2.66, Z:-6.65 [[ 4.07224826e-01 8.73411898e-01 2.67057291e-01 2.40561757e+01] [ 4.48647139e-03 2.90483735e-01 -9.56869412e-01 -2.66299539e+00] [-9.13316929e-01 3.90859125e-01 1.14373651e-01 -6.65477518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.698639999999997 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:24.00, Y:-4.55, Z:-6.83 [[ 4.61660993e-01 -8.67513731e-01 -1.85173038e-01 2.39990214e+01] [-9.52003690e-03 -2.13583452e-01 9.76878436e-01 -4.54686106e+00] [-8.87005353e-01 -4.49223814e-01 -1.06861911e-01 -6.82699541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.72864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:23.28, Y:-3.50, Z:-7.33 [[ 0.44786174 -0.14443973 0.88235879 23.28461654] [-0.02492011 0.98446508 0.17380304 -3.4993538 ] [-0.89375548 -0.09982821 0.43730478 -7.32549361] [ 0. 0. 0. 1. ]] SLAMing on 24.75864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:23.36, Y:-3.29, Z:-7.36 [[ 4.49031620e-01 5.77922779e-02 8.91644916e-01 2.33564743e+01] [-2.01826916e-02 9.98307501e-01 -5.45416645e-02 -3.28988404e+00] [-8.93287895e-01 6.49513764e-03 4.49438038e-01 -7.35671449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.788639999999997 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:23.37, Y:-3.33, Z:-7.40 [[ 4.84386048e-01 2.20122656e-02 8.74577393e-01 2.33696504e+01] [-2.10266313e-02 9.99687557e-01 -1.35155348e-02 -3.32600524e+00] [-8.74601645e-01 -1.18426799e-02 4.84697548e-01 -7.40463102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.81864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:23.43, Y:-3.28, Z:-7.49 [[ 4.80123446e-01 6.52543648e-02 8.74770452e-01 2.34338215e+01] [-3.40406866e-02 9.97864125e-01 -5.57532067e-02 -3.28384009e+00] [-8.76540192e-01 -3.00936504e-03 4.81319266e-01 -7.49140206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.84864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:23.49, Y:-3.26, Z:-7.58 [[ 4.75172908e-01 9.10556843e-02 8.75168309e-01 2.34914458e+01] [-4.63054022e-02 9.95840537e-01 -7.84693277e-02 -3.26237904e+00] [-8.78673157e-01 -3.23852192e-03 4.77412814e-01 -7.57690351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.878639999999997 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:23.53, Y:-3.27, Z:-7.65 [[ 4.68010343e-01 9.32501616e-02 8.78789353e-01 2.35324524e+01] [-5.17636508e-02 9.95602501e-01 -7.80780627e-02 -3.26768552e+00] [-8.82205670e-01 -8.94800428e-03 4.70779237e-01 -7.64938891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.90864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:24.09, Y:-2.74, Z:-7.61 [[ 0.42022235 0.70701198 0.56881213 24.08775054] [-0.10300604 0.65995935 -0.74420657 -2.73603769] [-0.90155584 0.25414115 0.35015617 -7.61016451] [ 0. 0. 0. 1. ]] SLAMing on 24.93864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:25.07, Y:-2.86, Z:-7.37 [[ 0.35815955 0.86509888 -0.35117753 25.06923398] [-0.10224029 -0.33752776 -0.93574673 -2.8579303 ] [-0.92804561 0.37105112 -0.03244083 -7.36632622] [ 0. 0. 0. 1. ]] SLAMing on 24.96864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:25.49, Y:-3.70, Z:-7.34 [[ 0.32083513 0.22663579 -0.91962005 25.48735439] [-0.04034951 -0.96679716 -0.2523394 -3.70137601] [-0.94627519 0.11806556 -0.30103784 -7.33828404] [ 0. 0. 0. 1. ]] SLAMing on 24.998639999999998 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:25.06, Y:-4.54, Z:-7.67 [[ 0.35499249 -0.65217787 -0.66980919 25.06350222] [ 0.02974102 -0.70823265 0.70535238 -4.53941824] [-0.93439596 -0.27031561 -0.23202084 -7.67433157] [ 0. 0. 0. 1. ]] SLAMing on 25.02864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:23.79, Y:-3.77, Z:-8.27 [[ 0.39298493 -0.29802582 0.86991003 23.79407616] [ 0.04653017 0.95125536 0.30487406 -3.76778873] [-0.91836691 -0.07933385 0.38769621 -8.27015894] [ 0. 0. 0. 1. ]] SLAMing on 25.05864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:23.87, Y:-3.49, Z:-8.39 [[ 3.55069604e-01 -3.49187306e-02 9.34187486e-01 2.38655847e+01] [ 1.12004187e-02 9.99389324e-01 3.30987931e-02 -3.49147285e+00] [-9.34772768e-01 -1.28908437e-03 3.55243876e-01 -8.38517790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.088639999999998 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:23.89, Y:-3.46, Z:-8.43 [[ 3.54920134e-01 -4.05718513e-03 9.34887821e-01 2.38932992e+01] [ 1.52945274e-03 9.99991765e-01 3.75908004e-03 -3.46482845e+00] [-9.34895373e-01 9.56935462e-05 3.54923416e-01 -8.43362781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.11864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:23.91, Y:-3.49, Z:-8.48 [[ 3.93759765e-01 -3.28984796e-02 9.18624481e-01 2.39086793e+01] [-2.31161877e-04 9.99355764e-01 3.58887751e-02 -3.49383455e+00] [-9.19213356e-01 -1.43439066e-02 3.93498486e-01 -8.48411417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.14864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:23.93, Y:-3.51, Z:-8.55 [[ 3.94424678e-01 -4.52513229e-02 9.17813429e-01 2.39344525e+01] [-1.09712434e-02 9.98483718e-01 5.39434668e-02 -3.50713032e+00] [-9.18862778e-01 -3.13461890e-02 3.93330156e-01 -8.55237597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.178639999999998 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:23.99, Y:-3.43, Z:-8.63 [[ 3.71505227e-01 3.65716732e-02 9.27710288e-01 2.39902817e+01] [-2.82686335e-02 9.99206169e-01 -2.80698583e-02 -3.42689754e+00] [-9.28000404e-01 -1.57970030e-02 3.72244146e-01 -8.63266820e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.20864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:25.17, Y:-2.79, Z:-8.38 [[ 2.97115484e-01 9.54824783e-01 -5.65895768e-03 2.51681480e+01] [ 1.31945643e-03 -6.33715229e-03 -9.99979050e-01 -2.78833036e+00] [-9.54840640e-01 2.97101792e-01 -3.14271577e-03 -8.38414266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.23864 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:25.37, Y:-2.84, Z:-8.50 [[ 2.16153332e-01 9.67446043e-01 -1.31627854e-01 2.53720921e+01] [-3.18879686e-02 -1.27747900e-01 -9.91293918e-01 -2.84063119e+00] [-9.75838560e-01 2.18468828e-01 3.23675484e-03 -8.50176165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.268639999999998 meters Centerline goodness : 0.996551 Centerline is valid? [True, True] Translation: X:25.57, Y:-4.50, Z:-8.61 [[ 0.27722398 -0.60007202 -0.75037353 25.56509293] [ 0.0596466 -0.76872904 0.6367872 -4.49724674] [-0.95895211 -0.22128991 -0.17731786 -8.6136042 ] [ 0. 0. 0. 1. ]] SLAMing on 25.29864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:24.16, Y:-3.79, Z:-9.08 [[ 2.64771238e-01 -2.97620910e-01 9.17233877e-01 2.41648805e+01] [ 1.74784815e-02 9.52505219e-01 3.04020248e-01 -3.79116072e+00] [-9.64152838e-01 -6.44639618e-02 2.57397947e-01 -9.08188127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.32864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:24.19, Y:-3.63, Z:-9.12 [[ 3.09180751e-01 -1.35717394e-01 9.41269383e-01 2.41869002e+01] [ 3.01192349e-02 9.90665494e-01 1.32946268e-01 -3.62843766e+00] [-9.50526220e-01 -1.27541134e-02 3.10382406e-01 -9.12319666e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.358639999999998 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:24.20, Y:-3.66, Z:-9.19 [[ 3.10527545e-01 -1.72345914e-01 9.34809890e-01 2.42017739e+01] [ 2.14323683e-02 9.84445596e-01 1.74377525e-01 -3.66189202e+00] [-9.50322733e-01 -3.41138349e-02 3.09391255e-01 -9.19016211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.38864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:24.24, Y:-3.55, Z:-9.27 [[ 2.96171028e-01 -6.44261383e-02 9.52959598e-01 2.42421650e+01] [ 3.91101469e-03 9.97795931e-01 6.62418528e-02 -3.55305067e+00] [-9.55126916e-01 -1.58918786e-02 2.95770218e-01 -9.27167497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.41864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:25.40, Y:-2.80, Z:-9.13 [[ 2.03843043e-01 9.77669345e-01 5.10946710e-02 2.53951268e+01] [ 2.64193564e-02 4.66780728e-02 -9.98560552e-01 -2.79971653e+00] [-9.78647041e-01 2.04899510e-01 -1.63143944e-02 -9.12825314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.448639999999997 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:25.00, Y:-4.61, Z:-9.39 [[ 2.71493118e-01 -9.62309207e-01 -1.58895480e-02 2.50019060e+01] [ 4.67362984e-03 -1.51912530e-02 9.99873684e-01 -4.61423311e+00] [-9.62429033e-01 -2.71533086e-01 3.73156394e-04 -9.38936147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.47864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:24.33, Y:-3.69, Z:-9.67 [[ 0.24735916 -0.21062563 0.94575382 24.326562 ] [-0.02562265 0.97432353 0.22368982 -3.68983512] [-0.96858501 -0.07956445 0.23561106 -9.66653464] [ 0. 0. 0. 1. ]] SLAMing on 25.50864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:24.37, Y:-3.46, Z:-9.71 [[ 2.86275362e-01 2.58177785e-02 9.57799488e-01 2.43749123e+01] [-2.47992196e-02 9.99501671e-01 -1.95296693e-02 -3.46107167e+00] [-9.57826402e-01 -1.81618167e-02 2.86772963e-01 -9.71351162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.538639999999997 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:25.58, Y:-2.81, Z:-9.58 [[ 1.99037794e-01 9.79728373e-01 -2.27216173e-02 2.55779222e+01] [ 6.27401876e-03 -2.44589622e-02 -9.99681147e-01 -2.80753765e+00] [-9.79971731e-01 1.98831775e-01 -1.10150921e-02 -9.58078419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.56864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:25.70, Y:-2.82, Z:-9.75 [[ 1.32208879e-01 9.89851465e-01 -5.21046004e-02 2.56958416e+01] [ 9.10469557e-03 -5.37765165e-02 -9.98511488e-01 -2.82242751e+00] [-9.91180063e-01 1.31537688e-01 -1.61220292e-02 -9.74793150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.59864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:25.09, Y:-4.59, Z:-9.99 [[ 0.20212045 -0.97480672 0.0943355 25.09079256] [-0.05105661 0.0857045 0.99501154 -4.59082653] [-0.97802891 -0.20592863 -0.0324477 -9.9888672 ] [ 0. 0. 0. 1. ]] SLAMing on 25.628639999999997 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:25.78, Y:-2.84, Z:-10.08 [[ 1.35144639e-01 9.87578906e-01 -8.01488002e-02 2.57835648e+01] [ 1.16033529e-02 -8.24628200e-02 -9.96526590e-01 -2.83901848e+00] [-9.90757936e-01 1.33745232e-01 -2.26036346e-02 -1.00802795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.65864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:25.13, Y:-4.59, Z:-10.33 [[ 0.19803281 -0.97337769 0.11540749 25.12862542] [ -0.05367543 0.10679377 0.99283132 -4.58994216] [ -0.97872466 -0.20280772 -0.03109779 -10.32834433] [ 0. 0. 0. 1. ]] SLAMing on 25.68864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:25.25, Y:-4.63, Z:-10.49 [[ 0.26439876 -0.9634813 -0.04239197 25.2471409 ] [ -0.02651879 -0.05120283 0.99833613 -4.63194511] [ -0.96404878 -0.26283465 -0.03908832 -10.48805251] [ 0. 0. 0. 1. ]] SLAMing on 25.718639999999997 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:24.55, Y:-3.63, Z:-10.79 [[ 0.2406492 -0.13648298 0.96096845 24.55387485] [ -0.03458257 0.98823 0.14901514 -3.62606473] [ -0.96999588 -0.06909313 0.23309683 -10.79108444] [ 0. 0. 0. 1. ]] SLAMing on 25.748639999999998 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:24.63, Y:-3.37, Z:-10.84 [[ 2.43682112e-01 1.39813700e-01 9.59724522e-01 2.46329071e+01] [-2.69829036e-02 9.90148779e-01 -1.37394753e-01 -3.36736445e+00] [-9.69479732e-01 7.58448914e-03 2.45054125e-01 -1.08381687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.77864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:24.65, Y:-3.36, Z:-10.89 [[ 2.45014728e-01 1.52813751e-01 9.57400512e-01 2.46522544e+01] [-2.57122641e-02 9.88177008e-01 -1.51145889e-01 -3.36072136e+00] [-9.69178344e-01 1.24160341e-02 2.46047108e-01 -1.08924108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:24.67, Y:-3.35, Z:-10.95 [[ 2.44562547e-01 1.66659013e-01 9.55203609e-01 2.46718011e+01] [-2.74028794e-02 9.85912656e-01 -1.65000959e-01 -3.35219892e+00] [-9.69246224e-01 1.41777255e-02 2.45684247e-01 -1.09468526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.838639999999998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:24.66, Y:-3.44, Z:-11.00 [[ 2.77762541e-01 7.82840234e-02 9.57454742e-01 2.46588912e+01] [-3.37787579e-02 9.96853673e-01 -7.17059927e-02 -3.43650668e+00] [-9.60055710e-01 -1.24243932e-02 2.79532946e-01 -1.09991369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.86864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:24.73, Y:-3.33, Z:-11.08 [[ 2.66500374e-01 1.97642918e-01 9.43352971e-01 2.47302352e+01] [-4.68473110e-02 9.80249008e-01 -1.92138524e-01 -3.32936070e+00] [-9.62695632e-01 7.01143858e-03 2.70495766e-01 -1.10837162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.89864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:26.01, Y:-2.88, Z:-10.97 [[ 2.05422790e-01 9.60309510e-01 -1.88698498e-01 2.60139911e+01] [-2.91986340e-02 -1.86710903e-01 -9.81980895e-01 -2.88488807e+00] [-9.78237659e-01 2.07230993e-01 -1.03149486e-02 -1.09739102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.928639999999998 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:25.23, Y:-4.58, Z:-11.23 [[ 0.21681553 -0.95209459 0.21565461 25.22620117] [ -0.08625614 0.20136137 0.97571178 -4.57685897] [ -0.97239442 -0.230151 -0.03846573 -11.22589054] [ 0. 0. 0. 1. ]] SLAMing on 25.95864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:25.37, Y:-4.63, Z:-11.37 [[ 0.28703425 -0.95702677 0.04136554 25.37116249] [ -0.05619359 0.02628597 0.99807381 -4.63161886] [ -0.95627068 -0.28880585 -0.04623379 -11.36985624] [ 0. 0. 0. 1. ]] SLAMing on 25.98864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:24.75, Y:-3.68, Z:-11.73 [[ 0.32270493 -0.12934718 0.93761977 24.74846061] [ -0.05688618 0.98617694 0.15562455 -3.68398165] [ -0.9447886 -0.10355841 0.31088609 -11.72699824] [ 0. 0. 0. 1. ]] SLAMing on 26.018639999999998 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:24.85, Y:-3.37, Z:-11.80 [[ 3.21023281e-01 2.05325472e-01 9.24546107e-01 2.48539005e+01] [-7.08059448e-02 9.78687193e-01 -1.92763835e-01 -3.37465845e+00] [-9.44420760e-01 -3.58168171e-03 3.28719638e-01 -1.17991104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.04864 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:24.90, Y:-3.34, Z:-11.88 [[ 3.11203665e-01 2.52013037e-01 9.16319654e-01 2.49020981e+01] [-8.27818593e-02 9.67722208e-01 -2.38035486e-01 -3.34236689e+00] [-9.46730924e-01 -1.77712914e-03 3.22020805e-01 -1.18785397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.07864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:24.98, Y:-3.27, Z:-11.97 [[ 2.93394223e-01 3.39101369e-01 8.93828894e-01 2.49765236e+01] [-9.24162550e-02 9.40657252e-01 -3.26532034e-01 -3.27460045e+00] [-9.51514091e-01 1.31982936e-02 3.07321883e-01 -1.19660194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.108639999999998 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:25.03, Y:-3.25, Z:-12.05 [[ 2.78792426e-01 3.83327348e-01 8.80531048e-01 2.50290702e+01] [-1.03021071e-01 9.23530904e-01 -3.69428380e-01 -3.24945391e+00] [-9.54809637e-01 1.22805826e-02 2.96964215e-01 -1.20509477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.13864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:26.28, Y:-2.96, Z:-11.95 [[ 2.14529159e-01 9.36068896e-01 -2.78840926e-01 2.62780113e+01] [-7.89547058e-02 -2.67933350e-01 -9.60196789e-01 -2.96431956e+00] [-9.73521132e-01 2.28006013e-01 1.64275281e-02 -1.19531571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.16864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:25.38, Y:-4.58, Z:-12.15 [[ 0.21815984 -0.91271365 0.34548528 25.37680232] [ -0.14320518 0.32024064 0.93644979 -4.58119497] [ -0.96534893 -0.25377102 -0.06084168 -12.15093334] [ 0. 0. 0. 1. ]] SLAMing on 26.198639999999997 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:26.24, Y:-2.95, Z:-12.32 [[ 0.20042371 0.96562303 -0.165537 26.23687947] [ -0.12593016 -0.14217207 -0.98179871 -2.95482515] [ -0.97158218 0.21762184 0.09310641 -12.31522496] [ 0. 0. 0. 1. ]] SLAMing on 26.22864 meters Centerline goodness : 0.997486 Centerline is valid? [True, True] Translation: X:26.87, Y:-3.83, Z:-12.29 [[ 0.14459261 0.23246208 -0.96179746 26.86767512] [ -0.05612625 -0.96852031 -0.24252474 -3.82724697] [ -0.98789818 0.08904937 -0.12699366 -12.28615313] [ 0. 0. 0. 1. ]] SLAMing on 26.25864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:25.94, Y:-4.82, Z:-12.60 [[ 0.23676909 -0.95922657 -0.15435279 25.93954723] [ -0.0493437 -0.17053734 0.98411494 -4.81982508] [ -0.97031211 -0.22539166 -0.08770976 -12.59923823] [ 0. 0. 0. 1. ]] SLAMing on 26.288639999999997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:26.05, Y:-4.83, Z:-12.76 [[ 0.30606329 -0.91169077 -0.27412625 26.04731955] [ -0.02871527 -0.29665406 0.95455319 -4.83235268] [ -0.951578 -0.28428208 -0.11697436 -12.76173742] [ 0. 0. 0. 1. ]] SLAMing on 26.31864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:25.11, Y:-3.85, Z:-13.20 [[ 3.18565889e-01 -1.02497705e-01 9.42342822e-01 2.51072809e+01] [-1.27173544e-02 9.93584998e-01 1.12370461e-01 -3.85039048e+00] [-9.47815406e-01 -4.77815035e-02 3.15218788e-01 -1.31986757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.34864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:26.11, Y:-2.99, Z:-13.09 [[ 2.26583016e-01 9.63361235e-01 1.43510513e-01 2.61058134e+01] [-5.60738238e-03 1.48630406e-01 -9.88876918e-01 -2.98504536e+00] [-9.73975715e-01 2.23257996e-01 3.90790603e-02 -1.30894350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.378639999999997 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:25.97, Y:-4.82, Z:-13.25 [[ 0.29585897 -0.95403862 -0.04772611 25.96774368] [ -0.05588837 -0.06716567 0.99617532 -4.82483248] [ -0.95359528 -0.29206006 -0.07319123 -13.24567718] [ 0. 0. 0. 1. ]] SLAMing on 26.40864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:26.04, Y:-4.84, Z:-13.41 [[ 0.36314416 -0.9235985 -0.12285001 26.03851821] [ -0.04622203 -0.14954657 0.98767371 -4.841724 ] [ -0.93058575 -0.35298956 -0.09699756 -13.412521 ] [ 0. 0. 0. 1. ]] SLAMing on 26.43864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:26.20, Y:-4.85, Z:-13.53 [[ 4.13514043e-01 -8.59392071e-01 -3.00751400e-01 2.62039843e+01] [ 1.95248307e-02 -3.21869692e-01 9.46582634e-01 -4.84653330e+00] [-9.10288370e-01 -3.97297332e-01 -1.16318153e-01 -1.35336057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.468639999999997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:25.27, Y:-4.04, Z:-14.03 [[ 4.39511983e-01 -2.43531668e-01 8.64593282e-01 2.52735602e+01] [-1.51796155e-03 9.62342264e-01 2.71836462e-01 -4.03612509e+00] [-8.98235444e-01 -1.20787802e-01 4.22591285e-01 -1.40342546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.498639999999998 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.01, Z:-13.85 [[ 3.40345868e-01 9.01167166e-01 2.68444461e-01 2.61141831e+01] [-4.84138691e-03 2.87163652e-01 -9.57869301e-01 -3.01423684e+00] [-9.40287855e-01 3.24707215e-01 1.02097861e-01 -1.38458667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.52864 meters Centerline goodness : 0.884065 Centerline is valid? [True, False] Translation: X:26.05, Y:-3.03, Z:-13.84 [[ 3.30155662e-01 8.82589173e-01 3.34714194e-01 2.60453553e+01] [-1.15594871e-02 3.58351554e-01 -9.33515153e-01 -3.02923753e+00] [-9.43855719e-01 3.04336189e-01 1.28514073e-01 -1.38371441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.55864 meters Centerline goodness : 0.998574 Centerline is valid? [False, True] Translation: X:25.98, Y:-3.05, Z:-13.82 [[ 3.20971211e-01 8.59405694e-01 3.97994140e-01 2.59773798e+01] [-1.59576499e-02 4.25076639e-01 -9.05016687e-01 -3.04736129e+00] [-9.46954505e-01 2.84133251e-01 1.50151459e-01 -1.38215129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.588639999999998 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.28, Z:-13.69 [[ 0.24686419 0.82516409 -0.50809675 26.87522365] [ 0.03751281 -0.53206894 -0.84586963 -3.2797023 ] [ -0.96832374 0.18975478 -0.16230298 -13.69015537] [ 0. 0. 0. 1. ]] SLAMing on 26.61864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:27.12, Y:-4.41, Z:-13.87 [[ 0.27623302 -0.2532142 -0.92713423 27.11959506] [ 0.14098493 -0.94355718 0.299705 -4.41018702] [ -0.95069373 -0.21350038 -0.22494227 -13.86609411] [ 0. 0. 0. 1. ]] SLAMing on 26.64864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:25.58, Y:-4.38, Z:-14.43 [[ 0.32204985 -0.5804915 0.74787266 25.5799657 ] [ 0.12067791 0.80868654 0.57572817 -4.38170316] [ -0.93899986 -0.09516145 0.33048988 -14.42953145] [ 0. 0. 0. 1. ]] SLAMing on 26.678639999999998 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:26.00, Y:-3.13, Z:-14.32 [[ 0.22049806 0.76031941 0.61097872 25.99903222] [ 0.08433185 0.60918964 -0.78852782 -3.12548866] [ -0.97173491 0.22539382 0.070206 -14.3230734 ] [ 0. 0. 0. 1. ]] SLAMing on 26.70864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:26.71, Y:-4.81, Z:-14.44 [[ 0.30997668 -0.83297994 -0.45832181 26.71011052] [ 0.12522775 -0.44209495 0.88818358 -4.81155879] [ -0.94246086 -0.3327108 -0.03272692 -14.44429768] [ 0. 0. 0. 1. ]] SLAMing on 26.73864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:25.64, Y:-4.25, Z:-14.80 [[ 0.33364904 -0.49298727 0.80351843 25.64052253] [ 0.08940229 0.86506663 0.49362633 -4.246319 ] [ -0.93844848 -0.09286156 0.33270284 -14.79840457] [ 0. 0. 0. 1. ]] SLAMing on 26.768639999999998 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:25.62, Y:-4.01, Z:-14.90 [[ 0.33159474 -0.28270239 0.90006905 25.62041872] [ 0.05987251 0.95843 0.27897531 -4.01339095] [ -0.94152016 -0.03861735 0.33473645 -14.90110888] [ 0. 0. 0. 1. ]] SLAMing on 26.79864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.02, Z:-14.79 [[ 2.38616267e-01 8.43176111e-01 4.81784519e-01 2.62661932e+01] [ 1.40350886e-02 4.93069237e-01 -8.69876855e-01 -3.01728218e+00] [-9.71012509e-01 2.14328656e-01 1.05820289e-01 -1.47922899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.82864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:27.38, Y:-3.42, Z:-14.70 [[ 0.17047957 0.68422713 -0.70906273 27.38401857] [ 0.10005655 -0.72789789 -0.67834604 -3.41574712] [ -0.98026803 0.04469777 -0.19255312 -14.69982987] [ 0. 0. 0. 1. ]] SLAMing on 26.858639999999998 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:27.35, Y:-4.51, Z:-14.99 [[ 0.22924605 -0.43911796 -0.86868963 27.35365256] [ 0.19155549 -0.85465177 0.48257314 -4.50687202] [ -0.95433367 -0.27703025 -0.11181009 -14.9935589 ] [ 0. 0. 0. 1. ]] SLAMing on 26.88864 meters Centerline goodness : 0.800059 Centerline is valid? [True, False] Translation: X:27.56, Y:-3.92, Z:-15.58 [[ 0.06350456 0.31177872 -0.94803017 27.56384208] [ -0.2884263 0.91514349 0.28164281 -3.92041157] [ 0.95539387 0.25555123 0.14804097 -15.58119295] [ 0. 0. 0. 1. ]] SLAMing on 26.91864 meters Centerline goodness : 0.998575 Centerline is valid? [False, True] Translation: X:27.57, Y:-3.84, Z:-15.58 [[ 0.0736816 0.22922383 -0.97058099 27.56902654] [ -0.27327535 0.94061583 0.20140122 -3.84056726] [ 0.9591098 0.2503963 0.1319473 -15.58425799] [ 0. 0. 0. 1. ]] SLAMing on 26.948639999999997 meters Centerline goodness : 0.921977 Centerline is valid? [True, False] Translation: X:27.57, Y:-3.78, Z:-15.58 [[ 0.08008608 0.16749465 -0.98261476 27.56723636] [ -0.25658132 0.95602704 0.14205041 -3.78333457] [ 0.96319897 0.24074433 0.11954045 -15.57907265] [ 0. 0. 0. 1. ]] SLAMing on 26.97864 meters Centerline goodness : 0.998180 Centerline is valid? [False, True] Translation: X:27.56, Y:-3.71, Z:-15.60 [[ 0.09199631 0.09324138 -0.99138425 27.5616448 ] [ -0.24500366 0.96711877 0.06822386 -3.70914775] [ 0.9651476 0.23661643 0.11181584 -15.60085979] [ 0. 0. 0. 1. ]] SLAMing on 27.00864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:27.05, Y:-4.61, Z:-15.74 [[ 0.09967909 0.96014046 -0.26114054 27.04731384] [ -0.21880664 0.27717468 0.93557354 -4.61105916] [ 0.97066355 -0.03611783 0.23771363 -15.74247274] [ 0. 0. 0. 1. ]] SLAMing on 27.038639999999997 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:27.22, Y:-4.51, Z:-15.71 [[ 9.00405442e-02 8.80125149e-01 -4.66124900e-01 2.72220543e+01] [-2.11509394e-01 4.74248256e-01 8.54606557e-01 -4.50622929e+00] [ 9.73219645e-01 2.16405559e-02 2.28856308e-01 -1.57066491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.06864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:27.22, Y:-4.52, Z:-15.68 [[ 1.01179626e-01 8.81011413e-01 -4.62148866e-01 2.72246868e+01] [-2.29136574e-01 4.72680531e-01 8.50922762e-01 -4.51511082e+00] [ 9.68121435e-01 1.97991611e-02 2.49697576e-01 -1.56831055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.09864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:27.25, Y:-4.50, Z:-15.65 [[ 0.11804474 0.86635509 -0.48527754 27.25343163] [ -0.26707633 0.49838659 0.82479151 -4.50493208] [ 0.95641815 0.03224385 0.29021486 -15.65278824] [ 0. 0. 0. 1. ]] SLAMing on 27.128639999999997 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:27.11, Y:-4.61, Z:-15.64 [[ 1.00588981e-01 9.44806468e-01 -3.11805381e-01 2.71070629e+01] [-2.23034079e-01 3.26832119e-01 9.18388026e-01 -4.61116623e+00] [ 9.69606960e-01 -2.28364894e-02 2.43599750e-01 -1.56391933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.15864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:27.40, Y:-4.37, Z:-15.58 [[ 0.12581566 0.73878611 -0.66209176 27.40160148] [ -0.27376002 0.66733647 0.69261641 -4.36649564] [ 0.95353336 0.09411227 0.28621148 -15.5763023 ] [ 0. 0. 0. 1. ]] SLAMing on 27.18864 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:27.15, Y:-4.60, Z:-15.58 [[ 9.76053626e-02 9.32063624e-01 -3.48899116e-01 2.71495553e+01] [-2.21865151e-01 3.62128894e-01 9.05338897e-01 -4.60166239e+00] [ 9.70179905e-01 -1.09573765e-02 2.42138158e-01 -1.55780148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.218639999999997 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:27.31, Y:-4.49, Z:-15.54 [[ 0.10787896 0.8391337 -0.53311983 27.30805644] [ -0.24923332 0.54195213 0.80260242 -4.4908166 ] [ 0.96241617 0.04628731 0.26760531 -15.53952986] [ 0. 0. 0. 1. ]] SLAMing on 27.248639999999998 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:27.20, Y:-4.58, Z:-15.53 [[ 1.00552616e-01 9.11262326e-01 -3.99362171e-01 2.71992561e+01] [-2.26507264e-01 4.11822860e-01 8.82664371e-01 -4.58421938e+00] [ 9.68805259e-01 1.70422102e-03 2.47817403e-01 -1.55261385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.27864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:27.31, Y:-4.51, Z:-15.49 [[ 0.10332113 0.84439217 -0.52566777 27.30913697] [ -0.24207053 0.53395281 0.81012114 -4.50832191] [ 0.96474173 0.04354605 0.25957107 -15.48980594] [ 0. 0. 0. 1. ]] SLAMing on 27.30864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:27.27, Y:-4.55, Z:-15.47 [[ 1.00994471e-01 8.77894662e-01 -4.68082342e-01 2.72659715e+01] [-2.34937549e-01 4.78226344e-01 8.46229232e-01 -4.55339413e+00] [ 9.66749432e-01 2.45056449e-02 2.54548637e-01 -1.54667429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.338639999999998 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:27.23, Y:-4.59, Z:-15.45 [[ 1.11427224e-01 9.01260638e-01 -4.18704235e-01 2.72304035e+01] [-2.45217026e-01 4.33235323e-01 8.67280673e-01 -4.59169576e+00] [ 9.63043397e-01 6.03472935e-03 2.69278662e-01 -1.54478504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.36864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:27.34, Y:-4.51, Z:-15.41 [[ 0.13120332 0.8273304 -0.54617772 27.34334014] [ -0.28602854 0.55910233 0.77819808 -4.50752372] [ 0.94919617 0.05412024 0.30999619 -15.40590675] [ 0. 0. 0. 1. ]] SLAMing on 27.39864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:27.20, Y:-4.63, Z:-15.40 [[ 1.14509795e-01 9.18367494e-01 -3.78798962e-01 2.72031812e+01] [-2.45874615e-01 3.95643862e-01 8.84879431e-01 -4.62803426e+00] [ 9.62513990e-01 -8.19031374e-03 2.71108352e-01 -1.53965033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.428639999999998 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:27.29, Y:-4.57, Z:-15.37 [[ 1.18214942e-01 8.69387600e-01 -4.79781646e-01 2.72897953e+01] [-2.51448748e-01 4.93630759e-01 8.32527598e-01 -4.57140530e+00] [ 9.60624148e-01 2.22232922e-02 2.76960955e-01 -1.53656154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.45864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:27.35, Y:-4.53, Z:-15.33 [[ 0.13478558 0.83197253 -0.53819565 27.34687803] [ -0.28893248 0.55254773 0.78179859 -4.5334493 ] [ 0.94781373 0.05012702 0.31485936 -15.32795538] [ 0. 0. 0. 1. ]] SLAMing on 27.48864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:27.22, Y:-4.65, Z:-15.32 [[ 1.22647167e-01 9.15618065e-01 -3.82885402e-01 2.72176519e+01] [-2.54334381e-01 4.01911924e-01 8.79648127e-01 -4.64503285e+00] [ 9.59307925e-01 -1.05054288e-02 2.82166513e-01 -1.53204402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.518639999999998 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:27.30, Y:-4.59, Z:-15.29 [[ 1.23836348e-01 8.66691547e-01 -4.83229057e-01 2.73041497e+01] [-2.52470491e-01 4.98470931e-01 8.29328271e-01 -4.59246088e+00] [ 9.59647440e-01 1.93000929e-02 2.80542860e-01 -1.52863846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.54864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:27.36, Y:-4.55, Z:-15.25 [[ 0.13964039 0.83283836 -0.53561258 27.35515633] [ -0.2924009 0.55147294 0.78126776 -4.55471421] [ 0.9460456 0.04751706 0.32053058 -15.24936729] [ 0. 0. 0. 1. ]] SLAMing on 27.57864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:27.26, Y:-4.65, Z:-15.23 [[ 1.37353377e-01 8.98359734e-01 -4.17233554e-01 2.72612389e+01] [-2.91971173e-01 4.39230615e-01 8.49605379e-01 -4.64587324e+00] [ 9.46513013e-01 5.12400180e-03 3.22624954e-01 -1.52329063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.608639999999998 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:27.22, Y:-4.68, Z:-15.21 [[ 1.26818808e-01 9.19198440e-01 -3.72815260e-01 2.72194574e+01] [-2.50427241e-01 3.93344470e-01 8.84627789e-01 -4.68056420e+00] [ 9.59793304e-01 -1.88243444e-02 2.80075806e-01 -1.52142418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.63864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:27.29, Y:-4.64, Z:-15.18 [[ 1.31939189e-01 8.79119867e-01 -4.57974137e-01 2.72938852e+01] [-2.60569769e-01 4.76524033e-01 8.39659598e-01 -4.63578769e+00] [ 9.56397117e-01 8.55020863e-03 2.91944256e-01 -1.51836254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.66864 meters Centerline goodness : 0.998028 Centerline is valid? [True, True] Translation: X:27.30, Y:-4.64, Z:-15.15 [[ 1.30455503e-01 8.74745200e-01 -4.66692830e-01 2.73009133e+01] [-2.52750157e-01 4.84505001e-01 8.37479708e-01 -4.63881669e+00] [ 9.58696365e-01 8.70284930e-03 2.84298330e-01 -1.51544440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.698639999999997 meters Centerline goodness : 0.996171 Centerline is valid? [True, True] Translation: X:27.33, Y:-4.62, Z:-15.12 [[ 1.23606580e-01 8.53061387e-01 -5.06959253e-01 2.73340805e+01] [-2.43395360e-01 5.21334146e-01 8.17905500e-01 -4.61883819e+00] [ 9.62018769e-01 2.22930280e-02 2.72071514e-01 -1.51207239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.72864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:27.23, Y:-4.71, Z:-15.11 [[ 1.39497823e-01 9.12897507e-01 -3.83612432e-01 2.72315867e+01] [-2.60144470e-01 4.07578593e-01 8.75331106e-01 -4.70519233e+00] [ 9.55439800e-01 -2.23121311e-02 2.94341565e-01 -1.51101323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.75864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:27.32, Y:-4.65, Z:-15.08 [[ 1.39693989e-01 8.65596403e-01 -4.80862200e-01 2.73165013e+01] [-2.61819434e-01 5.00629368e-01 8.25118670e-01 -4.65137095e+00] [ 9.54953493e-01 1.06349503e-02 2.96564874e-01 -1.50764806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.788639999999997 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:27.30, Y:-4.68, Z:-15.05 [[ 1.35779269e-01 8.78779587e-01 -4.57504565e-01 2.72964000e+01] [-2.53281912e-01 4.77225115e-01 8.41489431e-01 -4.67549985e+00] [ 9.57816404e-01 1.62081075e-03 2.87376251e-01 -1.50524757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.81864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:27.35, Y:-4.64, Z:-15.02 [[ 0.15909991 0.84310101 -0.51368075 27.35163359] [ -0.29876439 0.53702798 0.78888579 -4.64220286] [ 0.94097134 0.02795785 0.33732966 -15.01846427] [ 0. 0. 0. 1. ]] SLAMing on 27.84864 meters Centerline goodness : 0.988187 Centerline is valid? [True, True] Translation: X:27.24, Y:-4.75, Z:-14.98 [[ 9.61734519e-02 9.30109889e-01 -3.54466165e-01 2.72353379e+01] [-2.78834928e-01 3.67033532e-01 8.87433079e-01 -4.75362431e+00] [ 9.55511251e-01 1.34900450e-02 2.94646005e-01 -1.49832644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.878639999999997 meters Centerline goodness : 0.996303 Centerline is valid? [True, True] Translation: X:26.90, Y:-4.87, Z:-14.98 [[ 1.39711864e-01 9.90182951e-01 -4.27994441e-03 2.69003188e+01] [-2.60122428e-01 4.08723411e-02 9.64710202e-01 -4.87338613e+00] [ 9.55414527e-01 -1.33668151e-01 2.63279145e-01 -1.49803223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.90864 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:27.46, Y:-4.55, Z:-14.92 [[ 0.1559542 0.75250914 -0.6398502 27.45881102] [ -0.30634588 0.65268283 0.69293385 -4.55399873] [ 0.9390583 0.08794953 0.33231671 -14.92401764] [ 0. 0. 0. 1. ]] SLAMing on 27.93864 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:27.23, Y:-4.76, Z:-14.93 [[ 1.29932395e-01 9.23401565e-01 -3.61174643e-01 2.72257196e+01] [-2.67303751e-01 3.83397672e-01 8.84055954e-01 -4.76251675e+00] [ 9.54812169e-01 -1.83241702e-02 2.96644480e-01 -1.49272714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.968639999999997 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:27.27, Y:-4.75, Z:-14.90 [[ 1.28128046e-01 9.05744505e-01 -4.03992693e-01 2.72655308e+01] [-2.73212877e-01 4.23824043e-01 8.63555386e-01 -4.74506217e+00] [ 9.53382362e-01 -2.69658884e-04 3.01764808e-01 -1.49004808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.998639999999998 meters Centerline goodness : 0.994988 Centerline is valid? [True, True] Translation: X:27.37, Y:-4.67, Z:-14.86 [[ 0.12018494 0.83962129 -0.52970905 27.37218336] [ -0.26494292 0.54135129 0.79796243 -4.66942285] [ 0.95674492 0.0444396 0.28751398 -14.86151858] [ 0. 0. 0. 1. ]] SLAMing on 28.02864 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:27.31, Y:-4.74, Z:-14.84 [[ 1.28853545e-01 8.87516205e-01 -4.42393208e-01 2.73068151e+01] [-2.73916737e-01 4.60609881e-01 8.44279668e-01 -4.73591840e+00] [ 9.53082570e-01 1.23904759e-02 3.02456759e-01 -1.48449417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.05864 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:27.26, Y:-4.78, Z:-14.82 [[ 1.33395866e-01 9.13269678e-01 -3.84894840e-01 2.72628207e+01] [-2.79323712e-01 4.07267138e-01 8.69546860e-01 -4.77607372e+00] [ 9.50885801e-01 -8.48370077e-03 3.09425628e-01 -1.48236647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.088639999999998 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:27.36, Y:-4.71, Z:-14.79 [[ 0.1296944 0.85615244 -0.50018232 27.36152669] [ -0.27137961 0.51583104 0.81257089 -4.71321599] [ 0.95369412 0.03035339 0.29924271 -14.78605383] [ 0. 0. 0. 1. ]] SLAMing on 28.11864 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:27.35, Y:-4.73, Z:-14.76 [[ 1.57275879e-01 8.66225008e-01 -4.74255768e-01 2.73521122e+01] [-3.17974518e-01 4.99076449e-01 8.06110975e-01 -4.73371907e+00] [ 9.34963370e-01 2.40194369e-02 3.53930167e-01 -1.47613004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.14864 meters Centerline goodness : 0.995429 Centerline is valid? [True, True] Translation: X:27.30, Y:-4.78, Z:-14.74 [[ 1.56681204e-01 8.98246768e-01 -4.10613862e-01 2.73026537e+01] [-3.16668772e-01 4.39488271e-01 8.40577747e-01 -4.78220112e+00] [ 9.35506221e-01 -1.67414592e-03 3.53306253e-01 -1.47395972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.178639999999998 meters Centerline goodness : 0.995033 Centerline is valid? [True, True] Translation: X:27.26, Y:-4.82, Z:-14.72 [[ 1.40380176e-01 9.22765808e-01 -3.58882529e-01 2.72552294e+01] [-2.71597602e-01 3.84456970e-01 8.82285431e-01 -4.82155347e+00] [ 9.52117718e-01 -2.63837494e-02 3.04591117e-01 -1.47182971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.20864 meters Centerline goodness : 0.945146 Centerline is valid? [True, False] Translation: X:26.09, Y:-4.66, Z:-14.27 [[-1.62323431e-01 -7.13372164e-01 6.81726675e-01 2.60891810e+01] [ 1.63042191e-01 6.62002152e-01 7.31553412e-01 -4.65920617e+00] [-9.73174367e-01 2.29898471e-01 8.85130010e-03 -1.42656619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.23864 meters Centerline goodness : 0.996113 Centerline is valid? [False, True] Translation: X:26.04, Y:-4.55, Z:-14.18 [[-1.65273548e-01 -6.04496592e-01 7.79274358e-01 2.60406523e+01] [ 1.74561885e-01 7.59735718e-01 6.26362345e-01 -4.54741582e+00] [-9.70676466e-01 2.39552728e-01 -2.00421534e-02 -1.41809749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.268639999999998 meters Centerline goodness : 0.995529 Centerline is valid? [True, True] Translation: X:26.04, Y:-4.56, Z:-14.23 [[-1.32251371e-01 -6.37189346e-01 7.59275518e-01 2.60374999e+01] [ 1.19015090e-01 7.50254406e-01 6.50348933e-01 -4.55606107e+00] [-9.84045214e-01 1.76374782e-01 -2.33870259e-02 -1.42321029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.29864 meters Centerline goodness : 0.995328 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.31, Z:-14.18 [[ -0.15509917 0.69599077 0.70109992 26.306735 ] [ 0.11259563 0.71751736 -0.68737986 -3.31401022] [ -0.9814614 -0.02767126 -0.18965186 -14.18047328] [ 0. 0. 0. 1. ]] SLAMing on 28.32864 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:27.56, Y:-3.48, Z:-14.50 [[-1.64542785e-01 7.16471568e-01 -6.77933746e-01 2.75640585e+01] [ 1.57367255e-01 -6.59429852e-01 -7.35110752e-01 -3.48106891e+00] [-9.73735703e-01 -2.27641743e-01 -4.24473972e-03 -1.45048564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.358639999999998 meters Centerline goodness : 0.945462 Centerline is valid? [True, False] Translation: X:27.52, Y:-3.44, Z:-14.51 [[-1.88681208e-01 7.58779666e-01 -6.23420260e-01 2.75200086e+01] [ 1.54206303e-01 -6.04055003e-01 -7.81881046e-01 -3.43715217e+00] [-9.69855566e-01 -2.43661594e-01 -3.03477964e-03 -1.45140835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.38864 meters Centerline goodness : 0.996315 Centerline is valid? [False, True] Translation: X:27.48, Y:-3.40, Z:-14.49 [[-2.02521997e-01 8.00106218e-01 -5.64636946e-01 2.74775470e+01] [ 1.55119184e-01 -5.43095186e-01 -8.25218551e-01 -3.39803900e+00] [-9.66914101e-01 -2.54710932e-01 -1.41231017e-02 -1.44861333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.41864 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:27.49, Y:-3.41, Z:-14.52 [[-2.59685746e-01 7.73819710e-01 -5.77725168e-01 2.74901301e+01] [ 1.84454719e-01 -5.47488027e-01 -8.16231166e-01 -3.40872203e+00] [-9.47913377e-01 -3.18527733e-01 -5.59860947e-04 -1.45201492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.448639999999997 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:27.54, Y:-4.58, Z:-14.84 [[-2.61237606e-01 -4.40250044e-01 -8.59031322e-01 2.75429752e+01] [ 1.50749999e-01 -8.97622565e-01 4.14183738e-01 -4.57909757e+00] [-9.53430307e-01 -2.12986025e-02 3.00860464e-01 -1.48361836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.47864 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:27.53, Y:-4.63, Z:-14.79 [[-2.60600264e-01 -4.94031222e-01 -8.29470105e-01 2.75252017e+01] [ 1.54692377e-01 -8.69423237e-01 4.69226495e-01 -4.63366365e+00] [-9.52973122e-01 -6.03215401e-03 3.02994789e-01 -1.47858443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.50864 meters Centerline goodness : 0.995612 Centerline is valid? [True, True] Translation: X:26.36, Y:-4.88, Z:-14.64 [[ -0.23685506 -0.91872668 0.31597622 26.3615958 ] [ 0.13564664 0.29077335 0.94712768 -4.88016114] [ -0.96202894 0.26719309 0.05575105 -14.63873888] [ 0. 0. 0. 1. ]] SLAMing on 28.538639999999997 meters Centerline goodness : 0.995721 Centerline is valid? [True, True] Translation: X:25.90, Y:-3.86, Z:-14.39 [[ -0.26573436 0.05592833 0.9624226 25.89856243] [ 0.10149025 0.9943912 -0.02976363 -3.86063957] [ -0.9586892 0.0897673 -0.26992009 -14.39137235] [ 0. 0. 0. 1. ]] SLAMing on 28.56864 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:26.78, Y:-3.09, Z:-14.61 [[ -0.28659094 0.94813077 0.13752699 26.78082705] [ 0.11680488 0.17705656 -0.9772449 -3.09269488] [ -0.95090602 -0.26400571 -0.16148911 -14.61152408] [ 0. 0. 0. 1. ]] SLAMing on 28.59864 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:27.63, Y:-4.25, Z:-15.03 [[ -0.26281576 -0.11986918 -0.95737101 27.6268566 ] [ 0.07702065 -0.99169254 0.1030229 -4.24846318] [ -0.96176697 -0.04666129 0.26986483 -15.03489584] [ 0. 0. 0. 1. ]] SLAMing on 28.628639999999997 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:26.60, Y:-4.94, Z:-14.87 [[-2.30495804e-01 -9.73065405e-01 -3.92445173e-03 2.65995299e+01] [ 5.83898473e-02 -1.78567072e-02 9.98134141e-01 -4.93605288e+00] [-9.71319880e-01 2.29836583e-01 6.09330365e-02 -1.48684126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.65864 meters Centerline goodness : 0.994825 Centerline is valid? [True, True] Translation: X:26.49, Y:-4.92, Z:-14.90 [[-1.64990513e-01 -9.82354593e-01 8.80771470e-02 2.64884299e+01] [ 4.08068410e-02 8.24255164e-02 9.95761435e-01 -4.91575172e+00] [-9.85450624e-01 1.67885340e-01 2.64873594e-02 -1.48976278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.68864 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:25.80, Y:-3.79, Z:-14.80 [[-1.96134309e-01 6.54052813e-02 9.78393317e-01 2.57972464e+01] [ 1.13799600e-02 9.97857652e-01 -6.44251742e-02 -3.79034837e+00] [-9.80511004e-01 -1.50191016e-03 -1.96458430e-01 -1.47998872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.718639999999997 meters Centerline goodness : 0.994788 Centerline is valid? [True, True] Translation: X:27.60, Y:-4.17, Z:-15.12 [[-1.31014598e-01 -4.57229840e-02 -9.90325494e-01 2.75992063e+01] [ 1.00897378e-02 -9.98945643e-01 4.47861567e-02 -4.17045678e+00] [-9.91329094e-01 -4.12448427e-03 1.31337794e-01 -1.51198166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.748639999999998 meters Centerline goodness : 0.994241 Centerline is valid? [True, True] Translation: X:27.59, Y:-4.17, Z:-15.16 [[-1.58836775e-01 -3.97242521e-02 -9.86505379e-01 2.75935007e+01] [ 1.57667878e-02 -9.99164883e-01 3.76954173e-02 -4.16510311e+00] [-9.87178954e-01 -9.56660239e-03 1.59330452e-01 -1.51604952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.77864 meters Centerline goodness : 0.996113 Centerline is valid? [True, True] Translation: X:26.37, Y:-4.87, Z:-15.05 [[-1.01870320e-01 -9.81173770e-01 1.64074591e-01 2.63749925e+01] [-2.20639276e-02 1.67120520e-01 9.85689563e-01 -4.87404485e+00] [-9.94552975e-01 9.67923817e-02 -3.86731679e-02 -1.50495329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.808639999999997 meters Centerline goodness : 0.996304 Centerline is valid? [True, True] Translation: X:27.03, Y:-3.13, Z:-15.18 [[-1.48333381e-01 9.57912052e-01 -2.45767592e-01 2.70309644e+01] [ 4.16914141e-02 -2.42238668e-01 -9.69320511e-01 -3.12571896e+00] [-9.88058214e-01 -1.54028987e-01 -4.00462722e-03 -1.51759821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.838639999999998 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:27.59, Y:-4.03, Z:-15.31 [[ -0.1126844 0.10336835 -0.98823945 27.59337952] [ 0.03483207 -0.99355183 -0.10789576 -4.028967 ] [ -0.99302012 -0.04658059 0.10835726 -15.30681261] [ 0. 0. 0. 1. ]] SLAMing on 28.86864 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:27.53, Y:-4.29, Z:-15.36 [[-1.25308649e-01 -1.75981372e-01 -9.76385323e-01 2.75338127e+01] [ 4.38275913e-02 -9.84163682e-01 1.71758521e-01 -4.28929574e+00] [-9.91149275e-01 -2.12697887e-02 1.31037061e-01 -1.53556050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.89864 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:26.36, Y:-4.88, Z:-15.31 [[-9.34183299e-02 -9.85446730e-01 1.42013231e-01 2.63586123e+01] [ 8.21573112e-03 1.41869145e-01 9.89851326e-01 -4.87524043e+00] [-9.95593048e-01 9.36370002e-02 -5.15701324e-03 -1.53137365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.928639999999998 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:26.23, Y:-4.83, Z:-15.34 [[-3.52338269e-02 -9.63390660e-01 2.65776249e-01 2.62323670e+01] [-2.61229153e-02 2.66738321e-01 9.63414896e-01 -4.83081045e+00] [-9.99037622e-01 2.70019433e-02 -3.45647844e-02 -1.53432165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.95864 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:25.69, Y:-3.84, Z:-15.41 [[-6.32860899e-02 -2.59520763e-02 9.97657938e-01 2.56870920e+01] [-4.85877657e-02 9.98556521e-01 2.28933029e-02 -3.83928852e+00] [-9.96811968e-01 -4.70251425e-02 -6.44556912e-02 -1.54092668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.98864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:26.11, Y:-3.18, Z:-15.49 [[-3.30596844e-02 7.42535164e-01 6.68990723e-01 2.61062183e+01] [-4.13512985e-02 6.67767258e-01 -7.43220666e-01 -3.17745385e+00] [-9.98597580e-01 -5.22342758e-02 8.62861839e-03 -1.54888213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.018639999999998 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:26.65, Y:-3.03, Z:-15.51 [[-3.41706435e-02 9.91673006e-01 1.24165279e-01 2.66463738e+01] [-1.96002090e-02 1.23548987e-01 -9.92144888e-01 -3.02513172e+00] [-9.99223798e-01 -3.63358947e-02 1.52152498e-02 -1.55146279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.04864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:26.97, Y:-3.10, Z:-15.56 [[-3.43163279e-02 9.71961660e-01 -2.32621840e-01 2.69746340e+01] [-1.60167375e-02 -2.33263892e-01 -9.72281554e-01 -3.09699237e+00] [-9.99282670e-01 -2.96392897e-02 2.35724149e-02 -1.55592370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.07864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:27.49, Y:-4.31, Z:-15.62 [[ 8.56609398e-04 -1.98741386e-01 -9.80051594e-01 2.74903914e+01] [ 9.76376213e-03 -9.80003576e-01 1.98740182e-01 -4.30918524e+00] [-9.99951966e-01 -9.73923335e-03 1.10098335e-03 -1.56232075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.108639999999998 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:27.37, Y:-4.53, Z:-15.63 [[ 5.78163618e-03 -4.49226487e-01 -8.93399203e-01 2.73745660e+01] [ 5.92138326e-03 -8.93383092e-01 4.49256706e-01 -4.53113125e+00] [-9.99965754e-01 -7.88759791e-03 -2.50517381e-03 -1.56325243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.13864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:26.05, Y:-4.74, Z:-15.84 [[ 8.06811668e-02 -9.05493630e-01 4.16619533e-01 2.60495978e+01] [-6.17001993e-02 4.12643457e-01 9.08800563e-01 -4.74318053e+00] [-9.94828445e-01 -9.90285980e-02 -2.25765818e-02 -1.58417470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.16864 meters Centerline goodness : 0.897847 Centerline is valid? [True, False] Translation: X:25.94, Y:-4.62, Z:-15.79 [[ 7.38766070e-02 -8.24321282e-01 5.61281277e-01 2.59389321e+01] [-4.78854291e-02 5.59237918e-01 8.27623065e-01 -4.62215054e+00] [-9.96117078e-01 -8.80191787e-02 1.84162159e-03 -1.57945377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.198639999999997 meters Centerline goodness : 0.999164 Centerline is valid? [False, True] Translation: X:25.85, Y:-4.49, Z:-15.74 [[ 6.71850640e-02 -7.26599122e-01 6.83768882e-01 2.58517667e+01] [-3.76285847e-02 6.82984559e-01 7.29462941e-01 -4.49452596e+00] [-9.97030720e-01 -7.47382697e-02 1.85454646e-02 -1.57379816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.22864 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:25.67, Y:-4.02, Z:-15.85 [[ 0.09081227 -0.26334552 0.96041776 25.6712289 ] [ -0.04346063 0.96243583 0.26800829 -4.01901123] [ -0.99491924 -0.06607881 0.07595582 -15.84906507] [ 0. 0. 0. 1. ]] SLAMing on 29.25864 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:25.75, Y:-3.54, Z:-15.93 [[ 0.06845254 0.25054084 0.96568294 25.74928764] [ -0.06064873 0.96720819 -0.24663747 -3.54261318] [ -0.99580921 -0.04168448 0.08140284 -15.93239446] [ 0. 0. 0. 1. ]] SLAMing on 29.288639999999997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:25.92, Y:-3.30, Z:-16.03 [[ 0.06867633 0.54086415 0.83830158 25.92322629] [ -0.07680343 0.84065808 -0.53609256 -3.2954567 ] [ -0.99467824 -0.02756757 0.09927353 -16.02629477] [ 0. 0. 0. 1. ]] SLAMing on 29.31864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:26.06, Y:-3.18, Z:-16.09 [[ 5.50512748e-02 6.92593706e-01 7.19224107e-01 2.60606906e+01] [-7.80938357e-02 7.21096538e-01 -6.88419303e-01 -3.17546954e+00] [-9.95424889e-01 -1.82686090e-02 9.37845827e-02 -1.60936533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.34864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:26.18, Y:-3.11, Z:-16.17 [[ 3.92278815e-02 7.88303666e-01 6.14034611e-01 2.61825991e+01] [-7.64419201e-02 6.15074295e-01 -7.84754895e-01 -3.10738502e+00] [-9.96302066e-01 -1.61537126e-02 8.43875074e-02 -1.61659824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.378639999999997 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:27.47, Y:-3.47, Z:-16.31 [[-4.90278572e-03 6.63573255e-01 -7.48095247e-01 2.74692967e+01] [ 1.07741505e-03 -7.48100299e-01 -6.63584797e-01 -3.47311458e+00] [-9.99987401e-01 -4.05942315e-03 2.95283165e-03 -1.63080049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.40864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:27.61, Y:-3.81, Z:-16.27 [[ 7.63072090e-03 3.29734520e-01 -9.44042858e-01 2.76062695e+01] [-1.09077160e-03 -9.44067038e-01 -3.29751782e-01 -3.81175397e+00] [-9.99970291e-01 3.54597896e-03 -6.84424703e-03 -1.62725164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.43864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:27.61, Y:-4.09, Z:-16.43 [[ 1.11028387e-02 6.85140274e-02 -9.97588370e-01 2.76139148e+01] [ 5.17612143e-02 -9.96351718e-01 -6.78530089e-02 -4.09431351e+00] [-9.98597769e-01 -5.08830244e-02 -1.46087017e-02 -1.64254292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.468639999999997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:27.13, Y:-4.84, Z:-16.55 [[ 2.45310055e-02 -7.93236141e-01 -6.08419801e-01 2.71256520e+01] [ 7.50617151e-02 -6.05423481e-01 7.92356074e-01 -4.83531356e+00] [-9.96877108e-01 -6.51063250e-02 4.46900184e-02 -1.65541888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.498639999999998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:26.66, Y:-4.94, Z:-16.66 [[ 0.04327838 -0.98864425 -0.14390802 26.66174707] [ 0.0822675 -0.14002722 0.98672409 -4.94111063] [ -0.99567015 -0.05454277 0.07527314 -16.66175418] [ 0. 0. 0. 1. ]] SLAMing on 29.52864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:26.30, Y:-4.86, Z:-16.74 [[ 0.06608433 -0.96695512 0.24623295 26.30011419] [ 0.10494573 0.25213921 0.96198348 -4.855012 ] [ -0.99227983 -0.03773094 0.11814026 -16.73977103] [ 0. 0. 0. 1. ]] SLAMing on 29.558639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:25.83, Y:-3.56, Z:-16.87 [[ 1.70346914e-02 2.52712730e-01 9.67391387e-01 2.58273927e+01] [-4.62595513e-03 9.67541341e-01 -2.52670445e-01 -3.55648123e+00] [-9.99844198e-01 -1.70946103e-04 1.76508059e-02 -1.68698243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.588639999999998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:26.23, Y:-4.76, Z:-17.01 [[ 1.08276845e-01 -9.48480793e-01 2.97758813e-01 2.62303844e+01] [-1.27134613e-02 2.98174119e-01 9.54426824e-01 -4.75975044e+00] [-9.94039483e-01 -1.07127870e-01 2.02268789e-02 -1.70108157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.61864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:25.74, Y:-4.13, Z:-17.16 [[ 0.13636245 -0.370802 0.91864637 25.74005177] [ -0.03855136 0.92461972 0.37893558 -4.12526842] [ -0.98990862 -0.08708765 0.11178849 -17.16462174] [ 0. 0. 0. 1. ]] SLAMing on 29.64864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:25.78, Y:-3.59, Z:-17.26 [[ 0.12730538 0.18899852 0.97369035 25.7835006 ] [ -0.06019532 0.98134038 -0.18261318 -3.5915651 ] [ -0.99003528 -0.03536396 0.13630674 -17.25865235] [ 0. 0. 0. 1. ]] SLAMing on 29.678639999999998 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:25.88, Y:-3.42, Z:-17.34 [[ 1.18266962e-01 3.77552296e-01 9.18404698e-01 2.58763175e+01] [-7.35789003e-02 9.25685181e-01 -3.71070197e-01 -3.42401086e+00] [-9.90252024e-01 -2.36898630e-02 1.37257856e-01 -1.73440506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.70864 meters Centerline goodness : 0.857768 Centerline is valid? [True, False] Translation: X:25.90, Y:-3.42, Z:-17.43 [[ 0.1415487 0.39363091 0.90830539 25.89950485] [ -0.10195728 0.91846132 -0.38214333 -3.41646394] [ -0.98466679 -0.03851646 0.17014054 -17.43045352] [ 0. 0. 0. 1. ]] SLAMing on 29.73864 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:25.93, Y:-3.41, Z:-17.52 [[ 0.16504343 0.40987806 0.89708452 25.9252992 ] [ -0.13159106 0.91057711 -0.39183302 -3.41100639] [ -0.97746839 -0.05337884 0.20422106 -17.52055529] [ 0. 0. 0. 1. ]] SLAMing on 29.768639999999998 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.30, Z:-17.57 [[ 0.20186786 0.53341541 0.82141182 26.01720173] [ -0.16523675 0.8452045 -0.50825798 -3.30262646] [ -0.9653736 -0.03312647 0.25875945 -17.57168472] [ 0. 0. 0. 1. ]] SLAMing on 29.79864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:27.39, Y:-3.24, Z:-17.51 [[ 1.36696962e-01 8.59379636e-01 -4.92727696e-01 2.73896597e+01] [-8.63981261e-02 -4.85158548e-01 -8.70147428e-01 -3.23624748e+00] [-9.86838034e-01 1.61517259e-01 7.92909066e-03 -1.75076622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.82864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:27.57, Y:-3.42, Z:-17.64 [[ 6.83272788e-02 7.55833311e-01 -6.51189211e-01 2.75732025e+01] [-7.39739701e-02 -6.47079672e-01 -7.58825243e-01 -3.42420159e+00] [-9.94916697e-01 1.00019515e-01 1.16987976e-02 -1.76351910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.858639999999998 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:27.71, Y:-4.46, Z:-17.73 [[ 8.36687284e-02 -2.22649120e-01 -9.71301659e-01 2.77068128e+01] [ 1.29748194e-02 -9.74393356e-01 2.24475483e-01 -4.45889787e+00] [-9.96409152e-01 -3.13840419e-02 -7.86374209e-02 -1.77348584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.88864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:26.71, Y:-5.03, Z:-17.93 [[ 0.11043267 -0.99294459 -0.04319324 26.70946996] [ 0.05203507 -0.03762318 0.99793629 -5.02767085] [ -0.99252052 -0.11245233 0.04751311 -17.93382683] [ 0. 0. 0. 1. ]] SLAMing on 29.91864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:25.99, Y:-4.47, Z:-18.08 [[ 0.14521671 -0.56670399 0.81102324 25.98801552] [ 0.03621561 0.82220754 0.5680345 -4.47467743] [ -0.98873684 -0.0531164 0.1399218 -18.07703122] [ 0. 0. 0. 1. ]] SLAMing on 29.948639999999997 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:25.92, Y:-4.23, Z:-18.15 [[ 1.34211715e-01 -3.30321865e-01 9.34277625e-01 2.59226780e+01] [ 1.46748262e-02 9.43366635e-01 3.31427280e-01 -4.22631518e+00] [-9.90844016e-01 -3.07710620e-02 1.31458270e-01 -1.81502629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.97864 meters Centerline goodness : 0.983367 Centerline is valid? [True, True] Translation: X:25.91, Y:-3.99, Z:-18.24 [[ 0.1349745 -0.11882797 0.98369802 25.9098852 ] [ -0.05918583 0.99004334 0.12771543 -3.99185525] [ -0.98907984 -0.07545931 0.12659767 -18.24331325] [ 0. 0. 0. 1. ]] SLAMing on 30.00864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:25.95, Y:-3.87, Z:-18.32 [[ 1.23459252e-01 2.50488111e-02 9.92033452e-01 2.59547298e+01] [-1.17679016e-02 9.99648034e-01 -2.37765555e-02 -3.87287407e+00] [-9.92279865e-01 -8.73871625e-03 1.23710571e-01 -1.83213088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.038639999999997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.12, Z:-18.41 [[ 4.41939604e-02 9.98568636e-01 3.01259531e-02 2.70919417e+01] [-1.16985065e-03 3.02071225e-02 -9.99542976e-01 -3.12391945e+00] [-9.99022285e-01 4.41385198e-02 2.50314854e-03 -1.84111386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.18, Y:-4.63, Z:-18.57 [[ 6.47505113e-02 -7.50058603e-01 6.58194092e-01 2.61783015e+01] [-5.71223434e-02 6.55710798e-01 7.52848183e-01 -4.62763459e+00] [-9.96265230e-01 -8.63448937e-02 -3.87495657e-04 -1.85743400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.09864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:26.02, Y:-3.75, Z:-18.73 [[ 0.08260538 0.13140516 0.98788108 26.02271948] [ -0.06469454 0.9898851 -0.12626205 -3.75181374] [ -0.99448025 -0.05348059 0.09027104 -18.72785898] [ 0. 0. 0. 1. ]] SLAMing on 30.128639999999997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.37, Z:-18.82 [[ 9.30356268e-02 5.74206553e-01 8.13407159e-01 2.62650184e+01] [-8.20809258e-02 8.18592866e-01 -5.68479060e-01 -3.36994133e+00] [-9.92273699e-01 -1.38764070e-02 1.23289706e-01 -1.88214525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.15864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:26.42, Y:-3.25, Z:-18.90 [[ 8.32199151e-02 7.26852801e-01 6.81732683e-01 2.64205258e+01] [-8.97022019e-02 6.86792353e-01 -7.21297289e-01 -3.25385559e+00] [-9.92485748e-01 -1.12662356e-03 1.22355098e-01 -1.88989528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.18864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:27.69, Y:-3.44, Z:-19.01 [[ 2.78723465e-02 7.96654972e-01 -6.03791345e-01 2.76916233e+01] [-4.83412291e-02 -6.02245052e-01 -7.96846298e-01 -3.43673783e+00] [-9.98441915e-01 5.13979919e-02 2.17252977e-02 -1.90055237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.218639999999997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:27.27, Y:-3.18, Z:-19.03 [[ 1.39399983e-02 9.92081870e-01 -1.24816822e-01 2.72700023e+01] [-3.24550479e-02 -1.24314250e-01 -9.91711973e-01 -3.17933132e+00] [-9.99375978e-01 1.78753992e-02 3.04651242e-02 -1.90329310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.248639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.36, Y:-3.21, Z:-19.07 [[ 6.35794703e-03 9.75411776e-01 -2.20298534e-01 2.73553615e+01] [-3.27646447e-02 -2.19981498e-01 -9.74953649e-01 -3.21057616e+00] [-9.99442872e-01 1.34167069e-02 3.05603896e-02 -1.90652681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.27864 meters Centerline goodness : 0.938396 Centerline is valid? [True, False] Translation: X:27.29, Y:-3.19, Z:-19.03 [[-5.48842156e-03 9.89826132e-01 -1.42176317e-01 2.72869519e+01] [-3.38722549e-02 -1.42280889e-01 -9.89246592e-01 -3.19152347e+00] [-9.99411100e-01 -6.13569858e-04 3.43085406e-02 -1.90318796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.308639999999997 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:27.22, Y:-3.18, Z:-18.99 [[-1.56020385e-02 9.97674511e-01 -6.63486806e-02 2.72185739e+01] [-3.36955164e-02 -6.68436912e-02 -9.97194331e-01 -3.17793043e+00] [-9.99310356e-01 -1.33226113e-02 3.46600557e-02 -1.89918389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.338639999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.47, Y:-3.28, Z:-19.02 [[-2.48120447e-02 9.39480115e-01 -3.41703785e-01 2.74690045e+01] [-4.10602139e-02 -3.42478302e-01 -9.38628079e-01 -3.27522082e+00] [-9.98848548e-01 -9.25885138e-03 4.70728414e-02 -1.90188020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.36864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:27.69, Y:-3.45, Z:-19.10 [[-5.85224141e-02 7.93283297e-01 -6.06033611e-01 2.76884347e+01] [-4.52015345e-02 -6.08557134e-01 -7.92221583e-01 -3.45296318e+00] [-9.97262226e-01 -1.89690704e-02 7.14718549e-02 -1.90977210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.39864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.50, Z:-19.14 [[-2.90560207e-02 7.45432346e-01 -6.65947720e-01 2.77389063e+01] [-1.89908195e-02 -6.66520437e-01 -7.45244829e-01 -3.50377808e+00] [-9.99397367e-01 -9.00695625e-03 3.35228027e-02 -1.91408930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.428639999999998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:27.95, Y:-3.95, Z:-19.12 [[-5.64442907e-02 3.15661199e-01 -9.47191665e-01 2.79482329e+01] [-2.98821150e-02 -9.48813238e-01 -3.14420893e-01 -3.94637707e+00] [-9.97958467e-01 1.05568259e-02 6.29877145e-02 -1.91152427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.45864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:27.93, Y:-3.91, Z:-19.21 [[-7.57656303e-02 3.53778436e-01 -9.32255538e-01 2.79273500e+01] [-6.62003464e-03 -9.35100751e-01 -3.54320138e-01 -3.90640955e+00] [-9.97103678e-01 -2.06737246e-02 7.31905233e-02 -1.92079352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.48864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.04, Z:-19.19 [[-6.09020767e-02 2.21357309e-01 -9.73289206e-01 2.79545569e+01] [ 1.43081227e-03 -9.75078876e-01 -2.21853868e-01 -4.03530463e+00] [-9.98142720e-01 -1.49039554e-02 5.90676077e-02 -1.91914678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.518639999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.21, Z:-19.24 [[-5.78027092e-02 3.62582520e-02 -9.97669377e-01 2.79515266e+01] [ 6.97438075e-03 -9.99301196e-01 -3.67216370e-02 -4.20743925e+00] [-9.98303664e-01 -9.08073620e-03 5.75094376e-02 -1.92436928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.01, Y:-5.07, Z:-19.31 [[-6.18850302e-03 -9.87124199e-01 -1.59835912e-01 2.70145009e+01] [ 1.52191326e-02 -1.59913434e-01 9.87013714e-01 -5.06705060e+00] [-9.99865031e-01 3.67557342e-03 1.60127989e-02 -1.93052144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.57864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.05, Z:-19.45 [[ 1.15850039e-02 2.40758488e-01 -9.70515913e-01 2.79463421e+01] [ 8.99528182e-02 -9.66896739e-01 -2.38786907e-01 -4.05389196e+00] [-9.95878646e-01 -8.45342942e-02 -3.28584071e-02 -1.94457216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.608639999999998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:26.14, Y:-3.75, Z:-19.45 [[ -0.02992153 0.2996515 0.9535794 26.13958422] [ 0.04739977 0.95335866 -0.29809482 -3.75216418] [ -0.99842775 0.03627999 -0.04272936 -19.45208402] [ 0. 0. 0. 1. ]] SLAMing on 30.63864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.19, Z:-19.55 [[ -0.09743528 0.99419325 0.0456743 27.08634081] [ 0.05232517 0.05094649 -0.9973297 -3.19248206] [ -0.99386541 -0.09478518 -0.05698531 -19.55149666] [ 0. 0. 0. 1. ]] SLAMing on 30.66864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.00, Z:-19.66 [[ -0.07797101 0.26785935 -0.96029781 27.95229488] [ 0.04988321 -0.96097554 -0.27209863 -3.99604345] [ -0.99570688 -0.06911854 0.06156655 -19.66447983] [ 0. 0. 0. 1. ]] SLAMing on 30.698639999999997 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:27.89, Y:-4.46, Z:-19.76 [[ -0.08394121 -0.2261274 -0.97047425 27.8946702 ] [ 0.06212172 -0.9732046 0.22139037 -4.46187746] [ -0.99453244 -0.04170375 0.09573939 -19.75637371] [ 0. 0. 0. 1. ]] SLAMing on 30.72864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:27.75, Y:-4.72, Z:-19.81 [[-9.87648405e-02 -5.14608894e-01 -8.51717789e-01 2.77462837e+01] [ 7.49805296e-02 -8.57317777e-01 5.09297702e-01 -4.71845366e+00] [-9.92281929e-01 -1.35615446e-02 1.23258501e-01 -1.98115972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.75864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:26.56, Y:-4.98, Z:-19.81 [[-1.87763532e-02 -9.41964560e-01 3.35186838e-01 2.65580856e+01] [ 4.48284669e-02 3.34115651e-01 9.41465422e-01 -4.97794956e+00] [-9.98818230e-01 3.27031994e-02 3.59533536e-02 -1.98053940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.788639999999997 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:26.04, Y:-3.99, Z:-19.81 [[-5.52844859e-02 3.98000691e-03 9.98462711e-01 2.60383106e+01] [-4.22088397e-02 9.99088823e-01 -6.31958946e-03 -3.99123459e+00] [-9.97578087e-01 -4.24933277e-02 -5.50661205e-02 -1.98066894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.81864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:26.37, Y:-3.38, Z:-19.89 [[-4.60413803e-02 6.81393046e-01 7.30468143e-01 2.63697859e+01] [-4.94415850e-02 7.28793013e-01 -6.82946757e-01 -3.38357228e+00] [-9.97715250e-01 -6.75593142e-02 1.34515880e-04 -1.98941391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.84864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:27.48, Y:-3.31, Z:-19.96 [[ -0.06488324 0.90646142 -0.41727433 27.48063022] [ -0.03773083 -0.42008492 -0.90670009 -3.30828089] [ -0.9971793 -0.04308553 0.06145801 -19.96160891] [ 0. 0. 0. 1. ]] SLAMing on 30.878639999999997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:27.76, Y:-3.57, Z:-20.00 [[-7.17481476e-02 6.71256332e-01 -7.37744630e-01 2.77558112e+01] [-2.19946114e-02 -7.40535790e-01 -6.71656892e-01 -3.57092432e+00] [-9.97180245e-01 -3.19637314e-02 6.78960933e-02 -2.00033738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.59, Y:-4.85, Z:-20.02 [[ 7.85012685e-03 -6.66721181e-01 -7.45265887e-01 2.75876409e+01] [ 2.88948044e-02 -7.44826402e-01 6.66632373e-01 -4.84544562e+00] [-9.99551632e-01 -2.67674607e-02 1.34177964e-02 -2.00208590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.93864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:27.15, Y:-5.06, Z:-20.12 [[ 0.03624072 -0.94641433 -0.32091514 27.1473205 ] [ 0.05026281 -0.31899345 0.94642318 -5.05751065] [ -0.99807828 -0.05042916 0.03600889 -20.1186414 ] [ 0. 0. 0. 1. ]] SLAMing on 30.968639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.56, Y:-4.98, Z:-20.20 [[ 0.05424576 -0.95302288 0.29800132 26.56223047] [ 0.03842228 0.30021191 0.95309839 -4.98293026] [ -0.99778812 -0.04025166 0.05290253 -20.20059479] [ 0. 0. 0. 1. ]] SLAMing on 30.998639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:26.21, Y:-4.69, Z:-20.29 [[ 4.11838142e-02 -7.03716697e-01 7.09286052e-01 2.62060489e+01] [-7.10923072e-03 7.09663973e-01 7.04504439e-01 -4.69146679e+00] [-9.99126294e-01 -3.40566581e-02 2.42237848e-02 -2.02931711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.02864 meters Centerline goodness : 0.930326 Centerline is valid? [True, False] Translation: X:26.15, Y:-4.57, Z:-20.23 [[ 3.52780557e-02 -5.96230024e-01 8.02038165e-01 2.61455770e+01] [ 1.12055208e-03 8.02560810e-01 5.96569267e-01 -4.56754465e+00] [-9.99376907e-01 -2.01470783e-02 2.89808917e-02 -2.02259912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.058639999999997 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:26.10, Y:-4.45, Z:-20.17 [[ 3.25938607e-02 -4.84490019e-01 8.74189374e-01 2.61049395e+01] [ 9.48036347e-03 8.74764615e-01 4.84455354e-01 -4.44660276e+00] [-9.99423715e-01 -7.50263735e-03 3.31050975e-02 -2.01670601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.088639999999998 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:26.06, Y:-4.29, Z:-20.22 [[ 2.51983887e-02 -3.47776966e-01 9.37238616e-01 2.60553063e+01] [-4.19118682e-02 9.36344461e-01 3.48572009e-01 -4.29202537e+00] [-9.98803502e-01 -4.80648743e-02 9.01838938e-03 -2.02211410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.32, Y:-3.43, Z:-20.32 [[ 1.75152728e-02 5.98162967e-01 8.01183050e-01 2.63170589e+01] [-6.11289959e-02 8.00447615e-01 -5.96277504e-01 -3.42762246e+00] [-9.97976183e-01 -3.85315523e-02 5.05851599e-02 -2.03173436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.14864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:26.64, Y:-3.22, Z:-20.37 [[ 3.53060078e-03 8.64924912e-01 5.01888864e-01 2.66354064e+01] [-7.19555442e-02 5.00810726e-01 -8.62560732e-01 -3.21752470e+00] [-9.97401591e-01 -3.30683288e-02 6.40043055e-02 -2.03733477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.178639999999998 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.88, Y:-3.15, Z:-20.37 [[-1.32490910e-02 9.67504644e-01 2.52505891e-01 2.68831854e+01] [-4.53786304e-02 2.51686080e-01 -9.66744484e-01 -3.14924267e+00] [-9.98881996e-01 -2.42668571e-02 4.05694239e-02 -2.03710103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.20864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:27.04, Y:-3.15, Z:-20.42 [[ -0.03111592 0.99520073 0.09277554 27.04026427] [ -0.03551362 0.09166108 -0.99515679 -3.14728345] [ -0.99888467 -0.03426002 0.03249106 -20.4233915 ] [ 0. 0. 0. 1. ]] SLAMing on 31.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.95, Y:-4.12, Z:-20.48 [[-1.64766226e-02 1.27478124e-01 -9.91704517e-01 2.79479504e+01] [ 2.11044282e-02 -9.91573852e-01 -1.27811966e-01 -4.12431223e+00] [-9.99641498e-01 -2.30352663e-02 1.36474352e-02 -2.04849940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.268639999999998 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.63, Y:-3.41, Z:-20.57 [[-9.74387259e-02 8.28470990e-01 -5.51490266e-01 2.76320095e+01] [ 5.31087148e-02 -5.49009241e-01 -8.34127279e-01 -3.40715274e+00] [-9.93823505e-01 -1.10565239e-01 9.49573152e-03 -2.05677464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.29864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:27.87, Y:-4.49, Z:-20.67 [[ -0.08891596 -0.2686539 -0.9591241 27.86850472] [ 0.06851865 -0.96230684 0.26319335 -4.49236423] [ -0.9936796 -0.0423158 0.10397224 -20.67380017] [ 0. 0. 0. 1. ]] SLAMing on 31.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.74, Y:-4.70, Z:-20.73 [[ -0.07169403 -0.50380241 -0.8608386 27.73867008] [ 0.08842947 -0.86287149 0.49762739 -4.69910915] [ -0.99349897 -0.04044659 0.10641372 -20.73321707] [ 0. 0. 0. 1. ]] SLAMing on 31.358639999999998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.62, Y:-4.82, Z:-20.76 [[ -0.03221099 -0.64647654 -0.76225359 27.62295853] [ 0.08026546 -0.76185926 0.64275028 -4.8236473 ] [ -0.99625293 -0.04047901 0.07642997 -20.75979737] [ 0. 0. 0. 1. ]] SLAMing on 31.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.48, Y:-4.92, Z:-20.84 [[-2.05038649e-02 -7.73206610e-01 -6.33822632e-01 2.74756179e+01] [ 9.84320817e-02 -6.32437145e-01 7.68332209e-01 -4.92054349e+00] [-9.94932519e-01 -4.66347013e-02 8.90757420e-02 -2.08361380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.41864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:27.18, Y:-5.03, Z:-20.92 [[ 0.03110458 -0.93204713 -0.36099951 27.18353658] [ 0.10629581 -0.35604147 0.92840491 -5.02897111] [ -0.99384793 -0.06725038 0.08799819 -20.92313649] [ 0. 0. 0. 1. ]] SLAMing on 31.448639999999997 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:26.79, Y:-5.03, Z:-21.02 [[ 0.05888362 -0.99759148 0.03666005 26.79474422] [ 0.08907569 0.04182795 0.99514619 -5.02612862] [ -0.99428278 -0.05533229 0.09132413 -21.01754056] [ 0. 0. 0. 1. ]] SLAMing on 31.47864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:26.57, Y:-4.94, Z:-21.10 [[ 0.0761488 -0.95776565 0.27728383 26.57147033] [ 0.08745366 0.283435 0.95499553 -4.94391999] [ -0.99325385 -0.04847228 0.10534335 -21.0981746 ] [ 0. 0. 0. 1. ]] SLAMing on 31.50864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:26.29, Y:-4.73, Z:-21.24 [[ 1.06885817e-01 -8.06770891e-01 5.81116297e-01 2.62912432e+01] [ 2.10056010e-02 5.86166366e-01 8.09918364e-01 -4.73278789e+00] [-9.94049389e-01 -7.43620892e-02 7.95995785e-02 -2.12422583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.538639999999997 meters Centerline goodness : 0.969575 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.31, Z:-21.39 [[ -0.03431591 0.57596676 0.81675254 26.31302382] [ -0.11570553 0.80944887 -0.57567765 -3.30726127] [ -0.99269061 -0.11425768 0.03886557 -21.39411763] [ 0. 0. 0. 1. ]] SLAMing on 31.56864 meters Centerline goodness : 0.969575 Centerline is valid? [True, True] Translation: X:26.42, Y:-3.21, Z:-21.58 [[ -0.11496252 0.63991614 0.75979665 26.42259421] [ -0.18883629 0.73684272 -0.64915611 -3.21429587] [ -0.97525611 -0.2181058 0.0361301 -21.58043058] [ 0. 0. 0. 1. ]] SLAMing on 31.59864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:26.12, Y:-3.84, Z:-21.56 [[-3.31296470e-03 -2.57023247e-02 9.99664151e-01 2.61156987e+01] [-1.24494676e-01 9.91902998e-01 2.50901930e-02 -3.84097418e+00] [-9.92214745e-01 -1.24369742e-01 -6.48594220e-03 -2.15647582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.628639999999997 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:26.67, Y:-3.11, Z:-21.67 [[ -0.03592397 0.82675144 0.56141921 26.66692275] [ -0.11710008 0.55442943 -0.8239512 -3.11343995] [ -0.99247017 -0.09534183 0.07689536 -21.66939731] [ 0. 0. 0. 1. ]] SLAMing on 31.65864 meters Centerline goodness : 0.855955 Centerline is valid? [True, False] Translation: X:26.63, Y:-3.14, Z:-21.71 [[ -0.03563854 0.79854462 0.60087968 26.63462655] [ -0.14005331 0.59133716 -0.79416965 -3.13619099] [ -0.98950238 -0.11245824 0.09076442 -21.70861187] [ 0. 0. 0. 1. ]] SLAMing on 31.68864 meters Centerline goodness : 0.998426 Centerline is valid? [False, True] Translation: X:26.61, Y:-3.16, Z:-21.75 [[ -0.03327553 0.76993745 0.63725117 26.60821865] [ -0.16307521 0.62487691 -0.76350201 -3.15649569] [ -0.98605234 -0.1293258 0.1047646 -21.75012609] [ 0. 0. 0. 1. ]] SLAMing on 31.718639999999997 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:27.22, Y:-3.05, Z:-21.79 [[-5.77755579e-02 9.97879820e-01 2.99641379e-02 2.72216160e+01] [-1.22715947e-01 2.26880127e-02 -9.92182468e-01 -3.05355344e+00] [-9.90758690e-01 -6.10009732e-02 1.21144954e-01 -2.17949023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.748639999999998 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:27.37, Y:-3.10, Z:-21.82 [[ -0.05808828 0.99028763 -0.12631772 27.36993659] [ -0.13700904 -0.13324211 -0.98156766 -3.09613708] [ -0.98886514 -0.03971091 0.14341816 -21.82378369] [ 0. 0. 0. 1. ]] SLAMing on 31.77864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:28.00, Y:-4.20, Z:-21.79 [[-2.93148800e-02 1.75925592e-02 -9.99415399e-01 2.80041251e+01] [-3.41581536e-02 -9.99278766e-01 -1.65882261e-02 -4.19603906e+00] [-9.98986415e-01 3.36519029e-02 2.98946665e-02 -2.17871786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.808639999999997 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:27.18, Y:-4.98, Z:-21.91 [[ 8.65514148e-02 -9.25924024e-01 -3.67659562e-01 2.71811608e+01] [-4.22248808e-03 -3.69382073e-01 9.29268021e-01 -4.98204181e+00] [-9.96238437e-01 -7.88770238e-02 -3.58802442e-02 -2.19050874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.838639999999998 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:26.17, Y:-4.46, Z:-22.07 [[ 0.11638877 -0.61418459 0.78053248 26.17112954] [ -0.05962909 0.78013481 0.62276324 -4.4619572 ] [ -0.99141214 -0.11902509 0.05417566 -22.06965985] [ 0. 0. 0. 1. ]] SLAMing on 31.86864 meters Centerline goodness : 0.798541 Centerline is valid? [True, False] Translation: X:26.12, Y:-4.31, Z:-22.01 [[ 0.11104572 -0.4925311 0.86318131 26.12456951] [ -0.05256237 0.86442668 0.5000037 -4.3115498 ] [ -0.99242433 -0.10089413 0.07010228 -22.00612776] [ 0. 0. 0. 1. ]] SLAMing on 31.89864 meters Centerline goodness : 0.998821 Centerline is valid? [False, True] Translation: X:26.10, Y:-4.18, Z:-21.95 [[ 0.10570974 -0.37842146 0.91957743 26.10081161] [ -0.04714154 0.92181197 0.38476015 -4.1807413 ] [ -0.99327898 -0.08402319 0.07960513 -21.94587383] [ 0. 0. 0. 1. ]] SLAMing on 31.928639999999998 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:26.12, Y:-3.77, Z:-22.06 [[ 1.23612915e-01 1.31688889e-02 9.92243129e-01 2.61229145e+01] [-1.17529386e-01 9.93068329e-01 1.46188318e-03 -3.77423687e+00] [-9.85345975e-01 -1.16798434e-01 1.24303803e-01 -2.20581233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.95864 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:26.34, Y:-3.36, Z:-22.13 [[ 0.07906021 0.46792496 0.88022481 26.33777262] [ -0.15264994 0.87825757 -0.45316844 -3.36151177] [ -0.98511293 -0.09853868 0.14086394 -22.13316328] [ 0. 0. 0. 1. ]] SLAMing on 31.98864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:26.46, Y:-3.28, Z:-22.22 [[ 0.07443253 0.59256192 0.80207866 26.45824139] [ -0.13274437 0.80303947 -0.58095314 -3.27746193] [ -0.98835152 -0.06322961 0.13843152 -22.21636981] [ 0. 0. 0. 1. ]] SLAMing on 32.01864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:26.68, Y:-3.15, Z:-22.32 [[ 0.05635953 0.77024596 0.63525174 26.67546198] [ -0.14066004 0.63604264 -0.75872558 -3.1511851 ] [ -0.98845251 -0.04659312 0.1441899 -22.32146587] [ 0. 0. 0. 1. ]] SLAMing on 32.04864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:26.83, Y:-3.10, Z:-22.45 [[ 1.92620009e-02 8.59456892e-01 5.10845207e-01 2.68346546e+01] [-1.30661744e-01 5.08721973e-01 -8.50957968e-01 -3.10390624e+00] [-9.91239872e-01 -5.03567727e-02 1.22097140e-01 -2.24455152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.07864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:27.89, Y:-3.44, Z:-22.56 [[-3.75156474e-02 8.24104673e-01 -5.65193829e-01 2.78870017e+01] [-4.71234308e-02 -5.66421726e-01 -8.22767167e-01 -3.44196269e+00] [-9.98184331e-01 -4.23277068e-03 6.00843173e-02 -2.25601190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.10864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.41, Z:-22.62 [[-3.08749479e-02 -6.76773415e-02 -9.97229419e-01 2.80651286e+01] [ 2.11211091e-02 -9.97526470e-01 6.70435760e-02 -4.40734650e+00] [-9.99300073e-01 -1.89926244e-02 3.22279983e-02 -2.26211203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.138639999999995 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:27.17, Y:-5.07, Z:-22.80 [[ 7.81255850e-02 -9.39278494e-01 -3.34144135e-01 2.71705136e+01] [ 5.60695406e-02 -3.30498319e-01 9.42139622e-01 -5.07274516e+00] [-9.95365561e-01 -9.23405173e-02 2.68445391e-02 -2.28033678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.168639999999996 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:26.33, Y:-4.68, Z:-22.92 [[ 1.09697950e-01 -7.88745297e-01 6.04853054e-01 2.63271588e+01] [ 2.20795009e-02 6.10309040e-01 7.91855651e-01 -4.67993380e+00] [-9.93719707e-01 -7.35100881e-02 8.43647531e-02 -2.29175845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.19864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:26.16, Y:-4.32, Z:-22.99 [[ 1.07094461e-01 -4.83652650e-01 8.68683424e-01 2.61631977e+01] [-2.17612613e-03 8.73592134e-01 4.86653930e-01 -4.31840447e+00] [-9.94246469e-01 -5.40083048e-02 9.25043892e-02 -2.29915587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.22864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:26.15, Y:-4.10, Z:-23.09 [[ 1.12893524e-01 -2.84143966e-01 9.52111999e-01 2.61451045e+01] [-2.10630146e-02 9.57338215e-01 2.88201131e-01 -4.09748579e+00] [-9.93383814e-01 -5.25903902e-02 1.02092356e-01 -2.30887585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.25864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:26.16, Y:-3.97, Z:-23.15 [[ 0.09913497 -0.16790208 0.98080638 26.15859543] [ -0.03297975 0.98456585 0.17187908 -3.97083409] [ -0.99452732 -0.04938598 0.09206754 -23.15291133] [ 0. 0. 0. 1. ]] SLAMing on 32.28864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:26.20, Y:-3.80, Z:-23.25 [[ 9.53345853e-02 1.57320246e-03 9.95444043e-01 2.62009747e+01] [-5.21105987e-02 9.98635489e-01 3.41243341e-03 -3.79972685e+00] [-9.94080380e-01 -5.21985080e-02 9.52864807e-02 -2.32485716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.31864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:26.93, Y:-3.12, Z:-23.42 [[ -0.03500933 0.84584111 0.53228485 26.93046592] [ -0.06670135 0.52944616 -0.84571727 -3.11909735] [ -0.9971586 -0.06511211 0.03788318 -23.41746532] [ 0. 0. 0. 1. ]] SLAMing on 32.348639999999996 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:27.55, Y:-3.15, Z:-23.44 [[ -0.03614196 0.99610495 -0.08042814 27.54809281] [ -0.04883312 -0.08214493 -0.9954233 -3.15491231] [ -0.99815284 -0.032049 0.05161179 -23.43940963] [ 0. 0. 0. 1. ]] SLAMing on 32.37864 meters Centerline goodness : 0.805181 Centerline is valid? [True, False] Translation: X:27.50, Y:-3.15, Z:-23.50 [[ -0.04493461 0.9985043 -0.03114538 27.50499093] [ -0.07214098 -0.0343388 -0.99680315 -3.14876435] [ -0.99638173 -0.0425441 0.07357608 -23.49801503] [ 0. 0. 0. 1. ]] SLAMing on 32.40864 meters Centerline goodness : 0.998871 Centerline is valid? [False, True] Translation: X:27.46, Y:-3.15, Z:-23.56 [[-5.22072216e-02 9.98482430e-01 1.75283329e-02 2.74613789e+01] [-9.58854564e-02 1.24591965e-02 -9.95314396e-01 -3.14649883e+00] [-9.94022326e-01 -5.36433114e-02 9.50894836e-02 -2.35551318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.43864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:27.74, Y:-3.29, Z:-23.60 [[ -0.06911264 0.95203879 -0.29806978 27.74238996] [ -0.06505486 -0.30244927 -0.95094285 -3.2888436 ] [ -0.99548546 -0.04633128 0.08283781 -23.60171143] [ 0. 0. 0. 1. ]] SLAMing on 32.46864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:26.27, Y:-3.75, Z:-23.55 [[ -0.09082356 0.04232774 0.99496706 26.26550809] [ -0.1561385 0.98613477 -0.05620478 -3.74849106] [ -0.98355063 -0.16045738 -0.08295529 -23.55128459] [ 0. 0. 0. 1. ]] SLAMing on 32.49864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:27.59, Y:-3.21, Z:-23.76 [[ -0.08525296 0.98708512 -0.13562776 27.59245233] [ -0.13587468 -0.14636948 -0.97985409 -3.2123213 ] [ -0.98705117 -0.06510708 0.14659831 -23.75839403] [ 0. 0. 0. 1. ]] SLAMing on 32.528639999999996 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:27.83, Y:-3.37, Z:-23.77 [[-8.64243832e-02 9.03516835e-01 -4.19747727e-01 2.78324416e+01] [-1.31879424e-01 -4.27991805e-01 -8.94108960e-01 -3.37350331e+00] [-9.87491085e-01 -2.19167268e-02 1.56144208e-01 -2.37724367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.55864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:28.06, Y:-4.54, Z:-23.75 [[ -0.07742407 -0.14730853 -0.98605563 28.05525451] [ -0.06200347 -0.98639857 0.15222822 -4.53571494] [ -0.99506838 0.072925 0.06723735 -23.74596692] [ 0. 0. 0. 1. ]] SLAMing on 32.58864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:27.15, Y:-5.10, Z:-23.71 [[ 2.00947109e-02 -9.59057732e-01 -2.82496847e-01 2.71482469e+01] [-7.36101933e-02 -2.83206234e-01 9.56229977e-01 -5.09808590e+00] [-9.97084621e-01 1.57948260e-03 -7.62873724e-02 -2.37120888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.61864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:26.27, Y:-4.55, Z:-23.97 [[ 0.09804823 -0.68809814 0.71896279 26.26592291] [ -0.15349694 0.70334209 0.69408111 -4.55104496] [ -0.98327272 -0.17841201 -0.03665951 -23.97041571] [ 0. 0. 0. 1. ]] SLAMing on 32.64864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:26.45, Y:-3.45, Z:-24.23 [[ 0.08224615 0.4765705 0.8752806 26.45490497] [ -0.20385295 0.86773175 -0.45330519 -3.44683655] [ -0.97554064 -0.14114593 0.1685179 -24.22595453] [ 0. 0. 0. 1. ]] SLAMing on 32.67864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:26.97, Y:-3.20, Z:-24.34 [[ 1.87598198e-02 8.84935852e-01 4.65334941e-01 2.69653292e+01] [-1.75454957e-01 4.61108281e-01 -8.69824529e-01 -3.19569913e+00] [-9.84308705e-01 -6.53275706e-02 1.63916690e-01 -2.43391769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.708639999999995 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:27.13, Y:-3.19, Z:-24.38 [[ 0.03558035 0.95069017 0.30809453 27.1333379 ] [ -0.22162022 0.30811967 -0.9251739 -3.18966472] [ -0.97448372 -0.03536197 0.22165517 -24.38382694] [ 0. 0. 0. 1. ]] SLAMing on 32.73864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:28.15, Y:-4.10, Z:-24.38 [[ 8.35466363e-03 4.05876406e-01 -9.13889787e-01 2.81494308e+01] [-8.85129054e-02 -9.10034153e-01 -4.04973216e-01 -4.10160303e+00] [-9.96039992e-01 8.42744553e-02 2.83222706e-02 -2.43758001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.76864 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.65, Z:-24.50 [[-3.44776790e-02 -8.05182651e-02 -9.96156664e-01 2.80749161e+01] [-2.17465209e-02 -9.96452826e-01 8.12948659e-02 -4.64893463e+00] [-9.99168844e-01 2.44658000e-02 3.26043885e-02 -2.44993499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.79864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:26.82, Y:-5.22, Z:-24.68 [[ 1.08207563e-01 -9.93899763e-01 2.13162883e-02 2.68211995e+01] [-6.07074656e-02 1.47958864e-02 9.98045933e-01 -5.22316325e+00] [-9.92273010e-01 -1.09290176e-01 -5.87361089e-02 -2.46819324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:26.40, Y:-3.67, Z:-24.85 [[ 1.19084675e-01 3.91527922e-01 9.12427929e-01 2.63957361e+01] [-7.87353943e-02 9.19797059e-01 -3.84413981e-01 -3.67148685e+00] [-9.89757333e-01 -2.60625589e-02 1.40360839e-01 -2.48451176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.35, Y:-3.34, Z:-24.96 [[ 4.21648350e-03 9.89090304e-01 1.47250100e-01 2.73469224e+01] [-8.59144761e-02 1.47065251e-01 -9.85388510e-01 -3.34237331e+00] [-9.96293593e-01 -8.49604081e-03 8.55972735e-02 -2.49622137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.888639999999995 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:28.14, Y:-4.05, Z:-25.10 [[-6.54754855e-02 5.85556233e-01 -8.07983204e-01 2.81433925e+01] [-6.29466746e-03 -8.09946984e-01 -5.86469318e-01 -4.04617973e+00] [-9.97834324e-01 -3.33133777e-02 5.67175538e-02 -2.50950283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.918639999999996 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:28.17, Y:-4.13, Z:-25.14 [[-6.40701163e-02 5.08228060e-01 -8.58835991e-01 2.81664008e+01] [ 9.98244290e-03 -8.60234741e-01 -5.09800491e-01 -4.13435721e+00] [-9.97895471e-01 -4.12362580e-02 5.00419823e-02 -2.51368766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.35, Z:-25.17 [[-6.48689475e-02 3.05823659e-01 -9.49875734e-01 2.81921249e+01] [ 2.28872699e-02 -9.51174229e-01 -3.07804743e-01 -4.34809658e+00] [-9.97631291e-01 -4.17070320e-02 5.47022024e-02 -2.51661540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:28.11, Y:-4.74, Z:-25.17 [[-3.09747194e-02 -1.07698335e-01 -9.93700979e-01 2.81112408e+01] [ 2.53746487e-02 -9.93942325e-01 1.06933537e-01 -4.74253153e+00] [-9.99198025e-01 -2.19025769e-02 3.35198921e-02 -2.51719629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.88, Y:-5.06, Z:-25.19 [[-3.29142446e-02 -4.94748528e-01 -8.68412659e-01 2.78840998e+01] [ 1.96312800e-02 -8.69035840e-01 4.94359507e-01 -5.06488025e+00] [-9.99265363e-01 -7.76582354e-04 3.83162051e-02 -2.51920402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.03864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:27.86, Y:-5.08, Z:-25.21 [[-4.67646519e-02 -5.18857273e-01 -8.53580809e-01 2.78638652e+01] [ 3.31850478e-02 -8.54850999e-01 5.17811280e-01 -5.08011038e+00] [-9.98354556e-01 -4.11085573e-03 5.71951128e-02 -2.52072453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.06864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:26.97, Y:-5.30, Z:-25.26 [[ 2.09337825e-02 -9.98891907e-01 -4.21513330e-02 2.69655233e+01] [ 3.01443478e-02 -4.15107915e-02 9.98683219e-01 -5.29551389e+00] [-9.99326321e-01 -2.21768417e-02 2.92419672e-02 -2.52599641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.098639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.74, Y:-5.21, Z:-25.34 [[ 3.71289559e-02 -9.78096143e-01 2.04815469e-01 2.67443276e+01] [ 2.51194337e-02 2.05805517e-01 9.78270465e-01 -5.20762612e+00] [-9.98994722e-01 -3.11773123e-02 3.22105652e-02 -2.53390626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.12864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:26.48, Y:-5.02, Z:-25.42 [[ 8.35838737e-02 -8.59266017e-01 5.04653989e-01 2.64844636e+01] [-2.71611298e-03 5.06227776e-01 8.62395537e-01 -5.01662642e+00] [-9.96497044e-01 -7.34530569e-02 3.99786149e-02 -2.54239258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.26, Y:-4.53, Z:-25.51 [[ 7.23535973e-02 -4.49826813e-01 8.90180204e-01 2.62604385e+01] [-7.40002957e-03 8.92252779e-01 4.51475601e-01 -4.53298332e+00] [-9.97351591e-01 -3.92532437e-02 6.12289665e-02 -2.55123525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.18864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:26.25, Y:-4.26, Z:-25.59 [[ 7.35767428e-02 -1.83933022e-01 9.80181160e-01 2.62533996e+01] [-2.59248825e-02 9.82160210e-01 1.86250431e-01 -4.26339209e+00] [-9.96952538e-01 -3.91147815e-02 6.74957072e-02 -2.55874961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.21864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:26.36, Y:-3.91, Z:-25.71 [[ 7.89555773e-03 1.94539889e-01 9.80862830e-01 2.63598886e+01] [-5.17018583e-02 9.79660861e-01 -1.93885317e-01 -3.91469113e+00] [-9.98631352e-01 -4.91815983e-02 1.77930427e-02 -2.57139607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.33, Y:-4.73, Z:-25.85 [[ 8.46284140e-02 -6.57454961e-01 7.48726255e-01 2.63304368e+01] [-8.87133245e-02 7.43466240e-01 6.62863406e-01 -4.72813814e+00] [-9.92455529e-01 -1.22519074e-01 4.59335346e-03 -2.58472949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.278639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:26.31, Y:-3.97, Z:-26.02 [[ 0.09310028 0.10587462 0.99001157 26.30507535] [ -0.12625031 0.98755947 -0.09373986 -3.97151505] [ -0.98761997 -0.11626206 0.10530876 -26.0196742 ] [ 0. 0. 0. 1. ]] SLAMing on 33.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:26.73, Y:-3.49, Z:-26.14 [[ 0.03397365 0.71193416 0.70142394 26.73257413] [ -0.12093789 0.69960024 -0.70422548 -3.49476192] [ -0.99207853 -0.06090362 0.10986779 -26.14410763] [ 0. 0. 0. 1. ]] SLAMing on 33.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.03, Y:-3.39, Z:-26.19 [[ 6.38501902e-02 9.02116634e-01 4.26741997e-01 2.70316519e+01] [-1.65062347e-01 4.31271401e-01 -8.86994589e-01 -3.39334951e+00] [-9.84214192e-01 -1.38042623e-02 1.76442250e-01 -2.61916406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:27.09, Y:-3.40, Z:-26.28 [[ 3.71775089e-02 9.25184324e-01 3.77692731e-01 2.70899850e+01] [-1.51668200e-01 3.78799564e-01 -9.12966400e-01 -3.39899840e+00] [-9.87732044e-01 -2.33421602e-02 1.54403865e-01 -2.62750416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:28.19, Y:-4.19, Z:-26.34 [[ 9.32028797e-03 4.56229609e-01 -8.89813282e-01 2.81898119e+01] [-5.00671578e-02 -8.88522917e-01 -4.56092432e-01 -4.18766094e+00] [-9.98702364e-01 4.88013348e-02 1.45608304e-02 -2.63353369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.54, Y:-3.49, Z:-26.39 [[-1.88438150e-02 9.97962161e-01 -6.09625716e-02 2.75404840e+01] [-3.43672765e-02 -6.15838870e-02 -9.97510058e-01 -3.49493082e+00] [-9.99231605e-01 -1.67017774e-02 3.54577170e-02 -2.63920088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.458639999999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.21, Y:-4.48, Z:-26.47 [[-3.69356978e-02 1.78230138e-01 -9.83295364e-01 2.82127705e+01] [ 1.72998679e-02 -9.83705282e-01 -1.78954277e-01 -4.47868489e+00] [-9.99167888e-01 -2.36206810e-02 3.32504832e-02 -2.64721157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.48864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.74, Z:-26.51 [[-3.31967579e-02 -9.54342212e-02 -9.94882046e-01 2.81621939e+01] [ 3.02793210e-02 -9.95069793e-01 9.44418847e-02 -4.73540243e+00] [-9.98990059e-01 -2.69891884e-02 3.59227744e-02 -2.65062951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.51864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.02, Y:-5.00, Z:-26.55 [[-2.29539666e-02 -4.06542283e-01 -9.13343576e-01 2.80172438e+01] [ 4.26516790e-02 -9.13150712e-01 4.05384523e-01 -5.00234039e+00] [-9.98826286e-01 -2.96504543e-02 3.83001419e-02 -2.65461213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.54864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:27.78, Y:-5.22, Z:-26.63 [[-1.01822404e-02 -6.86996880e-01 -7.26589024e-01 2.77783076e+01] [ 5.64931084e-02 -7.25861361e-01 6.85517187e-01 -5.22045279e+00] [-9.98351066e-01 -3.40671717e-02 4.62014841e-02 -2.66274446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.57864 meters Centerline goodness : 0.748011 Centerline is valid? [True, False] Translation: X:28.01, Y:-4.63, Z:-27.34 [[ 0.26827836 0.54980691 -0.79103672 28.01170993] [ -0.2288286 0.83400658 0.50206622 -4.62800079] [ 0.93576931 0.04631832 0.34955746 -27.33743101] [ 0. 0. 0. 1. ]] SLAMing on 33.60864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:28.02, Y:-4.55, Z:-27.37 [[ 0.28100677 0.48627739 -0.82738715 28.02069335] [ -0.22348524 0.87158134 0.43634885 -4.55187596] [ 0.93332178 0.06229184 0.35359608 -27.36667706] [ 0. 0. 0. 1. ]] SLAMing on 33.638639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.98, Y:-4.68, Z:-27.35 [[ 2.76570783e-01 5.97260125e-01 -7.52853867e-01 2.79838027e+01] [-2.25245374e-01 8.01877418e-01 5.53405031e-01 -4.68159399e+00] [ 9.34223273e-01 1.65211883e-02 3.56305946e-01 -2.73536681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.668639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:27.96, Y:-4.74, Z:-27.33 [[ 2.40448065e-01 6.47104850e-01 -7.23491562e-01 2.79613759e+01] [-1.94705394e-01 7.62363850e-01 6.17163811e-01 -4.74282516e+00] [ 9.50933508e-01 -7.52813492e-03 3.09303718e-01 -2.73347968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.69864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.01, Y:-4.65, Z:-27.30 [[ 0.23572935 0.56209699 -0.79276645 28.01200716] [ -0.19880327 0.826396 0.52682721 -4.64668637] [ 0.95126701 0.03341592 0.30655251 -27.29746671] [ 0. 0. 0. 1. ]] SLAMing on 33.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:28.04, Y:-4.62, Z:-27.27 [[ 0.27628518 0.53465741 -0.79862879 28.03608298] [ -0.23002323 0.84360903 0.48519389 -4.61838059] [ 0.93314298 0.04965129 0.35606029 -27.26760333] [ 0. 0. 0. 1. ]] SLAMing on 33.75864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:28.02, Y:-4.69, Z:-27.25 [[ 2.74525417e-01 5.95670267e-01 -7.54859410e-01 2.80181615e+01] [-2.29400208e-01 8.02924183e-01 5.50171156e-01 -4.69191391e+00] [ 9.33815474e-01 2.21289396e-02 3.57069980e-01 -2.72484720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:27.99, Y:-4.76, Z:-27.23 [[ 2.35595812e-01 6.53956402e-01 -7.18912817e-01 2.79892519e+01] [-1.90447337e-01 7.56459409e-01 6.25698789e-01 -4.76455606e+00] [ 9.53008093e-01 -1.04969828e-02 3.02762924e-01 -2.72299994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.81864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:28.05, Y:-4.66, Z:-27.19 [[ 0.23614855 0.55999442 -0.79412852 28.04536416] [ -0.1944742 0.82794502 0.5260103 -4.65956591] [ 0.95205758 0.03022094 0.30442249 -27.19305088] [ 0. 0. 0. 1. ]] SLAMing on 33.848639999999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.61, Z:-27.16 [[ 0.28250991 0.51384897 -0.81002925 28.07416334] [ -0.22554938 0.85633594 0.46456027 -4.61265595] [ 0.93237097 0.05145871 0.35782171 -27.16075735] [ 0. 0. 0. 1. ]] SLAMing on 33.87864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:28.01, Y:-4.78, Z:-27.15 [[ 2.43680239e-01 6.52035205e-01 -7.17962417e-01 2.80112717e+01] [-1.84094636e-01 7.57916048e-01 6.25837383e-01 -4.77561955e+00] [ 9.52223244e-01 -2.03311733e-02 3.04725348e-01 -2.71526341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.90864 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:28.08, Y:-4.63, Z:-27.11 [[ 0.25502692 0.52068184 -0.81477095 28.08066128] [ -0.19626641 0.85296738 0.48365913 -4.62996808] [ 0.94680556 0.03656607 0.319722 -27.110355 ] [ 0. 0. 0. 1. ]] SLAMing on 33.93864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:28.06, Y:-4.70, Z:-27.09 [[ 2.60768892e-01 5.77772615e-01 -7.73419931e-01 2.80647586e+01] [-1.93808738e-01 8.16159107e-01 5.44355110e-01 -4.70284728e+00] [ 9.45747196e-01 7.94466209e-03 3.24806287e-01 -2.70941030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.96864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:28.06, Y:-4.72, Z:-27.07 [[ 2.65606856e-01 5.83055283e-01 -7.67788731e-01 2.80638346e+01] [-1.86762377e-01 8.12425729e-01 5.52344321e-01 -4.71963091e+00] [ 9.45818594e-01 -3.31239054e-03 3.24678634e-01 -2.70692240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.99864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:28.07, Y:-4.73, Z:-27.04 [[ 2.60333864e-01 5.81758516e-01 -7.70573364e-01 2.80676705e+01] [-1.77468551e-01 8.13327045e-01 5.54079445e-01 -4.72576784e+00] [ 9.49068592e-01 -7.49310420e-03 3.14980413e-01 -2.70440647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.028639999999996 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.08, Y:-4.72, Z:-27.02 [[ 2.69209651e-01 5.68103839e-01 -7.77678720e-01 2.80787686e+01] [-1.80146770e-01 8.22941958e-01 5.38807641e-01 -4.72099272e+00] [ 9.46083139e-01 -4.95590747e-03 3.23885989e-01 -2.70187411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.05864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.69, Z:-26.99 [[ 2.69948412e-01 5.36539993e-01 -7.99532795e-01 2.80977532e+01] [-1.82813891e-01 8.43816022e-01 5.04533054e-01 -4.69304499e+00] [ 9.45360744e-01 9.96780402e-03 3.25873759e-01 -2.69883298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.08864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:28.09, Y:-4.74, Z:-26.97 [[ 2.75366614e-01 5.68027595e-01 -7.75575837e-01 2.80868016e+01] [-1.83014643e-01 8.22986584e-01 5.37771999e-01 -4.73636914e+00] [ 9.43757844e-01 -6.14271921e-03 3.30580396e-01 -2.69686195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.11864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.09, Y:-4.74, Z:-26.94 [[ 2.76501858e-01 5.67229780e-01 -7.75755824e-01 2.80918643e+01] [-1.83044764e-01 8.23534224e-01 5.36922710e-01 -4.74451385e+00] [ 9.43420022e-01 -6.46208555e-03 3.31537184e-01 -2.69419591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.14864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:28.08, Y:-4.79, Z:-26.92 [[ 2.79222187e-01 5.96352157e-01 -7.52594894e-01 2.80774588e+01] [-1.79137998e-01 8.02359594e-01 5.69322984e-01 -4.79197376e+00] [ 9.43368723e-01 -2.41492667e-02 3.30865932e-01 -2.69240746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.17864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.11, Y:-4.73, Z:-26.89 [[ 2.79976414e-01 5.29466262e-01 -8.00798779e-01 2.81143613e+01] [-1.82016395e-01 8.48305761e-01 4.97239748e-01 -4.72814149e+00] [ 9.42593889e-01 6.54310531e-03 3.33877145e-01 -2.68916283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.208639999999995 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.77, Z:-26.87 [[ 2.87139590e-01 5.54869974e-01 -7.80813785e-01 2.81029929e+01] [-1.81768964e-01 8.31892360e-01 5.24323512e-01 -4.77241980e+00] [ 9.40484396e-01 -8.62632517e-03 3.39727372e-01 -2.68718330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.23864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.12, Y:-4.76, Z:-26.84 [[ 2.82456466e-01 5.39782502e-01 -7.93002645e-01 2.81151834e+01] [-1.81732879e-01 8.41804341e-01 5.08270216e-01 -4.76345986e+00] [ 9.41908438e-01 5.50444329e-04 3.35869307e-01 -2.68424244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.26864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:28.15, Y:-4.70, Z:-26.81 [[ 0.32798466 0.47403866 -0.81713733 28.14947257] [ -0.21455178 0.87976078 0.42425051 -4.703828 ] [ 0.91999652 0.0361706 0.39025388 -26.80877777] [ 0. 0. 0. 1. ]] SLAMing on 34.29864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:28.08, Y:-4.88, Z:-26.80 [[ 0.29244119 0.62699017 -0.72205365 28.07545474] [ -0.19026432 0.77811549 0.59861154 -4.87774867] [ 0.93716468 -0.03767763 0.34684688 -26.80048875] [ 0. 0. 0. 1. ]] SLAMing on 34.32864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.84, Z:-26.77 [[ 2.86185577e-01 5.91595076e-01 -7.53732765e-01 2.81035597e+01] [-1.91580325e-01 8.06079498e-01 5.59940016e-01 -4.84411770e+00] [ 9.38826286e-01 -1.58463885e-02 3.44026303e-01 -2.67723912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.35864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:28.14, Y:-4.79, Z:-26.74 [[ 2.84560554e-01 5.34332729e-01 -7.95935817e-01 2.81400535e+01] [-2.00247536e-01 8.45075705e-01 4.95729743e-01 -4.79158873e+00] [ 9.37510648e-01 1.83190562e-02 3.47474023e-01 -2.67399563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.388639999999995 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:28.06, Y:-4.94, Z:-26.73 [[ 0.28740154 0.6614755 -0.69271244 28.06492366] [ -0.18966101 0.74820721 0.63577879 -4.94275163] [ 0.93884453 -0.05134326 0.34049202 -26.72987232] [ 0. 0. 0. 1. ]] SLAMing on 34.418639999999996 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:28.21, Y:-4.62, Z:-26.66 [[ 0.33309449 0.35001783 -0.87552018 28.21287205] [ -0.2300893 0.9306491 0.2845192 -4.61687629] [ 0.91438885 0.10667605 0.39052944 -26.6615979 ] [ 0. 0. 0. 1. ]] SLAMing on 34.44864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:28.05, Y:-5.00, Z:-26.67 [[ 0.29745113 0.691282 -0.6585226 28.04598697] [ -0.19740084 0.71936826 0.66598964 -4.99622101] [ 0.93410692 -0.06810646 0.35043656 -26.67464616] [ 0. 0. 0. 1. ]] SLAMing on 34.47864 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:28.22, Y:-4.65, Z:-26.61 [[ 0.33740132 0.36571524 -0.86741726 28.22218851] [ -0.23580179 0.92490768 0.29823363 -4.64954791] [ 0.91134947 0.10391412 0.39830138 -26.60937223] [ 0. 0. 0. 1. ]] SLAMing on 34.50864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:28.10, Y:-4.95, Z:-26.62 [[ 0.2969536 0.63807884 -0.71040407 28.1019354 ] [ -0.21096845 0.76941866 0.60289903 -4.94736422] [ 0.93129527 -0.02916019 0.36309615 -26.61542873] [ 0. 0. 0. 1. ]] SLAMing on 34.53864 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:28.16, Y:-4.86, Z:-26.58 [[ 2.95628652e-01 5.55071008e-01 -7.77495901e-01 2.81626904e+01] [-2.20943207e-01 8.31534850e-01 5.09640944e-01 -4.86203306e+00] [ 9.29401850e-01 2.11179726e-02 3.68464696e-01 -2.65827455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.56864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:28.14, Y:-4.92, Z:-26.56 [[ 2.86391562e-01 6.05384882e-01 -7.42623066e-01 2.81407768e+01] [-2.16697794e-01 7.95932292e-01 5.65273254e-01 -4.92116825e+00] [ 9.33285562e-01 -9.64710703e-04 3.59133861e-01 -2.65601454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.598639999999996 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:28.20, Y:-4.84, Z:-26.53 [[ 0.33114385 0.52787628 -0.78210638 28.19594586] [ -0.2585506 0.84790925 0.46281907 -4.84186995] [ 0.90746644 0.04895438 0.41726266 -26.52849324] [ 0. 0. 0. 1. ]] SLAMing on 34.62864 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:28.14, Y:-4.96, Z:-26.51 [[ 2.95874923e-01 6.28073296e-01 -7.19709639e-01 2.81441849e+01] [-2.35542817e-01 7.78149333e-01 5.82239810e-01 -4.95632199e+00] [ 9.25730853e-01 -2.74772356e-03 3.78173027e-01 -2.65106578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.65864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:28.21, Y:-4.87, Z:-26.48 [[ 0.32823343 0.54501696 -0.77150459 28.20625553] [ -0.26382337 0.83714735 0.47914668 -4.87051669] [ 0.90700609 0.04626898 0.41856795 -26.47911116] [ 0. 0. 0. 1. ]] SLAMing on 34.68864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:28.14, Y:-5.00, Z:-26.46 [[ 2.82609216e-01 6.60869681e-01 -6.95257719e-01 2.81397464e+01] [-2.29467390e-01 7.50337177e-01 6.19950674e-01 -5.00184730e+00] [ 9.31384318e-01 -1.56648000e-02 3.63700242e-01 -2.64623150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.71864 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:28.20, Y:-4.93, Z:-26.44 [[ 2.93573032e-01 5.91328853e-01 -7.51095907e-01 2.81954573e+01] [-2.44967822e-01 8.06017346e-01 5.38819826e-01 -4.92803271e+00] [ 9.24016039e-01 2.58113585e-02 3.81481498e-01 -2.64352868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.74864 meters Centerline goodness : 0.786206 Centerline is valid? [True, False] Translation: X:28.24, Y:-4.85, Z:-26.40 [[ 3.15944906e-01 5.02342864e-01 -8.04879161e-01 2.82391287e+01] [-2.06735552e-01 8.64399005e-01 4.58339146e-01 -4.85168306e+00] [ 9.25980145e-01 2.15872191e-02 3.76954591e-01 -2.63952883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.778639999999996 meters Centerline goodness : 0.999508 Centerline is valid? [False, True] Translation: X:28.27, Y:-4.79, Z:-26.36 [[ 3.30314256e-01 4.24603399e-01 -8.42973573e-01 2.82680936e+01] [-1.69787956e-01 9.05263551e-01 3.89448268e-01 -4.78826182e+00] [ 9.28474309e-01 1.44864445e-02 3.71114000e-01 -2.63556042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.80864 meters Centerline goodness : 0.788396 Centerline is valid? [True, False] Translation: X:28.29, Y:-4.74, Z:-26.32 [[ 3.38049016e-01 3.60127557e-01 -8.69500434e-01 2.82880102e+01] [-1.38376319e-01 9.32869693e-01 3.32574998e-01 -4.73653345e+00] [ 9.30900025e-01 7.89161880e-03 3.65188808e-01 -2.63202384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.83864 meters Centerline goodness : 0.999459 Centerline is valid? [False, True] Translation: X:28.30, Y:-4.65, Z:-26.31 [[ 3.49234084e-01 2.69348166e-01 -8.97489343e-01 2.83018901e+01] [-1.11064949e-01 9.62943314e-01 2.45773781e-01 -4.65298931e+00] [ 9.30430079e-01 1.38470268e-02 3.66207766e-01 -2.63143542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.86864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.32, Y:-4.48, Z:-26.27 [[ 0.39766464 0.10517612 -0.91148276 28.32082978] [ -0.12121555 0.99072321 0.06143537 -4.48486179] [ 0.90948866 0.08605521 0.40672457 -26.27217642] [ 0. 0. 0. 1. ]] SLAMing on 34.89864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:28.33, Y:-4.63, Z:-26.26 [[ 3.94145712e-01 2.39522769e-01 -8.87286876e-01 2.83298818e+01] [-1.18818128e-01 9.70619328e-01 2.09237597e-01 -4.62547593e+00] [ 9.11334960e-01 2.29556639e-02 4.11025093e-01 -2.62596310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.92864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:28.33, Y:-4.68, Z:-26.24 [[ 3.52682056e-01 2.84178028e-01 -8.91548213e-01 2.83318764e+01] [-1.02796126e-01 9.58769856e-01 2.64940218e-01 -4.67710144e+00] [ 9.30079741e-01 -1.79195833e-03 3.67353324e-01 -2.62370702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.958639999999995 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:28.34, Y:-4.68, Z:-26.22 [[ 3.60637592e-01 2.79708430e-01 -8.89777344e-01 2.83402941e+01] [-1.01131820e-01 9.60076342e-01 2.60817509e-01 -4.67648839e+00] [ 9.27207033e-01 -4.07579614e-03 3.74527042e-01 -2.62174981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.98864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:28.36, Y:-4.58, Z:-26.18 [[ 0.34720126 0.17941437 -0.92046823 28.35832349] [ -0.10056845 0.98299162 0.15366672 -4.57546753] [ 0.93238258 0.03921678 0.35933935 -26.18044164] [ 0. 0. 0. 1. ]] SLAMing on 35.01864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:28.37, Y:-4.56, Z:-26.15 [[ 0.40142852 0.16178554 -0.90148798 28.37267802] [ -0.11001671 0.98566589 0.12790259 -4.55895724] [ 0.90925874 0.04783499 0.41347352 -26.15385381] [ 0. 0. 0. 1. ]] SLAMing on 35.04864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:28.38, Y:-4.64, Z:-26.13 [[ 3.99782888e-01 2.33234850e-01 -8.86439590e-01 2.83808816e+01] [-1.09978358e-01 9.72304072e-01 2.06226945e-01 -4.63577287e+00] [ 9.09988134e-01 1.50431672e-02 4.14361315e-01 -2.61347114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.07864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:28.39, Y:-4.64, Z:-26.11 [[ 3.98854985e-01 2.32293685e-01 -8.87104472e-01 2.83918955e+01] [-1.10098789e-01 9.72516686e-01 2.05157385e-01 -4.63621663e+00] [ 9.10380666e-01 1.58410823e-02 4.13468381e-01 -2.61092219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.10864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:28.38, Y:-4.75, Z:-26.09 [[ 0.36523889 0.33917083 -0.86692774 28.38251731] [ -0.09782242 0.94009285 0.32658261 -4.7507301 ] [ 0.92575986 -0.0344757 0.37653698 -26.09140713] [ 0. 0. 0. 1. ]] SLAMing on 35.138639999999995 meters Centerline goodness : 0.993302 Centerline is valid? [True, True] Translation: X:28.44, Y:-4.60, Z:-26.04 [[ 0.3576429 0.23887368 -0.90279063 28.43594341] [ -0.16842555 0.96737825 0.189241 -4.5970515 ] [ 0.91854471 0.08437231 0.38620839 -26.03664068] [ 0. 0. 0. 1. ]] SLAMing on 35.168639999999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.35, Y:-4.93, Z:-26.04 [[ 0.35996451 0.50783952 -0.78263949 28.34662914] [ -0.09081635 0.85396167 0.51234934 -4.93350617] [ 0.92853538 -0.11335112 0.35351602 -26.04463012] [ 0. 0. 0. 1. ]] SLAMing on 35.19864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.43, Y:-4.56, Z:-26.01 [[ 0.36961438 0.15865249 -0.9155406 28.42891878] [ -0.10901577 0.98591482 0.12683659 -4.55752928] [ 0.922768 0.05292773 0.38170392 -26.00618558] [ 0. 0. 0. 1. ]] SLAMing on 35.22864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:28.44, Y:-4.64, Z:-25.99 [[ 3.66137839e-01 2.38338982e-01 -8.99520768e-01 2.84365706e+01] [-1.03685020e-01 9.71073587e-01 2.15094179e-01 -4.63806208e+00] [ 9.24766186e-01 1.45127109e-02 3.80258967e-01 -2.59902565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.25864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:28.45, Y:-4.61, Z:-25.96 [[ 3.65137697e-01 2.12996516e-01 -9.06259867e-01 2.84483122e+01] [-1.02892165e-01 9.76744172e-01 1.88106418e-01 -4.61197183e+00] [ 9.25250055e-01 2.45622951e-02 3.78561790e-01 -2.59607131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.28864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:28.46, Y:-4.64, Z:-25.94 [[ 3.68648427e-01 2.35184703e-01 -8.99325577e-01 2.84583307e+01] [-9.63810315e-02 9.71921423e-01 2.14661231e-01 -4.63616870e+00] [ 9.24558832e-01 7.54340168e-03 3.80964648e-01 -2.59431509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.318639999999995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:28.47, Y:-4.64, Z:-25.92 [[ 3.73751622e-01 2.33482438e-01 -8.97661226e-01 2.84666708e+01] [-9.42226136e-02 9.72349576e-01 2.13678267e-01 -4.63600337e+00] [ 9.22730635e-01 4.71738798e-03 3.85416557e-01 -2.59189449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.348639999999996 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:28.48, Y:-4.49, Z:-25.88 [[ 0.42581482 0.09937204 -0.89933694 28.47924682] [ -0.1033286 0.99278884 0.06077434 -4.49352923] [ 0.89889095 0.06704861 0.43301217 -25.87567466] [ 0. 0. 0. 1. ]] SLAMing on 35.37864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:28.49, Y:-4.63, Z:-25.86 [[ 4.24527613e-01 2.28297155e-01 -8.76160211e-01 2.84929440e+01] [-1.05358143e-01 9.73571190e-01 2.02629712e-01 -4.63090210e+00] [ 8.99264125e-01 6.28870445e-03 4.37360818e-01 -2.58649075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.40864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:28.49, Y:-4.75, Z:-25.85 [[ 0.38633644 0.33948114 -0.85761105 28.4865045 ] [ -0.08738898 0.93909241 0.33236817 -4.75240928] [ 0.91820876 -0.05346018 0.39247253 -25.85143173] [ 0. 0. 0. 1. ]] SLAMing on 35.43864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.51, Y:-4.44, Z:-25.79 [[ 4.29896524e-01 4.66195382e-02 -9.01673775e-01 2.85054390e+01] [-1.01929576e-01 9.94787574e-01 2.83624402e-03 -4.44251612e+00] [ 8.97106092e-01 9.06879342e-02 4.32407630e-01 -2.57888259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.46864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:28.51, Y:-4.76, Z:-25.80 [[ 0.38797437 0.34183425 -0.8559353 28.50764046] [ -0.08602388 0.93805498 0.33563782 -4.75649473] [ 0.91764687 -0.056588 0.3933472 -25.7993607 ] [ 0. 0. 0. 1. ]] SLAMing on 35.49864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.53, Y:-4.53, Z:-25.75 [[ 0.39178661 0.13016475 -0.91080206 28.53390607] [ -0.09609689 0.99031662 0.10019173 -4.52832252] [ 0.91502385 0.04827147 0.40050122 -25.752118 ] [ 0. 0. 0. 1. ]] SLAMing on 35.528639999999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.54, Y:-4.65, Z:-25.74 [[ 4.00124629e-01 2.43835718e-01 -8.83427656e-01 2.85422550e+01] [-9.26224595e-02 9.69779385e-01 2.25718908e-01 -4.64678482e+00] [ 9.11768261e-01 -8.49045179e-03 4.10617280e-01 -2.57414401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:28.55, Y:-4.49, Z:-25.69 [[ 0.44123691 0.09089864 -0.89277513 28.55128835] [ -0.0995682 0.99367305 0.05196197 -4.4878422 ] [ 0.89184985 0.06596447 0.44749584 -25.69396299] [ 0. 0. 0. 1. ]] SLAMing on 35.58864 meters Centerline goodness : 0.966344 Centerline is valid? [True, True] Translation: X:28.58, Y:-4.71, Z:-25.70 [[ 3.79516104e-01 3.51550766e-01 -8.55791789e-01 2.85781416e+01] [-1.61143084e-01 9.35973832e-01 3.13026983e-01 -4.70719780e+00] [ 9.11043596e-01 1.91061474e-02 4.11867117e-01 -2.57040925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.61864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.58, Y:-4.56, Z:-25.66 [[ 0.41787603 0.15095688 -0.89587479 28.57539107] [ -0.09211984 0.98805693 0.12352097 -4.55903931] [ 0.90382164 0.03091139 0.42679143 -25.65569956] [ 0. 0. 0. 1. ]] SLAMing on 35.64864 meters Centerline goodness : 0.817494 Centerline is valid? [True, False] Translation: X:28.56, Y:-4.51, Z:-25.69 [[ 0.43343106 0.09631889 -0.89602466 28.55900299] [ -0.07828269 0.99453765 0.0690412 -4.50870132] [ 0.89778023 0.04021862 0.43860361 -25.68587772] [ 0. 0. 0. 1. ]] SLAMing on 35.67864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:28.54, Y:-4.46, Z:-25.72 [[ 4.47765384e-01 4.81946357e-02 -8.92851296e-01 2.85395155e+01] [-6.76743780e-02 9.97508879e-01 1.99051435e-02 -4.46356131e+00] [ 8.91586417e-01 5.15103219e-02 4.49911489e-01 -2.57156718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.708639999999995 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:28.55, Y:-4.65, Z:-25.71 [[ 0.40222012 0.22267014 -0.88805235 28.5532574 ] [ -0.05663725 0.97416723 0.21861021 -4.65257242] [ 0.91378947 -0.03763258 0.40444109 -25.71325462] [ 0. 0. 0. 1. ]] SLAMing on 35.73864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.57, Y:-4.59, Z:-25.68 [[ 4.04111587e-01 1.62645516e-01 -9.00133469e-01 2.85694809e+01] [-6.16272689e-02 9.86669833e-01 1.50614476e-01 -4.59195381e+00] [ 9.12631308e-01 -5.39228779e-03 4.08748111e-01 -2.56840803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.76864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:28.58, Y:-4.63, Z:-25.66 [[ 4.07919834e-01 1.89708035e-01 -8.93091412e-01 2.85766935e+01] [-5.95473308e-02 9.81620610e-01 1.81314900e-01 -4.62574845e+00] [ 9.11073831e-01 -2.07807342e-02 4.11719123e-01 -2.56626932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.79864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.57, Z:-25.63 [[ 4.07727678e-01 1.32543676e-01 -9.03432518e-01 2.85860691e+01] [-6.17064102e-02 9.91146367e-01 1.17563592e-01 -4.57289888e+00] [ 9.11016168e-01 7.81364724e-03 4.12296602e-01 -2.56345067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.82864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:28.60, Y:-4.54, Z:-25.60 [[ 0.40267296 0.09422125 -0.91048165 28.59788722] [ -0.06670406 0.99506393 0.07347347 -4.53617925] [ 0.91291021 0.03114704 0.40697028 -25.60091954] [ 0. 0. 0. 1. ]] SLAMing on 35.85864 meters Centerline goodness : 0.901091 Centerline is valid? [True, False] Translation: X:28.58, Y:-4.49, Z:-25.63 [[ 4.17077142e-01 4.63511085e-02 -9.07688400e-01 2.85791224e+01] [-5.63053061e-02 9.98098144e-01 2.50959462e-02 -4.49493430e+00] [ 9.07125333e-01 4.06407276e-02 4.18893735e-01 -2.56332389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.888639999999995 meters Centerline goodness : 0.981884 Centerline is valid? [False, True] Translation: X:28.56, Y:-4.46, Z:-25.66 [[ 4.31395239e-01 2.44292116e-03 -9.02159731e-01 2.85629030e+01] [-4.54365007e-02 9.98786102e-01 -1.90222793e-02 -4.45579167e+00] [ 9.01018131e-01 4.91971020e-02 4.30982567e-01 -2.56583140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.918639999999996 meters Centerline goodness : 0.933212 Centerline is valid? [True, False] Translation: X:28.54, Y:-4.43, Z:-25.70 [[ 0.45607467 -0.0328055 -0.88933666 28.53671092] [ -0.03151805 0.99809802 -0.05298071 -4.42749077] [ 0.88938322 0.05219332 0.45417326 -25.70339057] [ 0. 0. 0. 1. ]] SLAMing on 35.94864 meters Centerline goodness : 0.999557 Centerline is valid? [False, True] Translation: X:28.51, Y:-4.43, Z:-25.76 [[ 4.72543553e-01 -2.35722660e-02 -8.80992020e-01 2.85109408e+01] [-3.17698558e-02 9.98536888e-01 -4.37579647e-02 -4.43465187e+00] [ 8.80734504e-01 4.86665336e-02 4.71103281e-01 -2.57551412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.97864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:28.54, Y:-4.56, Z:-25.75 [[ 4.84523223e-01 9.23497566e-02 -8.69890090e-01 2.85365121e+01] [-2.91432067e-02 9.95564038e-01 8.94590443e-02 -4.55888223e+00] [ 8.74292811e-01 -1.79935978e-02 4.85065264e-01 -2.57488145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.00864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:28.54, Y:-4.48, Z:-25.72 [[ 4.76704297e-01 1.74572712e-02 -8.78890356e-01 2.85443825e+01] [-3.05183987e-02 9.99528756e-01 3.30051727e-03 -4.48098984e+00] [ 8.78533802e-01 2.52489555e-02 4.77012420e-01 -2.57165003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.03864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:28.56, Y:-4.57, Z:-25.70 [[ 4.89244492e-01 1.00433770e-01 -8.66344553e-01 2.85632068e+01] [-2.86117889e-02 9.94660917e-01 9.91515274e-02 -4.57306663e+00] [ 8.71677229e-01 -2.37216712e-02 4.89505965e-01 -2.57035176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.068639999999995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:28.56, Y:-4.43, Z:-25.66 [[ 5.27316643e-01 -3.51761477e-02 -8.48940396e-01 2.85611707e+01] [-2.84027442e-02 9.97854505e-01 -5.89887317e-02 -4.43054369e+00] [ 8.49193995e-01 5.52179769e-02 5.25186189e-01 -2.56598667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.098639999999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.59, Y:-4.54, Z:-25.65 [[ 5.29692880e-01 6.84401316e-02 -8.45423800e-01 2.85897122e+01] [-2.85238237e-02 9.97612831e-01 6.28890352e-02 -4.54462971e+00] [ 8.47709764e-01 -9.19715477e-03 5.30380588e-01 -2.56490129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.12864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:28.60, Y:-4.62, Z:-25.63 [[ 4.79833009e-01 1.31238718e-01 -8.67488722e-01 2.86031865e+01] [-1.92615990e-02 9.90086517e-01 1.39131877e-01 -4.61681896e+00] [ 8.77148376e-01 -5.00508472e-02 4.77604060e-01 -2.56333382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.15864 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:28.61, Y:-4.58, Z:-25.60 [[ 4.84996089e-01 9.29251880e-02 -8.69565238e-01 2.86144689e+01] [-2.11033078e-02 9.95292551e-01 9.45906323e-02 -4.57684308e+00] [ 8.74261657e-01 -2.75253839e-02 4.84674023e-01 -2.56038352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.18864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:28.62, Y:-4.47, Z:-25.57 [[ 4.83857054e-01 -2.21794954e-03 -8.75144235e-01 2.86152699e+01] [-2.80710588e-02 9.99442895e-01 -1.80531312e-02 -4.47357191e+00] [ 8.74696728e-01 3.33013601e-02 4.83525235e-01 -2.55664610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.21864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:28.64, Y:-4.51, Z:-25.55 [[ 5.35811387e-01 2.57045330e-02 -8.43946346e-01 2.86365485e+01] [-2.33304387e-02 9.99605567e-01 1.56333156e-02 -4.50947231e+00] [ 8.44015313e-01 1.13131299e-02 5.36199743e-01 -2.55480145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.24864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.66, Y:-4.61, Z:-25.53 [[ 4.94851724e-01 1.13102837e-01 -8.61585469e-01 2.86558762e+01] [-1.87349630e-02 9.92651657e-01 1.19547850e-01 -4.60867858e+00] [ 8.68775444e-01 -4.30166877e-02 4.93334361e-01 -2.55347415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.278639999999996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:28.66, Y:-4.49, Z:-25.50 [[ 5.35267457e-01 -5.17809170e-04 -8.44682474e-01 2.86620212e+01] [-2.26450543e-02 9.99631591e-01 -1.49627576e-02 -4.48710760e+00] [ 8.44379033e-01 2.71369577e-02 5.35058534e-01 -2.54955510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.30864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:28.68, Y:-4.62, Z:-25.48 [[ 4.95564974e-01 1.21860722e-01 -8.59979837e-01 2.86815775e+01] [-1.93848694e-02 9.91414117e-01 1.29314634e-01 -4.62189071e+00] [ 8.68354526e-01 -4.74132066e-02 4.93672366e-01 -2.54848272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.33864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:28.69, Y:-4.49, Z:-25.45 [[ 5.37734025e-01 -4.44709453e-03 -8.43102806e-01 2.86886790e+01] [-2.28757588e-02 9.99540985e-01 -1.98624972e-02 -4.49007626e+00] [ 8.42804140e-01 2.99673570e-02 5.37385466e-01 -2.54469677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.36864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:28.71, Y:-4.65, Z:-25.44 [[ 4.97797212e-01 1.38569547e-01 -8.56152099e-01 2.87080426e+01] [-1.88457429e-02 9.88649032e-01 1.49056797e-01 -4.64909190e+00] [ 8.67088677e-01 -5.80652357e-02 4.94758178e-01 -2.54368998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.39864 meters Centerline goodness : 0.933730 Centerline is valid? [True, False] Translation: X:28.69, Y:-4.60, Z:-25.47 [[ 5.11648981e-01 8.59936839e-02 -8.54880346e-01 2.86873894e+01] [-5.90537209e-03 9.95307217e-01 9.65850448e-02 -4.60354714e+00] [ 8.59174282e-01 -4.43692533e-02 5.09755748e-01 -2.54698201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.42864 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:28.67, Y:-4.56, Z:-25.50 [[ 5.23589547e-01 3.92427893e-02 -8.51066384e-01 2.86689950e+01] [ 4.85176246e-03 9.98785080e-01 4.90390002e-02 -4.56119049e+00] [ 8.51956834e-01 -2.98054798e-02 5.22763031e-01 -2.54975512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.458639999999995 meters Centerline goodness : 0.881565 Centerline is valid? [True, False] Translation: X:28.65, Y:-4.52, Z:-25.52 [[ 5.34604784e-01 -2.06554499e-03 -8.45099673e-01 2.86517569e+01] [ 1.34086898e-02 9.99891867e-01 6.03837425e-03 -4.52315700e+00] [ 8.44995817e-01 -1.45598232e-02 5.34574672e-01 -2.55226001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.48864 meters Centerline goodness : 0.998867 Centerline is valid? [False, True] Translation: X:28.64, Y:-4.51, Z:-25.55 [[ 5.45786738e-01 -2.54418668e-02 -8.37537789e-01 2.86369454e+01] [ 2.53140906e-02 9.99583348e-01 -1.38682357e-02 -4.50991198e+00] [ 8.37541661e-01 -1.36324083e-02 5.46203372e-01 -2.55464963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.51864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:28.65, Y:-4.54, Z:-25.53 [[ 5.09778555e-01 3.93600760e-03 -8.60296654e-01 2.86526409e+01] [ 2.50862714e-02 9.99496294e-01 1.94380254e-02 -4.54318731e+00] [ 8.59939826e-01 -3.14907238e-02 5.09423037e-01 -2.55259549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.54864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:28.66, Y:-4.46, Z:-25.49 [[ 5.45639967e-01 -7.78102291e-02 -8.34399542e-01 2.86563380e+01] [ 2.71621438e-02 9.96799046e-01 -7.51922883e-02 -4.45758732e+00] [ 8.37579396e-01 1.83638373e-02 5.46006891e-01 -2.54936891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.57864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:28.68, Y:-4.63, Z:-25.48 [[ 0.50532621 0.07745942 -0.85944486 28.68498854] [ 0.03065009 0.99372355 0.10758287 -4.63345523] [ 0.8623839 -0.08070651 0.49978042 -25.48066128] [ 0. 0. 0. 1. ]] SLAMing on 36.60864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:28.66, Y:-4.37, Z:-25.43 [[ 0.54655954 -0.1719417 -0.81957838 28.66011183] [ 0.03097231 0.98217518 -0.18539857 -4.36518131] [ 0.83684729 0.07594713 0.54214265 -25.43149588] [ 0. 0. 0. 1. ]] SLAMing on 36.638639999999995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:28.71, Y:-4.52, Z:-25.43 [[ 5.48891195e-01 -3.64270708e-02 -8.35099709e-01 2.87078005e+01] [ 2.97947130e-02 9.99267756e-01 -2.40047283e-02 -4.51529547e+00] [ 8.35362635e-01 -1.17055722e-02 5.49574607e-01 -2.54252307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.668639999999996 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.72, Y:-4.52, Z:-25.40 [[ 5.48406166e-01 -3.72779417e-02 -8.35380771e-01 2.87224768e+01] [ 3.01506395e-02 9.99237739e-01 -2.47967518e-02 -4.51703885e+00] [ 8.35668365e-01 -1.15885729e-02 5.49112091e-01 -2.54013242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.69864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:28.74, Y:-4.52, Z:-25.38 [[ 5.48937985e-01 -3.80641810e-02 -8.34995932e-01 2.87369863e+01] [ 3.03935768e-02 9.99210919e-01 -2.55689346e-02 -4.51878328e+00] [ 8.35310313e-01 -1.13427536e-02 5.49661734e-01 -2.53777855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.72864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:28.75, Y:-4.60, Z:-25.36 [[ 0.50490419 0.03153515 -0.86259915 28.75368138] [ 0.03103638 0.99802297 0.0546525 -4.59672961] [ 0.86261724 -0.05436623 0.50292724 -25.35774626] [ 0. 0. 0. 1. ]] SLAMing on 36.75864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:28.75, Y:-4.43, Z:-25.32 [[ 0.55060221 -0.11932914 -0.82619475 28.74891453] [ 0.03027361 0.99193342 -0.12309185 -4.43330142] [ 0.83421862 0.04276275 0.54977326 -25.32135675] [ 0. 0. 0. 1. ]] SLAMing on 36.78864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:28.78, Y:-4.65, Z:-25.31 [[ 0.51429797 0.07672533 -0.85417259 28.78327399] [ 0.03153157 0.99362497 0.1082367 -4.64850556] [ 0.85703171 -0.08259932 0.50860004 -25.31168136] [ 0. 0. 0. 1. ]] SLAMing on 36.818639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:28.76, Y:-4.37, Z:-25.26 [[ 0.55465215 -0.17916052 -0.81256538 28.75960575] [ 0.02969212 0.98018411 -0.1958507 -4.36908661] [ 0.83155238 0.08450222 0.54898088 -25.26254148] [ 0. 0. 0. 1. ]] SLAMing on 36.848639999999996 meters Centerline goodness : 0.973065 Centerline is valid? [True, True] Translation: X:28.83, Y:-4.59, Z:-25.26 [[ 5.24352637e-01 9.68533226e-02 -8.45975027e-01 2.88321314e+01] [-5.95351178e-02 9.95248750e-01 7.70421705e-02 -4.58603412e+00] [ 8.49417378e-01 9.96795763e-03 5.27627480e-01 -2.52595713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.87864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:28.82, Y:-4.54, Z:-25.23 [[ 5.61361327e-01 -2.81080118e-02 -8.27093344e-01 2.88174554e+01] [ 2.13743168e-02 9.99582082e-01 -1.94627973e-02 -4.53575571e+00] [ 8.27294747e-01 -6.75289344e-03 5.61727513e-01 -2.52338880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.90864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:28.84, Y:-4.59, Z:-25.21 [[ 5.17443346e-01 2.46126786e-02 -8.55363431e-01 2.88352169e+01] [ 1.94303839e-02 9.98990608e-01 4.04996944e-02 -4.59237031e+00] [ 8.55496840e-01 -3.75763372e-02 5.16442809e-01 -2.52143100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.93864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:28.85, Y:-4.55, Z:-25.19 [[ 5.29060762e-01 -1.61875596e-02 -8.48429533e-01 2.88454302e+01] [ 1.44293758e-02 9.99845095e-01 -1.00786632e-02 -4.54573319e+00] [ 8.48461256e-01 -6.91008339e-03 5.29212384e-01 -2.51881225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.96864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.55, Z:-25.17 [[ 5.33623818e-01 -1.44036144e-02 -8.45599288e-01 2.88584658e+01] [ 1.37731104e-02 9.99870367e-01 -8.33975090e-03 -4.54779149e+00] [ 8.45609793e-01 -7.19624260e-03 5.33753025e-01 -2.51678302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.99864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:28.86, Y:-4.48, Z:-25.14 [[ 5.23183852e-01 -7.59995691e-02 -8.48824318e-01 2.88648581e+01] [ 5.02635834e-03 9.96273528e-01 -8.61033877e-02 -4.47671402e+00] [ 8.52205018e-01 4.07814069e-02 5.21616223e-01 -2.51351550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.028639999999996 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.54, Z:-25.12 [[ 5.24343040e-01 -1.55119712e-02 -8.51365818e-01 2.88875483e+01] [ 4.06098236e-03 9.99868240e-01 -1.57166041e-02 -4.53926407e+00] [ 8.51497437e-01 4.78351039e-03 5.24336946e-01 -2.51163530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.05864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:28.90, Y:-4.57, Z:-25.10 [[ 5.37129372e-01 2.07329642e-02 -8.43245031e-01 2.89042140e+01] [ 2.03896095e-03 9.99663039e-01 2.58776074e-02 -4.57466326e+00] [ 8.43497410e-01 -1.56189667e-02 5.36906106e-01 -2.50992810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.08864 meters Centerline goodness : 0.997638 Centerline is valid? [True, True] Translation: X:28.91, Y:-4.47, Z:-25.07 [[ 5.32829823e-01 -6.35137766e-02 -8.43835517e-01 2.89103092e+01] [-6.21728836e-03 9.96858607e-01 -7.89573444e-02 -4.47323066e+00] [ 8.46199578e-01 4.73171966e-02 5.30761111e-01 -2.50681639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.11864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:28.92, Y:-4.44, Z:-25.04 [[ 5.77134338e-01 -8.93553638e-02 -8.11746004e-01 2.89198635e+01] [-4.55717624e-03 9.93628063e-01 -1.12616631e-01 -4.43729741e+00] [ 8.16636509e-01 6.86941941e-02 5.73049666e-01 -2.50433226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.14864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.51, Z:-25.03 [[ 5.75230139e-01 -2.38526519e-02 -8.17643772e-01 2.89477319e+01] [-7.57763987e-03 9.99376478e-01 -3.44852699e-02 -4.50519871e+00] [ 8.17956518e-01 2.60327767e-02 5.74690724e-01 -2.50262024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.17864 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:28.96, Y:-4.50, Z:-25.00 [[ 5.75078557e-01 -2.42764859e-02 -8.17737920e-01 2.89631464e+01] [-7.94859612e-03 9.99346638e-01 -3.52578633e-02 -4.49986531e+00] [ 8.18059578e-01 2.67759096e-02 5.74509859e-01 -2.50032368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.208639999999995 meters Centerline goodness : 0.995812 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.55, Z:-24.98 [[ 5.35950661e-01 2.76497749e-02 -8.43796408e-01 2.89827525e+01] [-9.30532613e-03 9.99596306e-01 2.68446476e-02 -4.55219530e+00] [ 8.44198022e-01 -6.53560585e-03 5.35991592e-01 -2.49823585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.23864 meters Centerline goodness : 0.984793 Centerline is valid? [True, True] Translation: X:28.99, Y:-4.50, Z:-24.99 [[ 5.37002847e-01 2.09118754e-02 -8.43321194e-01 2.89888851e+01] [-4.40769664e-02 9.99022707e-01 -3.29414005e-03 -4.50337982e+00] [ 8.42428136e-01 3.89400025e-02 5.37399770e-01 -2.49903373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.26864 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:28.93, Y:-4.23, Z:-24.93 [[ 5.36730006e-01 -2.53793430e-01 -8.04679934e-01 2.89296870e+01] [-2.45600737e-02 9.48586738e-01 -3.15562995e-01 -4.23243403e+00] [ 8.43396528e-01 1.89135127e-01 5.02901780e-01 -2.49294463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.29864 meters Centerline goodness : 0.988808 Centerline is valid? [True, True] Translation: X:28.91, Y:-4.17, Z:-24.89 [[ 5.44202976e-01 -3.12332039e-01 -7.78647429e-01 2.89112181e+01] [-2.84967777e-02 9.20700116e-01 -3.89229020e-01 -4.16530029e+00] [ 8.38469472e-01 2.34008534e-01 4.92147286e-01 -2.48883221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.32864 meters Centerline goodness : 0.795543 Centerline is valid? [True, False] Translation: X:28.90, Y:-4.23, Z:-24.96 [[ 0.54971892 -0.24209627 -0.79949891 28.90424401] [ -0.0320781 0.9502591 -0.3098042 -4.22802501] [ 0.83473355 0.19595163 0.51460942 -24.96227892] [ 0. 0. 0. 1. ]] SLAMing on 37.35864 meters Centerline goodness : 0.997097 Centerline is valid? [False, True] Translation: X:28.90, Y:-4.30, Z:-25.02 [[ 0.55225291 -0.17099282 -0.81595231 28.89765194] [ -0.03613108 0.97291086 -0.22833965 -4.29726551] [ 0.83289331 0.15558247 0.53111471 -25.02216094] [ 0. 0. 0. 1. ]] SLAMing on 37.388639999999995 meters Centerline goodness : 0.800699 Centerline is valid? [True, False] Translation: X:28.89, Y:-4.35, Z:-25.08 [[ 0.55689011 -0.11422178 -0.82269484 28.88617939] [ -0.03671646 0.98614541 -0.16176875 -4.3538072 ] [ 0.82977425 0.12029386 0.5449808 -25.07670426] [ 0. 0. 0. 1. ]] SLAMing on 37.418639999999996 meters Centerline goodness : 0.996604 Centerline is valid? [False, True] Translation: X:28.86, Y:-4.38, Z:-25.13 [[ 0.56842779 -0.08157275 -0.81867926 28.86358758] [ -0.03332545 0.99197314 -0.12197828 -4.3837808 ] [ 0.82205795 0.0966187 0.56114665 -25.12918113] [ 0. 0. 0. 1. ]] SLAMing on 37.44864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:28.90, Y:-4.56, Z:-25.14 [[ 5.74733287e-01 7.46941607e-02 -8.14924801e-01 2.89023662e+01] [-2.75015411e-02 9.97026171e-01 7.19894422e-02 -4.55894793e+00] [ 8.17878545e-01 -1.89630409e-02 5.75078333e-01 -2.51357902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.47864 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:28.89, Y:-4.37, Z:-25.09 [[ 6.13018646e-01 -9.15816129e-02 -7.84742600e-01 2.88899286e+01] [-2.60589791e-02 9.90374846e-01 -1.35935995e-01 -4.36507772e+00] [ 7.89638569e-01 1.03780890e-01 6.04731724e-01 -2.50875523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.50864 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:28.93, Y:-4.48, Z:-25.08 [[ 6.10189799e-01 1.68627869e-02 -7.92075789e-01 2.89308954e+01] [-2.75516473e-02 9.99620380e-01 5.63725641e-05 -4.48460358e+00] [ 7.91776052e-01 2.17885948e-02 6.10422756e-01 -2.50832854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.53864 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:28.95, Y:-4.54, Z:-25.07 [[ 5.72317292e-01 6.63030554e-02 -8.17347431e-01 2.89518435e+01] [-2.52222188e-02 9.97677646e-01 6.32704800e-02 -4.54079068e+00] [ 8.19644287e-01 -1.55954741e-02 5.72660479e-01 -2.50668172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.568639999999995 meters Centerline goodness : 0.984503 Centerline is valid? [True, True] Translation: X:28.97, Y:-4.44, Z:-25.05 [[ 5.77894549e-01 -8.33138881e-02 -8.11847699e-01 2.89733716e+01] [ 5.04256132e-02 9.96520008e-01 -6.63711550e-02 -4.43539646e+00] [ 8.14552115e-01 -2.58238933e-03 5.80084635e-01 -2.50452511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.598639999999996 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:28.98, Y:-4.52, Z:-25.02 [[ 5.73492699e-01 5.61274892e-02 -8.17285647e-01 2.89843430e+01] [-2.06200885e-02 9.98323075e-01 5.40911217e-02 -4.52317353e+00] [ 8.18951119e-01 -1.41683610e-02 5.73688349e-01 -2.50202711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.62864 meters Centerline goodness : 0.971371 Centerline is valid? [True, True] Translation: X:29.06, Y:-4.52, Z:-24.97 [[ 5.56770918e-01 4.78514419e-02 -8.29286672e-01 2.90565256e+01] [ 2.74041629e-03 9.98228144e-01 5.94395664e-02 -4.51937956e+00] [ 8.30661564e-01 -3.53668127e-02 5.55653268e-01 -2.49692174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.65864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:29.00, Y:-4.82, Z:-25.01 [[ 5.68385757e-01 3.27948844e-01 -7.54577489e-01 2.89994947e+01] [-2.50804328e-02 9.23607014e-01 3.82519352e-01 -4.82443935e+00] [ 8.22379841e-01 -1.98493422e-01 5.33190171e-01 -2.50069263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.68864 meters Centerline goodness : 0.994153 Centerline is valid? [True, True] Translation: X:29.00, Y:-4.41, Z:-25.00 [[ 5.62827778e-01 7.62167003e-03 -8.26539051e-01 2.89978370e+01] [-6.43193730e-02 9.97329314e-01 -3.46014079e-02 -4.41198290e+00] [ 8.24067904e-01 7.26371071e-02 5.61814863e-01 -2.49971831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.71864 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:29.01, Y:-4.35, Z:-24.93 [[ 0.57791437 -0.03543564 -0.81532772 29.00798442] [ -0.06868716 0.99340001 -0.09186129 -4.34845359] [ 0.81320173 0.1090905 0.57166617 -24.93447336] [ 0. 0. 0. 1. ]] SLAMing on 37.74864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:29.05, Y:-4.51, Z:-24.97 [[ 5.53349823e-01 8.38012524e-02 -8.28722706e-01 2.90513825e+01] [-3.50376858e-02 9.96387331e-01 7.73605073e-02 -4.50937155e+00] [ 8.32211712e-01 -1.37708973e-02 5.54286955e-01 -2.49725963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.778639999999996 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:29.03, Y:-4.31, Z:-24.89 [[ 0.61398933 -0.05498754 -0.78739665 29.02964745] [ -0.06630468 0.99045145 -0.12087027 -4.3130316 ] [ 0.7865245 0.12642114 0.60448069 -24.88584369] [ 0. 0. 0. 1. ]] SLAMing on 37.80864 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:29.08, Y:-4.49, Z:-24.90 [[ 6.12258850e-01 1.00526327e-01 -7.84240752e-01 2.90766000e+01] [-6.77010525e-02 9.94907079e-01 7.46757750e-02 -4.48755239e+00] [ 7.87753558e-01 7.37302017e-03 6.15946403e-01 -2.48979339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.83864 meters Centerline goodness : 0.995771 Centerline is valid? [True, True] Translation: X:29.09, Y:-4.49, Z:-24.88 [[ 6.14031694e-01 9.81154328e-02 -7.83159269e-01 2.90938261e+01] [-6.47586025e-02 9.95160723e-01 7.39016864e-02 -4.48724488e+00] [ 7.86620240e-01 5.33832209e-03 6.17414043e-01 -2.48754992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.86864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.55, Z:-24.89 [[ 5.50154563e-01 1.17941244e-01 -8.26692095e-01 2.91329545e+01] [-2.36525408e-02 9.91779559e-01 1.25753182e-01 -4.54851511e+00] [ 8.34727809e-01 -4.96303182e-02 5.48421660e-01 -2.48883312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.89864 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:29.12, Y:-4.47, Z:-24.83 [[ 5.81838366e-01 7.94901181e-02 -8.09410549e-01 2.91180133e+01] [-5.62420158e-02 9.96762332e-01 5.74603247e-02 -4.46811944e+00] [ 8.11357475e-01 1.20902594e-02 5.84425251e-01 -2.48335428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.92864 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.41, Z:-24.80 [[ 5.82279881e-01 2.95815468e-02 -8.12450043e-01 2.91287316e+01] [-5.63297902e-02 9.98404127e-01 -4.01915805e-03 -4.41135254e+00] [ 8.11034583e-01 4.81054153e-02 5.83016958e-01 -2.48027752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.958639999999995 meters Centerline goodness : 0.983792 Centerline is valid? [True, True] Translation: X:29.22, Y:-4.50, Z:-24.76 [[ 5.52956167e-01 1.26593602e-01 -8.23537211e-01 2.92240246e+01] [-6.80180715e-02 9.91949987e-01 1.06811822e-01 -4.49540246e+00] [ 8.30429418e-01 -3.04684257e-03 5.57115516e-01 -2.47628772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.98864 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.72, Z:-24.79 [[ 0.61845768 0.26668552 -0.73918126 29.16791976] [ -0.05037149 0.9521713 0.30138435 -4.71760368] [ 0.78420202 -0.1491598 0.602311 -24.79060285] [ 0. 0. 0. 1. ]] SLAMing on 38.01864 meters Centerline goodness : 0.847825 Centerline is valid? [True, False] Translation: X:29.16, Y:-4.66, Z:-24.80 [[ 0.62477544 0.20805636 -0.75257438 29.16319468] [ -0.03335051 0.97007609 0.24049972 -4.65850003] [ 0.78009192 -0.12515958 0.6130185 -24.79930172] [ 0. 0. 0. 1. ]] SLAMing on 38.04864 meters Centerline goodness : 0.995381 Centerline is valid? [False, True] Translation: X:29.16, Y:-4.60, Z:-24.81 [[ 6.30733247e-01 1.47854622e-01 -7.61783816e-01 2.91552812e+01] [-1.64060984e-02 9.84001860e-01 1.77401184e-01 -4.59950574e+00] [ 7.75826276e-01 -9.93949247e-02 6.23068406e-01 -2.48062354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.07864 meters Centerline goodness : 0.946344 Centerline is valid? [True, False] Translation: X:29.13, Y:-4.55, Z:-24.84 [[ 6.42743579e-01 1.03189363e-01 -7.59099893e-01 2.91301379e+01] [-7.90638235e-03 9.91727485e-01 1.28117461e-01 -4.55416363e+00] [ 7.66040587e-01 -7.63449412e-02 6.38242328e-01 -2.48365875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.10864 meters Centerline goodness : 0.996216 Centerline is valid? [False, True] Translation: X:29.11, Y:-4.51, Z:-24.86 [[ 6.53759504e-01 6.23932783e-02 -7.54125712e-01 2.91055848e+01] [-2.56836743e-04 9.96613095e-01 8.22330386e-02 -4.51319950e+00] [ 7.56702349e-01 -5.35669434e-02 6.51561308e-01 -2.48633719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.138639999999995 meters Centerline goodness : 0.995477 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.52, Z:-24.85 [[ 6.18978773e-01 9.12028302e-02 -7.80094432e-01 2.91290138e+01] [-2.17575563e-02 9.94844965e-01 9.90459716e-02 -4.52055322e+00] [ 7.85106291e-01 -4.43344054e-02 6.17772266e-01 -2.48483298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.168639999999996 meters Centerline goodness : 0.995331 Centerline is valid? [True, True] Translation: X:29.13, Y:-4.45, Z:-24.81 [[ 6.05470267e-01 6.89083426e-03 -7.95838094e-01 2.91314149e+01] [ 1.55953057e-03 9.99950324e-01 9.84464227e-03 -4.45139652e+00] [ 7.95866398e-01 -7.20177202e-03 6.05429443e-01 -2.48107756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.19864 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:29.15, Y:-4.46, Z:-24.79 [[ 6.05710831e-01 1.25166245e-02 -7.95586402e-01 2.91472628e+01] [ 1.66562053e-03 9.99854130e-01 1.69983838e-02 -4.45841897e+00] [ 7.95683112e-01 -1.16212503e-02 6.05601628e-01 -2.47880465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.22864 meters Centerline goodness : 0.995458 Centerline is valid? [True, True] Translation: X:29.16, Y:-4.49, Z:-24.77 [[ 6.15177251e-01 3.74168403e-02 -7.87500432e-01 2.91644504e+01] [ 3.18455918e-03 9.98747063e-01 4.99415951e-02 -4.48946852e+00] [ 7.88382400e-01 -3.32307749e-02 6.14287316e-01 -2.47724708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.25864 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:29.17, Y:-4.38, Z:-24.74 [[ 6.29990907e-01 -2.83074497e-02 -7.76086429e-01 2.91662733e+01] [-2.57454464e-02 9.98024903e-01 -5.73015263e-02 -4.38220273e+00] [ 7.76175643e-01 5.60801320e-02 6.28017826e-01 -2.47418198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.28864 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:29.18, Y:-4.36, Z:-24.71 [[ 6.62276250e-01 -7.08892677e-02 -7.45898707e-01 2.91753722e+01] [ 1.47576162e-04 9.95526507e-01 -9.44825460e-02 -4.35920402e+00] [ 7.49259733e-01 6.24634694e-02 6.59324023e-01 -2.47080700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.318639999999995 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:29.22, Y:-4.52, Z:-24.71 [[ 6.21126695e-01 6.89171745e-02 -7.80674101e-01 2.92186246e+01] [-2.24611902e-03 9.96278483e-01 8.61634496e-02 -4.52283896e+00] [ 7.83706950e-01 -5.17649317e-02 6.18969957e-01 -2.47120242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.348639999999996 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.38, Z:-24.67 [[ 6.66193526e-01 -4.75150469e-02 -7.44263734e-01 2.92148688e+01] [-1.52048321e-03 9.97879719e-01 -6.50673081e-02 -4.38309808e+00] [ 7.45777362e-01 4.44790599e-02 6.64708762e-01 -2.46695154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.37864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:29.25, Y:-4.45, Z:-24.66 [[ 6.66908777e-01 7.57578484e-03 -7.45100859e-01 2.92452318e+01] [-3.25201613e-03 9.99968384e-01 7.25639645e-03 -4.44968482e+00] [ 7.45132275e-01 -2.41627447e-03 6.66912329e-01 -2.46600651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.40864 meters Centerline goodness : 0.777416 Centerline is valid? [True, False] Translation: X:29.23, Y:-4.43, Z:-24.67 [[ 6.72155317e-01 -1.72602132e-02 -7.40208967e-01 2.92272729e+01] [ 9.81726150e-03 9.99848122e-01 -1.43998083e-02 -4.42817295e+00] [ 7.40345089e-01 2.41208274e-03 6.72222679e-01 -2.46730556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.43864 meters Centerline goodness : 0.999165 Centerline is valid? [False, True] Translation: X:29.20, Y:-4.41, Z:-24.70 [[ 6.81126939e-01 -3.88933894e-02 -7.31131587e-01 2.91996891e+01] [ 2.08612230e-02 9.99213581e-01 -3.37198698e-02 -4.40911247e+00] [ 7.31868091e-01 7.71521263e-03 6.81402651e-01 -2.46964296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.46864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:29.23, Y:-4.52, Z:-24.69 [[ 6.30262449e-01 4.92230380e-02 -7.74820197e-01 2.92316226e+01] [ 2.48618210e-02 9.96196745e-01 8.35100874e-02 -4.51821361e+00] [ 7.75983978e-01 -7.18967133e-02 6.26641626e-01 -2.46893307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.49864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:29.21, Y:-4.31, Z:-24.63 [[ 6.82876337e-01 -1.19795226e-01 -7.20644859e-01 2.92107572e+01] [ 2.72890424e-02 9.89957669e-01 -1.38705161e-01 -4.31269043e+00] [ 7.30024121e-01 7.50527642e-02 6.79287763e-01 -2.46328530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.528639999999996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.42, Z:-24.63 [[ 6.82433310e-01 -3.41941910e-02 -7.30147612e-01 2.92563373e+01] [ 2.86682139e-02 9.99388710e-01 -2.00084806e-02 -4.41964765e+00] [ 7.30385454e-01 -7.27757423e-03 6.82996432e-01 -2.46337789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.55864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:29.28, Y:-4.45, Z:-24.62 [[ 6.55365418e-01 -1.38185936e-02 -7.55185550e-01 2.92767934e+01] [ 3.26647038e-02 9.99415741e-01 1.00595110e-02 -4.44978022e+00] [ 7.54605318e-01 -3.12605680e-02 6.55433895e-01 -2.46162870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.58864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.39, Z:-24.59 [[ 6.83850275e-01 -6.49649457e-02 -7.26724402e-01 2.92858128e+01] [ 3.80841086e-02 9.97848596e-01 -5.33645927e-02 -4.39273345e+00] [ 7.28627752e-01 8.81674039e-03 6.84853169e-01 -2.45869327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.61864 meters Centerline goodness : 0.774474 Centerline is valid? [True, False] Translation: X:29.25, Y:-4.41, Z:-24.62 [[ 6.94901165e-01 -5.51077327e-02 -7.16990592e-01 2.92540761e+01] [ 3.79927181e-02 9.98480289e-01 -3.99207481e-02 -4.40895983e+00] [ 7.18100915e-01 5.00552974e-04 6.95938809e-01 -2.46241671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.64864 meters Centerline goodness : 0.998769 Centerline is valid? [False, True] Translation: X:29.22, Y:-4.42, Z:-24.66 [[ 7.08181512e-01 -4.95438578e-02 -7.04289963e-01 2.92177912e+01] [ 3.73957383e-02 9.98766789e-01 -3.26567047e-02 -4.41883846e+00] [ 7.05039364e-01 -3.21056860e-03 7.09160904e-01 -2.46646102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.67864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:29.24, Y:-4.44, Z:-24.65 [[ 7.07773113e-01 -3.89420943e-02 -7.05365674e-01 2.92403375e+01] [ 3.99670140e-02 9.99087582e-01 -1.50545814e-02 -4.43884435e+00] [ 7.05308342e-01 -1.75361318e-02 7.08683728e-01 -2.46468459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.708639999999995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:29.26, Y:-4.44, Z:-24.63 [[ 7.07872387e-01 -3.93685183e-02 -7.05242372e-01 2.92588483e+01] [ 4.00792718e-02 9.99075617e-01 -1.55423402e-02 -4.44119215e+00] [ 7.05202337e-01 -1.72636073e-02 7.08795903e-01 -2.46252621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.73864 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:29.29, Y:-4.58, Z:-24.62 [[ 0.66917746 0.05864645 -0.7407848 29.28661629] [ 0.04351043 0.99207828 0.11784538 -4.57538593] [ 0.74182773 -0.11109134 0.66132469 -24.61602243] [ 0. 0. 0. 1. ]] SLAMing on 38.76864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:29.27, Y:-4.32, Z:-24.56 [[ 0.70898937 -0.14551668 -0.69004273 29.26555712] [ 0.04186484 0.98543885 -0.16479568 -4.31989458] [ 0.70397543 0.08794985 0.7047577 -24.55632359] [ 0. 0. 0. 1. ]] SLAMing on 38.79864 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:29.32, Y:-4.46, Z:-24.56 [[ 7.10739333e-01 -3.67922826e-02 -7.02492654e-01 2.93162645e+01] [ 3.57634600e-02 9.99229775e-01 -1.61502708e-02 -4.46057946e+00] [ 7.02545782e-01 -1.36449352e-02 7.11507723e-01 -2.45642109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.82864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:29.34, Y:-4.46, Z:-24.54 [[ 7.10332388e-01 -3.50016171e-02 -7.02995580e-01 2.93360005e+01] [ 3.27623722e-02 9.99324452e-01 -1.66513105e-02 -4.46298937e+00] [ 7.03103495e-01 -1.12038377e-02 7.10999261e-01 -2.45449252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.85864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:29.36, Y:-4.47, Z:-24.53 [[ 7.09476972e-01 -3.34386779e-02 -7.03934856e-01 2.93554982e+01] [ 3.01027794e-02 9.99399940e-01 -1.71342331e-02 -4.46564447e+00] [ 7.04085399e-01 -9.03405182e-03 7.10057840e-01 -2.45253266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.888639999999995 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:29.38, Y:-4.47, Z:-24.50 [[ 7.10830443e-01 -3.26182872e-02 -7.02606667e-01 2.93750423e+01] [ 2.84656548e-02 9.99439819e-01 -1.75998345e-02 -4.46827141e+00] [ 7.02787157e-01 -7.48966063e-03 7.11360751e-01 -2.45049266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.918639999999996 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:29.39, Y:-4.47, Z:-24.48 [[ 7.12705583e-01 -3.02034666e-02 -7.00812744e-01 2.93937737e+01] [ 2.46058495e-02 9.99534189e-01 -1.80542824e-02 -4.47201712e+00] [ 7.01031600e-01 -4.37670511e-03 7.13116779e-01 -2.44839789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.94864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.55, Z:-24.47 [[ 6.73918354e-01 3.04072876e-02 -7.38179821e-01 2.94207485e+01] [ 2.54780925e-02 9.97601866e-01 6.43535892e-02 -4.55191484e+00] [ 7.38366385e-01 -6.21764787e-02 6.71527488e-01 -2.44730862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.97864 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.53, Z:-24.45 [[ 6.75062076e-01 9.07513336e-03 -7.37705114e-01 2.94351703e+01] [ 2.16990118e-02 9.99247514e-01 3.21490037e-02 -4.52678045e+00] [ 7.37441758e-01 -3.77100452e-02 6.74357180e-01 -2.44482206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.00864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.36, Z:-24.40 [[ 7.15396498e-01 -1.26512446e-01 -6.87169886e-01 2.94238943e+01] [ 2.43341560e-02 9.87385994e-01 -1.56450464e-01 -4.35531648e+00] [ 6.98294852e-01 9.52024144e-02 7.09451055e-01 -2.44019414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.03864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:29.47, Y:-4.56, Z:-24.41 [[ 6.78357023e-01 3.24927585e-02 -7.34013604e-01 2.94721647e+01] [ 1.90971330e-02 9.97904377e-01 6.18235684e-02 -4.55735377e+00] [ 7.34484206e-01 -5.59560072e-02 6.76314924e-01 -2.44070895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.068639999999995 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:29.48, Y:-4.46, Z:-24.38 [[ 6.81874705e-01 -4.44754584e-02 -7.30115621e-01 2.94790603e+01] [ 1.45018836e-02 9.98775578e-01 -4.72973500e-02 -4.45649647e+00] [ 7.31325223e-01 2.16628148e-02 6.81684781e-01 -2.43770623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.098639999999996 meters Centerline goodness : 0.861178 Centerline is valid? [True, False] Translation: X:29.45, Y:-4.46, Z:-24.41 [[ 6.93858547e-01 -4.34588588e-02 -7.18798751e-01 2.94470080e+01] [ 1.62123185e-02 9.98867011e-01 -4.47420986e-02 -4.46121757e+00] [ 7.19928800e-01 1.93912933e-02 6.93776982e-01 -2.44118031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.12864 meters Centerline goodness : 0.998917 Centerline is valid? [False, True] Translation: X:29.41, Y:-4.47, Z:-24.45 [[ 7.07018656e-01 -3.75812226e-02 -7.06195632e-01 2.94102674e+01] [ 1.54931379e-02 9.99170458e-01 -3.76611077e-02 -4.46913894e+00] [ 7.07025164e-01 1.56859194e-02 7.07014406e-01 -2.44514949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.15864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.58, Z:-24.44 [[ 7.05658099e-01 4.37655518e-02 -7.07199564e-01 2.94357594e+01] [ 1.90009086e-02 9.96562776e-01 8.06324944e-02 -4.57963655e+00] [ 7.08297686e-01 -7.03364070e-02 7.02401009e-01 -2.44421417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.18864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.47, Z:-24.41 [[ 7.09705845e-01 -3.57998870e-02 -7.03587935e-01 2.94438715e+01] [ 1.48896194e-02 9.99247169e-01 -3.58244998e-02 -4.47137162e+00] [ 7.04340765e-01 1.49487003e-02 7.09704603e-01 -2.44122572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.21864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.40, Z:-24.38 [[ 7.13830264e-01 -9.23059876e-02 -6.94208873e-01 2.94500424e+01] [ 1.31044976e-02 9.92862585e-01 -1.18541807e-01 -4.39718258e+00] [ 7.00196135e-01 7.55214709e-02 7.09944984e-01 -2.43824149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.24864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:29.49, Y:-4.55, Z:-24.39 [[ 7.15178264e-01 1.75459072e-02 -6.98721828e-01 2.94857806e+01] [ 2.34626674e-02 9.98518765e-01 4.90895030e-02 -4.55292705e+00] [ 6.98548176e-01 -5.15016234e-02 7.13707243e-01 -2.43868868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.278639999999996 meters Centerline goodness : 0.942819 Centerline is valid? [True, False] Translation: X:29.48, Y:-4.54, Z:-24.39 [[ 7.16841206e-01 -8.00762047e-03 -6.97190478e-01 2.94810819e+01] [ 3.90310389e-02 9.98826930e-01 2.86590690e-02 -4.53854658e+00] [ 6.96143134e-01 -4.77560703e-02 7.16312847e-01 -2.43913159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.30864 meters Centerline goodness : 0.785167 Centerline is valid? [False, False] Translation: X:29.47, Y:-4.52, Z:-24.40 [[ 7.18751909e-01 -3.43315523e-02 -6.94418488e-01 2.94733175e+01] [ 5.49555535e-02 9.98460498e-01 7.51810372e-03 -4.52330359e+00] [ 6.93091321e-01 -4.35658038e-02 7.19532099e-01 -2.43971234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.33864 meters Centerline goodness : 0.971309 Centerline is valid? [False, True] Translation: X:29.42, Y:-4.51, Z:-24.44 [[ 7.38432222e-01 -4.67199981e-02 -6.72707288e-01 2.94214533e+01] [ 5.13180994e-02 9.98597465e-01 -1.30213150e-02 -4.50924946e+00] [ 6.72372148e-01 -2.49067009e-02 7.39794127e-01 -2.44417755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.36864 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:29.37, Y:-4.72, Z:-24.45 [[ 0.72967412 0.0395042 -0.68265298 29.36865375] [ 0.10814539 0.97909821 0.17225353 -4.71845725] [ 0.67518905 -0.19951472 0.71015043 -24.45370166] [ 0. 0. 0. 1. ]] SLAMing on 39.39864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:29.35, Y:-4.42, Z:-24.42 [[ 0.76209665 -0.17177113 -0.62426227 29.34542296] [ 0.10457246 0.98416248 -0.14313916 -4.42063757] [ 0.63896268 0.04380523 0.76798945 -24.4209579 ] [ 0. 0. 0. 1. ]] SLAMing on 39.42864 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:29.40, Y:-4.62, Z:-24.42 [[ 0.72994678 -0.03118673 -0.68279212 29.39919651] [ 0.10363803 0.99245833 0.06546461 -4.61722693] [ 0.6756011 -0.11854891 0.7276739 -24.41772231] [ 0. 0. 0. 1. ]] SLAMing on 39.458639999999995 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:29.36, Y:-4.33, Z:-24.36 [[ 0.76488273 -0.23941869 -0.59802433 29.35648751] [ 0.10743447 0.96277513 -0.24803606 -4.32589301] [ 0.63514742 0.12547007 0.76213189 -24.36357192] [ 0. 0. 0. 1. ]] SLAMing on 39.48864 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.47, Z:-24.37 [[ 7.64704902e-01 -1.32991645e-01 -6.30507442e-01 2.94207672e+01] [ 1.03578663e-01 9.91116011e-01 -8.34296860e-02 -4.47481735e+00] [ 6.36001473e-01 -1.50802772e-03 7.71686369e-01 -2.43722690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.51864 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:29.44, Y:-4.47, Z:-24.35 [[ 7.64569681e-01 -1.33021353e-01 -6.30665144e-01 2.94416417e+01] [ 1.03241779e-01 9.91112693e-01 -8.38854306e-02 -4.47369663e+00] [ 6.36218782e-01 -9.74734377e-04 7.71508076e-01 -2.43542270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.54864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:29.46, Y:-4.47, Z:-24.34 [[ 7.64332693e-01 -1.33587744e-01 -6.30832664e-01 2.94627554e+01] [ 1.03601045e-01 9.91036589e-01 -8.43403964e-02 -4.47334787e+00] [ 6.36445095e-01 -8.90800584e-04 7.71321495e-01 -2.43351975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.57864 meters Centerline goodness : 0.932299 Centerline is valid? [True, False] Translation: X:29.42, Y:-4.52, Z:-24.38 [[ 7.82529521e-01 -1.09992314e-01 -6.12820724e-01 2.94171790e+01] [ 1.02428354e-01 9.93603574e-01 -4.75433417e-02 -4.51600612e+00] [ 6.14130264e-01 -2.55661497e-02 7.88790461e-01 -2.43798430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.60864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:29.38, Y:-4.53, Z:-24.41 [[ 0.79285785 -0.09963116 -0.60120717 29.37981537] [ 0.100253 0.99442829 -0.03258388 -4.53482641] [ 0.60110379 -0.03443844 0.7984286 -24.41072641] [ 0. 0. 0. 1. ]] SLAMing on 39.638639999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.40, Y:-4.50, Z:-24.39 [[ 7.93377647e-01 -1.21983348e-01 -5.96382404e-01 2.93961909e+01] [ 9.83896683e-02 9.92531076e-01 -7.21216791e-02 -4.49646903e+00] [ 6.00725713e-01 -1.45813882e-03 7.99453871e-01 -2.43903653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.668639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.42, Y:-4.49, Z:-24.37 [[ 7.94414536e-01 -1.23781449e-01 -5.94629042e-01 2.94168430e+01] [ 9.77891730e-02 9.92307146e-01 -7.59197292e-02 -4.49128914e+00] [ 5.99452102e-01 2.16345411e-03 8.00407707e-01 -2.43732423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.69864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.60, Z:-24.36 [[ 0.7901702 -0.05778315 -0.61015749 29.45280438] [ 0.10353467 0.99382268 0.03996313 -4.59751341] [ 0.60407916 -0.09475013 0.79127163 -24.3625284 ] [ 0. 0. 0. 1. ]] SLAMing on 39.72864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:29.45, Y:-4.46, Z:-24.33 [[ 0.79370635 -0.14605336 -0.59050712 29.45123962] [ 0.09753029 0.98874398 -0.11346006 -4.45624126] [ 0.60043158 0.03246164 0.799017 -24.33486138] [ 0. 0. 0. 1. ]] SLAMing on 39.75864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.46, Y:-4.41, Z:-24.31 [[ 0.80215724 -0.1759655 -0.57059609 29.46195187] [ 0.09800998 0.98143225 -0.16487811 -4.40571774] [ 0.58901426 0.07633406 0.80450936 -24.31311428] [ 0. 0. 0. 1. ]] SLAMing on 39.78864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.53, Z:-24.31 [[ 7.90863704e-01 -9.76614612e-02 -6.04149684e-01 2.95063902e+01] [ 1.04456082e-01 9.94240319e-01 -2.39815376e-02 -4.53320107e+00] [ 6.03012047e-01 -4.41409814e-02 7.96509915e-01 -2.43111871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.818639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.51, Y:-4.43, Z:-24.29 [[ 0.803696 -0.15786664 -0.57371671 29.51176588] [ 0.10057652 0.98633229 -0.13051044 -4.43145811] [ 0.58647856 0.04718829 0.808589 -24.28655194] [ 0. 0. 0. 1. ]] SLAMing on 39.848639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.54, Y:-4.48, Z:-24.28 [[ 8.03617490e-01 -1.23298986e-01 -5.82233879e-01 2.95443278e+01] [ 1.02268217e-01 9.92361113e-01 -6.89973440e-02 -4.48404744e+00] [ 5.86293563e-01 -4.09654801e-03 8.10088314e-01 -2.42765800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.87864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.47, Z:-24.26 [[ 8.06488229e-01 -1.28766858e-01 -5.77057911e-01 2.95654847e+01] [ 1.00347147e-01 9.91646921e-01 -8.10360002e-02 -4.46896834e+00] [ 5.82672452e-01 7.44846536e-03 8.12672957e-01 -2.42591590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.90864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.43, Z:-24.24 [[ 0.8339052 -0.14952086 -0.53126795 29.5809029 ] [ 0.10410898 0.98793767 -0.11463194 -4.42899274] [ 0.54199949 0.04028241 0.83941282 -24.23704185] [ 0. 0. 0. 1. ]] SLAMing on 39.93864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.62, Y:-4.51, Z:-24.23 [[ 8.10768073e-01 -9.62854133e-02 -5.77394364e-01 2.96190294e+01] [ 9.84463058e-02 9.94758229e-01 -2.76476297e-02 -4.50585218e+00] [ 5.77029858e-01 -3.44265266e-02 8.15997155e-01 -2.42311630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.96864 meters Centerline goodness : 0.875136 Centerline is valid? [True, False] Translation: X:29.59, Y:-4.50, Z:-24.25 [[ 8.16024221e-01 -1.01166449e-01 -5.69095616e-01 2.95894023e+01] [ 9.73087951e-02 9.94556208e-01 -3.72685820e-02 -4.49981005e+00] [ 5.69767908e-01 -2.49659431e-02 8.21426341e-01 -2.42496383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.99864 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:29.55, Y:-4.50, Z:-24.27 [[ 8.24505610e-01 -9.89447095e-02 -5.57135928e-01 2.95535614e+01] [ 9.34139702e-02 9.94884882e-01 -3.84434964e-02 -4.49987288e+00] [ 5.58089893e-01 -2.03474005e-02 8.29530985e-01 -2.42726053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.028639999999996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.45, Z:-24.25 [[ 8.46444267e-01 -1.29881558e-01 -5.16394117e-01 2.95675990e+01] [ 9.78166377e-02 9.91219366e-01 -8.89723211e-02 -4.44756800e+00] [ 5.23415713e-01 2.47981749e-02 8.51716527e-01 -2.42512450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.05864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.50, Z:-24.24 [[ 8.24760639e-01 -9.83624042e-02 -5.56861496e-01 2.95997780e+01] [ 9.37397258e-02 9.94912622e-01 -3.69017457e-02 -4.49587950e+00] [ 5.57658276e-01 -2.17649366e-02 8.29785234e-01 -2.42416084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.62, Y:-4.50, Z:-24.23 [[ 0.82596892 -0.10453548 -0.55393833 29.62417173] [ 0.10531848 0.99396959 -0.03053643 -4.50162589] [ 0.55378999 -0.0331178 0.83199751 -24.22992012] [ 0. 0. 0. 1. ]] SLAMing on 40.11864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.40, Z:-24.20 [[ 0.84897218 -0.15222526 -0.50603725 29.62635854] [ 0.09738686 0.98627852 -0.13330594 -4.3952711 ] [ 0.51938621 0.06389166 0.85214777 -24.19699323] [ 0. 0. 0. 1. ]] SLAMing on 40.14864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.67, Y:-4.47, Z:-24.19 [[ 8.31514278e-01 -1.01642338e-01 -5.46125298e-01 2.96670183e+01] [ 9.09430750e-02 9.94761763e-01 -4.66732568e-02 -4.47291896e+00] [ 5.48008542e-01 -1.08568344e-02 8.36402276e-01 -2.41946195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.17864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:29.69, Y:-4.47, Z:-24.18 [[ 8.27941290e-01 -9.68424218e-02 -5.52390049e-01 2.96890932e+01] [ 8.77490004e-02 9.95216032e-01 -4.29553543e-02 -4.47326487e+00] [ 5.53907333e-01 -1.29071632e-02 8.32478271e-01 -2.41777062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.208639999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.71, Y:-4.43, Z:-24.16 [[ 8.33830699e-01 -1.18516708e-01 -5.39147619e-01 2.97057199e+01] [ 8.64815989e-02 9.92666804e-01 -8.44603371e-02 -4.43013733e+00] [ 5.45203905e-01 2.37992738e-02 8.37965570e-01 -2.41577138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.23864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.44, Z:-24.15 [[ 8.33642838e-01 -1.04283772e-01 -5.42369351e-01 2.97328138e+01] [ 8.32822160e-02 9.94519099e-01 -6.32126059e-02 -4.44258480e+00] [ 5.45988728e-01 7.52701469e-03 8.37758708e-01 -2.41454918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.26864 meters Centerline goodness : 0.820787 Centerline is valid? [True, False] Translation: X:29.70, Y:-4.46, Z:-24.17 [[ 8.39894839e-01 -9.29480694e-02 -5.34731068e-01 2.97002245e+01] [ 8.09039961e-02 9.95660180e-01 -4.59929190e-02 -4.45930707e+00] [ 5.36685385e-01 -4.63266496e-03 8.43769717e-01 -2.41682641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.29864 meters Centerline goodness : 0.924079 Centerline is valid? [False, False] Translation: X:29.66, Y:-4.47, Z:-24.19 [[ 8.46935705e-01 -8.26427805e-02 -5.25233360e-01 2.96625392e+01] [ 7.89962587e-02 9.96441168e-01 -2.94039141e-02 -4.47474677e+00] [ 5.25794163e-01 -1.65882456e-02 8.50450074e-01 -2.41924811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.32864 meters Centerline goodness : 0.902089 Centerline is valid? [False, False] Translation: X:29.62, Y:-4.46, Z:-24.21 [[ 8.53845296e-01 -8.29855791e-02 -5.13869248e-01 2.96243789e+01] [ 7.45752981e-02 9.96528121e-01 -3.70166064e-02 -4.46457936e+00] [ 5.15157001e-01 -6.71549705e-03 8.57069523e-01 -2.42135199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.35864 meters Centerline goodness : 0.805643 Centerline is valid? [False, False] Translation: X:29.58, Y:-4.46, Z:-24.24 [[ 8.62901550e-01 -8.27369851e-02 -4.98553413e-01 2.95780399e+01] [ 7.17691162e-02 9.96571385e-01 -4.11663618e-02 -4.46163440e+00] [ 5.00250046e-01 -2.58220436e-04 8.65880953e-01 -2.42390045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.388639999999995 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:29.54, Y:-4.45, Z:-24.26 [[ 8.68992578e-01 -8.36643306e-02 -4.87700911e-01 2.95425203e+01] [ 6.83702563e-02 9.96450245e-01 -4.91163680e-02 -4.45169089e+00] [ 4.90078981e-01 9.33752295e-03 8.71628019e-01 -2.42574752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.418639999999996 meters Centerline goodness : 0.834130 Centerline is valid? [True, False] Translation: X:29.51, Y:-4.46, Z:-24.28 [[ 8.74455439e-01 -7.77846566e-02 -4.78829022e-01 2.95096825e+01] [ 6.81287391e-02 9.96970163e-01 -3.75362279e-02 -4.46149267e+00] [ 4.80297991e-01 2.01741150e-04 8.77105353e-01 -2.42768100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.44864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:29.46, Y:-4.46, Z:-24.30 [[ 8.83340333e-01 -7.60294402e-02 -4.62525005e-01 2.94622930e+01] [ 6.67814653e-02 9.97104812e-01 -3.63624856e-02 -4.46187871e+00] [ 4.63950528e-01 1.23235255e-03 8.85860254e-01 -2.43015551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.49, Y:-4.45, Z:-24.29 [[ 8.83955340e-01 -7.95111883e-02 -4.60761248e-01 2.94866759e+01] [ 6.93755112e-02 9.96830985e-01 -3.89233310e-02 -4.44947062e+00] [ 4.62395929e-01 2.44093913e-03 8.86670202e-01 -2.42875736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.50864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:29.52, Y:-4.50, Z:-24.28 [[ 8.65155648e-01 -5.06147217e-02 -4.98942736e-01 2.95156514e+01] [ 6.96016347e-02 9.97384082e-01 1.95091118e-02 -4.50063761e+00] [ 4.96650095e-01 -5.16056483e-02 8.66415340e-01 -2.42795641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.52, Y:-4.38, Z:-24.25 [[ 0.88467782 -0.11175633 -0.45260985 29.52300063] [ 0.07218633 0.99197132 -0.10383653 -4.37970256] [ 0.46058038 0.05918963 0.88564231 -24.24925736] [ 0. 0. 0. 1. ]] SLAMing on 40.568639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.56, Y:-4.47, Z:-24.25 [[ 8.68828325e-01 -6.47928434e-02 -4.90855610e-01 2.95621883e+01] [ 7.38349110e-02 9.97270026e-01 -9.49563613e-04 -4.46564560e+00] [ 4.89577112e-01 -3.54172725e-02 8.71240419e-01 -2.42507932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.598639999999996 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:29.58, Y:-4.47, Z:-24.24 [[ 8.69939168e-01 -6.60770314e-02 -4.88712258e-01 2.95841224e+01] [ 7.87724818e-02 9.96877800e-01 5.43579892e-03 -4.46702601e+00] [ 4.86827219e-01 -4.32258918e-02 8.72428095e-01 -2.42403889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.62864 meters Centerline goodness : 0.819529 Centerline is valid? [True, False] Translation: X:29.54, Y:-4.44, Z:-24.26 [[ 8.79773498e-01 -7.69241228e-02 -4.69128204e-01 2.95427335e+01] [ 7.74782453e-02 9.96828736e-01 -1.81546732e-02 -4.44415060e+00] [ 4.69037007e-01 -2.03752298e-02 8.82943450e-01 -2.42562962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.65864 meters Centerline goodness : 0.852096 Centerline is valid? [False, False] Translation: X:29.52, Y:-4.44, Z:-24.27 [[ 8.84368360e-01 -7.36991974e-02 -4.60934955e-01 2.95186490e+01] [ 7.24379586e-02 9.97163150e-01 -2.04546979e-02 -4.43958137e+00] [ 4.61134846e-01 -1.52996996e-02 8.87198159e-01 -2.42686231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.68864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:29.49, Y:-4.43, Z:-24.28 [[ 8.88288813e-01 -7.45352789e-02 -4.53196951e-01 2.94946555e+01] [ 6.99937244e-02 9.97187050e-01 -2.68116821e-02 -4.43270903e+00] [ 4.53920547e-01 -7.90442523e-03 8.91007103e-01 -2.42799223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.52, Y:-4.43, Z:-24.27 [[ 8.86699266e-01 -7.51732600e-02 -4.56194467e-01 2.95200570e+01] [ 7.17389649e-02 9.97113346e-01 -2.48695986e-02 -4.43201187e+00] [ 4.56747120e-01 -1.06750641e-02 8.89532524e-01 -2.42682055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.74864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.55, Y:-4.45, Z:-24.26 [[ 8.82387279e-01 -6.31424692e-02 -4.66267862e-01 2.95486031e+01] [ 7.14260201e-02 9.97445896e-01 9.48269015e-05 -4.45229773e+00] [ 4.65070978e-01 -3.33873317e-02 8.84643585e-01 -2.42578431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.778639999999996 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:29.57, Y:-4.43, Z:-24.24 [[ 8.81213035e-01 -7.28226397e-02 -4.67076493e-01 2.95687980e+01] [ 7.09029849e-02 9.97246872e-01 -2.17127500e-02 -4.43048844e+00] [ 4.67371751e-01 -1.39835592e-02 8.83950285e-01 -2.42414015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.80864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:29.59, Y:-4.47, Z:-24.24 [[ 0.88269671 -0.0527283 -0.46697563 29.59023407] [ 0.07573896 0.99665718 0.03062792 -4.4748524 ] [ 0.46379966 -0.06240342 0.88373961 -24.23953793] [ 0. 0. 0. 1. ]] SLAMing on 40.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.60, Y:-4.33, Z:-24.20 [[ 0.88787556 -0.1163279 -0.4451346 29.59650046] [ 0.06713833 0.98991035 -0.12477958 -4.33034132] [ 0.45515869 0.08090314 0.88672727 -24.19525208] [ 0. 0. 0. 1. ]] SLAMing on 40.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.63, Y:-4.35, Z:-24.19 [[ 0.90948741 -0.10557817 -0.40210186 29.62816784] [ 0.07258551 0.99268579 -0.09646895 -4.349692 ] [ 0.40934582 0.05855052 0.91049867 -24.19014597] [ 0. 0. 0. 1. ]] SLAMing on 40.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.67, Y:-4.46, Z:-24.20 [[ 8.90696585e-01 -5.35425728e-02 -4.51434144e-01 2.96674651e+01] [ 7.03897420e-02 9.97306928e-01 2.05955270e-02 -4.45518375e+00] [ 4.49115661e-01 -5.01206984e-02 8.92066723e-01 -2.41981016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.92864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:29.68, Y:-4.39, Z:-24.17 [[ 8.94293084e-01 -8.27730679e-02 -4.39759592e-01 2.96822675e+01] [ 6.71103238e-02 9.96437294e-01 -5.10776201e-02 -4.38519117e+00] [ 4.42420709e-01 1.61659538e-02 8.96661908e-01 -2.41728304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.958639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.71, Y:-4.44, Z:-24.17 [[ 8.87980853e-01 -5.34961548e-02 -4.56758323e-01 2.97143407e+01] [ 6.85532178e-02 9.97511932e-01 1.64439085e-02 -4.44321625e+00] [ 4.54742192e-01 -4.59141287e-02 8.89438830e-01 -2.41721756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:29.73, Y:-4.39, Z:-24.15 [[ 8.89760619e-01 -7.24913840e-02 -4.50634043e-01 2.97327193e+01] [ 6.42345883e-02 9.97368575e-01 -3.36131315e-02 -4.39394709e+00] [ 4.51884895e-01 9.61348475e-04 8.92075735e-01 -2.41507090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.75, Y:-4.36, Z:-24.13 [[ 8.91710769e-01 -8.19722812e-02 -4.45120713e-01 2.97539545e+01] [ 6.06167923e-02 9.96231854e-01 -6.20298054e-02 -4.36433683e+00] [ 4.48528158e-01 2.83308557e-02 8.93319570e-01 -2.41330246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.04864 meters Centerline goodness : 0.990175 Centerline is valid? [True, True] Translation: X:29.84, Y:-4.33, Z:-24.12 [[ 0.89717834 -0.09124295 -0.43214089 29.84301426] [ 0.06827211 0.99531841 -0.06841179 -4.33482474] [ 0.43635988 0.03187441 0.89920747 -24.11812512] [ 0. 0. 0. 1. ]] SLAMing on 41.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:29.84, Y:-4.51, Z:-24.13 [[ 9.05283462e-01 -2.70437149e-02 -4.23946331e-01 2.98432400e+01] [ 7.21337123e-02 9.93265017e-01 9.06715733e-02 -4.50523243e+00] [ 4.18638964e-01 -1.12664298e-01 9.01137156e-01 -2.41342614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.10864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.85, Y:-4.46, Z:-24.12 [[ 0.88813365 -0.04845026 -0.45702429 29.84777876] [ 0.07580235 0.99625089 0.04169144 -4.46247357] [ 0.45329089 -0.07167109 0.88847657 -24.11794306] [ 0. 0. 0. 1. ]] SLAMing on 41.138639999999995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.86, Y:-4.38, Z:-24.09 [[ 8.89405626e-01 -8.51651684e-02 -4.49115272e-01 2.98600539e+01] [ 7.32165740e-02 9.96347561e-01 -4.39416700e-02 -4.38199038e+00] [ 4.51217206e-01 6.19928692e-03 8.92392628e-01 -2.40918963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.168639999999996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.89, Y:-4.40, Z:-24.08 [[ 8.87512713e-01 -7.34528327e-02 -4.54891048e-01 2.98898608e+01] [ 7.16478781e-02 9.97203945e-01 -2.12337701e-02 -4.40143097e+00] [ 4.55178828e-01 -1.37467375e-02 8.90293919e-01 -2.40844863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.19864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:29.91, Y:-4.35, Z:-24.06 [[ 0.89367417 -0.09461082 -0.43862885 29.90687549] [ 0.06937319 0.99489763 -0.07325341 -4.35086751] [ 0.44332137 0.03503559 0.89567777 -24.06095888] [ 0. 0. 0. 1. ]] SLAMing on 41.22864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.94, Y:-4.37, Z:-24.06 [[ 8.95694617e-01 -8.13125329e-02 -4.37172076e-01 2.99360204e+01] [ 6.83321810e-02 9.96630535e-01 -4.53683746e-02 -4.37219186e+00] [ 4.39388058e-01 1.07632875e-02 8.98232869e-01 -2.40551053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:29.96, Y:-4.37, Z:-24.04 [[ 8.97797639e-01 -7.63948992e-02 -4.33731736e-01 2.99610298e+01] [ 6.41047428e-02 9.97019947e-01 -4.29162777e-02 -4.36885763e+00] [ 4.35717777e-01 1.07258714e-02 9.00019430e-01 -2.40418018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.28864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:29.99, Y:-4.37, Z:-24.03 [[ 8.98492765e-01 -7.41278998e-02 -4.32684418e-01 2.99860005e+01] [ 6.28851655e-02 9.97208470e-01 -4.02582172e-02 -4.36800220e+00] [ 4.34460823e-01 8.96228566e-03 9.00646141e-01 -2.40317522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.318639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:30.01, Y:-4.36, Z:-24.02 [[ 9.00163913e-01 -7.55606722e-02 -4.28946983e-01 3.00110484e+01] [ 6.13384981e-02 9.97014231e-01 -4.69064099e-02 -4.35869405e+00] [ 4.31210526e-01 1.59124938e-02 9.02111010e-01 -2.40187530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.348639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:30.04, Y:-4.37, Z:-24.01 [[ 8.98522782e-01 -6.83380690e-02 -4.33574351e-01 3.00371053e+01] [ 6.14112882e-02 9.97662173e-01 -2.99807054e-02 -4.37043710e+00] [ 4.34609553e-01 3.11987408e-04 9.00618920e-01 -2.40100544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.37864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:30.06, Y:-4.36, Z:-24.00 [[ 8.98956962e-01 -7.26608297e-02 -4.31968499e-01 3.00604988e+01] [ 6.23150142e-02 9.97329905e-01 -3.80775510e-02 -4.35733102e+00] [ 4.33581848e-01 7.31195641e-03 9.01084522e-01 -2.39962949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:30.09, Y:-4.36, Z:-23.98 [[ 8.97270569e-01 -6.98771052e-02 -4.35915952e-01 3.00876201e+01] [ 6.29359773e-02 9.97555589e-01 -3.03629557e-02 -4.36049580e+00] [ 4.36972070e-01 -1.91009878e-04 8.99475055e-01 -2.39849850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.43864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:30.11, Y:-4.34, Z:-23.97 [[ 9.00247210e-01 -8.05859122e-02 -4.27856135e-01 3.01091238e+01] [ 6.36939350e-02 9.96524949e-01 -5.36759509e-02 -4.33530145e+00] [ 4.30694839e-01 2.10697842e-02 9.02251639e-01 -2.39696286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.46864 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:30.14, Y:-4.36, Z:-23.96 [[ 8.97783250e-01 -6.88620647e-02 -4.35020979e-01 3.01375818e+01] [ 6.61662308e-02 9.97579941e-01 -2.13609945e-02 -4.35824401e+00] [ 4.35439165e-01 -9.60615544e-03 9.00166904e-01 -2.39631827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.49864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:30.16, Y:-4.32, Z:-23.94 [[ 9.01963364e-01 -8.64765229e-02 -4.23064890e-01 3.01551012e+01] [ 6.58380629e-02 9.95827673e-01 -6.31869826e-02 -4.31606052e+00] [ 4.26763915e-01 2.91385705e-02 9.03893525e-01 -2.39435202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.528639999999996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:30.19, Y:-4.36, Z:-23.94 [[ 8.97552738e-01 -7.06178856e-02 -4.35215115e-01 3.01860155e+01] [ 7.03971726e-02 9.97380024e-01 -1.66531287e-02 -4.35519692e+00] [ 4.35250870e-01 -1.56908523e-02 9.00172471e-01 -2.39404045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.55864 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:30.20, Y:-4.31, Z:-23.92 [[ 9.02278355e-01 -8.86469083e-02 -4.21942526e-01 3.02045103e+01] [ 6.88408920e-02 9.95700445e-01 -6.19802879e-02 -4.30961301e+00] [ 4.25622722e-01 2.68765724e-02 9.04501492e-01 -2.39197429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.58864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:30.23, Y:-4.28, Z:-23.91 [[ 0.91614478 -0.10203031 -0.38764489 30.22772129] [ 0.07259839 0.99330428 -0.08986706 -4.2778215 ] [ 0.39421849 0.05418884 0.91741776 -23.9052533 ] [ 0. 0. 0. 1. ]] SLAMing on 41.61864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:30.27, Y:-4.38, Z:-23.91 [[ 8.99575429e-01 -6.01593418e-02 -4.32602474e-01 3.02675098e+01] [ 7.87058659e-02 9.96582440e-01 2.50764157e-02 -4.38115802e+00] [ 4.29615448e-01 -5.66064798e-02 9.01235970e-01 -2.39135547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.64864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:30.28, Y:-4.26, Z:-23.88 [[ 0.91918316 -0.11180586 -0.3776265 30.27505691] [ 0.08020496 0.99190452 -0.09845095 -4.26160548] [ 0.38557683 0.06020694 0.92070931 -23.87620276] [ 0. 0. 0. 1. ]] SLAMing on 41.67864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:30.31, Y:-4.31, Z:-23.88 [[ 9.18061504e-01 -8.88922384e-02 -3.86343430e-01 3.03120517e+01] [ 8.08634868e-02 9.96037466e-01 -3.70197716e-02 -4.31436628e+00] [ 3.88103301e-01 2.74535035e-03 9.21611790e-01 -2.38800544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.708639999999995 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:30.34, Y:-4.34, Z:-23.87 [[ 9.01047298e-01 -7.86737038e-02 -4.26525749e-01 3.03400650e+01] [ 8.48451166e-02 9.96383773e-01 -4.54776491e-03 -4.34327115e+00] [ 4.25341125e-01 -3.20908756e-02 9.04463987e-01 -2.38749729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.73864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:30.35, Y:-4.27, Z:-23.85 [[ 0.9124589 -0.1102934 -0.39402299 30.35414582] [ 0.08549823 0.99312151 -0.07999818 -4.2686942 ] [ 0.40013598 0.03930678 0.91561246 -23.84805149] [ 0. 0. 0. 1. ]] SLAMing on 41.76864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:30.39, Y:-4.30, Z:-23.85 [[ 9.12803975e-01 -9.87791036e-02 -3.96272118e-01 3.03874904e+01] [ 8.83535330e-02 9.95093443e-01 -4.45274380e-02 -4.29755587e+00] [ 3.98726166e-01 5.63278078e-03 9.17052733e-01 -2.38458223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.79864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:30.42, Y:-4.32, Z:-23.84 [[ 9.05011356e-01 -8.90097102e-02 -4.15970812e-01 3.04163700e+01] [ 9.08223082e-02 9.95746918e-01 -1.54720573e-02 -4.32417888e+00] [ 4.15578817e-01 -2.37770418e-02 9.09246336e-01 -2.38386670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.82864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:30.43, Y:-4.28, Z:-23.82 [[ 9.16959223e-01 -1.08356307e-01 -3.83985278e-01 3.04348313e+01] [ 9.21928163e-02 9.93912829e-01 -6.03139548e-02 -4.27790365e+00] [ 3.88183292e-01 1.99047529e-02 9.21367209e-01 -2.38157028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.85864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:30.47, Y:-4.32, Z:-23.81 [[ 9.03853198e-01 -9.32149091e-02 -4.17564817e-01 3.04659904e+01] [ 9.38548316e-02 9.95403582e-01 -1.90520475e-02 -4.31611429e+00] [ 4.17421450e-01 -2.19702216e-02 9.08447380e-01 -2.38137535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.888639999999995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:30.49, Y:-4.27, Z:-23.79 [[ 9.16582650e-01 -1.13168177e-01 -3.83496037e-01 3.04859148e+01] [ 9.66401560e-02 9.93376183e-01 -6.21646109e-02 -4.27221762e+00] [ 3.87990885e-01 1.99178870e-02 9.21447964e-01 -2.37919688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.918639999999996 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:30.52, Y:-4.29, Z:-23.79 [[ 9.10596945e-01 -1.04591341e-01 -3.99842288e-01 3.05169466e+01] [ 9.71393627e-02 9.94509476e-01 -3.89210269e-02 -4.29458234e+00] [ 4.01717747e-01 -3.39905686e-03 9.15757227e-01 -2.37883039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.94864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:30.54, Y:-4.29, Z:-23.78 [[ 9.11325153e-01 -1.07212436e-01 -3.97482025e-01 3.05425236e+01] [ 1.00305404e-01 9.94223257e-01 -3.81960922e-02 -4.29423902e+00] [ 3.99280969e-01 -5.06053541e-03 9.16814648e-01 -2.37764869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.97864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:30.58, Y:-4.36, Z:-23.78 [[ 8.97298325e-01 -8.03945311e-02 -4.34041975e-01 3.05776908e+01] [ 1.01771723e-01 9.94462809e-01 2.61961433e-02 -4.35556740e+00] [ 4.29532575e-01 -6.76789553e-02 9.00511703e-01 -2.37767609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.00864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:30.58, Y:-4.23, Z:-23.74 [[ 0.91137279 -0.13926138 -0.38730596 30.58051079] [ 0.10431692 0.98844867 -0.10994183 -4.22794149] [ 0.39814271 0.05979542 0.91537254 -23.73613554] [ 0. 0. 0. 1. ]] SLAMing on 42.03864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:30.62, Y:-4.29, Z:-23.74 [[ 9.16235024e-01 -1.10779466e-01 -3.85021155e-01 3.06206902e+01] [ 1.04730898e-01 9.93822552e-01 -3.67175002e-02 -4.29392743e+00] [ 3.86710252e-01 -6.68175160e-03 9.22177063e-01 -2.37418100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.068639999999995 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:30.65, Y:-4.35, Z:-23.74 [[ 8.96915734e-01 -8.42707266e-02 -4.34097468e-01 3.06518603e+01] [ 1.05273583e-01 9.94140929e-01 2.45211169e-02 -4.35414733e+00] [ 4.29487648e-01 -6.76923715e-02 9.00532122e-01 -2.37397022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.098639999999996 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:30.66, Y:-4.23, Z:-23.70 [[ 0.91685929 -0.13768824 -0.37471454 30.65699769] [ 0.10476572 0.98872795 -0.10696351 -4.22901057] [ 0.38521836 0.05881325 0.92094941 -23.7005224 ] [ 0. 0. 0. 1. ]] SLAMing on 42.12864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:30.71, Y:-4.38, Z:-23.72 [[ 0.8983199 -0.06807422 -0.43403602 30.70890756] [ 0.09917919 0.99384281 0.04939583 -4.37633022] [ 0.42800099 -0.0874206 0.89954032 -23.7213643 ] [ 0. 0. 0. 1. ]] SLAMing on 42.15864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.31, Z:-23.70 [[ 8.98733007e-01 -9.69146997e-02 -4.27652340e-01 3.07207906e+01] [ 9.61823206e-02 9.95089218e-01 -2.33754049e-02 -4.30826517e+00] [ 4.27817653e-01 -2.01243465e-02 9.03641005e-01 -2.36986346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.18864 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:30.72, Y:-4.19, Z:-23.65 [[ 0.92024545 -0.14495544 -0.36350549 30.72302478] [ 0.09671231 0.98429636 -0.1476733 -4.18998282] [ 0.37920317 0.10074022 0.91981322 -23.65337441] [ 0. 0. 0. 1. ]] SLAMing on 42.21864 meters Centerline goodness : 0.996706 Centerline is valid? [True, True] Translation: X:30.78, Y:-4.35, Z:-23.68 [[ 8.98299437e-01 -7.12746355e-02 -4.33564352e-01 3.07757921e+01] [ 9.25185519e-02 9.95315322e-01 2.80664825e-02 -4.35200378e+00] [ 4.29532814e-01 -6.53248515e-02 9.00685420e-01 -2.36779864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.248639999999995 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:30.79, Y:-4.26, Z:-23.65 [[ 0.90509557 -0.10952731 -0.4108598 30.78655152] [ 0.08674507 0.99349669 -0.07375373 -4.2557897 ] [ 0.4162659 0.03111411 0.90871041 -23.64691542] [ 0. 0. 0. 1. ]] SLAMing on 42.278639999999996 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:30.83, Y:-4.31, Z:-23.65 [[ 9.04585566e-01 -6.92206398e-02 -4.20634587e-01 3.08282368e+01] [ 7.34696529e-02 9.97278698e-01 -6.11619217e-03 -4.30878797e+00] [ 4.19913281e-01 -2.53712580e-02 9.07209533e-01 -2.36468255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.30864 meters Centerline goodness : 0.995920 Centerline is valid? [True, True] Translation: X:30.84, Y:-4.27, Z:-23.63 [[ 9.05875367e-01 -1.02755267e-01 -4.10890709e-01 3.08388895e+01] [ 8.64881610e-02 9.94560678e-01 -5.80418409e-02 -4.26728923e+00] [ 4.14619847e-01 1.70414922e-02 9.09835134e-01 -2.36267296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.33864 meters Centerline goodness : 0.996512 Centerline is valid? [True, True] Translation: X:30.87, Y:-4.29, Z:-23.62 [[ 9.04972030e-01 -9.17730029e-02 -4.15455582e-01 3.08683723e+01] [ 8.67020573e-02 9.95748791e-01 -3.10981979e-02 -4.28850592e+00] [ 4.16543369e-01 -7.87785436e-03 9.09081713e-01 -2.36221916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.36864 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:30.89, Y:-4.26, Z:-23.60 [[ 9.08584975e-01 -1.03495968e-01 -4.04675089e-01 3.08878247e+01] [ 8.63391051e-02 9.94428615e-01 -6.04755245e-02 -4.25813531e+00] [ 4.08679461e-01 2.00078679e-02 9.12458648e-01 -2.36039890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.39864 meters Centerline goodness : 0.995768 Centerline is valid? [True, True] Translation: X:30.92, Y:-4.30, Z:-23.60 [[ 9.08175693e-01 -8.12033993e-02 -4.10637211e-01 3.09205985e+01] [ 8.40111609e-02 9.96401454e-01 -1.12369038e-02 -4.29749050e+00] [ 4.10071988e-01 -2.42930258e-02 9.11729572e-01 -2.35994569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.42864 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:30.93, Y:-4.23, Z:-23.57 [[ 0.91146942 -0.10819539 -0.39688444 30.933833 ] [ 0.08190826 0.99320672 -0.08265256 -4.2283739 ] [ 0.40313092 0.04282717 0.91413965 -23.57428128] [ 0. 0. 0. 1. ]] SLAMing on 42.458639999999995 meters Centerline goodness : 0.996261 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.26, Z:-23.57 [[ 9.10870844e-01 -9.15831435e-02 -4.02401334e-01 3.09657970e+01] [ 8.17024731e-02 9.95784382e-01 -4.16913710e-02 -4.26020052e+00] [ 4.04523191e-01 5.09827014e-03 9.14513530e-01 -2.35730013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.48864 meters Centerline goodness : 0.995472 Centerline is valid? [True, True] Translation: X:30.99, Y:-4.26, Z:-23.56 [[ 9.10626235e-01 -8.65567591e-02 -4.04064088e-01 3.09909674e+01] [ 8.08457622e-02 9.96237872e-01 -3.12100228e-02 -4.26307942e+00] [ 4.05245385e-01 -4.24620361e-03 9.14198090e-01 -2.35625716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.51864 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:31.01, Y:-4.24, Z:-23.55 [[ 9.10456678e-01 -9.32608236e-02 -4.02952922e-01 3.10131523e+01] [ 7.84491737e-02 9.95500324e-01 -5.31491520e-02 -4.23836406e+00] [ 4.06096498e-01 1.67786766e-02 9.13676152e-01 -2.35479321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.54864 meters Centerline goodness : 0.995580 Centerline is valid? [True, True] Translation: X:31.04, Y:-4.23, Z:-23.54 [[ 9.12953739e-01 -9.21408699e-02 -3.97524251e-01 3.10375334e+01] [ 7.72575133e-02 9.95583649e-01 -5.33336212e-02 -4.23181556e+00] [ 4.00682851e-01 1.79793937e-02 9.16040389e-01 -2.35369888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.57864 meters Centerline goodness : 0.898312 Centerline is valid? [True, False] Translation: X:31.00, Y:-4.23, Z:-23.55 [[ 9.18303282e-01 -8.51572867e-02 -3.86610034e-01 3.10033369e+01] [ 7.36313041e-02 9.96289752e-01 -4.45551389e-02 -4.23267686e+00] [ 3.88969809e-01 1.24485293e-02 9.21166392e-01 -2.35524084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.60864 meters Centerline goodness : 0.995979 Centerline is valid? [False, True] Translation: X:30.96, Y:-4.24, Z:-23.57 [[ 9.24074403e-01 -7.72588771e-02 -3.74322808e-01 3.09649013e+01] [ 6.99879461e-02 9.97001803e-01 -3.30013830e-02 -4.24021927e+00] [ 3.75750164e-01 4.29764882e-03 9.26711036e-01 -2.35700638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.638639999999995 meters Centerline goodness : 0.923005 Centerline is valid? [True, False] Translation: X:30.94, Y:-4.23, Z:-23.58 [[ 9.31243129e-01 -7.58575414e-02 -3.56415303e-01 3.09364926e+01] [ 6.47457428e-02 9.96973938e-01 -4.30227421e-02 -4.22511254e+00] [ 3.58600368e-01 1.69882594e-02 9.33336582e-01 -2.35765344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.668639999999996 meters Centerline goodness : 0.996364 Centerline is valid? [False, True] Translation: X:30.90, Y:-4.23, Z:-23.59 [[ 9.35568021e-01 -6.95420015e-02 -3.46231698e-01 3.09024667e+01] [ 6.23573081e-02 9.97545163e-01 -3.18624318e-02 -4.23267865e+00] [ 3.47597533e-01 8.21939558e-03 9.37607805e-01 -2.35910567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.69864 meters Centerline goodness : 0.909711 Centerline is valid? [True, False] Translation: X:30.87, Y:-4.24, Z:-23.60 [[ 9.40289050e-01 -6.66233550e-02 -3.33793095e-01 3.08659897e+01] [ 6.13557198e-02 9.97769101e-01 -2.63115495e-02 -4.23500073e+00] [ 3.34801400e-01 4.26034627e-03 9.42279084e-01 -2.36047378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.72864 meters Centerline goodness : 0.996415 Centerline is valid? [False, True] Translation: X:30.86, Y:-4.22, Z:-23.60 [[ 9.41081311e-01 -7.23612831e-02 -3.30348015e-01 3.08565877e+01] [ 6.49672369e-02 9.97328795e-01 -3.33846076e-02 -4.22287190e+00] [ 3.31881341e-01 9.95583257e-03 9.43268603e-01 -2.36041644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.75864 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:30.88, Y:-4.22, Z:-23.60 [[ 9.40141052e-01 -7.36025440e-02 -3.32742345e-01 3.08831806e+01] [ 6.87551175e-02 9.97285878e-01 -2.63365015e-02 -4.22430765e+00] [ 3.33777675e-01 1.88228720e-03 9.42649946e-01 -2.35952536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.78864 meters Centerline goodness : 0.997248 Centerline is valid? [True, True] Translation: X:30.91, Y:-4.22, Z:-23.58 [[ 9.39870452e-01 -7.68405364e-02 -3.32774797e-01 3.09087530e+01] [ 7.21250506e-02 9.97042967e-01 -2.65197743e-02 -4.21821562e+00] [ 3.33828565e-01 9.23753218e-04 9.42633352e-01 -2.35845505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.818639999999995 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:30.93, Y:-4.21, Z:-23.58 [[ 9.38383303e-01 -8.37706676e-02 -3.35289802e-01 3.09347309e+01] [ 7.93446557e-02 9.96484135e-01 -2.69034166e-02 -4.21111910e+00] [ 3.36364686e-01 -1.35773698e-03 9.41730829e-01 -2.35759667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.848639999999996 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.31, Z:-23.59 [[ 0.9205537 -0.04935792 -0.38748507 30.9723437 ] [ 0.08780269 0.99274571 0.08213795 -4.31303278] [ 0.38061998 -0.10963462 0.9182095 -23.59014131] [ 0. 0. 0. 1. ]] SLAMing on 42.87864 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:30.97, Y:-4.14, Z:-23.53 [[ 0.91964871 -0.11934768 -0.37416891 30.96939196] [ 0.08551787 0.99070202 -0.10581208 -4.14190595] [ 0.38331832 0.06531181 0.9213042 -23.53017623] [ 0. 0. 0. 1. ]] SLAMing on 42.90864 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:31.01, Y:-4.16, Z:-23.53 [[ 0.93746658 -0.11688534 -0.32786312 31.00667153] [ 0.09728214 0.99237921 -0.07562861 -4.16303028] [ 0.33420442 0.03900407 0.9416932 -23.53027343] [ 0. 0. 0. 1. ]] SLAMing on 42.93864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:31.04, Y:-4.21, Z:-23.53 [[ 9.37922354e-01 -1.05565020e-01 -3.30390201e-01 3.10413438e+01] [ 1.02495460e-01 9.94373702e-01 -2.67510864e-02 -4.20672786e+00] [ 3.31355307e-01 -8.77305362e-03 9.43465259e-01 -2.35335859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.96864 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:31.07, Y:-4.21, Z:-23.52 [[ 9.37153726e-01 -1.10473459e-01 -3.30966025e-01 3.10674497e+01] [ 1.07630773e-01 9.93825170e-01 -2.69656799e-02 -4.20643137e+00] [ 3.31901358e-01 -1.03511418e-02 9.43257305e-01 -2.35234525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.998639999999995 meters Centerline goodness : 0.996614 Centerline is valid? [True, True] Translation: X:31.09, Y:-4.20, Z:-23.51 [[ 9.37103325e-01 -1.10940923e-01 -3.30952368e-01 3.10939562e+01] [ 1.08067718e-01 9.93773217e-01 -2.71323025e-02 -4.20439579e+00] [ 3.31901682e-01 -1.03394963e-02 9.43257318e-01 -2.35135650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.028639999999996 meters Centerline goodness : 0.996759 Centerline is valid? [True, True] Translation: X:31.12, Y:-4.21, Z:-23.50 [[ 9.36070545e-01 -1.16818116e-01 -3.31851566e-01 3.11204428e+01] [ 1.14232162e-01 9.93077211e-01 -2.73617711e-02 -4.20734378e+00] [ 3.32750578e-01 -1.22955737e-02 9.42934712e-01 -2.35036860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.05864 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:31.15, Y:-4.26, Z:-23.50 [[ 9.18677064e-01 -1.04875277e-01 -3.80832810e-01 3.11477493e+01] [ 1.20290606e-01 9.92596051e-01 1.68300502e-02 -4.25505712e+00] [ 3.76248087e-01 -6.12719906e-02 9.24490736e-01 -2.35047239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.08864 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:31.16, Y:-4.16, Z:-23.47 [[ 0.93482419 -0.13818551 -0.32712155 31.16259009] [ 0.11730645 0.98963625 -0.08282085 -4.15966065] [ 0.33517598 0.03904946 0.94134595 -23.46900443] [ 0. 0. 0. 1. ]] SLAMing on 43.11864 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:31.20, Y:-4.21, Z:-23.47 [[ 9.35868847e-01 -1.19315880e-01 -3.31531629e-01 3.11985928e+01] [ 1.16831372e-01 9.92771178e-01 -2.74921752e-02 -4.21050093e+00] [ 3.32415299e-01 -1.30042247e-02 9.43043456e-01 -2.34747345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.14864 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:31.22, Y:-4.21, Z:-23.46 [[ 9.36222183e-01 -1.17141773e-01 -3.31309264e-01 3.12249096e+01] [ 1.14470709e-01 9.93042095e-01 -2.76379072e-02 -4.21422284e+00] [ 3.32241600e-01 -1.20499847e-02 9.43117340e-01 -2.34649024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.17864 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:31.26, Y:-4.28, Z:-23.47 [[ 0.92272694 -0.09367121 -0.37389931 31.25565229] [ 0.11700755 0.99231886 0.04015603 -4.28101271] [ 0.36726587 -0.0808021 0.92659959 -23.4682739 ] [ 0. 0. 0. 1. ]] SLAMing on 43.208639999999995 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:31.28, Y:-4.24, Z:-23.45 [[ 9.24121832e-01 -1.08581141e-01 -3.66345432e-01 3.12754698e+01] [ 1.12611871e-01 9.93584412e-01 -1.04203306e-02 -4.23878703e+00] [ 3.65126562e-01 -3.16251896e-02 9.30420572e-01 -2.34468075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.23864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:31.29, Y:-4.18, Z:-23.42 [[ 9.23161710e-01 -1.28070511e-01 -3.62450550e-01 3.12918263e+01] [ 1.09028810e-01 9.91383485e-01 -7.26051233e-02 -4.18440219e+00] [ 3.68626065e-01 2.75087175e-02 9.29170649e-01 -2.34206194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.26864 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:31.32, Y:-4.22, Z:-23.42 [[ 9.24857479e-01 -1.14757396e-01 -3.62587070e-01 3.13237801e+01] [ 1.08262181e-01 9.93385999e-01 -3.82564721e-02 -4.21616347e+00] [ 3.64579132e-01 -3.87268278e-03 9.31164357e-01 -2.34192170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.29864 meters Centerline goodness : 0.998422 Centerline is valid? [True, True] Translation: X:31.35, Y:-4.22, Z:-23.41 [[ 9.30074029e-01 -1.06180119e-01 -3.51693166e-01 3.13549893e+01] [ 1.00642470e-01 9.94339921e-01 -3.40472462e-02 -4.22128892e+00] [ 3.53317695e-01 -3.72880941e-03 9.35495966e-01 -2.34087542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.32864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:31.38, Y:-4.23, Z:-23.40 [[ 9.25629667e-01 -1.04054052e-01 -3.63844025e-01 3.13787562e+01] [ 1.03429345e-01 9.94409580e-01 -2.12593164e-02 -4.23439926e+00] [ 3.64022102e-01 -1.79538953e-02 9.31217250e-01 -2.34049139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.35864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:31.40, Y:-4.22, Z:-23.39 [[ 9.28670137e-01 -9.92174883e-02 -3.57390076e-01 3.14031165e+01] [ 9.60038245e-02 9.95020901e-01 -2.67707204e-02 -4.22439671e+00] [ 3.58266719e-01 -9.44964556e-03 9.33571455e-01 -2.33910010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.388639999999995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:31.43, Y:-4.22, Z:-23.38 [[ 9.34638409e-01 -9.67836670e-02 -3.42175344e-01 3.14282480e+01] [ 9.30751800e-02 9.95285198e-01 -2.72834183e-02 -4.21891548e+00] [ 3.43202644e-01 -6.34790109e-03 9.39239932e-01 -2.33816499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.418639999999996 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:31.44, Y:-4.16, Z:-23.36 [[ 0.94453862 -0.1162634 -0.30713126 31.44499159] [ 0.09349198 0.99173265 -0.08789539 -4.15923642] [ 0.31481112 0.05430628 0.94759949 -23.35591545] [ 0. 0. 0. 1. ]] SLAMing on 43.44864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:31.48, Y:-4.21, Z:-23.36 [[ 9.45143910e-01 -9.40223175e-02 -3.12830294e-01 3.14817666e+01] [ 9.02266697e-02 9.95565375e-01 -2.66220266e-02 -4.21079897e+00] [ 3.13946073e-01 -3.06398928e-03 9.49435872e-01 -2.33621729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.47864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:31.51, Y:-4.21, Z:-23.35 [[ 9.45070615e-01 -9.16653511e-02 -3.13749893e-01 3.15082383e+01] [ 8.76662374e-02 9.95787618e-01 -2.68635527e-02 -4.20615587e+00] [ 3.14890716e-01 -2.11731834e-03 9.49125573e-01 -2.33541378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.50864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:31.59, Y:-4.20, Z:-23.35 [[ 9.25651836e-01 -8.15385039e-02 -3.69486335e-01 3.15862850e+01] [ 8.21198284e-02 9.96521535e-01 -1.41832177e-02 -4.20283980e+00] [ 3.69357568e-01 -1.72134329e-02 9.29127916e-01 -2.33462216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.53864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:31.56, Y:-4.25, Z:-23.35 [[ 9.44412186e-01 -7.77299301e-02 -3.19442765e-01 3.15647062e+01] [ 9.06381890e-02 9.95551741e-01 2.57186698e-02 -4.25162479e+00] [ 3.16022691e-01 -5.32427389e-02 9.47256496e-01 -2.33481536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.568639999999995 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:31.59, Y:-4.24, Z:-23.34 [[ 9.31596253e-01 -8.43572213e-02 -3.53570758e-01 3.15859317e+01] [ 9.32512845e-02 9.95609153e-01 8.16166370e-03 -4.23645584e+00] [ 3.51329787e-01 -4.05743027e-02 9.35372175e-01 -2.33366300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.598639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.60, Y:-4.16, Z:-23.31 [[ 0.94477816 -0.11052715 -0.30850928 31.60211843] [ 0.09338412 0.99317772 -0.06983848 -4.1586494 ] [ 0.3141236 0.03717201 0.9486541 -23.30649076] [ 0. 0. 0. 1. ]] SLAMing on 43.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.64, Y:-4.23, Z:-23.32 [[ 9.29028718e-01 -8.46858627e-02 -3.60185988e-01 3.16384869e+01] [ 9.31009653e-02 9.95638328e-01 6.04404323e-03 -4.22627695e+00] [ 3.58103130e-01 -3.91487529e-02 9.32860935e-01 -2.33152520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.65864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:31.67, Y:-4.25, Z:-23.31 [[ 0.93335197 -0.07455164 -0.35113551 31.66820464] [ 0.09288243 0.99503945 0.03562778 -4.25021183] [ 0.34673758 -0.06586758 0.93564657 -23.31205413] [ 0. 0. 0. 1. ]] SLAMing on 43.68864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:31.67, Y:-4.09, Z:-23.26 [[ 0.94611541 -0.1303939 -0.29641702 31.66850997] [ 0.09393118 0.98649948 -0.13414809 -4.09261338] [ 0.30990733 0.09907677 0.94559042 -23.25713276] [ 0. 0. 0. 1. ]] SLAMing on 43.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:31.72, Y:-4.23, Z:-23.29 [[ 9.32678544e-01 -8.21483357e-02 -3.51229817e-01 3.17163110e+01] [ 9.22928761e-02 9.95657057e-01 1.22085739e-02 -4.22563275e+00] [ 3.48701532e-01 -4.38026849e-02 9.36209681e-01 -2.32864436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.748639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.73, Y:-4.14, Z:-23.26 [[ 0.94682825 -0.1085952 -0.30285863 31.73110138] [ 0.0905766 0.99321306 -0.07296369 -4.13945591] [ 0.30872665 0.04165218 0.95023837 -23.25705296] [ 0. 0. 0. 1. ]] SLAMing on 43.778639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.78, Y:-4.28, Z:-23.28 [[ 0.93403757 -0.05960468 -0.35216628 31.77505801] [ 0.09257891 0.9926823 0.0775306 -4.27783565] [ 0.34496805 -0.10501967 0.93272071 -23.2805002 ] [ 0. 0. 0. 1. ]] SLAMing on 43.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.77, Y:-4.08, Z:-23.22 [[ 0.94877867 -0.12692406 -0.28932564 31.77033095] [ 0.0897166 0.98629439 -0.1384713 -4.07594474] [ 0.30293559 0.1054213 0.94716227 -23.21599235] [ 0. 0. 0. 1. ]] SLAMing on 43.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.82, Y:-4.22, Z:-23.25 [[ 9.34433129e-01 -7.40350729e-02 -3.48358342e-01 3.18218654e+01] [ 8.76379046e-02 9.95876822e-01 2.34297484e-02 -4.22177366e+00] [ 3.45187376e-01 -5.24229283e-02 9.37068574e-01 -2.32517516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.83, Y:-4.12, Z:-23.21 [[ 0.94983959 -0.10744958 -0.29369939 31.83281033] [ 0.08677764 0.9927999 -0.08257114 -4.11570074] [ 0.30045696 0.0529428 0.95232488 -23.21481825] [ 0. 0. 0. 1. ]] SLAMing on 43.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.88, Y:-4.23, Z:-23.23 [[ 0.93562199 -0.06990974 -0.34601174 31.87545501] [ 0.0880681 0.9954264 0.03701741 -4.22582794] [ 0.34184135 -0.0651069 0.93749964 -23.23468651] [ 0. 0. 0. 1. ]] SLAMing on 43.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.89, Y:-4.16, Z:-23.21 [[ 9.39294646e-01 -8.94975931e-02 -3.31233678e-01 3.18930449e+01] [ 8.54283302e-02 9.95982304e-01 -2.68561033e-02 -4.16405745e+00] [ 3.32306439e-01 -3.07094596e-03 9.43166475e-01 -2.32120154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.958639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:31.91, Y:-4.14, Z:-23.19 [[ 9.38008307e-01 -1.03278828e-01 -3.30868402e-01 3.19122572e+01] [ 8.93644350e-02 9.94364429e-01 -5.70384172e-02 -4.13517382e+00] [ 3.34894631e-01 2.39346413e-02 9.41951548e-01 -2.31944495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.94, Y:-4.11, Z:-23.18 [[ 0.95094125 -0.10873702 -0.28963251 31.93876007] [ 0.09175602 0.99320264 -0.07161941 -4.11361387] [ 0.29545146 0.04153033 0.95445464 -23.17992673] [ 0. 0. 0. 1. ]] SLAMing on 44.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:31.97, Y:-4.15, Z:-23.18 [[ 9.51022498e-01 -9.55387369e-02 -2.93987342e-01 3.19724229e+01] [ 9.16591631e-02 9.95424879e-01 -2.69797648e-02 -4.15078446e+00] [ 2.95219927e-01 -1.28827040e-03 9.55428456e-01 -2.31833242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.01, Y:-4.23, Z:-23.19 [[ 0.93884194 -0.06854576 -0.33745711 32.00906464] [ 0.09239588 0.99419611 0.05510984 -4.2266245 ] [ 0.331721 -0.08291908 0.93972635 -23.19140118] [ 0. 0. 0. 1. ]] SLAMing on 44.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.02, Y:-4.15, Z:-23.17 [[ 9.39649595e-01 -9.47733023e-02 -3.28750148e-01 3.20224612e+01] [ 9.35565581e-02 9.95421887e-01 -1.95559988e-02 -4.15333941e+00] [ 3.29098479e-01 -1.23809460e-02 9.44214437e-01 -2.31673425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.03, Y:-4.05, Z:-23.13 [[ 0.9518821 -0.12730476 -0.27877224 32.03253711] [ 0.09530591 0.98750167 -0.12552782 -4.05003562] [ 0.29126835 0.09291904 0.95211806 -23.12564095] [ 0. 0. 0. 1. ]] SLAMing on 44.138639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.08, Y:-4.13, Z:-23.15 [[ 9.52114146e-01 -9.76402350e-02 -2.89732701e-01 3.20763820e+01] [ 9.39023356e-02 9.95220358e-01 -2.68102552e-02 -4.13451574e+00] [ 2.90965643e-01 -1.68015413e-03 9.56732027e-01 -2.31468406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.168639999999996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.10, Y:-4.13, Z:-23.14 [[ 9.51775893e-01 -1.00051790e-01 -2.90021186e-01 3.21031390e+01] [ 9.63694653e-02 9.94979660e-01 -2.69889315e-02 -4.13116907e+00] [ 2.91265472e-01 -2.26177217e-03 9.56639592e-01 -2.31380917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.13, Y:-4.13, Z:-23.13 [[ 9.51637093e-01 -1.00825745e-01 -2.90208566e-01 3.21290651e+01] [ 9.71276063e-02 9.94901342e-01 -2.71578354e-02 -4.12853031e+00] [ 2.91467101e-01 -2.34285984e-03 9.56577984e-01 -2.31294217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.16, Y:-4.20, Z:-23.14 [[ 0.94142072 -0.07603465 -0.32855099 32.16367712] [ 0.09959781 0.99348046 0.05546933 -4.20298023] [ 0.3221914 -0.08494293 0.94285598 -23.13924378] [ 0. 0. 0. 1. ]] SLAMing on 44.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.17, Y:-4.09, Z:-23.10 [[ 9.36910226e-01 -1.12032642e-01 -3.31131265e-01 3.21721339e+01] [ 9.64755402e-02 9.93332749e-01 -6.31072137e-02 -4.09144866e+00] [ 3.35993598e-01 2.71797261e-02 9.41472020e-01 -2.30995216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.20, Y:-4.06, Z:-23.08 [[ 0.95233605 -0.11712267 -0.28167062 32.19790678] [ 0.09654561 0.99161455 -0.08590418 -4.06261037] [ 0.28937001 0.05461558 0.95565796 -23.08246041] [ 0. 0. 0. 1. ]] SLAMing on 44.318639999999995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.23, Y:-4.11, Z:-23.09 [[ 9.52491275e-01 -9.88559112e-02 -2.88076172e-01 3.22346307e+01] [ 9.50574968e-02 9.95100636e-01 -2.71808105e-02 -4.11253074e+00] [ 2.89351766e-01 -1.49431496e-03 9.57221669e-01 -2.30908324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.348639999999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:32.26, Y:-4.11, Z:-23.08 [[ 9.52220837e-01 -1.00095445e-01 -2.88541816e-01 3.22609336e+01] [ 9.62945395e-02 9.94976357e-01 -2.73753539e-02 -4.11002555e+00] [ 2.89832433e-01 -1.71761891e-03 9.57075864e-01 -2.30826441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.37864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.29, Y:-4.11, Z:-23.07 [[ 9.51534609e-01 -1.02121004e-01 -2.90091689e-01 3.22876068e+01] [ 9.83238340e-02 9.94769576e-01 -2.76751715e-02 -4.10754403e+00] [ 2.91400603e-01 -2.18904360e-03 9.56598608e-01 -2.30736857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.40864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:32.32, Y:-4.19, Z:-23.09 [[ 0.94013754 -0.07690778 -0.33200392 32.3231671 ] [ 0.10297348 0.99277377 0.06161736 -4.19319833] [ 0.32486593 -0.09211639 0.94126335 -23.08583405] [ 0. 0. 0. 1. ]] SLAMing on 44.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.32, Y:-4.02, Z:-23.02 [[ 0.95168975 -0.13386563 -0.27634511 32.32233038] [ 0.10322891 0.98706731 -0.12264553 -4.02052407] [ 0.28918924 0.08819369 0.95320064 -23.02465682] [ 0. 0. 0. 1. ]] SLAMing on 44.46864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.38, Y:-4.19, Z:-23.07 [[ 0.94117092 -0.07712689 -0.32901177 32.37659399] [ 0.10423294 0.99239155 0.06553242 -4.19216914] [ 0.32145419 -0.09597107 0.94204923 -23.06555842] [ 0. 0. 0. 1. ]] SLAMing on 44.498639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.38, Y:-4.06, Z:-23.02 [[ 0.93978027 -0.12099032 -0.31964728 32.38238576] [ 0.10125512 0.99182003 -0.07772022 -4.0577866 ] [ 0.32643596 0.04067401 0.94434379 -23.01996726] [ 0. 0. 0. 1. ]] SLAMing on 44.528639999999996 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.41, Y:-4.05, Z:-23.01 [[ 0.95184926 -0.12187838 -0.28129815 32.41145864] [ 0.10433358 0.99158919 -0.07658578 -4.05214611] [ 0.28826635 0.04354927 0.95655944 -23.01312993] [ 0. 0. 0. 1. ]] SLAMing on 44.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:32.46, Y:-4.18, Z:-23.04 [[ 0.94110766 -0.07996383 -0.32851507 32.45690242] [ 0.10477835 0.99277286 0.05851114 -4.17685535] [ 0.32146207 -0.08948655 0.94268462 -23.03772934] [ 0. 0. 0. 1. ]] SLAMing on 44.58864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:32.47, Y:-4.10, Z:-23.01 [[ 9.40408924e-01 -1.07945037e-01 -3.22457633e-01 3.24695766e+01] [ 1.04119404e-01 9.94137731e-01 -2.91431079e-02 -4.09712732e+00] [ 3.23713153e-01 -6.16765793e-03 9.46135167e-01 -2.30078868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.61864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:32.49, Y:-4.07, Z:-22.99 [[ 9.44119348e-01 -1.14275044e-01 -3.09159945e-01 3.24925581e+01] [ 1.02602605e-01 9.93265834e-01 -5.38116054e-02 -4.07326390e+00] [ 3.13227334e-01 1.90839622e-02 9.49486408e-01 -2.29920897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:32.53, Y:-4.10, Z:-22.99 [[ 9.42196591e-01 -9.11493359e-02 -3.22424226e-01 3.25287403e+01] [ 8.92432832e-02 9.95794274e-01 -2.07219836e-02 -4.09754003e+00] [ 3.22956993e-01 -9.25001425e-03 9.46368437e-01 -2.29947018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.67864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:32.55, Y:-4.08, Z:-22.98 [[ 9.41047551e-01 -1.14725282e-01 -3.18225731e-01 3.25459798e+01] [ 1.06553431e-01 9.93375426e-01 -4.30305558e-02 -4.08300679e+00] [ 3.21054314e-01 6.58575552e-03 9.47037885e-01 -2.29772643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.708639999999995 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:32.57, Y:-4.04, Z:-22.96 [[ 0.95410456 -0.1294019 -0.27007339 32.56775661] [ 0.10990372 0.99019935 -0.08617669 -4.03930666] [ 0.27857792 0.0525395 0.95897547 -22.95688802] [ 0. 0. 0. 1. ]] SLAMing on 44.73864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:32.61, Y:-4.15, Z:-22.97 [[ 9.43132976e-01 -9.48165319e-02 -3.18606362e-01 3.26097966e+01] [ 1.09186267e-01 9.93640667e-01 2.75060631e-02 -4.14758536e+00] [ 3.13972209e-01 -6.07293144e-02 9.47487943e-01 -2.29748589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.76864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:32.63, Y:-4.14, Z:-22.97 [[ 9.43002416e-01 -9.51377384e-02 -3.18896934e-01 3.26337450e+01] [ 1.08850030e-01 9.93733275e-01 2.54135564e-02 -4.14428882e+00] [ 3.14480707e-01 -5.86769861e-02 9.47448625e-01 -2.29660827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.79864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:32.63, Y:-3.99, Z:-22.91 [[ 0.95617804 -0.14311615 -0.25542382 32.63469461] [ 0.10883726 0.98361849 -0.143698 -3.98594297] [ 0.2718051 0.10960125 0.95609077 -22.9086704 ] [ 0. 0. 0. 1. ]] SLAMing on 44.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:32.69, Y:-4.20, Z:-22.96 [[ 0.94433953 -0.07812386 -0.31956145 32.69285813] [ 0.10984805 0.99052211 0.08245815 -4.19549499] [ 0.31009073 -0.1129717 0.94397094 -22.95903792] [ 0. 0. 0. 1. ]] SLAMing on 44.85864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:32.70, Y:-4.08, Z:-22.92 [[ 9.43733649e-01 -1.11387714e-01 -3.11383330e-01 3.27040765e+01] [ 1.03773945e-01 9.93756731e-01 -4.09698441e-02 -4.07991885e+00] [ 3.14002817e-01 6.35114397e-03 9.49400808e-01 -2.29242782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.888639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.72, Y:-4.00, Z:-22.89 [[ 0.95811238 -0.13545662 -0.25233347 32.71725273] [ 0.10609657 0.98626455 -0.12659289 -3.9960944 ] [ 0.2660154 0.0945185 0.95932375 -22.88959961] [ 0. 0. 0. 1. ]] SLAMing on 44.918639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.76, Y:-4.08, Z:-22.91 [[ 9.58584895e-01 -1.07571820e-01 -2.63710641e-01 3.27619595e+01] [ 1.04436693e-01 9.94193669e-01 -2.59215430e-02 -4.08382158e+00] [ 2.64967877e-01 -2.69306765e-03 9.64253479e-01 -2.29107223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.94864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:32.79, Y:-4.14, Z:-22.91 [[ 9.45543360e-01 -9.17505747e-02 -3.12297274e-01 3.27931022e+01] [ 1.06634416e-01 9.93818630e-01 3.08809402e-02 -4.13775924e+00] [ 3.07533505e-01 -6.25009053e-02 9.49482375e-01 -2.29123235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.80, Y:-4.02, Z:-22.87 [[ 0.95897785 -0.12513573 -0.25436691 32.80343972] [ 0.10589363 0.99047257 -0.08803765 -4.02152195] [ 0.2629601 0.05749032 0.96309234 -22.87422069] [ 0. 0. 0. 1. ]] SLAMing on 45.00864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:32.84, Y:-4.07, Z:-22.88 [[ 9.59158149e-01 -1.08221412e-01 -2.61349901e-01 3.28400853e+01] [ 1.05118936e-01 9.94123245e-01 -2.58647001e-02 -4.07295338e+00] [ 2.62613126e-01 -2.66448564e-03 9.64897532e-01 -2.28826609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.03864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:32.88, Y:-4.16, Z:-22.89 [[ 0.94729319 -0.08201182 -0.30969288 32.87600228] [ 0.10677347 0.99223171 0.06384085 -4.15623349] [ 0.3020514 -0.09354298 0.94869103 -22.89263408] [ 0. 0. 0. 1. ]] SLAMing on 45.068639999999995 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:32.89, Y:-4.04, Z:-22.86 [[ 9.47141104e-01 -1.15973127e-01 -2.99121986e-01 3.28861911e+01] [ 1.03186383e-01 9.92954905e-01 -5.82505532e-02 -4.04170820e+00] [ 3.03770142e-01 2.43061776e-02 9.52435253e-01 -2.28567682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.098639999999996 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.91, Y:-4.01, Z:-22.84 [[ 0.95977623 -0.12620225 -0.25080389 32.90946159] [ 0.10668414 0.99021077 -0.09000629 -4.00584672] [ 0.25970771 0.0596291 0.96384453 -22.84027054] [ 0. 0. 0. 1. ]] SLAMing on 45.12864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:32.95, Y:-4.13, Z:-22.86 [[ 0.94397447 -0.09442888 -0.31622049 32.95179654] [ 0.11261522 0.99284544 0.03969576 -4.12518153] [ 0.31020964 -0.07308302 0.94785487 -22.86417791] [ 0. 0. 0. 1. ]] SLAMing on 45.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:32.97, Y:-4.07, Z:-22.85 [[ 9.49847346e-01 -1.10639430e-01 -2.92487499e-01 3.29689628e+01] [ 1.12417520e-01 9.93602615e-01 -1.07770212e-02 -4.07346338e+00] [ 2.91808707e-01 -2.26441941e-02 9.56208617e-01 -2.28464825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.18864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:32.98, Y:-3.97, Z:-22.81 [[ 0.95928941 -0.14350358 -0.24324998 32.98326883] [ 0.11611102 0.98552761 -0.12350532 -3.96690433] [ 0.25745303 0.09023334 0.96206854 -22.80505757] [ 0. 0. 0. 1. ]] SLAMing on 45.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:33.03, Y:-4.05, Z:-22.83 [[ 9.59593733e-01 -1.18981039e-01 -2.54996822e-01 3.30274481e+01] [ 1.16363778e-01 9.92882293e-01 -2.53815504e-02 -4.05421881e+00] [ 2.56201753e-01 -5.31641694e-03 9.66608710e-01 -2.28261450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.248639999999995 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:33.05, Y:-4.05, Z:-22.82 [[ 9.59633724e-01 -1.20847214e-01 -2.53966663e-01 3.30539994e+01] [ 1.18281796e-01 9.92654990e-01 -2.54064446e-02 -4.05321045e+00] [ 2.55171573e-01 -5.65875189e-03 9.66879231e-01 -2.28186311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.278639999999996 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:33.08, Y:-4.10, Z:-22.82 [[ 9.47104376e-01 -1.11333905e-01 -3.00995120e-01 3.30836917e+01] [ 1.23303036e-01 9.92146819e-01 2.10012205e-02 -4.10142667e+00] [ 2.96293203e-01 -5.70039599e-02 9.53394402e-01 -2.28223465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.30864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:33.10, Y:-4.05, Z:-22.80 [[ 9.47027099e-01 -1.26758503e-01 -2.95079576e-01 3.31020241e+01] [ 1.22304869e-01 9.91924338e-01 -3.35801575e-02 -4.05097724e+00] [ 2.96953184e-01 -4.28834994e-03 9.54882410e-01 -2.28025389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.33864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:33.13, Y:-4.05, Z:-22.80 [[ 9.47815459e-01 -1.24831521e-01 -2.93364871e-01 3.31291484e+01] [ 1.21224433e-01 9.92155773e-01 -3.05214566e-02 -4.05304025e+00] [ 2.94873690e-01 -6.63428162e-03 9.55513209e-01 -2.27953603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.36864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:33.15, Y:-4.00, Z:-22.77 [[ 0.95988134 -0.13438056 -0.24610908 33.15160335] [ 0.11722883 0.98961926 -0.08313317 -4.00194618] [ 0.25472577 0.0509469 0.96567034 -22.7731228 ] [ 0. 0. 0. 1. ]] SLAMing on 45.39864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:33.19, Y:-4.05, Z:-22.78 [[ 9.60607138e-01 -1.16638906e-01 -2.52248472e-01 3.31878942e+01] [ 1.13891964e-01 9.93165429e-01 -2.55156977e-02 -4.05338186e+00] [ 2.53500585e-01 -4.21851242e-03 9.67326035e-01 -2.27814497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.42864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:33.21, Y:-4.05, Z:-22.77 [[ 9.60960730e-01 -1.13712919e-01 -2.52237682e-01 3.32148242e+01] [ 1.10833811e-01 9.93508116e-01 -2.56415588e-02 -4.05195123e+00] [ 2.53515961e-01 -3.31593267e-03 9.67325520e-01 -2.27744269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.458639999999995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:33.25, Y:-4.10, Z:-22.78 [[ 9.49197269e-01 -9.46448258e-02 -3.00111481e-01 3.32454940e+01] [ 1.07604937e-01 9.93829341e-01 2.69150238e-02 -4.10255717e+00] [ 2.95712227e-01 -5.78411441e-02 9.53524347e-01 -2.27775854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.48864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:33.26, Y:-4.02, Z:-22.75 [[ 9.50852759e-01 -1.22266017e-01 -2.84482077e-01 3.32551853e+01] [ 1.09018921e-01 9.92103880e-01 -6.20061823e-02 -4.02159380e+00] [ 2.89817021e-01 2.79448205e-02 9.56674020e-01 -2.27488065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.51864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:33.29, Y:-4.04, Z:-22.75 [[ 9.51495711e-01 -1.05901998e-01 -2.88861004e-01 3.32904769e+01] [ 1.00598812e-01 9.94373380e-01 -3.31882458e-02 -4.03962686e+00] [ 2.90750394e-01 2.51939978e-03 9.56795621e-01 -2.27482473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.54864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:33.32, Y:-4.03, Z:-22.74 [[ 9.53066663e-01 -1.01475726e-01 -2.85248335e-01 3.33180304e+01] [ 9.55819520e-02 9.94821912e-01 -3.45464033e-02 -4.03367771e+00] [ 2.87276916e-01 5.66043262e-03 9.57830848e-01 -2.27386022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.57864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:33.34, Y:-4.01, Z:-22.72 [[ 9.63050497e-01 -1.07139593e-01 -2.47092791e-01 3.33430910e+01] [ 9.58218535e-02 9.93741050e-01 -5.74186233e-02 -4.00555153e+00] [ 2.51698058e-01 3.16201445e-02 9.67289126e-01 -2.27246243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.60864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:33.37, Y:-4.03, Z:-22.72 [[ 9.63818771e-01 -9.88302052e-02 -2.47560028e-01 3.33742072e+01] [ 9.55307785e-02 9.95104014e-01 -2.53351740e-02 -4.02938083e+00] [ 2.48851858e-01 7.68914015e-04 9.68541254e-01 -2.27249979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.638639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:33.40, Y:-4.03, Z:-22.72 [[ 9.63448952e-01 -9.96469260e-02 -2.48669676e-01 3.34006753e+01] [ 9.63101043e-02 9.95022616e-01 -2.55804248e-02 -4.02547780e+00] [ 2.49980962e-01 6.96030985e-04 9.68250502e-01 -2.27174962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.668639999999996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:33.43, Y:-4.02, Z:-22.71 [[ 9.63474358e-01 -1.00025183e-01 -2.48419253e-01 3.34265753e+01] [ 9.66740570e-02 9.94984637e-01 -2.56845853e-02 -4.02168163e+00] [ 2.49742445e-01 7.30742274e-04 9.68312025e-01 -2.27094227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.69864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:33.46, Y:-4.07, Z:-22.71 [[ 9.50257484e-01 -8.88879242e-02 -2.98512396e-01 3.34558360e+01] [ 1.00323546e-01 9.94684952e-01 2.31739782e-02 -4.06748051e+00] [ 2.94865902e-01 -5.19690683e-02 9.54124371e-01 -2.27139720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.72864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:33.47, Y:-3.96, Z:-22.68 [[ 0.96422784 -0.11413369 -0.23924503 33.46904622] [ 0.09697708 0.99187515 -0.08233555 -3.96179672] [ 0.24669846 0.05618894 0.96746198 -22.67835046] [ 0. 0. 0. 1. ]] SLAMing on 45.75864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:33.50, Y:-4.03, Z:-22.69 [[ 9.54185329e-01 -9.50252556e-02 -2.83726202e-01 3.35038781e+01] [ 9.90780716e-02 9.95079661e-01 -6.64608451e-05 -4.03456146e+00] [ 2.82336489e-01 -2.80476290e-02 9.58905333e-01 -2.26919403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.78864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:33.52, Y:-3.97, Z:-22.67 [[ 9.64859678e-01 -1.07804575e-01 -2.39633003e-01 3.35246524e+01] [ 9.65881975e-02 9.93627052e-01 -5.81033681e-02 -3.97284852e+00] [ 2.44369643e-01 3.29158772e-02 9.69123327e-01 -2.26690398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.818639999999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.56, Y:-4.00, Z:-22.67 [[ 9.64480781e-01 -9.94851781e-02 -2.44702926e-01 3.35577036e+01] [ 9.61731667e-02 9.95038502e-01 -2.54774708e-02 -3.99900622e+00] [ 2.46023463e-01 1.03867571e-03 9.69263316e-01 -2.26717690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.848639999999996 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:33.58, Y:-4.00, Z:-22.66 [[ 9.64163428e-01 -1.00484269e-01 -2.45543879e-01 3.35841326e+01] [ 9.71484015e-02 9.94938224e-01 -2.56927764e-02 -3.99537612e+00] [ 2.46882710e-01 9.17840026e-04 9.69044934e-01 -2.26634323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.87864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:33.61, Y:-3.99, Z:-22.66 [[ 9.64477377e-01 -1.02539688e-01 -2.43452259e-01 3.36111212e+01] [ 9.92937632e-02 9.94728779e-01 -2.56008722e-02 -3.98979952e+00] [ 2.44794074e-01 5.18171129e-04 9.69574955e-01 -2.26567760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.90864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:33.64, Y:-4.01, Z:-22.66 [[ 9.52772785e-01 -1.00728371e-01 -2.86492262e-01 3.36369717e+01] [ 1.05104131e-01 9.94461216e-01 -1.05074909e-04 -4.01390540e+00] [ 2.84916027e-01 -3.00114077e-02 9.58082550e-01 -2.26554715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.93864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:33.66, Y:-3.95, Z:-22.63 [[ 9.63879628e-01 -1.15025389e-01 -2.40219113e-01 3.36581157e+01] [ 1.03662817e-01 9.92833788e-01 -5.94566178e-02 -3.95074365e+00] [ 2.45336673e-01 3.24072328e-02 9.68896118e-01 -2.26312286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.96864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:33.69, Y:-3.98, Z:-22.63 [[ 9.63778853e-01 -1.10533214e-01 -2.42719448e-01 3.36900769e+01] [ 1.07527669e-01 9.93871460e-01 -2.56382962e-02 -3.97765702e+00] [ 2.44065816e-01 -1.38940885e-03 9.69757674e-01 -2.26331768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.998639999999995 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:33.72, Y:-3.97, Z:-22.63 [[ 9.63752264e-01 -1.12021039e-01 -2.42142232e-01 3.37164639e+01] [ 1.09044862e-01 9.93704492e-01 -2.57021556e-02 -3.97424197e+00] [ 2.43497005e-01 -1.63385558e-03 9.69900273e-01 -2.26261650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.028639999999996 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:33.74, Y:-3.97, Z:-22.62 [[ 9.63507738e-01 -1.11627307e-01 -2.43294438e-01 3.37426564e+01] [ 1.08578347e-01 9.93749136e-01 -2.59498847e-02 -3.96712420e+00] [ 2.44670353e-01 -1.41359304e-03 9.69605291e-01 -2.26191082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.05864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:33.77, Y:-4.01, Z:-22.62 [[ 9.52093054e-01 -9.84620931e-02 -2.89523804e-01 3.37735094e+01] [ 1.09609726e-01 9.93719961e-01 2.25021619e-02 -4.01077559e+00] [ 2.85489973e-01 -5.31587769e-02 9.56906275e-01 -2.26232056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.08864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:33.79, Y:-3.91, Z:-22.59 [[ 0.96447478 -0.12319369 -0.2336915 33.78544552] [ 0.10714573 0.99100209 -0.08021623 -3.9064075 ] [ 0.2414709 0.05232748 0.9689962 -22.58659216] [ 0. 0. 0. 1. ]] SLAMing on 46.11864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:33.84, Y:-4.06, Z:-22.62 [[ 0.95388663 -0.07788153 -0.28988751 33.83512289] [ 0.10725956 0.99043029 0.08685176 -4.05869604] [ 0.28034923 -0.11393994 0.95311175 -22.62157483] [ 0. 0. 0. 1. ]] SLAMing on 46.14864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:33.84, Y:-3.95, Z:-22.59 [[ 9.53541697e-01 -1.11312025e-01 -2.79942612e-01 3.38418600e+01] [ 1.06916125e-01 9.93785428e-01 -3.09752254e-02 -3.94637249e+00] [ 2.81650803e-01 -3.94210204e-04 9.59516894e-01 -2.25873297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.17864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:33.86, Y:-3.91, Z:-22.57 [[ 0.95032153 -0.12339933 -0.28576494 33.86113442] [ 0.10742472 0.9916761 -0.07098193 -3.9081759 ] [ 0.29214539 0.03675743 0.95566729 -22.56639134] [ 0. 0. 0. 1. ]] SLAMing on 46.208639999999995 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:33.88, Y:-3.87, Z:-22.55 [[ 0.96580724 -0.13283504 -0.22264599 33.88453463] [ 0.11175374 0.98819391 -0.10480407 -3.86803923] [ 0.23393906 0.076339 0.96924964 -22.5465506 ] [ 0. 0. 0. 1. ]] SLAMing on 46.23864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:33.94, Y:-4.03, Z:-22.58 [[ 0.94983433 -0.09396343 -0.29830456 33.93537904] [ 0.11950487 0.99046579 0.06852817 -4.03120241] [ 0.28902132 -0.10073925 0.9520075 -22.5842189 ] [ 0. 0. 0. 1. ]] SLAMing on 46.26864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:33.93, Y:-3.85, Z:-22.52 [[ 0.96549057 -0.14567976 -0.21588276 33.93419946] [ 0.12041406 0.98470041 -0.12595853 -3.84503678] [ 0.23092946 0.09561646 0.96826085 -22.52204907] [ 0. 0. 0. 1. ]] SLAMing on 46.29864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:33.98, Y:-3.94, Z:-22.55 [[ 9.65216438e-01 -1.25141058e-01 -2.29558149e-01 3.39796890e+01] [ 1.22751619e-01 9.92129554e-01 -2.47181865e-02 -3.93603804e+00] [ 2.30844684e-01 -4.32023466e-03 9.72981021e-01 -2.25484286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.32864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:34.01, Y:-3.93, Z:-22.54 [[ 9.65211183e-01 -1.26809756e-01 -2.28662758e-01 3.40067017e+01] [ 1.24458637e-01 9.91916459e-01 -2.47343084e-02 -3.93491559e+00] [ 2.29950905e-01 -4.58522428e-03 9.73191429e-01 -2.25414827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.35864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:34.03, Y:-3.93, Z:-22.53 [[ 9.65063486e-01 -1.28610701e-01 -2.28279996e-01 3.40333165e+01] [ 1.26290356e-01 9.91683104e-01 -2.48065915e-02 -3.93457611e+00] [ 2.29571808e-01 -4.88962610e-03 9.73279444e-01 -2.25342830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.388639999999995 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:34.06, Y:-4.00, Z:-22.54 [[ 0.95255584 -0.11350537 -0.28240732 34.06481903] [ 0.13052232 0.99054996 0.04212731 -4.00283753] [ 0.27495688 -0.07698907 0.95836913 -22.5404083 ] [ 0. 0. 0. 1. ]] SLAMing on 46.418639999999996 meters Centerline goodness : 0.996864 Centerline is valid? [True, True] Translation: X:34.09, Y:-3.94, Z:-22.53 [[ 9.58341350e-01 -8.96202572e-02 -2.71201156e-01 3.40936195e+01] [ 9.12003538e-02 9.95809361e-01 -6.79798309e-03 -3.93940536e+00] [ 2.70673887e-01 -1.82188531e-02 9.62498686e-01 -2.25276869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.44864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:34.10, Y:-3.86, Z:-22.49 [[ 0.96451513 -0.15010139 -0.21720989 34.09921908] [ 0.13068041 0.9862407 -0.10125171 -3.86441417] [ 0.22941926 0.06927372 0.97085939 -22.48771471] [ 0. 0. 0. 1. ]] SLAMing on 46.47864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:34.14, Y:-3.93, Z:-22.50 [[ 9.65121785e-01 -1.33198704e-01 -2.25384218e-01 3.41402318e+01] [ 1.30933045e-01 9.91074946e-01 -2.50397484e-02 -3.93319403e+00] [ 2.26707914e-01 -5.34383527e-03 9.73948133e-01 -2.25030749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.50864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:34.18, Y:-4.02, Z:-22.51 [[ 0.95586361 -0.10903455 -0.27283004 34.17793391] [ 0.13011934 0.98965906 0.06036474 -4.01599707] [ 0.26342688 -0.09320092 0.96016658 -22.51352951] [ 0. 0. 0. 1. ]] SLAMing on 46.53864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:34.18, Y:-3.86, Z:-22.46 [[ 0.9647771 -0.15601029 -0.2118158 34.17904044] [ 0.13435037 0.98445285 -0.11314838 -3.85690937] [ 0.22617498 0.08070544 0.97073761 -22.46183321] [ 0. 0. 0. 1. ]] SLAMing on 46.568639999999995 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:34.23, Y:-4.04, Z:-22.50 [[ 0.95467188 -0.10833391 -0.27724604 34.23239208] [ 0.13601074 0.9872606 0.08256864 -4.04107011] [ 0.2647691 -0.1165344 0.95724451 -22.5012437 ] [ 0. 0. 0. 1. ]] SLAMing on 46.598639999999996 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:34.24, Y:-3.94, Z:-22.47 [[ 9.54761084e-01 -1.36880406e-01 -2.63998159e-01 3.42428069e+01] [ 1.34379901e-01 9.90545529e-01 -2.75970635e-02 -3.93716309e+00] [ 2.65279693e-01 -9.12744415e-03 9.64128298e-01 -2.24704903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.62864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:34.25, Y:-3.83, Z:-22.43 [[ 0.96532482 -0.16406764 -0.20305122 34.25408779] [ 0.13761791 0.98079084 -0.13824126 -3.8333206 ] [ 0.22183169 0.10550423 0.96936039 -22.42945398] [ 0. 0. 0. 1. ]] SLAMing on 46.65864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:34.30, Y:-3.94, Z:-22.46 [[ 9.66710619e-01 -1.37020701e-01 -2.16092358e-01 3.43009059e+01] [ 1.34991868e-01 9.90551304e-01 -2.41931807e-02 -3.93511564e+00] [ 2.17365533e-01 -5.78290637e-03 9.76073144e-01 -2.24565708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.68864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:34.33, Y:-3.93, Z:-22.45 [[ 9.66501624e-01 -1.36771366e-01 -2.17182420e-01 3.43281699e+01] [ 1.34691694e-01 9.90586538e-01 -2.44224767e-02 -3.93439224e+00] [ 2.18478277e-01 -5.64830479e-03 9.75825465e-01 -2.24501857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.71864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:34.35, Y:-3.93, Z:-22.44 [[ 9.66678538e-01 -1.34152515e-01 -2.18026851e-01 3.43546487e+01] [ 1.31966641e-01 9.90948244e-01 -2.46248561e-02 -3.93163340e+00] [ 2.19356811e-01 -4.96795121e-03 9.75632056e-01 -2.24422829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.748639999999995 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:34.38, Y:-3.93, Z:-22.43 [[ 9.66647165e-01 -1.32849861e-01 -2.18961577e-01 3.43815254e+01] [ 1.30587552e-01 9.91125578e-01 -2.48391013e-02 -3.92735838e+00] [ 2.20318291e-01 -4.58300945e-03 9.75417268e-01 -2.24348500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.778639999999996 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:34.41, Y:-3.92, Z:-22.43 [[ 9.66957522e-01 -1.31307634e-01 -2.18521064e-01 3.44083496e+01] [ 1.28991336e-01 9.91333136e-01 -2.48967575e-02 -3.92375018e+00] [ 2.19896306e-01 -4.11321691e-03 9.75514580e-01 -2.24279096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.80864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:34.44, Y:-3.92, Z:-22.42 [[ 9.66897273e-01 -1.31771202e-01 -2.18508613e-01 3.44357014e+01] [ 1.29442013e-01 9.91271652e-01 -2.50055475e-02 -3.92080715e+00] [ 2.19896404e-01 -4.10639903e-03 9.75514587e-01 -2.24209588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.83864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:34.46, Y:-3.92, Z:-22.41 [[ 9.66869462e-01 -1.30955686e-01 -2.19121090e-01 3.44623942e+01] [ 1.28569355e-01 9.91380833e-01 -2.51786527e-02 -3.91899956e+00] [ 2.20529737e-01 -3.82778686e-03 9.75372741e-01 -2.24134409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.86864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:34.49, Y:-3.96, Z:-22.42 [[ 9.55474992e-01 -1.21151272e-01 -2.69053728e-01 3.44907276e+01] [ 1.30805011e-01 9.91241456e-01 1.81776098e-02 -3.96208408e+00] [ 2.64494969e-01 -5.25618275e-02 9.62953616e-01 -2.24159849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.89864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:34.51, Y:-3.87, Z:-22.39 [[ 0.96705806 -0.14394012 -0.20995226 34.50646848] [ 0.13061835 0.98851021 -0.07606851 -3.86682332] [ 0.21848926 0.04613905 0.97474798 -22.3859587 ] [ 0. 0. 0. 1. ]] SLAMing on 46.92864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:34.54, Y:-3.91, Z:-22.39 [[ 9.66836605e-01 -1.32603852e-01 -2.18273216e-01 3.45423303e+01] [ 1.30258153e-01 9.91160641e-01 -2.51673964e-02 -3.91111455e+00] [ 2.19681115e-01 -4.09910578e-03 9.75563122e-01 -2.23915440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.958639999999995 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:34.58, Y:-4.00, Z:-22.40 [[ 0.95737571 -0.11158838 -0.26642032 34.57790176] [ 0.13291445 0.98910107 0.06334681 -3.9955778 ] [ 0.25644786 -0.09605781 0.96177305 -22.40133201] [ 0. 0. 0. 1. ]] SLAMing on 46.98864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:34.59, Y:-3.92, Z:-22.38 [[ 9.56891102e-01 -1.31070570e-01 -2.59190903e-01 3.45925350e+01] [ 1.32397221e-01 9.91119036e-01 -1.24109860e-02 -3.92345804e+00] [ 2.58515753e-01 -2.24401932e-02 9.65746366e-01 -2.23787741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.01864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:34.60, Y:-3.84, Z:-22.34 [[ 0.95673639 -0.15270826 -0.24766039 34.60308168] [ 0.13098248 0.98611875 -0.10204606 -3.84353614] [ 0.25980583 0.06519201 0.9634578 -22.34335467] [ 0. 0. 0. 1. ]] SLAMing on 47.04864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:34.65, Y:-3.97, Z:-22.37 [[ 0.95890612 -0.11776092 -0.25813064 34.65419241] [ 0.13297517 0.99021916 0.04223283 -3.97003434] [ 0.25063253 -0.07482228 0.96518649 -22.3716007 ] [ 0. 0. 0. 1. ]] SLAMing on 47.07864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:34.67, Y:-3.91, Z:-22.35 [[ 9.59155367e-01 -1.36440690e-01 -2.47800163e-01 3.46681685e+01] [ 1.33060094e-01 9.90640978e-01 -3.04214278e-02 -3.90513224e+00] [ 2.49631717e-01 -3.79343743e-03 9.68333422e-01 -2.23481797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.10864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:34.68, Y:-3.80, Z:-22.31 [[ 0.96921706 -0.15949322 -0.18756384 34.68127583] [ 0.13386351 0.98073916 -0.14223664 -3.79947076] [ 0.20663699 0.11275023 0.97189945 -22.30966577] [ 0. 0. 0. 1. ]] SLAMing on 47.138639999999995 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:34.74, Y:-4.01, Z:-22.35 [[ 0.95971469 -0.10721714 -0.2597156 34.73717996] [ 0.13265149 0.98772991 0.08242097 -4.01150589] [ 0.24769192 -0.11355228 0.96216142 -22.35335603] [ 0. 0. 0. 1. ]] SLAMing on 47.168639999999996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:34.75, Y:-3.88, Z:-22.32 [[ 9.61670470e-01 -1.35553770e-01 -2.38359146e-01 3.47462424e+01] [ 1.25507282e-01 9.90459354e-01 -5.69051060e-02 -3.88172081e+00] [ 2.43798748e-01 2.48081513e-02 9.69508497e-01 -2.23204140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.19864 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:34.77, Y:-3.88, Z:-22.31 [[ 9.62374565e-01 -1.33474104e-01 -2.36685151e-01 3.47739653e+01] [ 1.22852394e-01 9.90661258e-01 -5.91401871e-02 -3.87818538e+00] [ 2.42368493e-01 2.78376743e-02 9.69784810e-01 -2.23122631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.22864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:34.80, Y:-3.86, Z:-22.30 [[ 0.97235682 -0.13412045 -0.19113848 34.80185522] [ 0.12181211 0.98973023 -0.07480559 -3.85758989] [ 0.19920849 0.04945475 0.97870844 -22.30132574] [ 0. 0. 0. 1. ]] SLAMing on 47.25864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:34.84, Y:-3.91, Z:-22.31 [[ 9.72648939e-01 -1.18361238e-01 -1.99861600e-01 3.48383028e+01] [ 1.16133565e-01 9.92970138e-01 -2.28757579e-02 -3.90598503e+00] [ 2.01164204e-01 -9.60558537e-04 9.79557063e-01 -2.23088792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.28864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:34.87, Y:-3.90, Z:-22.30 [[ 9.72913204e-01 -1.17510718e-01 -1.99075684e-01 3.48657765e+01] [ 1.15262200e-01 9.93071383e-01 -2.28878498e-02 -3.90451250e+00] [ 2.00385933e-01 -6.78010013e-04 9.79716805e-01 -2.23017043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.318639999999995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:34.89, Y:-3.94, Z:-22.30 [[ 9.63856722e-01 -1.07853355e-01 -2.43614188e-01 3.48942610e+01] [ 1.14265059e-01 9.93374155e-01 1.22998162e-02 -3.94070177e+00] [ 2.40673461e-01 -3.96918500e-02 9.69794227e-01 -2.23021109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.348639999999996 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:34.91, Y:-3.86, Z:-22.28 [[ 0.97369017 -0.12302763 -0.19181153 34.91278616] [ 0.11268273 0.99156897 -0.06398109 -3.86416633] [ 0.19806581 0.04068391 0.97934404 -22.27954317] [ 0. 0. 0. 1. ]] SLAMing on 47.37864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:34.95, Y:-3.90, Z:-22.28 [[ 9.73790951e-01 -1.14743631e-01 -1.96379946e-01 3.49464005e+01] [ 1.12469180e-01 9.93395136e-01 -2.27329515e-02 -3.89979446e+00] [ 1.97691345e-01 5.04510065e-05 9.80264316e-01 -2.22828927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.40864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:34.97, Y:-3.90, Z:-22.28 [[ 9.73406252e-01 -1.15542398e-01 -1.97813607e-01 3.49732244e+01] [ 1.13229483e-01 9.93302549e-01 -2.30028247e-02 -3.89689369e+00] [ 1.99146561e-01 -7.23906395e-06 9.79969717e-01 -2.22774697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.43864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:35.00, Y:-3.89, Z:-22.27 [[ 9.73363477e-01 -1.16124232e-01 -1.97683345e-01 3.50001827e+01] [ 1.13805357e-01 9.93234696e-01 -2.30906578e-02 -3.89293942e+00] [ 1.99027342e-01 -2.18207390e-05 9.79993937e-01 -2.22711122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.46864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:35.04, Y:-3.97, Z:-22.28 [[ 0.96322952 -0.09741218 -0.25039921 35.03552969] [ 0.11559544 0.9915467 0.05893079 -3.96997255] [ 0.24254193 -0.08570888 0.96634745 -22.27770356] [ 0. 0. 0. 1. ]] SLAMing on 47.498639999999995 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:35.04, Y:-3.84, Z:-22.24 [[ 0.96419225 -0.12972745 -0.2313095 35.04320739] [ 0.11427177 0.99029814 -0.07906677 -3.84009085] [ 0.2393225 0.04980342 0.96966198 -22.24295719] [ 0. 0. 0. 1. ]] SLAMing on 47.528639999999996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:35.08, Y:-3.85, Z:-22.24 [[ 0.97418326 -0.12480461 -0.18812439 35.07505281] [ 0.11495882 0.99140767 -0.06241239 -3.84546693] [ 0.19429731 0.03917455 0.98016014 -22.24097072] [ 0. 0. 0. 1. ]] SLAMing on 47.55864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:35.11, Y:-3.88, Z:-22.24 [[ 9.73790827e-01 -1.17798347e-01 -1.94563551e-01 3.51078890e+01] [ 1.15563323e-01 9.93037507e-01 -2.28391854e-02 -3.87779237e+00] [ 1.95899322e-01 -2.43821201e-04 9.80623983e-01 -2.22440809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.58864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:35.15, Y:-3.98, Z:-22.26 [[ 0.96286993 -0.09630549 -0.25220377 35.14671488] [ 0.12074924 0.98918406 0.08327376 -3.9792413 ] [ 0.24145623 -0.11063521 0.9640844 -22.25540928] [ 0. 0. 0. 1. ]] SLAMing on 47.61864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:35.16, Y:-3.86, Z:-22.23 [[ 9.64085139e-01 -1.23057835e-01 -2.35364854e-01 3.51595424e+01] [ 1.16432850e-01 9.92314516e-01 -4.18962080e-02 -3.86074784e+00] [ 2.38711617e-01 1.29873107e-02 9.71003653e-01 -2.22267069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.64864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:35.19, Y:-3.88, Z:-22.22 [[ 9.64939435e-01 -1.18993286e-01 -2.33949748e-01 3.51872647e+01] [ 1.17454088e-01 9.92865615e-01 -2.05525400e-02 -3.87725208e+00] [ 2.34726275e-01 -7.64639786e-03 9.72031434e-01 -2.22238659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.67864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:35.20, Y:-3.78, Z:-22.19 [[ 0.97440321 -0.13928144 -0.17646266 35.19870924] [ 0.11891969 0.98548149 -0.12117893 -3.77687548] [ 0.19077866 0.09709225 0.97681963 -22.19035603] [ 0. 0. 0. 1. ]] SLAMing on 47.708639999999995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:35.25, Y:-3.93, Z:-22.22 [[ 0.96439969 -0.10263348 -0.24372036 35.24889772] [ 0.11794731 0.99180746 0.04905499 -3.93336861] [ 0.23668898 -0.07605478 0.96860415 -22.22125962] [ 0. 0. 0. 1. ]] SLAMing on 47.73864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:35.27, Y:-3.89, Z:-22.21 [[ 9.67814363e-01 -1.13700423e-01 -2.24516309e-01 3.52677130e+01] [ 1.17263599e-01 9.93097536e-01 2.55565083e-03 -3.88678410e+00] [ 2.22676014e-01 -2.88009860e-02 9.74466980e-01 -2.22084082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.76864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:35.28, Y:-3.79, Z:-22.18 [[ 0.96702337 -0.13417588 -0.21647777 35.28123872] [ 0.11456154 0.98828898 -0.10079956 -3.79132645] [ 0.22746747 0.0726755 0.97106994 -22.17665535] [ 0. 0. 0. 1. ]] SLAMing on 47.79864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:35.32, Y:-3.82, Z:-22.18 [[ 0.97614812 -0.12495561 -0.1775414 35.31646685] [ 0.11642965 0.99152166 -0.057697 -3.81992495] [ 0.1832457 0.03564973 0.98242054 -22.18156288] [ 0. 0. 0. 1. ]] SLAMing on 47.82864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:35.35, Y:-3.85, Z:-22.18 [[ 9.75817894e-01 -1.19904959e-01 -1.82762795e-01 3.53494717e+01] [ 1.17935846e-01 9.92785281e-01 -2.16453736e-02 -3.84895215e+00] [ 1.84039600e-01 -4.32342044e-04 9.82918734e-01 -2.21842539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.85864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:35.38, Y:-3.91, Z:-22.19 [[ 0.97007916 -0.10852243 -0.21718495 35.38404968] [ 0.12069294 0.99173458 0.0435401 -3.9096614 ] [ 0.21066475 -0.06845003 0.97515894 -22.19017107] [ 0. 0. 0. 1. ]] SLAMing on 47.888639999999995 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:35.40, Y:-3.84, Z:-22.17 [[ 9.70408552e-01 -1.30941813e-01 -2.02882930e-01 3.53996011e+01] [ 1.26442852e-01 9.91354908e-01 -3.50378582e-02 -3.83540993e+00] [ 2.05716909e-01 8.34794084e-03 9.78575937e-01 -2.21680655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.918639999999996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:35.43, Y:-3.84, Z:-22.16 [[ 9.69530760e-01 -1.29860584e-01 -2.07716956e-01 3.54290032e+01] [ 1.27801913e-01 9.91524596e-01 -2.33590792e-02 -3.84318207e+00] [ 2.08989895e-01 -3.89927862e-03 9.77910026e-01 -2.21638952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.94864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:35.45, Y:-3.82, Z:-22.15 [[ 9.71432188e-01 -1.38510441e-01 -1.92702781e-01 3.54544590e+01] [ 1.31809079e-01 9.90149069e-01 -4.72354477e-02 -3.81756498e+00] [ 1.97347082e-01 2.04860582e-02 9.80119610e-01 -2.21523561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.97864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:35.48, Y:-3.81, Z:-22.15 [[ 9.74326388e-01 -1.44716169e-01 -1.72468318e-01 3.54800323e+01] [ 1.38252779e-01 9.89185015e-01 -4.89813706e-02 -3.81353259e+00] [ 1.77691472e-01 2.38796176e-02 9.83796475e-01 -2.21476659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.00864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:35.52, Y:-3.88, Z:-22.15 [[ 9.67324298e-01 -1.31522836e-01 -2.16761264e-01 3.55152188e+01] [ 1.39477400e-01 9.89986410e-01 2.17476948e-02 -3.88159553e+00] [ 2.11730387e-01 -5.12703711e-02 9.75982373e-01 -2.21548502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.03864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:35.54, Y:-3.84, Z:-22.14 [[ 9.68545216e-01 -1.43105778e-01 -2.03570382e-01 3.55368960e+01] [ 1.41063440e-01 9.89695247e-01 -2.45850514e-02 -3.83805914e+00] [ 2.04990902e-01 -4.90460438e-03 9.78751590e-01 -2.21385557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.068639999999995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:35.57, Y:-3.87, Z:-22.14 [[ 9.69203617e-01 -1.39891744e-01 -2.02668815e-01 3.55679345e+01] [ 1.44422157e-01 9.89486476e-01 7.66515898e-03 -3.86650908e+00] [ 1.99465759e-01 -3.66989673e-02 9.79217339e-01 -2.21382824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.098639999999996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:35.59, Y:-3.84, Z:-22.13 [[ 9.68378860e-01 -1.48326171e-01 -2.00603414e-01 3.55891618e+01] [ 1.46193545e-01 9.88927590e-01 -2.54886191e-02 -3.83720401e+00] [ 2.02162880e-01 -4.64428433e-03 9.79340901e-01 -2.21260472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:35.58, Y:-3.79, Z:-22.10 [[ 0.96411379 -0.19768617 -0.17721393 35.5833316 ] [ 0.18070302 0.97764623 -0.10749079 -3.78930056] [ 0.19450198 0.07161026 0.9782847 -22.10321723] [ 0. 0. 0. 1. ]] SLAMing on 48.15864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:35.65, Y:-3.91, Z:-22.13 [[ 0.9692277 -0.13597166 -0.2052057 35.65435645] [ 0.14898799 0.98760933 0.04929887 -3.91105502] [ 0.19595982 -0.07835502 0.97747647 -22.12686054] [ 0. 0. 0. 1. ]] SLAMing on 48.18864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:35.67, Y:-3.81, Z:-22.10 [[ 9.67787688e-01 -1.56116239e-01 -1.97521418e-01 3.56692563e+01] [ 1.46906133e-01 9.87295741e-01 -6.05450824e-02 -3.81191721e+00] [ 2.04464126e-01 2.95776776e-02 9.78427096e-01 -2.21022492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.21864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:35.70, Y:-3.81, Z:-22.10 [[ 0.97391265 -0.15761664 -0.16325176 35.69844444] [ 0.14930537 0.98684134 -0.06206507 -3.80713427] [ 0.17088608 0.03607159 0.98463028 -22.09703921] [ 0. 0. 0. 1. ]] SLAMing on 48.248639999999995 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:35.74, Y:-3.92, Z:-22.11 [[ 0.96898181 -0.12909356 -0.21073466 35.7410554 ] [ 0.14288987 0.9883955 0.05154441 -3.91905837] [ 0.20163514 -0.08005745 0.97618342 -22.10715953] [ 0. 0. 0. 1. ]] SLAMing on 48.278639999999996 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:35.76, Y:-3.84, Z:-22.09 [[ 9.68556001e-01 -1.42365868e-01 -2.04037330e-01 3.57575329e+01] [ 1.38321829e-01 9.89802806e-01 -3.40217030e-02 -3.83985803e+00] [ 2.06800251e-01 4.72910797e-03 9.78371755e-01 -2.20874592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.30864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:35.78, Y:-3.79, Z:-22.07 [[ 0.97566484 -0.15019531 -0.15974818 35.77882078] [ 0.13845983 0.98694425 -0.08227958 -3.79060238] [ 0.17002056 0.05815859 0.98372282 -22.07235239] [ 0. 0. 0. 1. ]] SLAMing on 48.33864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:35.82, Y:-3.85, Z:-22.08 [[ 9.77059783e-01 -1.31799770e-01 -1.67281201e-01 3.58161848e+01] [ 1.30273341e-01 9.91274052e-01 -2.01149292e-02 -3.84699771e+00] [ 1.68472657e-01 -2.13879261e-03 9.85704007e-01 -2.20798482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.36864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:35.85, Y:-3.92, Z:-22.08 [[ 0.9713094 -0.11151072 -0.21005571 35.85297627] [ 0.12587168 0.99045085 0.05624442 -3.91913887] [ 0.201778 -0.0810708 0.97607027 -22.0823688 ] [ 0. 0. 0. 1. ]] SLAMing on 48.39864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:35.87, Y:-3.83, Z:-22.06 [[ 9.70375307e-01 -1.28251392e-01 -2.04751910e-01 3.58669746e+01] [ 1.22551097e-01 9.91642180e-01 -4.03362844e-02 -3.82943089e+00] [ 2.08213815e-01 1.40487631e-02 9.77982433e-01 -2.20639650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.42864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:35.89, Y:-3.84, Z:-22.06 [[ 9.69587494e-01 -1.23587596e-01 -2.11249138e-01 3.58946221e+01] [ 1.20063578e-01 9.92328446e-01 -2.94786690e-02 -3.83763224e+00] [ 2.13271727e-01 3.21882151e-03 9.76987620e-01 -2.20607934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.458639999999995 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:35.92, Y:-3.78, Z:-22.05 [[ 0.97883473 -0.13223696 -0.15619206 35.91613139] [ 0.1211497 0.98952291 -0.07853133 -3.78448247] [ 0.16494037 0.05794657 0.98459985 -22.04612588] [ 0. 0. 0. 1. ]] SLAMing on 48.48864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:35.96, Y:-3.88, Z:-22.06 [[ 9.71072699e-01 -1.11305803e-01 -2.11255371e-01 3.59565173e+01] [ 1.18842084e-01 9.92640255e-01 2.32783775e-02 -3.87849862e+00] [ 2.07109567e-01 -4.77110254e-02 9.77153665e-01 -2.20563146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.51864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:35.97, Y:-3.79, Z:-22.04 [[ 0.97920803 -0.12776096 -0.15757145 35.97254098] [ 0.11845942 0.99068834 -0.06711165 -3.78598635] [ 0.16467845 0.04705044 0.98522447 -22.03612863] [ 0. 0. 0. 1. ]] SLAMing on 48.54864 meters Centerline goodness : 0.826415 Centerline is valid? [True, False] Translation: X:35.97, Y:-3.80, Z:-22.04 [[ 9.80646939e-01 -1.13297532e-01 -1.59672323e-01 3.59747754e+01] [ 1.06170554e-01 9.92960559e-01 -5.25084911e-02 -3.79536804e+00] [ 1.64497401e-01 3.45397922e-02 9.85772594e-01 -2.20377051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.57864 meters Centerline goodness : 0.998820 Centerline is valid? [False, True] Translation: X:35.98, Y:-3.81, Z:-22.04 [[ 9.81877940e-01 -9.87281237e-02 -1.61766712e-01 3.59773470e+01] [ 9.38091800e-02 9.94872827e-01 -3.77875214e-02 -3.80505339e+00] [ 1.64667997e-01 2.19275310e-02 9.86105285e-01 -2.20391626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.60864 meters Centerline goodness : 0.961916 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.86, Z:-22.06 [[ 9.79593389e-01 9.48911587e-03 -2.00765410e-01 3.60269032e+01] [ 4.41618363e-03 9.97627561e-01 6.87004191e-02 -3.86305310e+00] [ 2.00941012e-01 -6.81850933e-02 9.77227457e-01 -2.20649620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.638639999999995 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:36.03, Y:-3.79, Z:-22.02 [[ 9.74411433e-01 -9.59136904e-02 -2.03280403e-01 3.60309720e+01] [ 8.73339119e-02 9.94883695e-01 -5.07860292e-02 -3.78774241e+00] [ 2.07111434e-01 3.17332147e-02 9.77802565e-01 -2.20231385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.668639999999996 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:36.06, Y:-3.79, Z:-22.02 [[ 9.76326572e-01 -9.20862358e-02 -1.95720594e-01 3.60587078e+01] [ 8.66954657e-02 9.95585910e-01 -3.59526403e-02 -3.79442937e+00] [ 1.98167409e-01 1.81334300e-02 9.80000437e-01 -2.20222923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.69864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:36.09, Y:-3.83, Z:-22.02 [[ 9.73014145e-01 -8.06810248e-02 -2.16180586e-01 3.60897220e+01] [ 8.59217231e-02 9.96189890e-01 1.49385790e-02 -3.83481634e+00] [ 2.14151654e-01 -3.31100571e-02 9.76239107e-01 -2.20238603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.72864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:36.11, Y:-3.80, Z:-22.01 [[ 9.73631398e-01 -8.73260799e-02 -2.10751173e-01 3.61122673e+01] [ 8.48604207e-02 9.96177122e-01 -2.07328520e-02 -3.79949018e+00] [ 2.11756016e-01 2.30172247e-03 9.77319851e-01 -2.20125247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.75864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:36.13, Y:-3.73, Z:-21.99 [[ 0.98397743 -0.09806157 -0.14890382 36.1323602 ] [ 0.08564806 0.99246519 -0.08761994 -3.72970258] [ 0.15637401 0.07346272 0.98496213 -21.99476005] [ 0. 0. 0. 1. ]] SLAMing on 48.78864 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:36.17, Y:-3.84, Z:-22.01 [[ 9.75821382e-01 -7.86304658e-02 -2.03935970e-01 3.61728700e+01] [ 8.61948845e-02 9.95871581e-01 2.84646454e-02 -3.83583413e+00] [ 2.00855849e-01 -4.53546470e-02 9.78570326e-01 -2.20094228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.818639999999995 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:36.19, Y:-3.74, Z:-21.99 [[ 0.98372654 -0.09790255 -0.15065587 36.18886865] [ 0.0893344 0.99402983 -0.06264229 -3.7434563 ] [ 0.15588927 0.04816413 0.98659959 -21.98794088] [ 0. 0. 0. 1. ]] SLAMing on 48.848639999999996 meters Centerline goodness : 0.949134 Centerline is valid? [True, False] Translation: X:36.18, Y:-3.76, Z:-21.99 [[ 9.85379699e-01 -8.52433625e-02 -1.47514130e-01 3.61780241e+01] [ 7.91231175e-02 9.95761819e-01 -4.68820995e-02 -3.75563259e+00] [ 1.50885327e-01 3.45248912e-02 9.87948202e-01 -2.19918308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.87864 meters Centerline goodness : 0.998624 Centerline is valid? [False, True] Translation: X:36.15, Y:-3.77, Z:-22.00 [[ 9.88722622e-01 -7.81151859e-02 -1.27771649e-01 3.61495694e+01] [ 7.49374697e-02 9.96751829e-01 -2.94985857e-02 -3.77087139e+00] [ 1.29660913e-01 1.95910349e-02 9.91364836e-01 -2.19997020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.90864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:36.18, Y:-3.75, Z:-21.99 [[ 0.98830921 -0.08217578 -0.12842138 36.17599138] [ 0.0767319 0.99595343 -0.04678664 -3.75421654] [ 0.13174644 0.03638565 0.99061545 -21.99272299] [ 0. 0. 0. 1. ]] SLAMing on 48.93864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:36.21, Y:-3.80, Z:-22.00 [[ 9.88691510e-01 -7.88161988e-02 -1.27581755e-01 3.62077400e+01] [ 8.04154315e-02 9.96733780e-01 7.42493819e-03 -3.80222306e+00] [ 1.26579840e-01 -1.76005153e-02 9.91800265e-01 -2.19989784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.96864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:36.23, Y:-3.76, Z:-21.99 [[ 9.86973521e-01 -8.93009457e-02 -1.33823057e-01 3.62298590e+01] [ 8.42454459e-02 9.95517375e-01 -4.29867532e-02 -3.75809757e+00] [ 1.37061936e-01 3.11528040e-02 9.90072486e-01 -2.19867007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.998639999999995 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:36.26, Y:-3.79, Z:-21.99 [[ 9.87787359e-01 -8.55032258e-02 -1.30251035e-01 3.62612355e+01] [ 8.50301363e-02 9.96335910e-01 -9.19947076e-03 -3.78776459e+00] [ 1.30560368e-01 -1.98814236e-03 9.91438368e-01 -2.19890959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.028639999999996 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:36.29, Y:-3.74, Z:-21.98 [[ 0.99253304 -0.08920719 -0.08318793 36.28791417] [ 0.08458845 0.99475603 -0.05749111 -3.74089601] [ 0.08788032 0.05002509 0.99487413 -21.97559785] [ 0. 0. 0. 1. ]] SLAMing on 49.05864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.79, Z:-21.98 [[ 9.92613915e-01 -8.47571476e-02 -8.67977091e-02 3.63207482e+01] [ 8.44805200e-02 9.96401502e-01 -6.86204228e-03 -3.78774666e+00] [ 8.70669749e-02 -5.21356956e-04 9.96202324e-01 -2.19827532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.08864 meters Centerline goodness : 0.942745 Centerline is valid? [True, False] Translation: X:36.30, Y:-3.79, Z:-21.99 [[ 9.94966479e-01 -7.38049457e-02 -6.77830103e-02 3.62963271e+01] [ 7.37201119e-02 9.97271899e-01 -3.75548757e-03 -3.79323520e+00] [ 6.78752650e-02 -1.26038686e-03 9.97693019e-01 -2.19852147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.11864 meters Centerline goodness : 0.998179 Centerline is valid? [False, True] Translation: X:36.29, Y:-3.79, Z:-21.98 [[ 9.96311765e-01 -6.04283051e-02 -6.09203326e-02 3.62909025e+01] [ 6.00153235e-02 9.98160513e-01 -8.58785789e-03 -3.78836092e+00] [ 6.13272201e-02 4.90003039e-03 9.98105687e-01 -2.19846344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.14864 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:36.32, Y:-3.79, Z:-21.98 [[ 9.96380034e-01 -5.99285545e-02 -6.02942440e-02 3.63177236e+01] [ 5.91879219e-02 9.98148721e-01 -1.39971309e-02 -3.78576833e+00] [ 6.10214503e-02 1.03777708e-02 9.98082504e-01 -2.19810461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.17864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:36.35, Y:-3.74, Z:-21.97 [[ 9.97781740e-01 -6.12237864e-02 -2.61389947e-02 3.63456155e+01] [ 5.95505281e-02 9.96384236e-01 -6.05985843e-02 -3.74163457e+00] [ 2.97545571e-02 5.89075699e-02 9.97819906e-01 -2.19689842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.208639999999995 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:36.38, Y:-3.86, Z:-21.99 [[ 0.99673281 -0.05483642 -0.05930158 36.37801153] [ 0.05874007 0.99607451 0.06622064 -3.85748143] [ 0.05543749 -0.06948767 0.99604124 -21.98678909] [ 0. 0. 0. 1. ]] SLAMing on 49.23864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:36.40, Y:-3.73, Z:-21.96 [[ 9.97969260e-01 -5.84963160e-02 -2.52098682e-02 3.64018688e+01] [ 5.66410962e-02 9.96014021e-01 -6.89046855e-02 -3.73353567e+00] [ 2.91400524e-02 6.73368434e-02 9.97304671e-01 -2.19641235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.26864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:36.43, Y:-3.79, Z:-21.98 [[ 9.98093371e-01 -5.44576938e-02 -2.90513599e-02 3.64338628e+01] [ 5.44349519e-02 9.98516079e-01 -1.57370260e-03 -3.79490759e+00] [ 2.90939501e-02 -1.07072403e-05 9.99576681e-01 -2.19750328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.29864 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:36.46, Y:-3.82, Z:-21.98 [[ 9.96216155e-01 -5.53629366e-02 -6.69949035e-02 3.64607762e+01] [ 5.68583969e-02 9.98169220e-01 2.06235734e-02 -3.81755423e+00] [ 6.57304690e-02 -2.43547598e-02 9.97540150e-01 -2.19762260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.32864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:36.49, Y:-3.77, Z:-21.97 [[ 9.98205775e-01 -5.31244795e-02 -2.76228126e-02 3.64874338e+01] [ 5.24277551e-02 9.98302566e-01 -2.53636819e-02 -3.77074893e+00] [ 2.89233571e-02 2.38699717e-02 9.99296585e-01 -2.19664132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.35864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:36.52, Y:-3.85, Z:-21.98 [[ 0.99711369 -0.04588962 -0.06048495 36.51799225] [ 0.04985332 0.99659066 0.06573971 -3.85241285] [ 0.05726196 -0.06856534 0.99600194 -21.97641665] [ 0. 0. 0. 1. ]] SLAMing on 49.388639999999995 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:36.54, Y:-3.73, Z:-21.95 [[ 9.98472762e-01 -4.98645771e-02 -2.37837620e-02 3.65410749e+01] [ 4.81300595e-02 9.96479893e-01 -6.86390568e-02 -3.72569840e+00] [ 2.71226981e-02 6.73895147e-02 9.97358016e-01 -2.19538960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.418639999999996 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:36.57, Y:-3.82, Z:-21.97 [[ 9.96934225e-01 -3.99169116e-02 -6.72962895e-02 3.65738856e+01] [ 4.22293383e-02 9.98552970e-01 3.32963678e-02 -3.81548138e+00] [ 6.58698216e-02 -3.60361664e-02 9.97177297e-01 -2.19681876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.44864 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:36.60, Y:-3.78, Z:-21.96 [[ 9.97226452e-01 -4.02485892e-02 -6.26055408e-02 3.65989842e+01] [ 4.01435071e-02 9.99189611e-01 -2.93592262e-03 -3.77839640e+00] [ 6.26729727e-02 4.14573728e-04 9.98034031e-01 -2.19612679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.47864 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:36.63, Y:-3.77, Z:-21.96 [[ 9.97315023e-01 -3.82633381e-02 -6.24392680e-02 3.66263137e+01] [ 3.80549415e-02 9.99265408e-01 -4.52384099e-03 -3.77322908e+00] [ 6.25664979e-02 2.13557188e-03 9.98038513e-01 -2.19597331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.50864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:36.65, Y:-3.77, Z:-21.96 [[ 9.97470886e-01 -3.57026281e-02 -6.14585621e-02 3.66543827e+01] [ 3.56870511e-02 9.99362101e-01 -1.35146132e-03 -3.76988233e+00] [ 6.14676084e-02 -8.45231532e-04 9.98108721e-01 -2.19589724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.53864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:36.68, Y:-3.73, Z:-21.95 [[ 9.99094962e-01 -3.53570090e-02 -2.36461031e-02 3.66811894e+01] [ 3.44502838e-02 9.98694627e-01 -3.77123393e-02 -3.73084457e+00] [ 2.49486316e-02 3.68635932e-02 9.99008829e-01 -2.19513971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.568639999999995 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:36.71, Y:-3.76, Z:-21.96 [[ 9.98977139e-01 -3.64915902e-02 -2.67027986e-02 3.67110670e+01] [ 3.64638491e-02 9.99333809e-01 -1.52523696e-03 -3.75650130e+00] [ 2.67406678e-02 5.49990035e-04 9.99642253e-01 -2.19572712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.598639999999996 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:36.74, Y:-3.75, Z:-21.96 [[ 9.98845427e-01 -3.98155324e-02 -2.68800457e-02 3.67392047e+01] [ 3.97882480e-02 9.99206933e-01 -1.54934437e-03 -3.75285113e+00] [ 2.69204160e-02 4.78045611e-04 9.99637466e-01 -2.19565403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.62864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:36.77, Y:-3.75, Z:-21.96 [[ 9.98731742e-01 -4.22948677e-02 -2.73139580e-02 3.67669668e+01] [ 4.22672252e-02 9.99105078e-01 -1.58884388e-03 -3.74966808e+00] [ 2.73567141e-02 4.32343600e-04 9.99625642e-01 -2.19557861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.65864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:36.79, Y:-3.75, Z:-21.95 [[ 9.98623008e-01 -4.48978493e-02 -2.71343216e-02 3.67945583e+01] [ 4.48709817e-02 9.98991511e-01 -1.59855187e-03 -3.74712189e+00] [ 2.71787285e-02 3.78807032e-04 9.99630518e-01 -2.19541723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.68864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:36.82, Y:-3.75, Z:-21.95 [[ 9.98439304e-01 -4.97418627e-02 -2.53909916e-02 3.68220911e+01] [ 4.97197937e-02 9.98762080e-01 -1.50013925e-03 -3.74510345e+00] [ 2.54341793e-02 2.35363125e-04 9.99676471e-01 -2.19523951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.71864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:36.85, Y:-3.80, Z:-21.96 [[ 0.99731459 -0.0491544 -0.05429052 36.85208056] [ 0.05234901 0.99687979 0.05907854 -3.79992067] [ 0.05121715 -0.06176195 0.99677594 -21.95829764] [ 0. 0. 0. 1. ]] SLAMing on 49.748639999999995 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:36.87, Y:-3.69, Z:-21.93 [[ 9.98210150e-01 -5.74950615e-02 -1.64564358e-02 3.68746300e+01] [ 5.63834428e-02 9.96513266e-01 -6.14997462e-02 -3.68692879e+00] [ 1.99349883e-02 6.04618004e-02 9.97971426e-01 -2.19334158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.778639999999996 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:36.91, Y:-3.74, Z:-21.95 [[ 9.98159731e-01 -5.72417939e-02 -2.00132054e-02 3.69059423e+01] [ 5.72295973e-02 9.98360344e-01 -1.18209798e-03 -3.73927871e+00] [ 2.00480560e-02 3.45749214e-05 9.99799017e-01 -2.19453051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.80864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:36.94, Y:-3.74, Z:-21.95 [[ 9.97790580e-01 -6.31728999e-02 -2.05704663e-02 3.69353137e+01] [ 6.31608500e-02 9.98002595e-01 -1.23560330e-03 -3.73901194e+00] [ 2.06074354e-02 -6.63748076e-05 9.99787642e-01 -2.19456114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.83864 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:36.96, Y:-3.79, Z:-21.95 [[ 0.99639322 -0.06437733 -0.05528215 36.96364175] [ 0.06708214 0.99656553 0.04855024 -3.78714761] [ 0.05196675 -0.05208358 0.99728971 -21.95314515] [ 0. 0. 0. 1. ]] SLAMing on 49.86864 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:36.99, Y:-3.74, Z:-21.94 [[ 9.96234339e-01 -7.01962387e-02 -5.08884039e-02 3.69880798e+01] [ 7.02070836e-02 9.97531192e-01 -1.57658979e-03 -3.74204825e+00] [ 5.08734409e-02 -2.00207354e-03 9.98703101e-01 -2.19426605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.89864 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:37.02, Y:-3.70, Z:-21.93 [[ 9.96856663e-01 -7.79269703e-02 -1.42891543e-02 3.70153605e+01] [ 7.70753937e-02 9.95630388e-01 -5.27210974e-02 -3.69641695e+00] [ 1.83351117e-02 5.14540350e-02 9.98507039e-01 -2.19315998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.92864 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:37.05, Y:-3.74, Z:-21.94 [[ 9.96733353e-01 -7.84511914e-02 -1.91841811e-02 3.70488077e+01] [ 7.84431877e-02 9.96917898e-01 -1.17051159e-03 -3.74403031e+00] [ 1.92168816e-02 -3.38180381e-04 9.99815281e-01 -2.19406379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.958639999999995 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:37.08, Y:-3.75, Z:-21.94 [[ 9.96417710e-01 -8.23754526e-02 -1.91319658e-02 3.70792942e+01] [ 8.23681930e-02 9.96601282e-01 -1.16848642e-03 -3.74958775e+00] [ 1.91631962e-02 -4.11564890e-04 9.99816284e-01 -2.19403275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.98864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:37.11, Y:-3.75, Z:-21.94 [[ 9.96338685e-01 -8.36280050e-02 -1.77646132e-02 3.71089085e+01] [ 8.36219289e-02 9.96496961e-01 -1.08588124e-03 -3.75122627e+00] [ 1.77931932e-02 -4.03605734e-04 9.99841607e-01 -2.19392974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.01864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:37.14, Y:-3.75, Z:-21.94 [[ 9.96205071e-01 -8.51943428e-02 -1.78151697e-02 3.71393388e+01] [ 8.51884367e-02 9.96364260e-01 -1.09152462e-03 -3.75276983e+00] [ 1.78433901e-02 -4.30264103e-04 9.99840701e-01 -2.19381799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.04864 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:37.17, Y:-3.82, Z:-21.94 [[ 0.99443402 -0.08603618 -0.06081734 37.1697379 ] [ 0.08964921 0.99420002 0.05940826 -3.81653973] [ 0.05535334 -0.06452982 0.9963794 -21.94166909] [ 0. 0. 0. 1. ]] SLAMing on 50.07864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:37.20, Y:-3.82, Z:-21.94 [[ 0.99464693 -0.08453632 -0.05942294 37.20028169] [ 0.08831801 0.994022 0.06418866 -3.82313856] [ 0.05364144 -0.06909317 0.99616702 -21.93915402] [ 0. 0. 0. 1. ]] SLAMing on 50.10864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:37.22, Y:-3.76, Z:-21.93 [[ 9.94662449e-01 -8.85442241e-02 -5.29767123e-02 3.72221621e+01] [ 8.82184353e-02 9.96065215e-01 -8.46139092e-03 -3.76069745e+00] [ 5.35174677e-02 3.74270515e-03 9.98559899e-01 -2.19293087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.138639999999995 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:37.24, Y:-3.66, Z:-21.91 [[ 9.95551360e-01 -9.41369836e-02 -3.96448751e-03 3.72446184e+01] [ 9.30473900e-02 9.88905000e-01 -1.15797597e-01 -3.66455105e+00] [ 1.48213380e-02 1.14913570e-01 9.93264919e-01 -2.19079218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.168639999999996 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:37.29, Y:-3.87, Z:-21.93 [[ 0.99482072 -0.0857911 -0.05451262 37.28517546] [ 0.09077222 0.99117099 0.09664614 -3.86577193] [ 0.04573995 -0.10109381 0.99382488 -21.93386073] [ 0. 0. 0. 1. ]] SLAMing on 50.19864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:37.30, Y:-3.69, Z:-21.91 [[ 9.95477918e-01 -9.49714622e-02 -2.03396543e-03 3.73048653e+01] [ 9.43252162e-02 9.90785614e-01 -9.71937287e-02 -3.68994492e+00] [ 1.12458542e-02 9.65623565e-02 9.95263403e-01 -2.19085336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.22864 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:37.34, Y:-3.89, Z:-21.93 [[ 0.99454343 -0.08895118 -0.05450746 37.34459185] [ 0.09468119 0.98900646 0.11358562 -3.88809446] [ 0.04380465 -0.11812666 0.99203188 -21.92845019] [ 0. 0. 0. 1. ]] SLAMing on 50.25864 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:37.36, Y:-3.69, Z:-21.90 [[ 9.95304137e-01 -9.66771968e-02 4.81610036e-03 3.73642592e+01] [ 9.65969579e-02 9.88818477e-01 -1.13609186e-01 -3.68677151e+00] [ 6.22116862e-03 1.13540913e-01 9.93513844e-01 -2.19013235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.28864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:37.40, Y:-3.79, Z:-21.92 [[ 9.95627586e-01 -9.33491512e-02 -3.41254395e-03 3.74034017e+01] [ 9.33489618e-02 9.95633429e-01 -2.15080311e-04 -3.79151819e+00] [ 3.41772040e-03 -1.04417544e-04 9.99994154e-01 -2.19179260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.318639999999995 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:37.44, Y:-3.79, Z:-21.92 [[ 9.95726694e-01 -9.23258618e-02 -2.07039561e-03 3.74366049e+01] [ 9.23257671e-02 9.95728845e-01 -1.41454990e-04 -3.79378369e+00] [ 2.07461258e-03 -5.03003531e-05 9.99997847e-01 -2.19174866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.348639999999996 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:37.47, Y:-3.80, Z:-21.92 [[ 9.95967938e-01 -8.96892363e-02 -1.92539720e-03 3.74703083e+01] [ 8.96891491e-02 9.95969798e-01 -1.31724388e-04 -3.80149878e+00] [ 1.92945172e-03 -4.14939692e-05 9.99998138e-01 -2.19168720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.37864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:37.50, Y:-3.80, Z:-21.92 [[ 9.96187703e-01 -8.72280759e-02 -1.15064323e-03 3.75033338e+01] [ 8.72280370e-02 9.96188367e-01 -8.40705863e-05 -3.80316118e+00] [ 1.15359072e-03 -1.66182663e-05 9.99999334e-01 -2.19154367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.40864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:37.54, Y:-3.80, Z:-21.91 [[ 9.96480429e-01 -8.37779738e-02 -2.82954287e-03 3.75361328e+01] [ 8.37777879e-02 9.96484445e-01 -1.84372703e-04 -3.80362469e+00] [ 2.83504183e-03 -5.33290523e-05 9.99995980e-01 -2.19142175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.43864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:37.57, Y:-3.81, Z:-21.91 [[ 9.96904990e-01 -7.85083992e-02 -4.10765932e-03 3.75691880e+01] [ 7.85080268e-02 9.96913450e-01 -2.52084829e-04 -3.80659403e+00] [ 4.11477160e-03 -7.11796044e-05 9.99991532e-01 -2.19142850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.46864 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:37.60, Y:-3.91, Z:-21.91 [[ 0.99603515 -0.07368351 -0.04984688 37.60225789] [ 0.07879974 0.99080752 0.10995939 -3.90962583] [ 0.04128647 -0.11345134 0.99268536 -21.91393699] [ 0. 0. 0. 1. ]] SLAMing on 50.498639999999995 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:37.63, Y:-3.81, Z:-21.91 [[ 9.96318229e-01 -7.37410107e-02 -4.37292703e-02 3.76272169e+01] [ 7.39117840e-02 9.97262133e-01 2.29914929e-03 -3.81079780e+00] [ 4.34400037e-02 -5.52279273e-03 9.99040772e-01 -2.19110134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.528639999999996 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:37.65, Y:-3.71, Z:-21.90 [[ 9.97328264e-01 -7.27937289e-02 6.11607871e-03 3.76511233e+01] [ 7.30310454e-02 9.91648096e-01 -1.06303904e-01 -3.71032305e+00] [ 1.67325973e-03 1.06466551e-01 9.94314877e-01 -2.18963197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.55864 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:37.69, Y:-3.81, Z:-21.91 [[ 9.97628453e-01 -6.88184064e-02 -1.22351732e-03 3.76886130e+01] [ 6.88183663e-02 9.97629203e-01 -7.49410033e-05 -3.80649362e+00] [ 1.22577393e-03 -9.43718602e-06 9.99999249e-01 -2.19088088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.58864 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:37.72, Y:-3.81, Z:-21.91 [[ 9.97772595e-01 -6.66904663e-02 -1.49326694e-03 3.77219981e+01] [ 6.66903885e-02 9.97773713e-01 -1.01882899e-04 -3.80648693e+00] [ 1.49673712e-03 2.06941205e-06 9.99998880e-01 -2.19076124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.61864 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:37.76, Y:-3.80, Z:-21.91 [[ 9.97787611e-01 -6.64654201e-02 -1.49372376e-03 3.77554464e+01] [ 6.64653535e-02 9.97788729e-01 -9.42039758e-05 -3.80442735e+00] [ 1.49668204e-03 -5.28531805e-06 9.99998880e-01 -2.19067518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.64864 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:37.79, Y:-3.93, Z:-21.90 [[ 0.99677869 -0.06166125 -0.05128488 37.78855502] [ 0.06785249 0.9892739 0.12935681 -3.92606092] [ 0.04275849 -0.13241992 0.99027101 -21.90474079] [ 0. 0. 0. 1. ]] SLAMing on 50.678639999999994 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:37.81, Y:-3.79, Z:-21.90 [[ 9.97212233e-01 -6.31568394e-02 -3.97363269e-02 3.78097684e+01] [ 6.26281720e-02 9.97932857e-01 -1.44126537e-02 -3.79388261e+00] [ 4.05644439e-02 1.18838610e-02 9.99106250e-01 -2.19028244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.708639999999995 meters Centerline goodness : 0.996901 Centerline is valid? [True, True] Translation: X:37.84, Y:-3.78, Z:-21.90 [[ 9.97303772e-01 -6.25731942e-02 -3.83377218e-02 3.78368385e+01] [ 6.16300163e-02 9.97778112e-01 -2.53096873e-02 -3.78412960e+00] [ 3.98362477e-02 2.28786922e-02 9.98944262e-01 -2.18992972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.73864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:37.86, Y:-3.73, Z:-21.89 [[ 9.98138581e-01 -6.01445998e-02 1.00995523e-02 3.78637949e+01] [ 6.07917197e-02 9.94440828e-01 -8.59756150e-02 -3.72786665e+00] [-4.87243824e-03 8.64295475e-02 9.96246050e-01 -2.18919467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.76864 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:37.90, Y:-3.89, Z:-21.90 [[ 0.9972473 -0.05760004 -0.04669109 37.90078474] [ 0.06175802 0.99373585 0.0931397 -3.89360043] [ 0.04103376 -0.09576686 0.99455766 -21.89988688] [ 0. 0. 0. 1. ]] SLAMing on 50.79864 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:37.92, Y:-3.72, Z:-21.89 [[ 9.98385522e-01 -5.56703555e-02 1.12765449e-02 3.79237442e+01] [ 5.64795957e-02 9.94065110e-01 -9.29764084e-02 -3.72135117e+00] [-6.03359012e-03 9.34631948e-02 9.95604453e-01 -2.18898608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.82864 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:37.96, Y:-3.93, Z:-21.90 [[ 9.97652286e-01 -5.24543695e-02 -4.40279026e-02 3.79626115e+01] [ 5.79310645e-02 9.89275911e-01 1.34078944e-01 -3.92981369e+00] [ 3.65227170e-02 -1.36314748e-01 9.89992111e-01 -2.18956649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.85864 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:37.98, Y:-3.68, Z:-21.88 [[ 9.98497805e-01 -5.18311622e-02 1.77669429e-02 3.79812976e+01] [ 5.37222676e-02 9.89863699e-01 -1.31467773e-01 -3.68268278e+00] [-1.07727244e-02 1.32224763e-01 9.91161218e-01 -2.18802400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.888639999999995 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:38.02, Y:-3.86, Z:-21.89 [[ 9.98038674e-01 -4.81655454e-02 -3.99860679e-02 3.80204491e+01] [ 5.04519519e-02 9.97024000e-01 5.82901637e-02 -3.85519847e+00] [ 3.70594919e-02 -6.01932129e-02 9.97498557e-01 -2.18942771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.918639999999996 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:38.04, Y:-3.82, Z:-21.89 [[ 9.98487054e-01 -4.61202063e-02 -2.99421145e-02 3.80440164e+01] [ 4.69275389e-02 9.98537518e-01 2.68445899e-02 -3.82327541e+00] [ 2.86602467e-02 -2.82090852e-02 9.99191092e-01 -2.18929919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.94864 meters Centerline goodness : 0.996058 Centerline is valid? [True, True] Translation: X:38.07, Y:-3.76, Z:-21.89 [[ 9.98587246e-01 -4.45174144e-02 -2.90122695e-02 3.80707927e+01] [ 4.35293011e-02 9.98478740e-01 -3.38438490e-02 -3.76401892e+00] [ 3.04747749e-02 3.25331522e-02 9.99005947e-01 -2.18880458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.97864 meters Centerline goodness : 0.995223 Centerline is valid? [True, True] Translation: X:38.10, Y:-3.79, Z:-21.89 [[ 9.98644327e-01 -4.26382740e-02 -2.98577751e-02 3.80994065e+01] [ 4.26662854e-02 9.99089334e-01 3.01397755e-04 -3.79055159e+00] [ 2.98177336e-02 -1.57490951e-03 9.99554112e-01 -2.18895991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.00864 meters Centerline goodness : 0.994736 Centerline is valid? [True, True] Translation: X:38.13, Y:-3.78, Z:-21.89 [[ 9.98883044e-01 -3.72008845e-02 -2.91334677e-02 3.81261669e+01] [ 3.71248558e-02 9.99305682e-01 -3.14642450e-03 -3.78051478e+00] [ 2.92302896e-02 2.06133429e-03 9.99570578e-01 -2.18888314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.03864 meters Centerline goodness : 0.995666 Centerline is valid? [True, True] Translation: X:38.15, Y:-3.77, Z:-21.89 [[ 9.99046084e-01 -3.56386620e-02 -2.52350639e-02 3.81536657e+01] [ 3.54670643e-02 9.99344798e-01 -7.21534635e-03 -3.77298718e+00] [ 2.54756751e-02 6.31344988e-03 9.99655506e-01 -2.18883931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.068639999999995 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:38.18, Y:-3.77, Z:-21.89 [[ 9.99117746e-01 -3.48110678e-02 -2.34929526e-02 3.81811657e+01] [ 3.47371085e-02 9.99390183e-01 -3.54905635e-03 -3.77129207e+00] [ 2.36021726e-02 2.72984793e-03 9.99717703e-01 -2.18864697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.098639999999996 meters Centerline goodness : 0.994778 Centerline is valid? [True, True] Translation: X:38.21, Y:-3.77, Z:-21.89 [[ 9.99102470e-01 -3.52963427e-02 -2.34184101e-02 3.82088308e+01] [ 3.52861884e-02 9.99376890e-01 -8.46820689e-04 -3.77029233e+00] [ 2.34337075e-02 1.97142112e-05 9.99725393e-01 -2.18864328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.12864 meters Centerline goodness : 0.952526 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.78, Z:-21.90 [[ 9.99449804e-01 3.24725221e-02 -6.75464456e-03 3.82870130e+01] [-3.20392130e-02 9.97883576e-01 5.65849597e-02 -3.78280758e+00] [ 8.57780523e-03 -5.63374134e-02 9.98374938e-01 -2.19025567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.15864 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:38.26, Y:-3.72, Z:-21.88 [[ 9.98737721e-01 -4.44207058e-02 2.34470833e-02 3.82576220e+01] [ 4.56991279e-02 9.97319628e-01 -5.71414822e-02 -3.71840017e+00] [-2.08459714e-02 5.81408650e-02 9.98090720e-01 -2.18834314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.18864 meters Centerline goodness : 0.995420 Centerline is valid? [True, True] Translation: X:38.29, Y:-3.80, Z:-21.89 [[ 9.98787277e-01 -4.45159848e-02 -2.10309681e-02 3.82939682e+01] [ 4.52748582e-02 9.98285333e-01 3.71023181e-02 -3.80141390e+00] [ 1.93432608e-02 -3.80094974e-02 9.99090144e-01 -2.18892297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.21864 meters Centerline goodness : 0.995419 Centerline is valid? [True, True] Translation: X:38.32, Y:-3.77, Z:-21.89 [[ 9.98861812e-01 -4.41793892e-02 -1.79795179e-02 3.83196648e+01] [ 4.42346068e-02 9.99017563e-01 2.68492949e-03 -3.76500954e+00] [ 1.78432356e-02 -3.47719044e-03 9.99834750e-01 -2.18867551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.248639999999995 meters Centerline goodness : 0.996752 Centerline is valid? [True, True] Translation: X:38.35, Y:-3.72, Z:-21.88 [[ 9.98871299e-01 -4.06064185e-02 2.46423809e-02 3.83457944e+01] [ 4.15490088e-02 9.98373959e-01 -3.90271342e-02 -3.71646635e+00] [-2.30175592e-02 4.00069507e-02 9.98934250e-01 -2.18841500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.278639999999996 meters Centerline goodness : 0.994739 Centerline is valid? [True, True] Translation: X:38.38, Y:-3.79, Z:-21.89 [[ 9.98997276e-01 -4.06871096e-02 -1.86815927e-02 3.83817909e+01] [ 4.14831534e-02 9.98151746e-01 4.44099039e-02 -3.79013849e+00] [ 1.68401537e-02 -4.51403444e-02 9.98838705e-01 -2.18887052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.30864 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:38.41, Y:-3.73, Z:-21.88 [[ 9.99133082e-01 -4.05844590e-02 -9.27287495e-03 3.84059468e+01] [ 4.04326151e-02 9.99053923e-01 -1.60144211e-02 -3.73086908e+00] [ 9.91403871e-03 1.56256113e-02 9.99828761e-01 -2.18838460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.33864 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:38.43, Y:-3.74, Z:-21.89 [[ 9.99126839e-01 -4.07688501e-02 -9.13561974e-03 3.84348678e+01] [ 4.07585560e-02 9.99168166e-01 -1.31024925e-03 -3.73728834e+00] [ 9.18143777e-03 9.36750523e-04 9.99957411e-01 -2.18859650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.36864 meters Centerline goodness : 0.994383 Centerline is valid? [True, True] Translation: X:38.46, Y:-3.73, Z:-21.89 [[ 9.99092526e-01 -4.16828892e-02 -8.75564136e-03 3.84623729e+01] [ 4.16685955e-02 9.99129850e-01 -1.80871403e-03 -3.73249961e+00] [ 8.82341507e-03 1.44223739e-03 9.99960033e-01 -2.18852514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.39864 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:38.49, Y:-3.71, Z:-21.88 [[ 9.98740465e-01 -4.21385280e-02 2.72365195e-02 3.84894323e+01] [ 4.28107609e-02 9.98780587e-01 -2.45881462e-02 -3.70590160e+00] [-2.61671987e-02 2.57231927e-02 9.99326571e-01 -2.18839409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.428639999999994 meters Centerline goodness : 0.994588 Centerline is valid? [True, True] Translation: X:38.52, Y:-3.76, Z:-21.89 [[ 9.98873759e-01 -4.55546423e-02 -1.32660417e-02 3.85247938e+01] [ 4.60120231e-02 9.98273880e-01 3.64986782e-02 -3.75623632e+00] [ 1.15804587e-02 -3.70679693e-02 9.99245645e-01 -2.18878921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.458639999999995 meters Centerline goodness : 0.993900 Centerline is valid? [True, True] Translation: X:38.55, Y:-3.72, Z:-21.88 [[ 9.98954945e-01 -4.47438552e-02 -9.32760933e-03 3.85498958e+01] [ 4.47299090e-02 9.98997673e-01 -1.69855471e-03 -3.71512926e+00] [ 9.39425990e-03 1.27955651e-03 9.99955054e-01 -2.18847409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.48864 meters Centerline goodness : 0.994732 Centerline is valid? [True, True] Translation: X:38.58, Y:-3.73, Z:-21.89 [[ 9.98843536e-01 -4.53635597e-02 -1.59291751e-02 3.85792689e+01] [ 4.57175282e-02 9.98698532e-01 2.26086429e-02 -3.73177247e+00] [ 1.48828353e-02 -2.33107393e-02 9.99617482e-01 -2.18859177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.51864 meters Centerline goodness : 0.995079 Centerline is valid? [True, True] Translation: X:38.61, Y:-3.68, Z:-21.88 [[ 9.99106468e-01 -4.19036359e-02 -5.50925521e-03 3.86057012e+01] [ 4.17898497e-02 9.98938834e-01 -1.93601478e-02 -3.68412787e+00] [ 6.31466956e-03 1.91126180e-02 9.99797396e-01 -2.18823284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.54864 meters Centerline goodness : 0.994933 Centerline is valid? [True, True] Translation: X:38.64, Y:-3.71, Z:-21.89 [[ 9.99028327e-01 -4.27294954e-02 -1.07978195e-02 3.86363197e+01] [ 4.29360081e-02 9.98884017e-01 1.96778936e-02 -3.71465044e+00] [ 9.94494283e-03 -2.01223884e-02 9.99748062e-01 -2.18859284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.57864 meters Centerline goodness : 0.995911 Centerline is valid? [True, True] Translation: X:38.66, Y:-3.64, Z:-21.88 [[ 9.98516479e-01 -4.03916264e-02 3.65151684e-02 3.86606894e+01] [ 4.23958061e-02 9.97536483e-01 -5.58888322e-02 -3.63763130e+00] [-3.41677718e-02 5.73540100e-02 9.97769052e-01 -2.18768060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.60864 meters Centerline goodness : 0.993648 Centerline is valid? [True, True] Translation: X:38.70, Y:-3.71, Z:-21.89 [[ 9.99046591e-01 -4.30355578e-02 -7.33818417e-03 3.86982745e+01] [ 4.32860191e-02 9.98327769e-01 3.83143076e-02 -3.71437024e+00] [ 5.67703543e-03 -3.85954192e-02 9.99238793e-01 -2.18885348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.638639999999995 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:38.73, Y:-3.67, Z:-21.88 [[ 9.99064151e-01 -4.31839301e-02 -2.44340033e-03 3.87274532e+01] [ 4.31800820e-02 9.99066014e-01 -1.60635378e-03 -3.67259003e+00] [ 2.51048690e-03 1.49934424e-03 9.99995725e-01 -2.18847457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.668639999999996 meters Centerline goodness : 0.994884 Centerline is valid? [True, True] Translation: X:38.76, Y:-3.64, Z:-21.88 [[ 9.98459452e-01 -4.26931900e-02 3.54402818e-02 3.87562639e+01] [ 4.38944168e-02 9.98462955e-01 -3.38379570e-02 -3.63626561e+00] [-3.39411582e-02 3.53414585e-02 9.98798768e-01 -2.18803840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.69864 meters Centerline goodness : 0.995327 Centerline is valid? [True, True] Translation: X:38.79, Y:-3.66, Z:-21.89 [[ 9.98540207e-01 -4.40317534e-02 3.12835523e-02 3.87914614e+01] [ 4.39853647e-02 9.99029819e-01 2.16981445e-03 -3.66362712e+00] [-3.13487423e-02 -7.90628511e-04 9.99508195e-01 -2.18871645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.72864 meters Centerline goodness : 0.994392 Centerline is valid? [True, True] Translation: X:38.83, Y:-3.69, Z:-21.89 [[ 9.98783408e-01 -4.89488107e-02 -5.97645480e-03 3.88257690e+01] [ 4.91440400e-02 9.98041572e-01 3.87024956e-02 -3.69152868e+00] [ 4.07030921e-03 -3.89491176e-02 9.99232905e-01 -2.18908888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.75864 meters Centerline goodness : 0.994003 Centerline is valid? [True, True] Translation: X:38.85, Y:-3.62, Z:-21.88 [[ 9.98076011e-01 -4.98985634e-02 3.68023082e-02 3.88525451e+01] [ 5.12087635e-02 9.98054628e-01 -3.55615271e-02 -3.61749332e+00] [-3.49562449e-02 3.73777078e-02 9.98689625e-01 -2.18797152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.78864 meters Centerline goodness : 0.994737 Centerline is valid? [True, True] Translation: X:38.89, Y:-3.65, Z:-21.89 [[ 9.97733982e-01 -5.69664642e-02 3.58011722e-02 3.88881367e+01] [ 5.69151817e-02 9.98376009e-01 2.45076633e-03 -3.64842765e+00] [-3.58826429e-02 -4.07582624e-04 9.99355927e-01 -2.18865344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.818639999999995 meters Centerline goodness : 0.996015 Centerline is valid? [True, True] Translation: X:38.92, Y:-3.65, Z:-21.89 [[ 9.97528713e-01 -6.01495239e-02 3.63111726e-02 3.89213873e+01] [ 6.00995679e-02 9.98189339e-01 2.46670431e-03 -3.64518396e+00] [-3.63937965e-02 -2.78322594e-04 9.99337488e-01 -2.18871961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.848639999999996 meters Centerline goodness : 0.995963 Centerline is valid? [True, True] Translation: X:38.95, Y:-3.64, Z:-21.89 [[ 9.97321865e-01 -6.36647271e-02 3.59986179e-02 3.89539640e+01] [ 6.36185890e-02 9.97971335e-01 2.42684014e-03 -3.64225197e+00] [-3.60800929e-02 -1.30159450e-04 9.99348893e-01 -2.18875577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.87864 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:38.99, Y:-3.64, Z:-21.89 [[ 9.96828623e-01 -6.98037216e-02 3.82117407e-02 3.89869737e+01] [ 6.97570181e-02 9.97560738e-01 2.55575270e-03 -3.64185218e+00] [-3.82969333e-02 1.17889646e-04 9.99266396e-01 -2.18874913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.90864 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:39.02, Y:-3.64, Z:-21.89 [[ 9.96524570e-01 -7.34140917e-02 3.93592714e-02 3.90199846e+01] [ 7.33681560e-02 9.97301504e-01 2.61219250e-03 -3.64201928e+00] [-3.94448323e-02 2.84603156e-04 9.99221709e-01 -2.18867459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.93864 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:39.05, Y:-3.64, Z:-21.89 [[ 9.96222271e-01 -7.69893897e-02 4.01723796e-02 3.90530645e+01] [ 7.69452606e-02 9.97031808e-01 2.64580016e-03 -3.64278568e+00] [-4.02568388e-02 4.55269169e-04 9.99189261e-01 -2.18882360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.96864 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:39.09, Y:-3.65, Z:-21.89 [[ 9.95958928e-01 -8.14817244e-02 3.77695858e-02 3.90861162e+01] [ 8.14466378e-02 9.96674645e-01 2.46925196e-03 -3.64645110e+00] [-3.78451875e-02 6.16932242e-04 9.99283424e-01 -2.18899660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.998639999999995 meters Centerline goodness : 0.997537 Centerline is valid? [True, True] Translation: X:39.12, Y:-3.65, Z:-21.89 [[ 9.96007672e-01 -8.12979909e-02 3.68694184e-02 3.91196678e+01] [ 8.12650975e-02 9.96689651e-01 2.39237776e-03 -3.64698869e+00] [-3.69418633e-02 6.13370274e-04 9.99317228e-01 -2.18910313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.028639999999996 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:39.15, Y:-3.65, Z:-21.89 [[ 9.96086061e-01 -8.05528193e-02 3.63840872e-02 3.91528172e+01] [ 8.05209405e-02 9.96750163e-01 2.34304094e-03 -3.64835701e+00] [-3.64545834e-02 5.95810492e-04 9.99335133e-01 -2.18915993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.05864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:39.19, Y:-3.65, Z:-21.89 [[ 9.96375824e-01 -7.68231844e-02 3.65159667e-02 3.91861896e+01] [ 7.67892347e-02 9.97044617e-01 2.33337614e-03 -3.65293297e+00] [-3.65873055e-02 4.79113563e-04 9.99330346e-01 -2.18921184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.08864 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:39.22, Y:-3.65, Z:-21.89 [[ 9.96642973e-01 -7.37322035e-02 3.55857597e-02 3.92194330e+01] [ 7.36986185e-02 9.97278007e-01 2.25637006e-03 -3.65280617e+00] [-3.56552626e-02 3.73825956e-04 9.99364079e-01 -2.18930582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.11864 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:39.25, Y:-3.65, Z:-21.89 [[ 9.97187575e-01 -6.65783483e-02 3.44131410e-02 3.92522592e+01] [ 6.65430872e-02 9.97781192e-01 2.17021979e-03 -3.65497081e+00] [-3.44812745e-02 1.25840428e-04 9.99405336e-01 -2.18944464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.14864 meters Centerline goodness : 0.996595 Centerline is valid? [True, True] Translation: X:39.28, Y:-3.76, Z:-21.90 [[ 9.97451647e-01 -6.86684749e-02 -1.93610855e-02 3.92837344e+01] [ 7.04551647e-02 9.90781972e-01 1.15702868e-01 -3.76271003e+00] [ 1.12374750e-02 -1.16772105e-01 9.93095159e-01 -2.19003819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.178639999999994 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:39.31, Y:-3.67, Z:-21.89 [[ 9.97756812e-01 -6.60701275e-02 -1.07741103e-02 3.93050924e+01] [ 6.62562326e-02 9.97641299e-01 1.79429770e-02 -3.67286305e+00] [ 9.56320261e-03 -1.86165795e-02 9.99780960e-01 -2.18945202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.208639999999995 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:39.33, Y:-3.54, Z:-21.87 [[ 0.99720211 -0.05570678 0.04984676 39.32958917] [ 0.0616385 0.99002596 -0.12668583 -3.53820159] [ -0.04229232 0.12940386 0.99068966 -21.86928417] [ 0. 0. 0. 1. ]] SLAMing on 52.23864 meters Centerline goodness : 0.997777 Centerline is valid? [True, True] Translation: X:39.37, Y:-3.65, Z:-21.89 [[ 9.97534737e-01 -5.54526080e-02 4.30053220e-02 3.93690811e+01] [ 5.53905649e-02 9.98461290e-01 2.63385937e-03 -3.65454038e+00] [-4.30852037e-02 -2.45277133e-04 9.99071371e-01 -2.18927238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.26864 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:39.40, Y:-3.65, Z:-21.89 [[ 9.97619273e-01 -5.30068722e-02 4.41141430e-02 3.94019700e+01] [ 5.29402199e-02 9.98594091e-01 2.67863455e-03 -3.65152501e+00] [-4.41941086e-02 -3.36845019e-04 9.99022906e-01 -2.18922400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.29864 meters Centerline goodness : 0.997440 Centerline is valid? [True, True] Translation: X:39.43, Y:-3.70, Z:-21.89 [[ 9.98420644e-01 -5.57471084e-02 -6.96258983e-03 3.94323881e+01] [ 5.60562475e-02 9.96766003e-01 5.75780518e-02 -3.70170347e+00] [ 3.73026295e-03 -5.78774122e-02 9.98316728e-01 -2.18948385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.32864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:39.46, Y:-3.59, Z:-21.89 [[ 0.99780069 -0.04439509 0.04922264 39.46072956] [ 0.04703869 0.99743688 -0.05391695 -3.59186488] [ -0.04670283 0.05611374 0.99733149 -21.88501747] [ 0. 0. 0. 1. ]] SLAMing on 52.35864 meters Centerline goodness : 0.997831 Centerline is valid? [True, True] Translation: X:39.49, Y:-3.68, Z:-21.90 [[ 9.98775218e-01 -4.94574352e-02 -1.42319993e-03 3.94939038e+01] [ 4.94690247e-02 9.97637648e-01 4.76648690e-02 -3.68357959e+00] [-9.37544345e-04 -4.76768943e-02 9.98862370e-01 -2.18966326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.388639999999995 meters Centerline goodness : 0.997729 Centerline is valid? [True, True] Translation: X:39.52, Y:-3.71, Z:-21.90 [[ 9.98879259e-01 -4.69354394e-02 6.10662212e-03 3.95238892e+01] [ 4.63058704e-02 9.95783646e-01 7.91877292e-02 -3.70586937e+00] [-9.79758531e-03 -7.88162078e-02 9.96841017e-01 -2.18987586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.418639999999996 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:39.55, Y:-3.55, Z:-21.88 [[ 9.99031584e-01 -4.15214667e-02 1.45554790e-02 3.95475835e+01] [ 4.26318577e-02 9.95310809e-01 -8.68269399e-02 -3.55064804e+00] [-1.08820437e-02 8.73633824e-02 9.96117072e-01 -2.18760396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.44864 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:39.58, Y:-3.63, Z:-21.89 [[ 9.99000136e-01 -4.34319075e-02 1.06017496e-02 3.95825155e+01] [ 4.33549158e-02 9.99032422e-01 7.38717001e-03 -3.63054091e+00] [-1.09123305e-02 -6.92014588e-03 9.99916513e-01 -2.18917776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.47864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:39.61, Y:-3.58, Z:-21.89 [[ 9.97603342e-01 -3.66494093e-02 5.86889540e-02 3.96137513e+01] [ 3.90497838e-02 9.98424715e-01 -4.02889923e-02 -3.57743750e+00] [-5.71199344e-02 4.24842244e-02 9.97462984e-01 -2.18868062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.50864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:39.65, Y:-3.61, Z:-21.89 [[ 9.97723124e-01 -3.80365231e-02 5.56937206e-02 3.96491004e+01] [ 3.79180171e-02 9.99275783e-01 3.18337395e-03 -3.61195389e+00] [-5.57744707e-02 -1.06433036e-03 9.98442825e-01 -2.18947757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.53864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:39.68, Y:-3.61, Z:-21.90 [[ 9.97702636e-01 -3.79524791e-02 5.61164836e-02 3.96816541e+01] [ 3.78336874e-02 9.99278996e-01 3.17812987e-03 -3.60750184e+00] [-5.61966413e-02 -1.04773505e-03 9.98419170e-01 -2.18964067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.568639999999995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:39.72, Y:-3.61, Z:-21.90 [[ 9.97711154e-01 -3.77259850e-02 5.61177656e-02 3.97151151e+01] [ 3.76081160e-02 9.99287583e-01 3.15535579e-03 -3.60552424e+00] [-5.61968253e-02 -1.03765022e-03 9.98419171e-01 -2.18975568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.598639999999996 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:39.75, Y:-3.60, Z:-21.90 [[ 9.97696748e-01 -3.82299054e-02 5.60327838e-02 3.97476312e+01] [ 3.81142561e-02 9.99268481e-01 3.13155992e-03 -3.60167568e+00] [-5.61115140e-02 -9.88699269e-04 9.98424018e-01 -2.18987396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.62864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:39.78, Y:-3.70, Z:-21.91 [[ 9.98833972e-01 -4.78689378e-02 6.26587281e-03 3.97783898e+01] [ 4.68514086e-02 9.92444939e-01 1.13393067e-01 -3.70191875e+00] [-1.16465394e-02 -1.12967282e-01 9.93530448e-01 -2.19064002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.65864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:39.80, Y:-3.50, Z:-21.88 [[ 9.96953730e-01 -3.86980548e-02 6.77179466e-02 3.98025709e+01] [ 4.57150200e-02 9.93384453e-01 -1.05344508e-01 -3.49712413e+00] [-6.31933278e-02 1.08119327e-01 9.92127418e-01 -2.18769735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.68864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:39.84, Y:-3.68, Z:-21.91 [[ 9.98584938e-01 -5.28559782e-02 5.86240039e-03 3.98381590e+01] [ 5.20272437e-02 9.93812312e-01 9.81338594e-02 -3.68268632e+00] [-1.10130868e-02 -9.76899893e-02 9.95155957e-01 -2.19058911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.71864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:39.86, Y:-3.61, Z:-21.90 [[ 9.98411879e-01 -5.04252816e-02 2.51199098e-02 3.98610087e+01] [ 4.98635349e-02 9.98502371e-01 2.25087453e-02 -3.61072674e+00] [-2.62172993e-02 -2.12204312e-02 9.99431011e-01 -2.18991246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.748639999999995 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:39.89, Y:-3.49, Z:-21.87 [[ 0.99589018 -0.04392756 0.07920309 39.88793005] [ 0.05266788 0.99232538 -0.11187688 -3.48526466] [ -0.07368076 0.11558855 0.99056067 -21.87475923] [ 0. 0. 0. 1. ]] SLAMing on 52.778639999999996 meters Centerline goodness : 0.997979 Centerline is valid? [True, True] Translation: X:39.93, Y:-3.64, Z:-21.90 [[ 9.98302118e-01 -5.51091458e-02 1.88643500e-02 3.99252092e+01] [ 5.39706140e-02 9.96953466e-01 5.63112781e-02 -3.63808482e+00] [-2.19101456e-02 -5.51975476e-02 9.98235031e-01 -2.19049611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.80864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:39.95, Y:-3.54, Z:-21.89 [[ 0.99556364 -0.05106579 0.07902736 39.95315637] [ 0.05507928 0.99725586 -0.04946737 -3.53785689] [ -0.07628441 0.05360068 0.99564434 -21.89195805] [ 0. 0. 0. 1. ]] SLAMing on 52.83864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:39.99, Y:-3.63, Z:-21.91 [[ 9.97626465e-01 -6.10383326e-02 3.18709570e-02 3.99859175e+01] [ 5.95363039e-02 9.97160005e-01 4.61232342e-02 -3.62624740e+00] [-3.45957290e-02 -4.41162802e-02 9.98427208e-01 -2.19055125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.86864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:40.02, Y:-3.67, Z:-21.91 [[ 9.97415005e-01 -6.53195468e-02 2.99443684e-02 4.00171852e+01] [ 6.22305414e-02 9.93576245e-01 9.45177470e-02 -3.66936128e+00] [-3.59258696e-02 -9.24099648e-02 9.95072726e-01 -2.19093756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.89864 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:40.04, Y:-3.53, Z:-21.89 [[ 9.97841591e-01 -5.88343839e-02 2.91663086e-02 4.00445414e+01] [ 6.04276908e-02 9.96535461e-01 -5.71451557e-02 -3.53153411e+00] [-2.57031608e-02 5.87842658e-02 9.97939757e-01 -2.18901348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.928639999999994 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:40.08, Y:-3.64, Z:-21.91 [[ 9.96955786e-01 -6.73470830e-02 3.92878052e-02 4.00758723e+01] [ 6.50073275e-02 9.96193897e-01 5.80669199e-02 -3.63579981e+00] [-4.30489095e-02 -5.53361566e-02 9.97539323e-01 -2.19087401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.958639999999995 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:40.10, Y:-3.47, Z:-21.88 [[ 0.9937214 -0.06166699 0.09335397 40.10238136] [ 0.07307408 0.98956668 -0.12416913 -3.47085559] [ -0.08472284 0.13021127 0.98785984 -21.87977195] [ 0. 0. 0. 1. ]] SLAMing on 52.98864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:40.14, Y:-3.71, Z:-21.91 [[ 9.96377134e-01 -7.77116605e-02 3.45471471e-02 4.01409928e+01] [ 7.24077456e-02 9.88241436e-01 1.34669901e-01 -3.70917939e+00] [-4.46063439e-02 -1.31680529e-01 9.90288096e-01 -2.19136001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.01864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:40.16, Y:-3.61, Z:-21.91 [[ 9.96184008e-01 -7.56780831e-02 4.34770063e-02 4.01628725e+01] [ 7.48876353e-02 9.97000655e-01 1.95329393e-02 -3.60512882e+00] [-4.48248192e-02 -1.62025115e-02 9.98863461e-01 -2.19051330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.04864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:40.19, Y:-3.45, Z:-21.88 [[ 0.99244122 -0.06136766 0.10627529 40.18976232] [ 0.07641519 0.98664206 -0.14386855 -3.45457883] [ -0.0960268 0.15090213 0.98387367 -21.87630507] [ 0. 0. 0. 1. ]] SLAMing on 53.07864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:40.23, Y:-3.72, Z:-21.91 [[ 0.99570099 -0.0820595 0.04296244 40.22723792] [ 0.07489015 0.98615822 0.14793048 -3.72239953] [ -0.05450687 -0.14407706 0.98806417 -21.91318659] [ 0. 0. 0. 1. ]] SLAMing on 53.10864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:40.25, Y:-3.58, Z:-21.90 [[ 9.96039494e-01 -6.95198799e-02 5.54284407e-02 4.02547648e+01] [ 6.98828845e-02 9.97544432e-01 -4.63559531e-03 -3.58186981e+00] [-5.49700663e-02 8.49073532e-03 9.98451901e-01 -2.19041495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.138639999999995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:40.28, Y:-3.48, Z:-21.89 [[ 0.99190855 -0.0608376 0.1114281 40.28201498] [ 0.07396581 0.99028469 -0.11775099 -3.47919101] [ -0.10318186 0.12504008 0.98677175 -21.88715539] [ 0. 0. 0. 1. ]] SLAMing on 53.168639999999996 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:40.32, Y:-3.59, Z:-21.91 [[ 9.91612139e-01 -7.15332905e-02 1.07649221e-01 4.03192461e+01] [ 7.13654216e-02 9.97435534e-01 5.41599277e-03 -3.58943393e+00] [-1.07760581e-01 2.31186783e-03 9.94174186e-01 -2.19120932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.19864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:40.35, Y:-3.59, Z:-21.91 [[ 9.91743438e-01 -7.15697777e-02 1.06408272e-01 4.03522278e+01] [ 7.14114833e-02 9.97432849e-01 5.30200710e-03 -3.58817633e+00] [-1.06514569e-01 2.34054175e-03 9.94308387e-01 -2.19147104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.22864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:40.38, Y:-3.59, Z:-21.92 [[ 9.91355306e-01 -7.28995418e-02 1.09088556e-01 4.03849328e+01] [ 7.27471557e-02 9.97335897e-01 5.38141754e-03 -3.58873210e+00] [-1.09190236e-01 2.60098537e-03 9.94017468e-01 -2.19164888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.25864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:40.42, Y:-3.67, Z:-21.92 [[ 0.99521758 -0.08076494 0.05494541 40.41686376] [ 0.07533801 0.99266572 0.09454602 -3.6733267 ] [ -0.06217843 -0.08995439 0.99400304 -21.92100134] [ 0. 0. 0. 1. ]] SLAMing on 53.28864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:40.44, Y:-3.51, Z:-21.91 [[ 0.99095889 -0.06675541 0.11637956 40.44331103] [ 0.07671533 0.99356624 -0.083312 -3.51131243] [ -0.11006928 0.09148686 0.98970445 -21.90581641] [ 0. 0. 0. 1. ]] SLAMing on 53.318639999999995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:40.48, Y:-3.70, Z:-21.92 [[ 0.99514582 -0.08376528 0.05165432 40.47808866] [ 0.07714057 0.989882 0.1190922 -3.69977189] [ -0.06110747 -0.11452946 0.99153864 -21.92452306] [ 0. 0. 0. 1. ]] SLAMing on 53.348639999999996 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:40.51, Y:-3.62, Z:-21.92 [[ 9.95128570e-01 -7.56742501e-02 6.31865270e-02 4.05084259e+01] [ 7.34846967e-02 9.96635908e-01 3.62886515e-02 -3.62401308e+00] [-6.57200782e-02 -3.14686311e-02 9.97341765e-01 -2.19221702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.37864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:40.54, Y:-3.59, Z:-21.92 [[ 9.94582845e-01 -7.03897219e-02 7.64869361e-02 4.05356036e+01] [ 7.10448161e-02 9.97455826e-01 -5.87442940e-03 -3.58928894e+00] [-7.58788406e-02 1.12766070e-02 9.97053278e-01 -2.19201284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.40864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:40.56, Y:-3.61, Z:-21.92 [[ 9.94488844e-01 -7.26263256e-02 7.56132012e-02 4.05646986e+01] [ 7.21324409e-02 9.97352206e-01 9.24598225e-03 -3.60543532e+00] [-7.60844947e-02 -3.74086143e-03 9.97094356e-01 -2.19216457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.43864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:40.59, Y:-3.60, Z:-21.92 [[ 9.93877322e-01 -7.27940343e-02 8.31197801e-02 4.05922990e+01] [ 7.25282826e-02 9.97346984e-01 6.21627419e-03 -3.60469965e+00] [-8.33517697e-02 -1.49679051e-04 9.96520175e-01 -2.19231562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.46864 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:40.62, Y:-3.57, Z:-21.92 [[ 9.94897716e-01 -6.98467754e-02 7.28008453e-02 4.06223449e+01] [ 7.28427606e-02 9.96567199e-01 -3.93414504e-02 -3.57069061e+00] [-6.98030611e-02 4.44437337e-02 9.96570262e-01 -2.19202926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.498639999999995 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:40.65, Y:-3.53, Z:-21.92 [[ 0.98914623 -0.06630973 0.13112114 40.65077726] [ 0.07817296 0.99309272 -0.0874976 -3.52600145] [ -0.12441351 0.09679805 0.98749755 -21.91895284] [ 0. 0. 0. 1. ]] SLAMing on 53.528639999999996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:40.69, Y:-3.62, Z:-21.93 [[ 9.89185896e-01 -7.47323471e-02 1.26199606e-01 4.06864010e+01] [ 7.45604098e-02 9.97197889e-01 6.09219887e-03 -3.61750440e+00] [-1.26301265e-01 3.38317711e-03 9.91986162e-01 -2.19348248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.55864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:40.72, Y:-3.62, Z:-21.94 [[ 9.89238915e-01 -7.34193610e-02 1.26554202e-01 4.07189442e+01] [ 7.32437099e-02 9.97295739e-01 6.04711507e-03 -3.61939307e+00] [-1.26655942e-01 3.28725769e-03 9.91941262e-01 -2.19380099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.58864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:40.75, Y:-3.72, Z:-21.94 [[ 0.9940773 -0.08245339 0.0707938 40.75182806] [ 0.07458776 0.99141925 0.10735236 -3.71619999] [ -0.07903791 -0.10143619 0.99169739 -21.94003224] [ 0. 0. 0. 1. ]] SLAMing on 53.61864 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:40.78, Y:-3.65, Z:-21.94 [[ 9.94419116e-01 -7.19779824e-02 7.71348903e-02 4.07781631e+01] [ 6.98322980e-02 9.97102532e-01 3.01660690e-02 -3.64847380e+00] [-7.90826872e-02 -2.46112090e-02 9.96564206e-01 -2.19408986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.64864 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:40.81, Y:-3.51, Z:-21.93 [[ 0.98957923 -0.05482743 0.1331424 40.80700232] [ 0.07080942 0.99043395 -0.11843398 -3.51277598] [ -0.12537532 0.12662754 0.98399517 -21.9303883 ] [ 0. 0. 0. 1. ]] SLAMing on 53.678639999999994 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:40.84, Y:-3.69, Z:-21.95 [[ 0.99452833 -0.07203555 0.07565896 40.84338523] [ 0.06667913 0.995239 0.07108608 -3.68864363] [ -0.08041947 -0.06565225 0.99459665 -21.94730717] [ 0. 0. 0. 1. ]] SLAMing on 53.708639999999995 meters Centerline goodness : 0.997241 Centerline is valid? [True, True] Translation: X:40.87, Y:-3.64, Z:-21.95 [[ 9.94927118e-01 -6.29321636e-02 7.84829440e-02 4.08708449e+01] [ 6.22377271e-02 9.97997771e-01 1.12655878e-02 -3.63559308e+00] [-7.90347711e-02 -6.32383879e-03 9.96851801e-01 -2.19484270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.73864 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:40.90, Y:-3.65, Z:-21.95 [[ 9.94715293e-01 -6.29617349e-02 8.11005960e-02 4.09024385e+01] [ 6.06257586e-02 9.97680517e-01 3.09532501e-02 -3.65364902e+00] [-8.28613549e-02 -2.58728861e-02 9.96225170e-01 -2.19513471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.76864 meters Centerline goodness : 0.998276 Centerline is valid? [True, True] Translation: X:40.93, Y:-3.66, Z:-21.95 [[ 9.94117504e-01 -6.37750787e-02 8.75392927e-02 4.09267965e+01] [ 6.04365329e-02 9.97359188e-01 4.02750049e-02 -3.66448904e+00] [-8.98766595e-02 -3.47475160e-02 9.95346571e-01 -2.19535760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.79864 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:40.96, Y:-3.61, Z:-21.95 [[ 9.94330843e-01 -5.47456355e-02 9.11542057e-02 4.09572924e+01] [ 5.68538071e-02 9.98168068e-01 -2.06918458e-02 -3.60796626e+00] [-8.98544291e-02 2.57570041e-02 9.95621795e-01 -2.19531195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.82864 meters Centerline goodness : 0.997535 Centerline is valid? [True, True] Translation: X:40.99, Y:-3.59, Z:-21.95 [[ 0.99400899 -0.05200614 0.09613265 40.98606967] [ 0.05617951 0.99756916 -0.0412266 -3.58874628] [ -0.09375493 0.0463803 0.99451439 -21.95360569] [ 0. 0. 0. 1. ]] SLAMing on 53.85864 meters Centerline goodness : 0.998030 Centerline is valid? [True, True] Translation: X:41.02, Y:-3.69, Z:-21.96 [[ 0.99378493 -0.06511862 0.09028334 41.01969546] [ 0.05901534 0.99589032 0.06869974 -3.68940621] [ -0.09438593 -0.06294466 0.99354379 -21.96013391] [ 0. 0. 0. 1. ]] SLAMing on 53.888639999999995 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:41.05, Y:-3.58, Z:-21.96 [[ 0.9938659 -0.05026809 0.09850733 41.04511444] [ 0.05498467 0.99743789 -0.04576402 -3.58473193] [ -0.09595448 0.05089969 0.99408348 -21.95767946] [ 0. 0. 0. 1. ]] SLAMing on 53.918639999999996 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:41.08, Y:-3.66, Z:-21.96 [[ 9.93621514e-01 -6.14240183e-02 9.45694295e-02 4.10759695e+01] [ 5.80167133e-02 9.97577983e-01 3.83696282e-02 -3.66190715e+00] [-9.66971975e-02 -3.26382806e-02 9.94778566e-01 -2.19639382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.94864 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:41.10, Y:-3.59, Z:-21.96 [[ 9.93004125e-01 -5.24397525e-02 1.05796413e-01 4.11024318e+01] [ 5.67475341e-02 9.97660370e-01 -3.81248514e-02 -3.59152703e+00] [-1.03549631e-01 4.38618203e-02 9.93656689e-01 -2.19636893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.97864 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:41.13, Y:-3.66, Z:-21.97 [[ 9.90902470e-01 -6.27084386e-02 1.19079584e-01 4.11270236e+01] [ 5.87440211e-02 9.97604889e-01 3.65188489e-02 -3.65779564e+00] [-1.21084415e-01 -2.91914040e-02 9.92212894e-01 -2.19697487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.00864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:41.16, Y:-3.61, Z:-21.97 [[ 9.91187745e-01 -5.57940586e-02 1.20141069e-01 4.11552456e+01] [ 5.77756822e-02 9.98244007e-01 -1.30718293e-02 -3.61311954e+00] [-1.19200772e-01 1.98978692e-02 9.92670767e-01 -2.19706952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.03864 meters Centerline goodness : 0.997584 Centerline is valid? [True, True] Translation: X:41.19, Y:-3.60, Z:-21.97 [[ 9.91422874e-01 -5.32208732e-02 1.19365926e-01 4.11867986e+01] [ 5.73821725e-02 9.97848963e-01 -3.16975315e-02 -3.59581979e+00] [-1.17422195e-01 3.82751339e-02 9.92344216e-01 -2.19721904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.068639999999995 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:41.22, Y:-3.65, Z:-21.98 [[ 9.92351871e-01 -6.12527157e-02 1.07172148e-01 4.12180619e+01] [ 5.84641020e-02 9.97868953e-01 2.89741540e-02 -3.65008004e+00] [-1.08718505e-01 -2.24868325e-02 9.93818207e-01 -2.19776581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.098639999999996 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:41.25, Y:-3.56, Z:-21.98 [[ 0.9849284 -0.04518387 0.16695647 41.24840225] [ 0.05719642 0.99605437 -0.06785469 -3.55689496] [ -0.16323178 0.07638133 0.98362659 -21.97829493] [ 0. 0. 0. 1. ]] SLAMing on 54.12864 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:41.28, Y:-3.66, Z:-21.99 [[ 9.90280751e-01 -6.11979736e-02 1.24895328e-01 4.12817596e+01] [ 5.66369826e-02 9.97603162e-01 3.97515143e-02 -3.65539407e+00] [-1.27028686e-01 -3.22914650e-02 9.91373277e-01 -2.19865403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.15864 meters Centerline goodness : 0.991336 Centerline is valid? [True, True] Translation: X:41.33, Y:-3.64, Z:-21.99 [[ 9.92099425e-01 -3.39103577e-02 1.20784179e-01 4.13283638e+01] [ 3.00093921e-02 9.98972163e-01 3.39713592e-02 -3.63798109e+00] [-1.21812013e-01 -3.00783061e-02 9.92097338e-01 -2.19935733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.18864 meters Centerline goodness : 0.997635 Centerline is valid? [True, True] Translation: X:41.34, Y:-3.60, Z:-21.99 [[ 9.90801969e-01 -5.04160656e-02 1.25577378e-01 4.13400665e+01] [ 5.29823216e-02 9.98447688e-01 -1.71781291e-02 -3.60067231e+00] [-1.24516389e-01 2.36735052e-02 9.91935096e-01 -2.19904086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.21864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:41.37, Y:-3.57, Z:-22.00 [[ 0.98421051 -0.04508642 0.17116333 41.37117432] [ 0.05296908 0.9977223 -0.04176712 -3.57367545] [ -0.16889034 0.050174 0.98435696 -21.99521735] [ 0. 0. 0. 1. ]] SLAMing on 54.248639999999995 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:41.40, Y:-3.64, Z:-22.00 [[ 9.90181059e-01 -5.72271749e-02 1.27540273e-01 4.14033061e+01] [ 5.35872553e-02 9.98056917e-01 3.17930366e-02 -3.64137990e+00] [-1.29111877e-01 -2.46463295e-02 9.91323702e-01 -2.20017330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.278639999999996 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:41.43, Y:-3.61, Z:-22.00 [[ 9.90065350e-01 -5.08925676e-02 1.31074598e-01 4.14338732e+01] [ 5.08810711e-02 9.98698799e-01 3.43896300e-03 -3.61272579e+00] [-1.31079061e-01 3.26441784e-03 9.91366543e-01 -2.20047439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.30864 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:41.46, Y:-3.62, Z:-22.01 [[ 9.90059836e-01 -5.16202587e-02 1.30831460e-01 4.14646814e+01] [ 5.00608268e-02 9.98630763e-01 1.51826205e-02 -3.62045698e+00] [-1.31436051e-01 -8.48217169e-03 9.91288362e-01 -2.20096247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.33864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:41.50, Y:-3.58, Z:-22.01 [[ 9.84558461e-01 -4.23793762e-02 1.69848834e-01 4.14960040e+01] [ 4.70309051e-02 9.98618015e-01 -2.34553684e-02 -3.58010158e+00] [-1.68620081e-01 3.10813258e-02 9.85190956e-01 -2.20140067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.36864 meters Centerline goodness : 0.998273 Centerline is valid? [True, True] Translation: X:41.53, Y:-3.60, Z:-22.02 [[ 9.84704002e-01 -4.45131892e-02 1.68453570e-01 4.15287618e+01] [ 4.39660346e-02 9.99008654e-01 6.97836784e-03 -3.60391489e+00] [-1.68597203e-01 5.34608741e-04 9.85684887e-01 -2.20219922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.39864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:41.56, Y:-3.61, Z:-22.03 [[ 9.90264429e-01 -4.70839960e-02 1.30994112e-01 4.15598612e+01] [ 4.49543515e-02 9.98805112e-01 1.91691111e-02 -3.61418533e+00] [-1.31740147e-01 -1.30937335e-02 9.91197805e-01 -2.20256442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.428639999999994 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:41.59, Y:-3.60, Z:-22.03 [[ 9.90244131e-01 -4.47041141e-02 1.31977665e-01 4.15922090e+01] [ 4.42605020e-02 9.99000195e-01 6.29437020e-03 -3.60092187e+00] [-1.32127097e-01 -3.91565431e-04 9.91232706e-01 -2.20298948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.458639999999995 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:41.62, Y:-3.67, Z:-22.03 [[ 0.99027212 -0.05695131 0.12695541 41.62152015] [ 0.0458393 0.99499467 0.08879391 -3.67450733] [ -0.13137688 -0.08211059 0.98792609 -22.03493697] [ 0. 0. 0. 1. ]] SLAMing on 54.48864 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:41.65, Y:-3.58, Z:-22.04 [[ 9.89285661e-01 -4.03640738e-02 1.40301899e-01 4.16509286e+01] [ 4.19282260e-02 9.99086899e-01 -8.20926502e-03 -3.58139872e+00] [-1.39842429e-01 1.40039179e-02 9.90074737e-01 -2.20363287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.51864 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:41.68, Y:-3.52, Z:-22.04 [[ 9.83528634e-01 -2.94874871e-02 1.78330913e-01 4.16816459e+01] [ 4.23492624e-02 9.96734555e-01 -6.87514840e-02 -3.52258666e+00] [-1.75721274e-01 7.51712357e-02 9.81565749e-01 -2.20366054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.54864 meters Centerline goodness : 0.997927 Centerline is valid? [True, True] Translation: X:41.71, Y:-3.61, Z:-22.05 [[ 9.89177463e-01 -4.44476743e-02 1.39829721e-01 4.17148337e+01] [ 4.14728863e-02 9.98848492e-01 2.41182492e-02 -3.60564501e+00] [-1.40740706e-01 -1.80580865e-02 9.89881791e-01 -2.20477113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.57864 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:41.75, Y:-3.57, Z:-22.05 [[ 9.83572729e-01 -3.61404027e-02 1.76857451e-01 4.17460863e+01] [ 3.86810862e-02 9.99191740e-01 -1.09380164e-02 -3.56918595e+00] [-1.76319200e-01 1.75993730e-02 9.84175697e-01 -2.20526101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.60864 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:41.78, Y:-3.58, Z:-22.06 [[ 9.83774686e-01 -3.68476873e-02 1.75583639e-01 4.17795381e+01] [ 3.62303705e-02 9.99320862e-01 6.72124830e-03 -3.58173469e+00] [-1.75712056e-01 -2.50733637e-04 9.84441573e-01 -2.20588099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.638639999999995 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:41.81, Y:-3.60, Z:-22.06 [[ 9.89916667e-01 -3.72356595e-02 1.36669305e-01 4.18098857e+01] [ 3.31459418e-02 9.98935555e-01 3.20796537e-02 -3.59995697e+00] [-1.37718335e-01 -2.72261510e-02 9.90097165e-01 -2.20633223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.668639999999996 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:41.84, Y:-3.58, Z:-22.07 [[ 9.90258292e-01 -3.15160819e-02 1.35629092e-01 4.18408307e+01] [ 3.01072295e-02 9.99469425e-01 1.24267333e-02 -3.57759046e+00] [-1.35948773e-01 -8.22225952e-03 9.90681748e-01 -2.20653528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.69864 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:41.87, Y:-3.54, Z:-22.07 [[ 9.83913889e-01 -2.21018668e-02 1.77270885e-01 4.18710220e+01] [ 2.73582049e-02 9.99253880e-01 -2.72619024e-02 -3.53575906e+00] [-1.76536081e-01 3.16731776e-02 9.83784439e-01 -2.20700701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.72864 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:41.90, Y:-3.60, Z:-22.08 [[ 9.90286111e-01 -3.22394840e-02 1.35255438e-01 4.19021914e+01] [ 2.56070417e-02 9.98396073e-01 5.04931748e-02 -3.60153630e+00] [-1.36666372e-01 -4.65391980e-02 9.89523323e-01 -2.20768865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.75864 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:41.93, Y:-3.55, Z:-22.08 [[ 9.89941034e-01 -2.34695847e-02 1.39520347e-01 4.19323010e+01] [ 2.35490368e-02 9.99722098e-01 1.08159570e-03 -3.55254409e+00] [-1.39506959e-01 2.21485383e-03 9.90218614e-01 -2.20784160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.78864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:41.96, Y:-3.56, Z:-22.08 [[ 9.90152927e-01 -2.54498231e-02 1.37657135e-01 4.19627471e+01] [ 2.32769267e-02 9.99578112e-01 1.73719224e-02 -3.56001326e+00] [-1.38041171e-01 -1.39966248e-02 9.90327587e-01 -2.20830187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.818639999999995 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:41.99, Y:-3.54, Z:-22.09 [[ 9.89568990e-01 -2.15148183e-02 1.42444121e-01 4.19934514e+01] [ 2.21066823e-02 9.99752305e-01 -2.57362701e-03 -3.53679918e+00] [-1.42353467e-01 5.69574840e-03 9.89799499e-01 -2.20862230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.848639999999996 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:42.03, Y:-3.50, Z:-22.09 [[ 9.82476013e-01 -1.30305872e-02 1.85933019e-01 4.20250189e+01] [ 2.05763595e-02 9.99038560e-01 -3.87113630e-02 -3.49716120e+00] [-1.85249823e-01 4.18588102e-02 9.81799543e-01 -2.20879344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.87864 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:42.06, Y:-3.57, Z:-22.10 [[ 9.89250321e-01 -2.84645069e-02 1.43434910e-01 4.20572380e+01] [ 2.08010154e-02 9.98289008e-01 5.46477371e-02 -3.57360967e+00] [-1.44745015e-01 -5.10766997e-02 9.88149812e-01 -2.20978851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.90864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:42.09, Y:-3.53, Z:-22.10 [[ 9.89191102e-01 -1.93694014e-02 1.45347134e-01 4.20882932e+01] [ 1.80912789e-02 9.99785220e-01 1.01103413e-02 -3.52775302e+00] [-1.45511748e-01 -7.37154414e-03 9.89329061e-01 -2.20994180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.93864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:42.12, Y:-3.52, Z:-22.11 [[ 9.89644752e-01 -1.81217483e-02 1.42389842e-01 4.21172438e+01] [ 1.61425929e-02 9.99756540e-01 1.50425342e-02 -3.52364989e+00] [-1.42627773e-01 -1.25882238e-02 9.89696345e-01 -2.21050651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.96864 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:42.15, Y:-3.49, Z:-22.11 [[ 9.88817338e-01 -1.27176997e-02 1.48588465e-01 4.21470429e+01] [ 1.46696842e-02 9.99819804e-01 -1.20482441e-02 -3.49320657e+00] [-1.48408464e-01 1.40932585e-02 9.88825722e-01 -2.21073801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.998639999999995 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:42.18, Y:-3.52, Z:-22.11 [[ 9.89819426e-01 -1.90832489e-02 1.41043731e-01 4.21778981e+01] [ 1.52064185e-02 9.99477731e-01 2.85136664e-02 -3.52481641e+00] [-1.41514202e-01 -2.60786109e-02 9.89592662e-01 -2.21148830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.028639999999996 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:42.21, Y:-3.50, Z:-22.12 [[ 9.89326390e-01 -1.42546970e-02 1.45017577e-01 4.22080317e+01] [ 1.37568957e-02 9.99895534e-01 4.43496494e-03 -3.49790881e+00] [-1.45065646e-01 -2.39263618e-03 9.89419139e-01 -2.21166111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.05864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:42.24, Y:-3.47, Z:-22.12 [[ 9.88186112e-01 -1.34878481e-02 1.52663962e-01 4.22377792e+01] [ 1.57990411e-02 9.99778063e-01 -1.39360879e-02 -3.47485011e+00] [-1.52442113e-01 1.61833928e-02 9.88179893e-01 -2.21184648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.08864 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:42.27, Y:-3.44, Z:-22.12 [[ 9.79392449e-01 -8.17242367e-03 2.01800997e-01 4.22685607e+01] [ 1.81658258e-02 9.98695607e-01 -4.77188375e-02 -3.43876374e+00] [-2.01147790e-01 5.04013509e-02 9.78263395e-01 -2.21204499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.11864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:42.30, Y:-3.53, Z:-22.14 [[ 9.87697194e-01 -3.33279238e-02 1.52785804e-01 4.22986561e+01] [ 2.49359009e-02 9.98090133e-01 5.65180293e-02 -3.52987410e+00] [-1.54377632e-01 -5.20128473e-02 9.86641886e-01 -2.21372750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.14864 meters Centerline goodness : 0.958360 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.51, Z:-22.17 [[ 9.85037539e-01 4.08797497e-02 1.67421306e-01 4.23724167e+01] [-5.46904558e-02 9.95394865e-01 7.87274890e-02 -3.50907916e+00] [-1.63431948e-01 -8.67058795e-02 9.82737040e-01 -2.21690064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.178639999999994 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:42.35, Y:-3.44, Z:-22.13 [[ 9.87426207e-01 -2.39063002e-02 1.56262519e-01 4.23487536e+01] [ 3.02532765e-02 9.98805691e-01 -3.83657542e-02 -3.44441537e+00] [-1.55158710e-01 4.26108043e-02 9.86970159e-01 -2.21313898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.208639999999995 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:42.37, Y:-3.47, Z:-22.14 [[ 9.85863660e-01 -3.20138016e-02 1.64462639e-01 4.23729554e+01] [ 3.46082429e-02 9.99317265e-01 -1.29334201e-02 -3.46723784e+00] [-1.63936306e-01 1.84423518e-02 9.86298518e-01 -2.21388836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.23864 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:42.41, Y:-3.36, Z:-22.12 [[ 9.75595217e-01 -9.50271127e-03 2.19371082e-01 4.24053149e+01] [ 3.88743881e-02 9.90756076e-01 -1.29966073e-01 -3.35937239e+00] [-2.16108203e-01 1.35322196e-01 9.66946301e-01 -2.21209375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.26864 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:42.43, Y:-3.55, Z:-22.16 [[ 0.98624043 -0.0589127 0.15446396 42.43126911] [ 0.04723092 0.99581519 0.0782391 -3.5530789 ] [ -0.15842684 -0.06986709 0.98489569 -22.1563631 ] [ 0. 0. 0. 1. ]] SLAMing on 55.29864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:42.46, Y:-3.52, Z:-22.16 [[ 9.87145591e-01 -5.19664038e-02 1.51139256e-01 4.24649390e+01] [ 4.51963458e-02 9.97829507e-01 4.78911821e-02 -3.52390662e+00] [-1.53299942e-01 -4.04446272e-02 9.87351690e-01 -2.21599139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.32864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:42.50, Y:-3.39, Z:-22.15 [[ 9.75465220e-01 -2.03435155e-02 2.19211646e-01 4.24973246e+01] [ 4.18698758e-02 9.94690847e-01 -9.40054935e-02 -3.39365024e+00] [-2.16135415e-01 1.00877454e-01 9.71138106e-01 -2.21461267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.35864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:42.53, Y:-3.63, Z:-22.17 [[ 0.98427416 -0.07169418 0.16144451 42.52660294] [ 0.04483568 0.9853997 0.16424734 -3.63402929] [ -0.17086295 -0.15442593 0.97311792 -22.17482291] [ 0. 0. 0. 1. ]] SLAMing on 55.388639999999995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:42.56, Y:-3.42, Z:-22.16 [[ 9.85058834e-01 -2.53865970e-02 1.70336768e-01 4.25564236e+01] [ 3.70734746e-02 9.97144934e-01 -6.57840185e-02 -3.42326631e+00] [-1.68180413e-01 7.11161044e-02 9.83187596e-01 -2.21596607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.418639999999996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:42.58, Y:-3.48, Z:-22.17 [[ 9.83622554e-01 -3.70175251e-02 1.76398337e-01 4.25838051e+01] [ 3.74940204e-02 9.99296652e-01 6.32233026e-04 -3.48270450e+00] [-1.76297671e-01 5.99200417e-03 9.84318661e-01 -2.21741430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.44864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.62, Y:-3.42, Z:-22.17 [[ 9.72443892e-01 -1.62808383e-02 2.32567864e-01 4.26151607e+01] [ 3.27402611e-02 9.97209703e-01 -6.70886197e-02 -3.41720977e+00] [-2.30826671e-01 7.28542511e-02 9.70263524e-01 -2.21714001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.47864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:42.65, Y:-3.48, Z:-22.19 [[ 9.72407295e-01 -2.92207680e-02 2.31452370e-01 4.26466323e+01] [ 2.83166018e-02 9.99572869e-01 7.22834145e-03 -3.48386242e+00] [-2.31564728e-01 -4.74947349e-04 9.72819383e-01 -2.21904361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.50864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:42.68, Y:-3.48, Z:-22.20 [[ 9.73443040e-01 -2.52290918e-02 2.27534922e-01 4.26785868e+01] [ 2.42745116e-02 9.99680871e-01 6.99315097e-03 -3.48169527e+00] [-2.27638740e-01 -1.28413503e-03 9.73744810e-01 -2.21970790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.53864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:42.71, Y:-3.54, Z:-22.21 [[ 9.83796381e-01 -3.76468504e-02 1.75292315e-01 4.27091402e+01] [ 2.53434874e-02 9.97089432e-01 7.19052943e-02 -3.53881197e+00] [-1.77489123e-01 -6.62976497e-02 9.81887077e-01 -2.22063942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.568639999999995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:42.74, Y:-3.57, Z:-22.21 [[ 9.83482056e-01 -4.37367471e-02 1.75642086e-01 4.27387112e+01] [ 2.36597969e-02 9.93105188e-01 1.14814195e-01 -3.57429001e+00] [-1.79452666e-01 -1.08762044e-01 9.77735935e-01 -2.22135654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.598639999999996 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:42.77, Y:-3.46, Z:-22.21 [[ 9.82876871e-01 -1.65311823e-02 1.83520506e-01 4.27676764e+01] [ 1.71658531e-02 9.99850907e-01 -1.87010343e-03 -3.46195451e+00] [-1.83462230e-01 4.98836746e-03 9.83014103e-01 -2.22094390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.62864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:42.79, Y:-3.45, Z:-22.21 [[ 9.82400734e-01 -1.33965034e-02 1.86304404e-01 4.27942664e+01] [ 1.58728785e-02 9.99804307e-01 -1.18067294e-02 -3.45000710e+00] [-1.86109777e-01 1.45561268e-02 9.82421127e-01 -2.22119794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.65864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:42.83, Y:-3.33, Z:-22.19 [[ 9.69141452e-01 1.56573653e-02 2.46007505e-01 4.28261546e+01] [ 1.83842989e-02 9.90610482e-01 -1.35472844e-01 -3.33285740e+00] [-2.45818760e-01 1.35815024e-01 9.59753831e-01 -2.21928037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.68864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:42.85, Y:-3.60, Z:-22.24 [[ 9.80909576e-01 -5.03852948e-02 1.87823657e-01 4.28524087e+01] [ 1.88014764e-02 9.85898492e-01 1.66284900e-01 -3.60379275e+00] [-1.93553374e-01 -1.59579088e-01 9.68024590e-01 -2.22354413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.71864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:42.89, Y:-3.37, Z:-22.22 [[ 9.78957114e-01 6.77947383e-03 2.03953447e-01 4.28902317e+01] [ 1.02000345e-02 9.96573086e-01 -8.20855824e-02 -3.37221899e+00] [-2.03811013e-01 8.24385971e-02 9.75533161e-01 -2.22158554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.748639999999995 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:42.92, Y:-3.44, Z:-22.24 [[ 9.79535504e-01 -1.11173988e-02 2.00964176e-01 4.29173140e+01] [ 1.09015912e-02 9.99938198e-01 2.18056809e-03 -3.44310835e+00] [-2.00975999e-01 5.48854434e-05 9.79596164e-01 -2.22375036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.778639999999996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:42.95, Y:-3.44, Z:-22.24 [[ 9.79024006e-01 -1.04420523e-02 2.03477171e-01 4.29484002e+01] [ 9.96828567e-03 9.99944693e-01 3.35312195e-03 -3.44062787e+00] [-2.03500930e-01 -1.25446832e-03 9.79073949e-01 -2.22439535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.80864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:42.98, Y:-3.43, Z:-22.25 [[ 9.77783073e-01 -7.53942243e-03 2.09483696e-01 4.29784720e+01] [ 9.23290723e-03 9.99932117e-01 -7.10733003e-03 -3.42750742e+00] [-2.09415891e-01 8.88357053e-03 9.77786309e-01 -2.22485459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.83864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:43.01, Y:-3.43, Z:-22.26 [[ 9.77854654e-01 -1.10489980e-02 2.08993292e-01 4.30087267e+01] [ 1.03165220e-02 9.99936228e-01 4.59457017e-03 -3.43220798e+00] [-2.09030729e-01 -2.33673793e-03 9.77906281e-01 -2.22560586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.86864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:43.04, Y:-3.43, Z:-22.26 [[ 9.77382751e-01 -1.08797662e-02 2.11197984e-01 4.30392400e+01] [ 1.00204077e-02 9.99936590e-01 5.13879255e-03 -3.42921677e+00] [-2.11240500e-01 -2.90627729e-03 9.77429795e-01 -2.22626522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.89864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:43.07, Y:-3.51, Z:-22.28 [[ 9.82514742e-01 -3.46450408e-02 1.82933054e-01 4.30676350e+01] [ 1.67706146e-02 9.95008793e-01 9.83679209e-02 -3.51059573e+00] [-1.85427957e-01 -9.35800327e-02 9.78191827e-01 -2.22785115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.928639999999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:43.10, Y:-3.30, Z:-22.25 [[ 9.64784063e-01 2.32234401e-02 2.62015999e-01 4.31037800e+01] [ 1.15793128e-02 9.91379835e-01 -1.30506484e-01 -3.29662238e+00] [-2.62788187e-01 1.28944541e-01 9.56198554e-01 -2.22464126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.958639999999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:43.13, Y:-3.42, Z:-22.28 [[ 9.65164521e-01 -9.44285523e-03 2.61473289e-01 4.31316298e+01] [ 7.87871843e-03 9.99944253e-01 7.02966386e-03 -3.41643715e+00] [-2.61525092e-01 -4.72470773e-03 9.65185113e-01 -2.22848516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.98864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:43.16, Y:-3.45, Z:-22.29 [[ 9.76661005e-01 -2.36625674e-02 2.13479187e-01 4.31606017e+01] [ 1.37424568e-02 9.98760768e-01 4.78338077e-02 -3.44797417e+00] [-2.14346507e-01 -4.37836863e-02 9.75775878e-01 -2.22943526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.01864 meters Centerline goodness : 0.856791 Centerline is valid? [True, False] Translation: X:43.20, Y:-3.42, Z:-22.30 [[ 9.80480839e-01 -1.56279294e-02 1.95992582e-01 4.32011274e+01] [ 1.23113499e-02 9.99759858e-01 1.81289201e-02 -3.41775403e+00] [-1.96228834e-01 -1.53621255e-02 9.80437785e-01 -2.22980759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.04864 meters Centerline goodness : 0.999754 Centerline is valid? [False, True] Translation: X:43.24, Y:-3.40, Z:-22.30 [[ 9.84601546e-01 -1.75485023e-02 1.73930578e-01 4.32417299e+01] [ 1.81832386e-02 9.99832556e-01 -2.05645774e-03 -3.39942178e+00] [-1.73865366e-01 5.18741266e-03 9.84755769e-01 -2.23003013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.07864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:43.27, Y:-3.47, Z:-22.31 [[ 9.92312237e-01 -3.49469382e-02 1.18722938e-01 4.32698028e+01] [ 2.60225501e-02 9.96775374e-01 7.59057407e-02 -3.47249083e+00] [-1.20992774e-01 -7.22327217e-02 9.90021809e-01 -2.23132828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.10864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:43.30, Y:-3.34, Z:-22.29 [[ 9.84031898e-01 -1.39220665e-02 1.77446893e-01 4.33034887e+01] [ 2.59315936e-02 9.97512862e-01 -6.55411585e-02 -3.34164984e+00] [-1.76093089e-01 6.90960713e-02 9.81945496e-01 -2.22940651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.138639999999995 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:43.33, Y:-3.48, Z:-22.32 [[ 9.91469427e-01 -4.01002110e-02 1.24017531e-01 4.33307000e+01] [ 3.04073436e-02 9.96403929e-01 7.90860469e-02 -3.47533529e+00] [-1.26742922e-01 -7.46403540e-02 9.89123374e-01 -2.23202865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.168639999999996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:43.36, Y:-3.46, Z:-22.32 [[ 9.91835076e-01 -3.59837229e-02 1.22345224e-01 4.33607629e+01] [ 2.82783650e-02 9.97539908e-01 6.41441077e-02 -3.46010000e+00] [-1.24352388e-01 -6.01606530e-02 9.90412631e-01 -2.23220053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.19864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:43.40, Y:-3.29, Z:-22.29 [[ 9.83831250e-01 -2.60378305e-03 1.79079008e-01 4.33965699e+01] [ 2.51819157e-02 9.91972351e-01 -1.23922257e-01 -3.28730936e+00] [-1.77318758e-01 1.26428141e-01 9.75998967e-01 -2.22882329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.22864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:43.43, Y:-3.40, Z:-22.32 [[ 9.83928902e-01 -2.10638079e-02 1.77313935e-01 4.34268603e+01] [ 2.07312563e-02 9.99778133e-01 3.72814635e-03 -3.40236331e+00] [-1.77353124e-01 7.70970761e-06 9.84147280e-01 -2.23235730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.25864 meters Centerline goodness : 0.931559 Centerline is valid? [True, False] Translation: X:43.47, Y:-3.40, Z:-22.33 [[ 9.87557405e-01 -1.67541304e-02 1.56363905e-01 4.34660766e+01] [ 1.71302251e-02 9.99852707e-01 -1.05790420e-03 -3.39914868e+00] [-1.56323149e-01 3.72329002e-03 9.87698947e-01 -2.23289518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.28864 meters Centerline goodness : 0.970325 Centerline is valid? [False, True] Translation: X:43.49, Y:-3.39, Z:-22.33 [[ 9.88619029e-01 -1.43833950e-02 1.49751574e-01 4.34895829e+01] [ 1.57166126e-02 9.99846659e-01 -7.72314319e-03 -3.39285790e+00] [-1.49617526e-01 9.98883379e-03 9.88693491e-01 -2.23300607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.318639999999995 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:43.48, Y:-3.40, Z:-22.31 [[ 0.98428483 -0.09773307 0.1470769 43.48333782] [ 0.10632083 0.99298747 -0.05168907 -3.3993372 ] [ -0.14099379 0.06651411 0.98777357 -22.30657924] [ 0. 0. 0. 1. ]] SLAMing on 56.348639999999996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:43.52, Y:-3.46, Z:-22.32 [[ 9.83915633e-01 -1.08797280e-01 1.41679846e-01 4.35183023e+01] [ 1.07802905e-01 9.94063626e-01 1.46983127e-02 -3.45605172e+00] [-1.42437918e-01 8.11599447e-04 9.89803405e-01 -2.23249940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.37864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:43.55, Y:-3.50, Z:-22.34 [[ 0.98554048 -0.11811767 0.12148325 43.54964226] [ 0.11157852 0.9919839 0.0593142 -3.49644982] [ -0.12751548 -0.04490163 0.99081968 -22.33782741] [ 0. 0. 0. 1. ]] SLAMing on 56.40864 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:43.59, Y:-3.45, Z:-22.34 [[ 9.86436982e-01 -8.65520330e-02 1.39466217e-01 4.35893279e+01] [ 8.43399670e-02 9.96200612e-01 2.17050825e-02 -3.44706532e+00] [-1.40814950e-01 -9.64811995e-03 9.89988921e-01 -2.23402279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.43864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:43.60, Y:-3.38, Z:-22.32 [[ 0.97502881 -0.09959297 0.19849447 43.60479337] [ 0.11414971 0.991447 -0.06326678 -3.37629538] [ -0.19049582 0.08434502 0.9780579 -22.32315783] [ 0. 0. 0. 1. ]] SLAMing on 56.46864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:43.64, Y:-3.45, Z:-22.35 [[ 9.74656539e-01 -1.13963525e-01 1.92501809e-01 4.36428818e+01] [ 1.12010968e-01 9.93484366e-01 2.10323117e-02 -3.44982544e+00] [-1.93644454e-01 1.06303379e-03 9.81071198e-01 -2.23452410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.498639999999995 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:43.68, Y:-3.56, Z:-22.36 [[ 0.9822452 -0.13792481 0.12716572 43.67599737] [ 0.12027164 0.98318949 0.13737965 -3.56107083] [ -0.14397606 -0.11964607 0.98232159 -22.36046502] [ 0. 0. 0. 1. ]] SLAMing on 56.528639999999996 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:43.70, Y:-3.34, Z:-22.33 [[ 0.9741304 -0.08786121 0.20820753 43.69708437] [ 0.10905088 0.98971726 -0.0925616 -3.33901348] [ -0.19793401 0.11287228 0.97369501 -22.32703865] [ 0. 0. 0. 1. ]] SLAMing on 56.55864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:43.73, Y:-3.48, Z:-22.36 [[ 0.98359637 -0.11600708 0.13813231 43.73385754] [ 0.107658 0.99196294 0.06647764 -3.48182201] [ -0.14473401 -0.05051612 0.98818024 -22.36306535] [ 0. 0. 0. 1. ]] SLAMing on 56.58864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:43.76, Y:-3.41, Z:-22.36 [[ 9.82165509e-01 -9.96817209e-02 1.59419154e-01 4.37607986e+01] [ 1.01232405e-01 9.94861494e-01 -1.61505621e-03 -3.41228527e+00] [-1.58438986e-01 1.77246369e-02 9.87209666e-01 -2.23585394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.61864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:43.79, Y:-3.42, Z:-22.37 [[ 9.81928491e-01 -1.00280793e-01 1.60499846e-01 4.37931061e+01] [ 9.95736453e-02 9.94952135e-01 1.24634998e-02 -3.41999894e+00] [-1.60939514e-01 3.74328911e-03 9.86957173e-01 -2.23667587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.64864 meters Centerline goodness : 0.985603 Centerline is valid? [True, True] Translation: X:43.85, Y:-3.45, Z:-22.40 [[ 9.85975862e-01 -4.54169540e-02 1.60589229e-01 4.38510747e+01] [ 3.23374747e-02 9.96012801e-01 8.31431734e-02 -3.44571776e+00] [-1.63725038e-01 -7.67841119e-02 9.83513250e-01 -2.23993064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.678639999999994 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:43.85, Y:-3.33, Z:-22.35 [[ 0.97288031 -0.08912376 0.21344988 43.84840967] [ 0.10760345 0.99124154 -0.07656179 -3.32916934] [ -0.20475691 0.0974534 0.9739494 -22.35387874] [ 0. 0. 0. 1. ]] SLAMing on 56.708639999999995 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:43.89, Y:-3.44, Z:-22.38 [[ 9.79804326e-01 -1.20036637e-01 1.59920882e-01 4.38860798e+01] [ 1.13488358e-01 9.92305305e-01 4.95032742e-02 -3.43958716e+00] [-1.64632546e-01 -3.03543639e-02 9.85887792e-01 -2.23849406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.73864 meters Centerline goodness : 0.947674 Centerline is valid? [True, False] Translation: X:43.93, Y:-3.40, Z:-22.39 [[ 9.84715681e-01 -1.02865926e-01 1.40547602e-01 4.39251139e+01] [ 1.01582804e-01 9.94693662e-01 1.62927345e-02 -3.40410570e+00] [-1.41477776e-01 -1.76649158e-03 9.89939856e-01 -2.23864482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.76864 meters Centerline goodness : 0.998476 Centerline is valid? [False, True] Translation: X:43.95, Y:-3.39, Z:-22.39 [[ 9.87492458e-01 -8.91589880e-02 1.30035839e-01 4.39489486e+01] [ 8.97451852e-02 9.95963835e-01 1.35681108e-03 -3.38593593e+00] [-1.29631965e-01 1.03302498e-02 9.91508366e-01 -2.23899472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.79864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:43.98, Y:-3.36, Z:-22.39 [[ 9.81286278e-01 -8.40367353e-02 1.73248571e-01 4.39810437e+01] [ 8.85334863e-02 9.95903619e-01 -1.83794094e-02 -3.36015730e+00] [-1.70994333e-01 3.33737622e-02 9.84706621e-01 -2.23917554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.82864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:44.02, Y:-3.38, Z:-22.40 [[ 9.81682925e-01 -8.66219265e-02 1.69691712e-01 4.40153235e+01] [ 8.54157436e-02 9.96241196e-01 1.44093936e-02 -3.38419182e+00] [-1.70302044e-01 3.48888162e-04 9.85391847e-01 -2.24021242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.85864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:44.05, Y:-3.48, Z:-22.42 [[ 0.98770165 -0.10370295 0.11700917 44.04705668] [ 0.08963594 0.98875797 0.11967907 -3.4817429 ] [ -0.12810482 -0.10771899 0.98589339 -22.41901676] [ 0. 0. 0. 1. ]] SLAMing on 56.888639999999995 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:44.07, Y:-3.41, Z:-22.41 [[ 9.88274541e-01 -9.20395734e-02 1.21828355e-01 4.40719801e+01] [ 8.79216676e-02 9.95372739e-01 3.87671373e-02 -3.40509978e+00] [-1.24832734e-01 -2.76012227e-02 9.91793810e-01 -2.24111017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.918639999999996 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:44.10, Y:-3.26, Z:-22.38 [[ 0.98046032 -0.06203664 0.1866789 44.10057061] [ 0.08395196 0.99016967 -0.11187538 -3.26233171] [ -0.17790341 0.12536143 0.97603017 -22.37907197] [ 0. 0. 0. 1. ]] SLAMing on 56.94864 meters Centerline goodness : 0.895481 Centerline is valid? [True, False] Translation: X:44.13, Y:-3.30, Z:-22.39 [[ 0.98366969 -0.06061362 0.16946953 44.13051297] [ 0.07384016 0.9946049 -0.07286097 -3.29703442] [ -0.16413886 0.08418479 0.98283842 -22.39496578] [ 0. 0. 0. 1. ]] SLAMing on 56.97864 meters Centerline goodness : 0.998870 Centerline is valid? [False, True] Translation: X:44.16, Y:-3.33, Z:-22.41 [[ 9.86522738e-01 -5.99834150e-02 1.52232971e-01 4.41576206e+01] [ 6.67264035e-02 9.96986199e-01 -3.95740642e-02 -3.32589336e+00] [-1.49400383e-01 4.91986728e-02 9.87552032e-01 -2.24071118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.00864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:44.19, Y:-3.27, Z:-22.40 [[ 0.97879931 -0.04878857 0.19892607 44.18724157] [ 0.06867799 0.9931683 -0.09434015 -3.27248155] [ -0.19296435 0.10600192 0.97546315 -22.39741929] [ 0. 0. 0. 1. ]] SLAMing on 57.03864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:44.22, Y:-3.37, Z:-22.43 [[ 9.79226751e-01 -6.55306549e-02 1.91887213e-01 4.42223476e+01] [ 6.42248892e-02 9.97850464e-01 1.30236126e-02 -3.36815213e+00] [-1.92328191e-01 -4.29134845e-04 9.81330568e-01 -2.24275746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.068639999999995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:44.26, Y:-3.37, Z:-22.43 [[ 9.79033652e-01 -6.40278013e-02 1.93374115e-01 4.42550329e+01] [ 6.26922055e-02 9.97947917e-01 1.30246595e-02 -3.36508239e+00] [-1.93811236e-01 -6.28530138e-04 9.81038638e-01 -2.24323209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.098639999999996 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:44.29, Y:-3.36, Z:-22.44 [[ 9.78794694e-01 -6.29312473e-02 1.94937437e-01 4.42874996e+01] [ 6.15723055e-02 9.98017583e-01 1.30290283e-02 -3.36216490e+00] [-1.95370923e-01 -7.49996329e-04 9.80729137e-01 -2.24386169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.12864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:44.32, Y:-3.36, Z:-22.44 [[ 9.79208711e-01 -5.87199167e-02 1.94170728e-01 4.43201930e+01] [ 5.73094383e-02 9.98273396e-01 1.28785084e-02 -3.35822027e+00] [-1.94591697e-01 -1.48293224e-03 9.80883210e-01 -2.24445464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.15864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:44.35, Y:-3.35, Z:-22.45 [[ 9.79334347e-01 -5.73240920e-02 1.93954078e-01 4.43530674e+01] [ 5.59093444e-02 9.98354247e-01 1.27649254e-02 -3.35477225e+00] [-1.94366615e-01 -1.65728451e-03 9.80927557e-01 -2.24503039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.18864 meters Centerline goodness : 0.886385 Centerline is valid? [True, False] Translation: X:44.40, Y:-3.34, Z:-22.46 [[ 9.83967415e-01 -4.79915066e-02 1.71770026e-01 4.43953615e+01] [ 4.84942650e-02 9.98822653e-01 1.27046236e-03 -3.34102023e+00] [-1.71628765e-01 7.07976760e-03 9.85136257e-01 -2.24568705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.21864 meters Centerline goodness : 0.998870 Centerline is valid? [False, True] Translation: X:44.44, Y:-3.33, Z:-22.46 [[ 9.87808146e-01 -4.02045170e-02 1.50395028e-01 4.44351005e+01] [ 4.07902318e-02 9.99167404e-01 -8.10401796e-04 -3.33360449e+00] [-1.50237227e-01 6.93516953e-03 9.88625652e-01 -2.24623129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.248639999999995 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:44.47, Y:-3.34, Z:-22.47 [[ 9.87855659e-01 -4.03425498e-02 1.50045581e-01 4.44686432e+01] [ 3.96297313e-02 9.99184464e-01 7.73894593e-03 -3.33849664e+00] [-1.50235423e-01 -1.69869545e-03 9.88648791e-01 -2.24672651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.278639999999996 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:44.50, Y:-3.34, Z:-22.47 [[ 9.87861468e-01 -4.08479412e-02 1.49870495e-01 4.45016255e+01] [ 4.01541440e-02 9.99164183e-01 7.65372915e-03 -3.33544510e+00] [-1.50057870e-01 -1.54290266e-03 9.88676011e-01 -2.24709326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.30864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:44.53, Y:-3.47, Z:-22.49 [[ 0.99394822 -0.06693907 0.08709822 44.52963111] [ 0.05278657 0.98639311 0.15569911 -3.47119294] [ -0.09633544 -0.15015924 0.98395716 -22.490264 ] [ 0. 0. 0. 1. ]] SLAMing on 57.33864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:44.56, Y:-3.20, Z:-22.44 [[ 9.86559822e-01 -2.24330275e-02 1.61853259e-01 4.45617944e+01] [ 4.45179052e-02 9.89961298e-01 -1.34144642e-01 -3.19974728e+00] [-1.57219192e-01 1.39547082e-01 9.77654713e-01 -2.24371474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.36864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:44.59, Y:-3.43, Z:-22.49 [[ 0.9931929 -0.05896546 0.10045361 44.59231677] [ 0.04678901 0.99172754 0.11952938 -3.42869226] [ -0.10667072 -0.1140156 0.98773569 -22.49278886] [ 0. 0. 0. 1. ]] SLAMing on 57.39864 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:44.62, Y:-3.35, Z:-22.49 [[ 9.93432957e-01 -4.84386320e-02 1.03656447e-01 4.46200086e+01] [ 4.45223710e-02 9.98216526e-01 3.97684117e-02 -3.35006948e+00] [-1.05397906e-01 -3.48922200e-02 9.93817797e-01 -2.24853791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.428639999999994 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:44.65, Y:-3.31, Z:-22.48 [[ 9.93545621e-01 -4.18551589e-02 1.05428859e-01 4.46502708e+01] [ 4.16082978e-02 9.99123681e-01 4.54086619e-03 -3.31323303e+00] [-1.05526529e-01 -1.24842352e-04 9.94416480e-01 -2.24798979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.458639999999995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:44.68, Y:-3.19, Z:-22.45 [[ 9.85145206e-01 -1.74339173e-02 1.70836124e-01 4.46822022e+01] [ 3.95921012e-02 9.91090324e-01 -1.27170890e-01 -3.18720707e+00] [-1.67096943e-01 1.32045554e-01 9.77058127e-01 -2.24486644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.48864 meters Centerline goodness : 0.989231 Centerline is valid? [True, True] Translation: X:44.72, Y:-3.36, Z:-22.52 [[ 9.94008942e-01 1.46509538e-02 1.08312385e-01 4.47165474e+01] [-2.54228529e-02 9.94787371e-01 9.87510279e-02 -3.35550666e+00] [-1.06300996e-01 -1.00913015e-01 9.89200011e-01 -2.25195642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.51864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:44.74, Y:-3.21, Z:-22.47 [[ 9.85078509e-01 -1.78543801e-02 1.71176964e-01 4.47435044e+01] [ 3.30171317e-02 9.95735264e-01 -8.61461183e-02 -3.20848983e+00] [-1.68908853e-01 9.05124621e-02 9.81466909e-01 -2.24670445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.54864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:44.78, Y:-3.28, Z:-22.50 [[ 9.85776848e-01 -2.54670682e-02 1.66118735e-01 4.47764368e+01] [ 2.44984005e-02 9.99668828e-01 7.87796846e-03 -3.27946246e+00] [-1.66264349e-01 -3.69627563e-03 9.86074289e-01 -2.24967331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.57864 meters Centerline goodness : 0.984135 Centerline is valid? [True, True] Translation: X:44.80, Y:-3.40, Z:-22.52 [[ 0.98502498 -0.11224601 0.13086874 44.80015657] [ 0.09799885 0.98901517 0.11065811 -3.40262999] [ -0.1418521 -0.09617602 0.98520463 -22.52345733] [ 0. 0. 0. 1. ]] SLAMing on 57.608639999999994 meters Centerline goodness : 0.989590 Centerline is valid? [True, True] Translation: X:44.82, Y:-3.27, Z:-22.50 [[ 9.83997193e-01 -9.27462631e-02 1.52143537e-01 4.48230298e+01] [ 9.68775199e-02 9.95096285e-01 -1.99531688e-02 -3.27429466e+00] [-1.49546886e-01 3.43731505e-02 9.88156979e-01 -2.25029987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.638639999999995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:44.87, Y:-3.19, Z:-22.49 [[ 9.84391233e-01 -1.00163977e-02 1.75708768e-01 4.48677385e+01] [ 2.15503251e-02 9.97726315e-01 -6.38575279e-02 -3.19393683e+00] [-1.74669640e-01 6.66473717e-02 9.82368894e-01 -2.24865587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.668639999999996 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:44.90, Y:-3.25, Z:-22.51 [[ 9.84623275e-01 -2.27444275e-02 1.73204208e-01 4.49002257e+01] [ 2.17696071e-02 9.99734687e-01 7.52597943e-03 -3.24867803e+00] [-1.73329428e-01 -3.63966697e-03 9.84857179e-01 -2.25123415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.69864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:44.93, Y:-3.24, Z:-22.52 [[ 9.84614474e-01 -2.35450745e-02 1.73147238e-01 4.49326044e+01] [ 2.25987464e-02 9.99716968e-01 7.43504626e-03 -3.24233964e+00] [-1.73273291e-01 -3.40774364e-03 9.84867887e-01 -2.25166838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.72864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:44.96, Y:-3.28, Z:-22.53 [[ 9.93442309e-01 -3.26291117e-02 1.09579745e-01 4.49644464e+01] [ 2.61701683e-02 9.97862911e-01 5.98726341e-02 -3.28443164e+00] [-1.11299154e-01 -5.66122874e-02 9.92173144e-01 -2.25273290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.75864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:44.99, Y:-3.18, Z:-22.51 [[ 9.83775895e-01 -1.67069819e-02 1.78622128e-01 4.49935535e+01] [ 2.54205990e-02 9.98589872e-01 -4.66053660e-02 -3.17723971e+00] [-1.77591613e-01 5.03899171e-02 9.82813347e-01 -2.25079944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.78864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:45.02, Y:-3.30, Z:-22.54 [[ 9.91743055e-01 -4.23539998e-02 1.21044832e-01 4.50194278e+01] [ 3.14472611e-02 9.95387442e-01 9.06361430e-02 -3.29869174e+00] [-1.24325309e-01 -8.60812370e-02 9.88500500e-01 -2.25443223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.818639999999995 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:45.05, Y:-3.22, Z:-22.53 [[ 9.91332980e-01 -2.87458480e-02 1.28189700e-01 4.50508301e+01] [ 2.68313665e-02 9.99501519e-01 1.66370637e-02 -3.21943258e+00] [-1.28604046e-01 -1.30533651e-02 9.91610109e-01 -2.25308784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.848639999999996 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:45.08, Y:-3.19, Z:-22.53 [[ 9.91258916e-01 -2.38412102e-02 1.29758846e-01 4.50807704e+01] [ 2.60396695e-02 9.99544243e-01 -1.52722548e-02 -3.18596749e+00] [-1.29335599e-01 1.85176362e-02 9.91427960e-01 -2.25275657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.87864 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:45.11, Y:-3.22, Z:-22.54 [[ 9.90641525e-01 -3.10774723e-02 1.32904323e-01 4.51081855e+01] [ 2.76663519e-02 9.99240616e-01 2.74365457e-02 -3.22091641e+00] [-1.33656056e-01 -2.35028037e-02 9.90749048e-01 -2.25427756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.90864 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:45.14, Y:-3.16, Z:-22.53 [[ 9.89425154e-01 -2.39931753e-02 1.43046118e-01 4.51384589e+01] [ 2.89728525e-02 9.99040899e-01 -3.28307104e-02 -3.16173494e+00] [-1.42121210e-01 3.66279848e-02 9.89171346e-01 -2.25316867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.93864 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:45.17, Y:-3.23, Z:-22.56 [[ 9.88450196e-01 -3.80809426e-02 1.46683509e-01 4.51682316e+01] [ 3.19000194e-02 9.98510482e-01 4.42629162e-02 -3.22761660e+00] [-1.48150595e-01 -3.90724814e-02 9.88192665e-01 -2.25562379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.96864 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:45.20, Y:-3.11, Z:-22.52 [[ 9.80133151e-01 -1.93808348e-02 1.97391462e-01 4.52025362e+01] [ 3.51783577e-02 9.96422488e-01 -7.68421025e-02 -3.11436226e+00] [-1.95196028e-01 8.22593995e-02 9.77308499e-01 -2.25231304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.998639999999995 meters Centerline goodness : 0.997257 Centerline is valid? [True, True] Translation: X:45.23, Y:-3.19, Z:-22.56 [[ 9.80126691e-01 -3.65052334e-02 1.94984712e-01 4.52328494e+01] [ 3.57341495e-02 9.99333398e-01 7.47189484e-03 -3.18777261e+00] [-1.95127498e-01 -3.55790714e-04 9.80777820e-01 -2.25566014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.028639999999996 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:45.26, Y:-3.27, Z:-22.58 [[ 9.86766706e-01 -5.91380652e-02 1.50977342e-01 4.52586075e+01] [ 4.45969434e-02 9.94191864e-01 9.79471763e-02 -3.27031275e+00] [-1.55892852e-01 -8.99178845e-02 9.83672808e-01 -2.25832719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.05864 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:45.29, Y:-3.16, Z:-22.55 [[ 9.87498116e-01 -4.02113994e-02 1.52415598e-01 4.52916269e+01] [ 4.44217874e-02 9.98716817e-01 -2.43192340e-02 -3.15620091e+00] [-1.51242110e-01 3.07857711e-02 9.88017237e-01 -2.25539418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.08864 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:45.33, Y:-3.13, Z:-22.55 [[ 9.79743175e-01 -3.48398540e-02 1.97204198e-01 4.53264261e+01] [ 4.54667520e-02 9.97732845e-01 -4.96179766e-02 -3.13017562e+00] [-1.95028423e-01 5.75791083e-02 9.79106001e-01 -2.25503127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.11864 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:45.35, Y:-3.23, Z:-22.59 [[ 0.98676729 -0.05689435 0.15183329 45.35299007] [ 0.04902487 0.99727755 0.05508225 -3.22560768] [ -0.1545538 -0.04690975 0.9868701 -22.58580446] [ 0. 0. 0. 1. ]] SLAMing on 58.14864 meters Centerline goodness : 0.996664 Centerline is valid? [True, True] Translation: X:45.39, Y:-3.14, Z:-22.56 [[ 9.79517273e-01 -3.66938738e-02 1.97988566e-01 4.53900559e+01] [ 4.53949965e-02 9.98184402e-01 -3.95877948e-02 -3.13543886e+00] [-1.96176469e-01 4.77646190e-02 9.79404582e-01 -2.25629658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.178639999999994 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:45.42, Y:-3.23, Z:-22.60 [[ 0.98677572 -0.05765279 0.15149201 45.41596851] [ 0.04859756 0.99684136 0.06281384 -3.22778768] [ -0.15463489 -0.05462103 0.98646064 -22.59740201] [ 0. 0. 0. 1. ]] SLAMing on 58.208639999999995 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:45.45, Y:-3.18, Z:-22.59 [[ 9.86724737e-01 -4.70492083e-02 1.55437016e-01 4.54491966e+01] [ 4.66357500e-02 9.98892047e-01 6.30758254e-03 -3.17501364e+00] [-1.55561566e-01 1.02507411e-03 9.87825667e-01 -2.25871031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.23864 meters Centerline goodness : 0.996731 Centerline is valid? [True, True] Translation: X:45.48, Y:-3.17, Z:-22.59 [[ 9.86492925e-01 -4.65618765e-02 1.57046808e-01 4.54801641e+01] [ 4.60743430e-02 9.98915238e-01 6.74547040e-03 -3.17398505e+00] [-1.57190531e-01 5.81469675e-04 9.87568124e-01 -2.25920170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.26864 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:45.52, Y:-3.12, Z:-22.58 [[ 9.79455642e-01 -3.41064786e-02 1.98754606e-01 4.55157550e+01] [ 4.39622496e-02 9.98001702e-01 -4.53863684e-02 -3.12412423e+00] [-1.96809466e-01 5.31916342e-02 9.78997796e-01 -2.25829983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.29864 meters Centerline goodness : 0.996666 Centerline is valid? [True, True] Translation: X:45.55, Y:-3.17, Z:-22.60 [[ 9.79447345e-01 -4.43963902e-02 1.96753295e-01 4.55470524e+01] [ 4.39309306e-02 9.99011890e-01 6.73172141e-03 -3.16906274e+00] [-1.96857745e-01 2.05018867e-03 9.80429918e-01 -2.26049190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.32864 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:45.57, Y:-3.26, Z:-22.63 [[ 0.98628891 -0.0634523 0.15234172 45.57351826] [ 0.04765352 0.99330784 0.10520778 -3.25974817] [ -0.1579979 -0.09650564 0.98271223 -22.63357428] [ 0. 0. 0. 1. ]] SLAMing on 58.358639999999994 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:45.61, Y:-3.15, Z:-22.61 [[ 9.86032659e-01 -4.12188348e-02 1.61371009e-01 4.56078443e+01] [ 4.42670014e-02 9.98901984e-01 -1.53381531e-02 -3.14794397e+00] [-1.60561600e-01 2.22673306e-02 9.86774614e-01 -2.26053154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.388639999999995 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:45.64, Y:-3.16, Z:-22.61 [[ 9.85725890e-01 -3.97870833e-02 1.63589294e-01 4.56382990e+01] [ 4.14044291e-02 9.99121407e-01 -6.48753408e-03 -3.15505221e+00] [-1.63187446e-01 1.31682517e-02 9.86507200e-01 -2.26126156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.418639999999996 meters Centerline goodness : 0.995737 Centerline is valid? [True, True] Translation: X:45.67, Y:-3.16, Z:-22.62 [[ 9.86379877e-01 -3.85447368e-02 1.59903226e-01 4.56686488e+01] [ 3.92784622e-02 9.99227281e-01 -1.42919038e-03 -3.15701142e+00] [-1.59724578e-01 7.69047744e-03 9.87131661e-01 -2.26172719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.44864 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:45.70, Y:-3.15, Z:-22.62 [[ 9.85281340e-01 -3.20313369e-02 1.67912699e-01 4.56988584e+01] [ 3.27158877e-02 9.99463832e-01 -1.31134225e-03 -3.15216343e+00] [-1.67780665e-01 6.78545405e-03 9.85800997e-01 -2.26227914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.47864 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:45.73, Y:-3.19, Z:-22.64 [[ 9.84589287e-01 -3.67000342e-02 1.70988431e-01 4.57265584e+01] [ 2.96452540e-02 9.98607742e-01 4.36318337e-02 -3.19039579e+00] [-1.72351660e-01 -3.78904406e-02 9.84306466e-01 -2.26402290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.50864 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:45.76, Y:-3.12, Z:-22.62 [[ 9.85108458e-01 -1.96489219e-02 1.70807630e-01 4.57601888e+01] [ 2.52875258e-02 9.99202594e-01 -3.08985131e-02 -3.12167528e+00] [-1.70064305e-01 3.47576890e-02 9.84819798e-01 -2.26219368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.53864 meters Centerline goodness : 0.995241 Centerline is valid? [True, True] Translation: X:45.79, Y:-3.14, Z:-22.64 [[ 9.85198311e-01 -1.79860687e-02 1.70472252e-01 4.57909752e+01] [ 1.91128175e-02 9.99804978e-01 -4.97062999e-03 -3.14097507e+00] [-1.70349604e-01 8.15526130e-03 9.85349940e-01 -2.26354514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.568639999999995 meters Centerline goodness : 0.995043 Centerline is valid? [True, True] Translation: X:45.82, Y:-3.11, Z:-22.63 [[ 9.77936255e-01 -9.27950325e-03 2.08697323e-01 4.58237075e+01] [ 1.67531465e-02 9.99278962e-01 -3.40718169e-02 -3.10951122e+00] [-2.08230675e-01 3.68164018e-02 9.77386586e-01 -2.26323796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.598639999999996 meters Centerline goodness : 0.995299 Centerline is valid? [True, True] Translation: X:45.85, Y:-3.24, Z:-22.68 [[ 9.84454699e-01 -3.53315814e-02 1.72048320e-01 4.58470397e+01] [ 1.65878148e-02 9.93882775e-01 1.09187337e-01 -3.23751854e+00] [-1.74853623e-01 -1.04636081e-01 9.79018642e-01 -2.26772063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.62864 meters Centerline goodness : 0.995152 Centerline is valid? [True, True] Translation: X:45.89, Y:-3.05, Z:-22.62 [[ 9.77014999e-01 5.20947989e-03 2.13106907e-01 4.58881791e+01] [ 1.50406225e-02 9.95525218e-01 -9.32915905e-02 -3.04949146e+00] [-2.12639301e-01 9.43525437e-02 9.72564715e-01 -2.26197765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.65864 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:45.92, Y:-3.13, Z:-22.66 [[ 9.77639799e-01 -1.15526121e-02 2.09968953e-01 4.59155612e+01] [ 1.04512336e-02 9.99925194e-01 6.35430105e-03 -3.12997297e+00] [-2.10026655e-01 -4.01778302e-03 9.77687405e-01 -2.26630152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.68864 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:45.95, Y:-3.13, Z:-22.67 [[ 9.77802147e-01 -1.02282904e-02 2.09280538e-01 4.59483163e+01] [ 9.12688817e-03 9.99938955e-01 6.22788503e-03 -3.12513260e+00] [-2.09331463e-01 -4.17955928e-03 9.77835809e-01 -2.26694752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.71864 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:45.98, Y:-3.12, Z:-22.67 [[ 9.77848039e-01 -9.87784328e-03 2.09082855e-01 4.59808393e+01] [ 8.79318872e-03 9.99942632e-01 6.11659075e-03 -3.12017827e+00] [-2.09131279e-01 -4.14259127e-03 9.77878800e-01 -2.26749250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.748639999999995 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:46.01, Y:-3.16, Z:-22.69 [[ 9.85334754e-01 -2.21826981e-02 1.69184370e-01 4.60074180e+01] [ 1.24982840e-02 9.98232910e-01 5.80934619e-02 -3.16039945e+00] [-1.70174075e-01 -5.51269927e-02 9.83870824e-01 -2.26941836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.778639999999996 meters Centerline goodness : 0.995448 Centerline is valid? [True, True] Translation: X:46.04, Y:-3.09, Z:-22.68 [[ 9.83444968e-01 -6.24487084e-03 1.81099410e-01 4.60417792e+01] [ 9.29686912e-03 9.99828631e-01 -1.60086579e-02 -3.08796931e+00] [-1.80968403e-01 1.74272916e-02 9.83334494e-01 -2.26759979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.80864 meters Centerline goodness : 0.995205 Centerline is valid? [True, True] Translation: X:46.07, Y:-3.07, Z:-22.68 [[ 9.76934415e-01 -3.70596982e-03 2.13507413e-01 4.60733784e+01] [ 8.90959180e-03 9.99686129e-01 -2.34150195e-02 -3.06865067e+00] [-2.13353623e-01 2.47772022e-02 9.76660802e-01 -2.26794833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.83864 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:46.10, Y:-3.16, Z:-22.72 [[ 9.83517517e-01 -2.53165467e-02 1.79031749e-01 4.60986980e+01] [ 1.14209911e-02 9.96870390e-01 7.82239526e-02 -3.15615762e+00] [-1.80451809e-01 -7.48899076e-02 9.80728630e-01 -2.27178495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.86864 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:46.14, Y:-3.02, Z:-22.67 [[ 9.76035089e-01 4.53201811e-03 2.17566005e-01 4.61384923e+01] [ 9.69842377e-03 9.97883801e-01 -6.42951062e-02 -3.02037411e+00] [-2.17396978e-01 6.48643270e-02 9.73925651e-01 -2.26734433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.89864 meters Centerline goodness : 0.994623 Centerline is valid? [True, True] Translation: X:46.17, Y:-3.07, Z:-22.71 [[ 9.75834098e-01 -1.09667356e-02 2.18237355e-01 4.61669663e+01] [ 9.91116787e-03 9.99933294e-01 5.93092103e-03 -3.07210173e+00] [-2.18287840e-01 -3.62460791e-03 9.75877698e-01 -2.27072928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.928639999999994 meters Centerline goodness : 0.995069 Centerline is valid? [True, True] Translation: X:46.20, Y:-3.07, Z:-22.71 [[ 9.75469908e-01 -1.25405299e-02 2.19775325e-01 4.61991019e+01] [ 1.15341929e-02 9.99916299e-01 5.86154133e-03 -3.06653201e+00] [-2.19830436e-01 -3.18282620e-03 9.75532905e-01 -2.27132092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.958639999999995 meters Centerline goodness : 0.994236 Centerline is valid? [True, True] Translation: X:46.23, Y:-3.10, Z:-22.73 [[ 9.79993879e-01 -1.85605677e-02 1.98160295e-01 4.62319052e+01] [ 1.04425588e-02 9.99065824e-01 4.19336535e-02 -3.09520758e+00] [-1.98753491e-01 -3.90254232e-02 9.79272213e-01 -2.27325353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.98864 meters Centerline goodness : 0.994669 Centerline is valid? [True, True] Translation: X:46.26, Y:-3.06, Z:-22.73 [[ 9.81335382e-01 -1.74066938e-02 1.91514685e-01 4.62621503e+01] [ 1.56229655e-02 9.99819409e-01 1.08199612e-02 -3.06435354e+00] [-1.91668439e-01 -7.62598346e-03 9.81430106e-01 -2.27265257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.01864 meters Centerline goodness : 0.996089 Centerline is valid? [True, True] Translation: X:46.30, Y:-3.01, Z:-22.71 [[ 9.74631310e-01 -1.61663988e-02 2.23231847e-01 4.62950129e+01] [ 2.62257421e-02 9.98766135e-01 -4.21713023e-02 -3.01302205e+00] [-2.22274651e-01 4.69558925e-02 9.73852722e-01 -2.27122411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.04864 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:46.32, Y:-3.12, Z:-22.76 [[ 9.80483920e-01 -4.21405884e-02 1.92029825e-01 4.63185689e+01] [ 2.75592121e-02 9.96573791e-01 7.79818528e-02 -3.12023253e+00] [-1.94658092e-01 -7.11677620e-02 9.78285938e-01 -2.27615807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.07864 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:46.35, Y:-3.06, Z:-22.74 [[ 9.79347804e-01 -3.25487379e-02 1.99545630e-01 4.63538401e+01] [ 3.09403732e-02 9.99458770e-01 1.11740610e-02 -3.05792031e+00] [-1.99801332e-01 -4.76927579e-03 9.79824822e-01 -2.27434203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.108639999999994 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:46.39, Y:-3.02, Z:-22.73 [[ 9.79425799e-01 -2.46091331e-02 2.00298514e-01 4.63863138e+01] [ 3.11222127e-02 9.99082137e-01 -2.94328330e-02 -3.02223659e+00] [-1.99390351e-01 3.50610089e-02 9.79292711e-01 -2.27325617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.138639999999995 meters Centerline goodness : 0.997364 Centerline is valid? [True, True] Translation: X:46.41, Y:-3.05, Z:-22.75 [[ 9.79460337e-01 -3.17736172e-02 1.99117766e-01 4.64138916e+01] [ 3.11235518e-02 9.99495089e-01 6.39465693e-03 -3.05473949e+00] [-1.99220411e-01 -6.60607170e-05 9.79954705e-01 -2.27524510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.168639999999996 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:46.45, Y:-3.05, Z:-22.75 [[ 9.78679402e-01 -2.67486484e-02 2.03644637e-01 4.64450931e+01] [ 2.78153532e-02 9.99610252e-01 -2.37713167e-03 -3.04767637e+00] [-2.03501682e-01 7.99089731e-03 9.79041986e-01 -2.27549677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.19864 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:46.47, Y:-3.07, Z:-22.77 [[ 9.78180020e-01 -2.90218859e-02 2.05722093e-01 4.64731617e+01] [ 2.52073667e-02 9.99458711e-01 2.11393642e-02 -3.06900160e+00] [-2.06224242e-01 -1.54923915e-02 9.78382107e-01 -2.27704981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.22864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:46.51, Y:-3.04, Z:-22.77 [[ 9.78707627e-01 -2.17402754e-02 2.04104729e-01 4.65056051e+01] [ 2.41431273e-02 9.99665350e-01 -9.28965628e-03 -3.04262263e+00] [-2.03834466e-01 1.40195839e-02 9.78904981e-01 -2.27651888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.25864 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:46.54, Y:-3.02, Z:-22.76 [[ 9.71496220e-01 -1.27249576e-02 2.36713263e-01 4.65391554e+01] [ 2.15992834e-02 9.99156178e-01 -3.49342579e-02 -3.01744786e+00] [-2.36068983e-01 3.90513364e-02 9.70951301e-01 -2.27620490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.28864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:46.56, Y:-3.13, Z:-22.81 [[ 9.79168306e-01 -4.19986321e-02 1.98659365e-01 4.65579940e+01] [ 2.38563523e-02 9.95394135e-01 9.28514395e-02 -3.13328730e+00] [-2.01644001e-01 -8.61778989e-02 9.75660323e-01 -2.28126657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.318639999999995 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:46.59, Y:-3.08, Z:-22.80 [[ 9.78485781e-01 -3.53792021e-02 2.03258181e-01 4.65864770e+01] [ 2.93921945e-02 9.99042723e-01 3.23996307e-02 -3.07547279e+00] [-2.04209879e-01 -2.57283740e-02 9.78588972e-01 -2.27953842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.348639999999996 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:46.62, Y:-3.01, Z:-22.77 [[ 9.78434621e-01 -1.80105887e-02 2.05770046e-01 4.66238016e+01] [ 2.54979634e-02 9.99103532e-01 -3.37932929e-02 -3.01433100e+00] [-2.04976942e-01 3.83112448e-02 9.78016718e-01 -2.27744717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.37864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:46.65, Y:-3.08, Z:-22.81 [[ 9.77150500e-01 -3.71965406e-02 2.09268530e-01 4.66464933e+01] [ 2.90306269e-02 9.98697464e-01 4.19594827e-02 -3.08081175e+00] [-2.10556697e-01 -3.49255329e-02 9.76957565e-01 -2.28092773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.40864 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:46.69, Y:-3.03, Z:-22.80 [[ 9.76002848e-01 -2.23916393e-02 2.16603450e-01 4.66864183e+01] [ 2.60006635e-02 9.99566307e-01 -1.38261576e-02 -3.02523191e+00] [-2.16199921e-01 1.91262026e-02 9.76161760e-01 -2.27953601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.43864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:46.72, Y:-2.97, Z:-22.78 [[ 9.67300297e-01 -1.06381396e-02 2.53410666e-01 4.67229154e+01] [ 3.01770303e-02 9.96850196e-01 -7.33418960e-02 -2.97091030e+00] [-2.51832251e-01 7.85908191e-02 9.64574518e-01 -2.27774774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.46864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:46.74, Y:-3.11, Z:-22.84 [[ 9.76305992e-01 -5.31717219e-02 2.09760289e-01 4.67366691e+01] [ 3.60710998e-02 9.95768130e-01 8.45263676e-02 -3.11415557e+00] [-2.13367023e-01 -7.49573148e-02 9.74092354e-01 -2.28423348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.498639999999995 meters Centerline goodness : 0.997701 Centerline is valid? [True, True] Translation: X:46.77, Y:-3.05, Z:-22.82 [[ 9.75426794e-01 -3.80759530e-02 2.17008737e-01 4.67725799e+01] [ 3.66319588e-02 9.99271814e-01 1.06743745e-02 -3.04532654e+00] [-2.17257151e-01 -2.46261581e-03 9.76111298e-01 -2.28223333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.528639999999996 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:46.81, Y:-2.97, Z:-22.79 [[ 9.65690922e-01 -2.08273922e-02 2.58857612e-01 4.68136793e+01] [ 4.12800818e-02 9.96416238e-01 -7.38284197e-02 -2.96893064e+00] [-2.56392275e-01 8.19810981e-02 9.63089872e-01 -2.27949979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.55864 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:46.83, Y:-3.13, Z:-22.87 [[ 9.73210106e-01 -6.64927031e-02 2.20092730e-01 4.68269136e+01] [ 4.44319666e-02 9.93614325e-01 1.03712937e-01 -3.13107812e+00] [-2.25583443e-01 -9.11553255e-02 9.69949904e-01 -2.28678332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.58864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:46.88, Y:-2.96, Z:-22.80 [[ 9.65669745e-01 -2.40452674e-02 2.58657629e-01 4.68785948e+01] [ 4.92650503e-02 9.94588738e-01 -9.14669191e-02 -2.96011969e+00] [-2.55058618e-01 1.01069617e-01 9.61628844e-01 -2.28049865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.61864 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:46.89, Y:-3.13, Z:-22.88 [[ 0.97394219 -0.07569265 0.2137925 46.88852552] [ 0.05563215 0.99359615 0.09834506 -3.1345364 ] [ -0.2198674 -0.08388866 0.97191616 -22.88297823] [ 0. 0. 0. 1. ]] SLAMing on 59.64864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:46.93, Y:-3.04, Z:-22.85 [[ 9.74132777e-01 -5.35583198e-02 2.19537787e-01 4.69296668e+01] [ 5.75198155e-02 9.98275945e-01 -1.16879893e-02 -3.03579519e+00] [-2.18533302e-01 2.40134265e-02 9.75533983e-01 -2.28520167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.678639999999994 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:46.96, Y:-3.06, Z:-22.87 [[ 9.73286298e-01 -6.07239669e-02 2.21419021e-01 4.69574168e+01] [ 6.01822251e-02 9.98145020e-01 9.19880398e-03 -3.05673716e+00] [-2.21566881e-01 4.37241948e-03 9.75135375e-01 -2.28657777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.708639999999995 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:47.00, Y:-2.99, Z:-22.85 [[ 9.64291293e-01 -3.85330597e-02 2.62025772e-01 4.70018958e+01] [ 5.78642761e-02 9.96109669e-01 -6.64624101e-02 -2.99112343e+00] [-2.58445405e-01 7.92510550e-02 9.62769569e-01 -2.28457747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.73864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:47.03, Y:-3.06, Z:-22.88 [[ 9.63340318e-01 -5.64188960e-02 2.62282938e-01 4.70288488e+01] [ 5.73659902e-02 9.98344996e-01 4.05116422e-03 -3.05586280e+00] [-2.62077421e-01 1.11434706e-02 9.64982512e-01 -2.28814266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.76864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:47.05, Y:-3.12, Z:-22.91 [[ 0.9712163 -0.08002146 0.22435566 47.05026507] [ 0.06551942 0.99529594 0.07136664 -3.12245151] [ -0.22901114 -0.05461279 0.9718906 -22.90692003] [ 0. 0. 0. 1. ]] SLAMing on 59.79864 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:47.10, Y:-3.01, Z:-22.87 [[ 9.64038801e-01 -4.46093636e-02 2.61990831e-01 4.70990429e+01] [ 6.20022518e-02 9.96360310e-01 -5.84966165e-02 -3.00720228e+00] [-2.58427769e-01 7.26370295e-02 9.63295879e-01 -2.28734033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.82864 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:47.13, Y:-3.07, Z:-22.91 [[ 9.62917069e-01 -6.02521886e-02 2.62983634e-01 4.71267004e+01] [ 6.14387340e-02 9.98103935e-01 3.71711646e-03 -3.06663124e+00] [-2.62708964e-01 1.25781066e-02 9.64793134e-01 -2.29052090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.858639999999994 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:47.15, Y:-3.14, Z:-22.93 [[ 0.97011725 -0.07955126 0.22922505 47.15094826] [ 0.06429189 0.99523568 0.07329731 -3.13820947] [ -0.23396384 -0.05636968 0.9706098 -22.9303069 ] [ 0. 0. 0. 1. ]] SLAMing on 59.888639999999995 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:47.20, Y:-3.02, Z:-22.89 [[ 9.63206059e-01 -4.71121877e-02 2.64602588e-01 4.71951687e+01] [ 6.62643303e-02 9.95752439e-01 -6.39227633e-02 -3.01591870e+00] [-2.60467131e-01 7.91045062e-02 9.62236640e-01 -2.28935336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.918639999999996 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:47.22, Y:-3.09, Z:-22.93 [[ 9.62561125e-01 -6.48204709e-02 2.63200280e-01 4.72220647e+01] [ 6.62653843e-02 9.97796264e-01 3.39338855e-03 -3.08612793e+00] [-2.62840217e-01 1.41747238e-02 9.64735247e-01 -2.29262456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.94864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:47.24, Y:-3.16, Z:-22.95 [[ 0.97033176 -0.08463836 0.22647876 47.24424107] [ 0.07013351 0.99498213 0.07135718 -3.15572565] [ -0.23138188 -0.05335639 0.97139874 -22.95047278] [ 0. 0. 0. 1. ]] SLAMing on 59.97864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:47.29, Y:-3.04, Z:-22.92 [[ 0.96323176 -0.04994915 0.263988 47.29008561] [ 0.06805352 0.99588303 -0.05988077 -3.04180215] [ -0.25991017 0.07564437 0.96266538 -22.91888349] [ 0. 0. 0. 1. ]] SLAMing on 60.00864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:47.31, Y:-3.17, Z:-22.96 [[ 0.96972844 -0.08315305 0.22959164 47.30873775] [ 0.06737958 0.9948499 0.07572099 -3.16993074] [ -0.23470566 -0.05795901 0.97033706 -22.96406382] [ 0. 0. 0. 1. ]] SLAMing on 60.03864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:47.35, Y:-3.05, Z:-22.93 [[ 9.62774562e-01 -4.39028299e-02 2.66716488e-01 4.73538365e+01] [ 6.34803479e-02 9.95849340e-01 -6.52252886e-02 -3.05265422e+00] [-2.62745864e-01 7.97285041e-02 9.61565378e-01 -2.29329862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.068639999999995 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:47.38, Y:-3.12, Z:-22.96 [[ 9.62637172e-01 -5.65881175e-02 2.64815900e-01 4.73809355e+01] [ 5.79232257e-02 9.98317194e-01 2.77113457e-03 -3.11891710e+00] [-2.64527079e-01 1.26713940e-02 9.64295007e-01 -2.29627379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.098639999999996 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:47.41, Y:-3.13, Z:-22.97 [[ 9.63291184e-01 -4.91960710e-02 2.63912563e-01 4.74137343e+01] [ 5.02814843e-02 9.98731585e-01 2.64466149e-03 -3.12847925e+00] [-2.63707919e-01 1.07223363e-02 9.64542982e-01 -2.29702029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.12864 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:47.44, Y:-3.21, Z:-22.99 [[ 9.70297958e-01 -6.53769662e-02 2.32911410e-01 4.74381513e+01] [ 4.70204119e-02 9.95396355e-01 8.35175241e-02 -3.20612040e+00] [-2.37299291e-01 -7.00852927e-02 9.68905103e-01 -2.29946612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.15864 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:47.47, Y:-3.13, Z:-22.98 [[ 9.70497514e-01 -4.57407397e-02 2.36732676e-01 4.74740940e+01] [ 4.58919342e-02 9.98934516e-01 4.87467819e-03 -3.13355984e+00] [-2.36703413e-01 6.13325733e-03 9.71562596e-01 -2.29827589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.18864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:47.51, Y:-3.06, Z:-22.97 [[ 9.62821824e-01 -1.98882946e-02 2.69404141e-01 4.75126953e+01] [ 4.21142065e-02 9.96143327e-01 -7.69731490e-02 -3.06426114e+00] [-2.66834273e-01 8.54571694e-02 9.59946115e-01 -2.29665153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.21864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:47.54, Y:-3.14, Z:-23.00 [[ 9.62517657e-01 -3.20771294e-02 2.69315461e-01 4.75395438e+01] [ 3.26648717e-02 9.99463714e-01 2.29994656e-03 -3.14296774e+00] [-2.69244807e-01 6.58341579e-03 9.63049268e-01 -2.29993540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.248639999999995 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:47.57, Y:-3.14, Z:-23.01 [[ 9.63027347e-01 -2.82871174e-02 2.67914480e-01 4.75720850e+01] [ 2.87571877e-02 9.99584071e-01 2.17007260e-03 -3.14486362e+00] [-2.67864432e-01 5.61462772e-03 9.63440254e-01 -2.30070593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.278639999999996 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:47.59, Y:-3.21, Z:-23.03 [[ 9.73051555e-01 -4.52413066e-02 2.26105938e-01 4.75941073e+01] [ 2.96804808e-02 9.96980638e-01 7.17542796e-02 -3.21349480e+00] [-2.28669500e-01 -6.31096804e-02 9.71456344e-01 -2.30257523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.30864 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:47.63, Y:-3.18, Z:-23.03 [[ 9.71132221e-01 -3.18212328e-02 2.36409851e-01 4.76275887e+01] [ 2.35317678e-02 9.99008069e-01 3.78038832e-02 -3.18386131e+00] [-2.37378315e-01 -3.11494274e-02 9.70917735e-01 -2.30262243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.33864 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:47.67, Y:-3.07, Z:-23.00 [[ 9.61971083e-01 6.70826527e-03 2.73068920e-01 4.76711470e+01] [ 1.83795641e-02 9.95843077e-01 -8.92118688e-02 -3.07103376e+00] [-2.72532251e-01 9.08381258e-02 9.57848948e-01 -2.29995655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.36864 meters Centerline goodness : 0.996950 Centerline is valid? [True, True] Translation: X:47.70, Y:-3.15, Z:-23.03 [[ 9.61846523e-01 -1.37290885e-02 2.73244907e-01 4.76964388e+01] [ 1.38121101e-02 9.99903296e-01 1.61990484e-03 -3.15272907e+00] [-2.73240723e-01 2.21598890e-03 9.61943136e-01 -2.30341472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.39864 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:47.73, Y:-3.15, Z:-23.04 [[ 9.61532554e-01 -8.88470748e-03 2.74547282e-01 4.77283068e+01] [ 8.80363894e-03 9.99960081e-01 1.52748690e-03 -3.15399071e+00] [-2.74549894e-01 9.48286765e-04 9.61572388e-01 -2.30423023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.428639999999994 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:47.76, Y:-3.15, Z:-23.05 [[ 9.61829991e-01 -6.00140092e-03 2.73581893e-01 4.77606179e+01] [ 5.84631893e-03 9.99981955e-01 1.38213729e-03 -3.15402336e+00] [-2.73585251e-01 2.70065898e-04 9.61847721e-01 -2.30501385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.458639999999995 meters Centerline goodness : 0.995675 Centerline is valid? [True, True] Translation: X:47.79, Y:-3.15, Z:-23.06 [[ 9.62157116e-01 -2.68480837e-03 2.72482066e-01 4.77927753e+01] [ 2.43985981e-03 9.99996257e-01 1.23776897e-03 -3.15327268e+00] [-2.72484369e-01 -5.26110179e-04 9.62160066e-01 -2.30591503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.48864 meters Centerline goodness : 0.994358 Centerline is valid? [True, True] Translation: X:47.82, Y:-3.19, Z:-23.07 [[ 9.72591357e-01 -1.08003499e-02 2.32270112e-01 4.78191083e+01] [ 2.10645030e-04 9.98961183e-01 4.55687505e-02 -3.19180053e+00] [-2.32520984e-01 -4.42708464e-02 9.71583287e-01 -2.30740896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.51864 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:47.86, Y:-3.11, Z:-23.06 [[ 9.62198929e-01 1.56676507e-02 2.71896572e-01 4.78579552e+01] [-4.71712664e-03 9.99152863e-01 -4.08815886e-02 -3.11209694e+00] [-2.72306757e-01 3.80536502e-02 9.61457721e-01 -2.30630193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.54864 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:47.89, Y:-3.15, Z:-23.08 [[ 9.62242401e-01 9.22553211e-03 2.72037592e-01 4.78875777e+01] [-9.83833087e-03 9.99951207e-01 8.88763717e-04 -3.14676671e+00] [-2.72016119e-01 -3.53160197e-03 9.62286215e-01 -2.30826552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.57864 meters Centerline goodness : 0.994006 Centerline is valid? [True, True] Translation: X:47.92, Y:-3.14, Z:-23.09 [[ 9.62284638e-01 1.12944301e-02 2.71810066e-01 4.79199473e+01] [-1.19475555e-02 9.99928346e-01 7.48053047e-04 -3.14486334e+00] [-2.71782141e-01 -3.96730581e-03 9.62350626e-01 -2.30900394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.608639999999994 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:47.95, Y:-3.14, Z:-23.10 [[ 9.62388356e-01 1.21971711e-02 2.71403540e-01 4.79515921e+01] [-1.28439221e-02 9.99917329e-01 6.06765435e-04 -3.14252519e+00] [-2.71373702e-01 -4.06982990e-03 9.62465454e-01 -2.30982977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.638639999999995 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:47.98, Y:-3.14, Z:-23.11 [[ 9.62110046e-01 1.34822082e-02 2.72327908e-01 4.79839418e+01] [-1.41440362e-02 9.99899859e-01 4.67308889e-04 -3.13966237e+00] [-2.72294336e-01 -4.30141836e-03 9.62204392e-01 -2.31065244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.668639999999996 meters Centerline goodness : 0.993811 Centerline is valid? [True, True] Translation: X:48.01, Y:-3.16, Z:-23.12 [[ 9.71583076e-01 4.67731596e-03 2.36652593e-01 4.80114075e+01] [-1.27801110e-02 9.99382950e-01 3.27167755e-02 -3.16437337e+00] [-2.36353540e-01 -3.48115118e-02 9.71043337e-01 -2.31208046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.69864 meters Centerline goodness : 0.994557 Centerline is valid? [True, True] Translation: X:48.05, Y:-3.10, Z:-23.11 [[ 9.61664735e-01 2.30202048e-02 2.73259962e-01 4.80477736e+01] [-1.52943264e-02 9.99421709e-01 -3.03699016e-02 -3.10396621e+00] [-2.73801060e-01 2.50263363e-02 9.61460692e-01 -2.31135406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.72864 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:48.08, Y:-3.13, Z:-23.13 [[ 9.61341866e-01 1.65312889e-02 2.74860936e-01 4.80775559e+01] [-1.72273690e-02 9.99851591e-01 1.18443551e-04 -3.12781695e+00] [-2.74818186e-01 -4.84899551e-03 9.61483984e-01 -2.31301090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.75864 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:48.11, Y:-3.12, Z:-23.14 [[ 9.61115867e-01 1.81112246e-02 2.75550856e-01 4.81101202e+01] [-1.88339088e-02 9.99822626e-01 -2.33842639e-05 -3.12106664e+00] [-2.75502404e-01 -5.16722471e-03 9.61286495e-01 -2.31384270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.78864 meters Centerline goodness : 0.993435 Centerline is valid? [True, True] Translation: X:48.14, Y:-3.15, Z:-23.15 [[ 9.70031576e-01 9.78342868e-03 2.42781849e-01 4.81391389e+01] [-1.74541734e-02 9.99413430e-01 2.94643499e-02 -3.14501227e+00] [-2.42351178e-01 -3.28189063e-02 9.69633346e-01 -2.31523060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.818639999999995 meters Centerline goodness : 0.994023 Centerline is valid? [True, True] Translation: X:48.17, Y:-3.09, Z:-23.15 [[ 9.59904358e-01 2.20509499e-02 2.79459084e-01 4.81748189e+01] [-1.45162585e-02 9.99473916e-01 -2.90029197e-02 -3.08663348e+00] [-2.79951607e-01 2.37833287e-02 9.59719465e-01 -2.31450856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.848639999999996 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:48.20, Y:-3.11, Z:-23.16 [[ 9.59910520e-01 1.25040942e-02 2.80027573e-01 4.82041514e+01] [-1.29207681e-02 9.99916459e-01 -3.58065990e-04 -3.11043157e+00] [-2.80008657e-01 -3.27446002e-03 9.59991891e-01 -2.31620502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.87864 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:48.23, Y:-3.13, Z:-23.18 [[ 9.69629154e-01 2.02431605e-03 2.44571475e-01 4.82324682e+01] [-9.00793286e-03 9.99582883e-01 2.74393514e-02 -3.13458038e+00] [-2.44413914e-01 -2.88090785e-02 9.69242939e-01 -2.31750057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.90864 meters Centerline goodness : 0.994608 Centerline is valid? [True, True] Translation: X:48.27, Y:-3.08, Z:-23.17 [[ 9.59575422e-01 1.35723088e-02 2.81124174e-01 4.82690101e+01] [-6.26657400e-03 9.99619286e-01 -2.68703012e-02 -3.08245594e+00] [-2.81381838e-01 2.40223952e-02 9.59295151e-01 -2.31689607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.93864 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:48.30, Y:-3.10, Z:-23.18 [[ 9.59811411e-01 6.52681229e-03 2.80569877e-01 4.82994539e+01] [-6.58847541e-03 9.99978034e-01 -7.23438467e-04 -3.10429397e+00] [-2.80568435e-01 -1.15416324e-03 9.59833330e-01 -2.31847271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.96864 meters Centerline goodness : 0.994952 Centerline is valid? [True, True] Translation: X:48.33, Y:-3.10, Z:-23.19 [[ 9.59678714e-01 6.65411965e-03 2.81020441e-01 4.83313448e+01] [-6.67932114e-03 9.99977316e-01 -8.68144636e-04 -3.10265776e+00] [-2.81019843e-01 -1.04388584e-03 9.59701390e-01 -2.31928733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.998639999999995 meters Centerline goodness : 0.994910 Centerline is valid? [True, True] Translation: X:48.36, Y:-3.10, Z:-23.20 [[ 9.59463474e-01 8.78250744e-03 2.81696129e-01 4.83637272e+01] [-8.85540860e-03 9.99960276e-01 -1.01427543e-03 -3.09719832e+00] [-2.81693847e-01 -1.52137410e-03 9.59503133e-01 -2.32015401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.028639999999996 meters Centerline goodness : 0.994862 Centerline is valid? [True, True] Translation: X:48.40, Y:-3.09, Z:-23.21 [[ 9.59938668e-01 9.94926486e-03 2.80033507e-01 4.83961545e+01] [-1.00281138e-02 9.99949055e-01 -1.15123282e-03 -3.09452930e+00] [-2.80030695e-01 -1.70309499e-03 9.59989536e-01 -2.32097011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.05864 meters Centerline goodness : 0.994851 Centerline is valid? [True, True] Translation: X:48.43, Y:-3.09, Z:-23.22 [[ 9.59398339e-01 1.02696083e-02 2.81867633e-01 4.84282152e+01] [-1.03206809e-02 9.99945891e-01 -1.30347883e-03 -3.09360528e+00] [-2.81865768e-01 -1.65851048e-03 9.59452416e-01 -2.32193428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.08864 meters Centerline goodness : 0.994958 Centerline is valid? [True, True] Translation: X:48.46, Y:-3.09, Z:-23.23 [[ 9.59537729e-01 9.55578638e-03 2.81417898e-01 4.84598926e+01] [-9.53470941e-03 9.99953501e-01 -1.44421742e-03 -3.09359532e+00] [-2.81418613e-01 -1.29745678e-03 9.59584223e-01 -2.32276704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.11864 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:48.48, Y:-3.19, Z:-23.26 [[ 9.71348818e-01 -1.74989699e-02 2.37013208e-01 4.84803501e+01] [-6.23200384e-03 9.95067166e-01 9.90075623e-02 -3.18516958e+00] [-2.37576591e-01 -9.76479458e-02 9.66448261e-01 -2.32585367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.14864 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:48.51, Y:-3.11, Z:-23.24 [[ 9.70306196e-01 9.95233786e-04 2.41877854e-01 4.85130217e+01] [-5.44130339e-03 9.99828285e-01 1.77141786e-02 -3.10973872e+00] [-2.41818691e-01 -1.85043080e-02 9.70144995e-01 -2.32448422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.178639999999994 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:48.54, Y:-3.09, Z:-23.24 [[ 9.69620337e-01 5.69993963e-03 2.44548384e-01 4.85427857e+01] [-4.83085050e-03 9.99979705e-01 -4.15350552e-03 -3.08971970e+00] [-2.44567095e-01 2.84594674e-03 9.69628195e-01 -2.32445676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.208639999999995 meters Centerline goodness : 0.995054 Centerline is valid? [True, True] Translation: X:48.59, Y:-2.99, Z:-23.22 [[ 9.56695423e-01 3.87333363e-02 2.88502332e-01 4.85879410e+01] [-6.30164770e-03 9.93631200e-01 -1.12504789e-01 -2.99331285e+00] [-2.91022605e-01 1.05814776e-01 9.50846505e-01 -2.32156089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.23864 meters Centerline goodness : 0.995106 Centerline is valid? [True, True] Translation: X:48.61, Y:-3.09, Z:-23.26 [[ 9.56074678e-01 1.07539774e-02 2.92925864e-01 4.86084838e+01] [-1.04837175e-02 9.99941938e-01 -2.49256300e-03 -3.08781937e+00] [-2.92935661e-01 -6.87875634e-04 9.56131908e-01 -2.32622090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.26864 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:48.64, Y:-3.09, Z:-23.27 [[ 9.56630786e-01 1.14572316e-02 2.91077774e-01 4.86401575e+01] [-1.11775028e-02 9.99934087e-01 -2.62381126e-03 -3.08642802e+00] [-2.91088650e-01 -7.43503998e-04 9.56695795e-01 -2.32709759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.29864 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:48.66, Y:-3.17, Z:-23.30 [[ 9.69323505e-01 -1.59324211e-02 2.45271482e-01 4.86579199e+01] [-6.95594544e-03 9.95718951e-01 9.21704184e-02 -3.17091690e+00] [-2.45689960e-01 -9.10490481e-02 9.65062959e-01 -2.33016095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.32864 meters Centerline goodness : 0.994772 Centerline is valid? [True, True] Translation: X:48.69, Y:-3.11, Z:-23.29 [[ 9.67750365e-01 3.41858346e-03 2.51887959e-01 4.86925631e+01] [-1.01470656e-02 9.99625407e-01 2.54181404e-02 -3.10724808e+00] [-2.51706710e-01 -2.71543383e-02 9.67422542e-01 -2.32928507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.358639999999994 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:48.74, Y:-2.98, Z:-23.25 [[ 9.53679686e-01 4.65550598e-02 2.97199735e-01 4.87426699e+01] [-1.28614123e-02 9.93359037e-01 -1.14334630e-01 -2.98038166e+00] [-3.00548898e-01 1.05216206e-01 9.47945099e-01 -2.32543007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.388639999999995 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:48.75, Y:-3.18, Z:-23.33 [[ 9.67421009e-01 -2.13305616e-02 2.52272867e-01 4.87454685e+01] [-8.05914260e-03 9.93344814e-01 1.14896172e-01 -3.18468943e+00] [-2.53044744e-01 -1.13186073e-01 9.60810736e-01 -2.33284567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.418639999999996 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:48.79, Y:-3.03, Z:-23.29 [[ 9.67157213e-01 2.29958004e-02 2.53136561e-01 4.87948503e+01] [-1.04796140e-02 9.98659842e-01 -5.06823198e-02 -3.03002623e+00] [-2.53962798e-01 4.63649977e-02 9.66102057e-01 -2.32892009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.44864 meters Centerline goodness : 0.996673 Centerline is valid? [True, True] Translation: X:48.82, Y:-3.08, Z:-23.32 [[ 9.66280265e-01 5.09061954e-03 2.57442293e-01 4.88168720e+01] [-7.77168002e-03 9.99925639e-01 9.39775672e-03 -3.08276420e+00] [-2.57375309e-01 -1.10816260e-02 9.66247974e-01 -2.33160827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.47864 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:48.86, Y:-3.01, Z:-23.30 [[ 9.50658780e-01 2.78249847e-02 3.08988112e-01 4.88605104e+01] [-5.38503499e-03 9.97299752e-01 -7.32407448e-02 -3.00868380e+00] [-3.10191690e-01 6.79630453e-02 9.48241604e-01 -2.32999230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.50864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:48.88, Y:-3.07, Z:-23.33 [[ 9.50809689e-01 6.52567064e-03 3.09706878e-01 4.88845012e+01] [-5.38464805e-03 9.99975202e-01 -4.53891527e-03 -3.07027909e+00] [-3.09728817e-01 2.64798208e-03 9.50821249e-01 -2.33330683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.53864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:48.92, Y:-3.07, Z:-23.34 [[ 9.51183112e-01 4.54750050e-03 3.08593597e-01 4.89174430e+01] [-3.26247803e-03 9.99983727e-01 -4.67998204e-03 -3.07096778e+00] [-3.08609857e-01 3.44474005e-03 9.51182469e-01 -2.33422184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.568639999999995 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:48.93, Y:-3.18, Z:-23.38 [[ 9.64507787e-01 -3.70033835e-02 2.61448808e-01 4.89334498e+01] [ 7.90212710e-03 9.93733743e-01 1.11493519e-01 -3.18023915e+00] [-2.63936140e-01 -1.05470366e-01 9.58756338e-01 -2.33785454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.598639999999996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:48.99, Y:-2.98, Z:-23.32 [[ 9.51757461e-01 2.84750167e-02 3.05527263e-01 4.89947435e+01] [ 6.60601122e-03 9.93552845e-01 -1.13177312e-01 -2.97951497e+00] [-3.06780207e-01 1.09735668e-01 9.45433228e-01 -2.33214696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.62864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:49.01, Y:-3.08, Z:-23.37 [[ 9.51009853e-01 -4.22671381e-03 3.09131679e-01 4.90138666e+01] [ 6.16086620e-03 9.99967078e-01 -5.28082340e-03 -3.07852248e+00] [-3.09099181e-01 6.92663400e-03 9.51004583e-01 -2.33695188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.65864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:49.03, Y:-3.18, Z:-23.40 [[ 9.64550937e-01 -4.13190333e-02 2.60641953e-01 4.90287141e+01] [ 1.54095425e-02 9.94799736e-01 1.00677862e-01 -3.18351782e+00] [-2.63446458e-01 -9.30925533e-02 9.60171724e-01 -2.34008018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.68864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:49.07, Y:-3.07, Z:-23.38 [[ 9.65073826e-01 -3.94806645e-03 2.61948323e-01 4.90723646e+01] [ 1.03697891e-02 9.99678511e-01 -2.31374448e-02 -3.07258556e+00] [-2.61772761e-01 2.50456912e-02 9.64804506e-01 -2.33760530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.71864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:49.10, Y:-3.09, Z:-23.39 [[ 9.64872655e-01 -7.67920848e-03 2.62605767e-01 4.90999526e+01] [ 9.62948894e-03 9.99934782e-01 -6.14047029e-03 -3.08964988e+00] [-2.62541486e-01 8.45353120e-03 9.64883675e-01 -2.33876365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.748639999999995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:49.13, Y:-3.12, Z:-23.41 [[ 9.60580700e-01 -1.07080932e-02 2.77794988e-01 4.91257221e+01] [ 3.84488511e-03 9.99674051e-01 2.52390459e-02 -3.12257140e+00] [-2.77974703e-01 -2.31760506e-02 9.60308771e-01 -2.34073393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.778639999999996 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:49.16, Y:-3.06, Z:-23.39 [[ 9.62569656e-01 1.16784877e-02 2.70782698e-01 4.91641718e+01] [ 2.42386323e-05 9.99067543e-01 -4.31745804e-02 -3.06470205e+00] [-2.71034419e-01 4.15651044e-02 9.61671818e-01 -2.33948174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.80864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:49.20, Y:-3.05, Z:-23.40 [[ 9.48571052e-01 2.61872826e-02 3.15479294e-01 4.92009132e+01] [-6.85843218e-03 9.98038679e-01 -6.22234519e-02 -3.05394907e+00] [-3.16490000e-01 5.68596719e-02 9.46890203e-01 -2.34019990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.83864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:49.21, Y:-3.18, Z:-23.45 [[ 9.58611618e-01 -1.67966549e-02 2.84221109e-01 4.92131986e+01] [-5.37193237e-03 9.97013613e-01 7.70389309e-02 -3.18163043e+00] [-2.84666311e-01 -7.53772308e-02 9.55658602e-01 -2.34450804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.27, Y:-3.04, Z:-23.41 [[ 9.47938834e-01 3.68595106e-02 3.16312099e-01 4.92673292e+01] [-1.06266032e-02 9.96387001e-01 -8.42616120e-02 -3.03769251e+00] [-3.18275106e-01 7.65135310e-02 9.44905623e-01 -2.34114922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:49.28, Y:-3.19, Z:-23.46 [[ 9.56640181e-01 -1.30844364e-02 2.90978283e-01 4.92767216e+01] [-9.88475640e-03 9.96956704e-01 7.73280106e-02 -3.18661695e+00] [-2.91104543e-01 -7.68513316e-02 9.53599506e-01 -2.34622376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.928639999999994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:49.32, Y:-3.09, Z:-23.44 [[ 9.56916900e-01 2.29610194e-02 2.89452653e-01 4.93225313e+01] [-1.48688741e-02 9.99435539e-01 -3.01250715e-02 -3.09077733e+00] [-2.89980971e-01 2.45233549e-02 9.56718162e-01 -2.34447051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.958639999999995 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:49.36, Y:-3.07, Z:-23.45 [[ 9.45838389e-01 3.37962207e-02 3.22873903e-01 4.93593793e+01] [-1.49162325e-02 9.98040224e-01 -6.07718436e-02 -3.06561264e+00] [-3.24295001e-01 5.26642804e-02 9.44488870e-01 -2.34461853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.98864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:49.37, Y:-3.18, Z:-23.49 [[ 9.56623249e-01 -5.73632296e-03 2.91271444e-01 4.93725152e+01] [-1.44194525e-02 9.97648400e-01 6.70055968e-02 -3.18112208e+00] [-2.90970855e-01 -6.82990865e-02 9.54290939e-01 -2.34854092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.42, Y:-3.05, Z:-23.46 [[ 9.45277242e-01 4.51543640e-02 3.23128486e-01 4.94248929e+01] [-2.16040697e-02 9.96865896e-01 -7.61028851e-02 -3.05254232e+00] [-3.25552145e-01 6.49574351e-02 9.43290163e-01 -2.34584916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:49.45, Y:-3.11, Z:-23.49 [[ 9.45151428e-01 2.51890756e-02 3.25659775e-01 4.94495900e+01] [-2.35682095e-02 9.99682418e-01 -8.92203882e-03 -3.11276063e+00] [-3.25781090e-01 7.57459910e-04 9.45444926e-01 -2.34893653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.07864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:49.48, Y:-3.14, Z:-23.51 [[ 9.55441739e-01 2.26042826e-02 2.94312979e-01 4.94775749e+01] [-2.93128826e-02 9.99400877e-01 1.84022183e-02 -3.13644356e+00] [-2.93720680e-01 -2.62094093e-02 9.55531909e-01 -2.35051919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.108639999999994 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:49.52, Y:-3.09, Z:-23.50 [[ 9.44454624e-01 4.04664940e-02 3.26140960e-01 4.95150605e+01] [-3.06025587e-02 9.98907366e-01 -3.53207731e-02 -3.08811579e+00] [-3.27213915e-01 2.33781196e-02 9.44661060e-01 -2.35022442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.138639999999995 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:49.54, Y:-3.11, Z:-23.52 [[ 9.44644218e-01 3.52805864e-02 3.26194086e-01 4.95441921e+01] [-3.40484308e-02 9.99375147e-01 -9.48787267e-03 -3.10971298e+00] [-3.26325000e-01 -2.14373269e-03 9.45255203e-01 -2.35195644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.168639999999996 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:49.58, Y:-3.11, Z:-23.53 [[ 9.44389229e-01 3.76729408e-02 3.26664558e-01 4.95762037e+01] [-3.65098926e-02 9.99286278e-01 -9.69344065e-03 -3.10836071e+00] [-3.26796590e-01 -2.77210696e-03 9.45090633e-01 -2.35296984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.19864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:49.61, Y:-3.12, Z:-23.54 [[ 9.53165420e-01 3.58484366e-02 3.00317453e-01 4.96065489e+01] [-3.89373834e-02 9.99232379e-01 4.30494066e-03 -3.11866759e+00] [-2.99932598e-01 -1.57968964e-02 9.53829594e-01 -2.35419487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.22864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:49.64, Y:-3.13, Z:-23.56 [[ 9.53409736e-01 3.27290143e-02 2.99897794e-01 4.96372016e+01] [-4.13956601e-02 9.98887447e-01 2.25891084e-02 -3.13349086e+00] [-2.98824823e-01 -3.39511431e-02 9.53703856e-01 -2.35557107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.25864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:49.68, Y:-3.07, Z:-23.55 [[ 9.52272042e-01 5.17242715e-02 3.00836430e-01 4.96756082e+01] [-4.17611075e-02 9.98348109e-01 -3.94596279e-02 -3.07318784e+00] [-3.02380501e-01 2.50130380e-02 9.52859056e-01 -2.35478765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.28864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:49.71, Y:-3.08, Z:-23.56 [[ 9.42486129e-01 4.59009195e-02 3.31078544e-01 4.97056083e+01] [-3.93591154e-02 9.98875248e-01 -2.64404694e-02 -3.08410484e+00] [-3.31919805e-01 1.18888171e-02 9.43232685e-01 -2.35635568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.318639999999995 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:49.73, Y:-3.11, Z:-23.58 [[ 9.51985021e-01 3.53377721e-02 3.04098277e-01 4.97336293e+01] [-3.86563127e-02 9.99240564e-01 4.89741442e-03 -3.11146740e+00] [-3.03694270e-01 -1.64175832e-02 9.52628077e-01 -2.35813044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.348639999999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:49.77, Y:-3.09, Z:-23.58 [[ 9.43131707e-01 3.70966186e-02 3.30342889e-01 4.97690028e+01] [-3.06994502e-02 9.99226795e-01 -2.45632968e-02 -3.08754827e+00] [-3.30998682e-01 1.30250790e-02 9.43541319e-01 -2.35846084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.37864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:49.78, Y:-3.19, Z:-23.62 [[ 9.54728673e-01 -1.21600677e-03 2.97475514e-01 4.97837982e+01] [-2.52903045e-02 9.96039498e-01 8.52391823e-02 -3.18845735e+00] [-2.96401013e-01 -8.89035378e-02 9.50916716e-01 -2.36181761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.40864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:49.83, Y:-3.09, Z:-23.60 [[ 9.55559736e-01 2.64698975e-02 2.93606771e-01 4.98277292e+01] [-1.77225991e-02 9.99317404e-01 -3.24135136e-02 -3.08674337e+00] [-2.94264339e-01 2.57695734e-02 9.55376590e-01 -2.35963577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.43864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:49.87, Y:-3.05, Z:-23.60 [[ 9.41648575e-01 4.04600886e-02 3.34157063e-01 4.98685421e+01] [-1.48357212e-02 9.96773436e-01 -7.88835811e-02 -3.05040421e+00] [-3.36270521e-01 6.93231507e-02 9.39210540e-01 -2.35951315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.46864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:49.89, Y:-3.11, Z:-23.63 [[ 9.41932314e-01 1.69096329e-02 3.35376774e-01 4.98916646e+01] [-1.37125684e-02 9.99835180e-01 -1.18986613e-02 -3.11376507e+00] [-3.35522700e-01 6.60885664e-03 9.42008939e-01 -2.36274607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.498639999999995 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:49.93, Y:-3.12, Z:-23.64 [[ 9.41274048e-01 1.33830249e-02 3.37378217e-01 4.99252239e+01] [-9.85718989e-03 9.99877458e-01 -1.21616266e-02 -3.12021236e+00] [-3.37499634e-01 8.12182238e-03 9.41290621e-01 -2.36370383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.528639999999996 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:49.95, Y:-3.18, Z:-23.66 [[ 9.52728153e-01 -6.51825655e-03 3.03754142e-01 4.99473493e+01] [-8.98321220e-03 9.98728383e-01 4.96076429e-02 -3.18008037e+00] [-3.03691238e-01 -4.99912859e-02 9.51458093e-01 -2.36575804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.55864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:49.99, Y:-3.12, Z:-23.65 [[ 9.51390018e-01 1.69112709e-02 3.07524053e-01 4.99874487e+01] [-1.17439570e-02 9.99757174e-01 -1.86459591e-02 -3.12365359e+00] [-3.07764705e-01 1.41280301e-02 9.51357601e-01 -2.36514760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.58864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:50.03, Y:-3.09, Z:-23.65 [[ 9.39340576e-01 3.37606801e-02 3.41320230e-01 5.00252486e+01] [-1.38309197e-02 9.98062863e-01 -6.06566362e-02 -3.09489026e+00] [-3.42706855e-01 5.22564669e-02 9.37987886e-01 -2.36534468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.61864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:50.05, Y:-3.14, Z:-23.68 [[ 9.38923214e-01 2.07370614e-02 3.43501344e-01 5.00523950e+01] [-1.72267151e-02 9.99763572e-01 -1.32680586e-02 -3.14015428e+00] [-3.43695271e-01 6.54028841e-03 9.39058457e-01 -2.36777411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.64864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:50.07, Y:-3.21, Z:-23.70 [[ 9.52168075e-01 2.33562601e-04 3.05574707e-01 5.00743636e+01] [-1.86144300e-02 9.98186931e-01 5.72394456e-02 -3.20737598e+00] [-3.05007310e-01 -6.01896718e-02 9.50446077e-01 -2.37000508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.678639999999994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:50.11, Y:-3.17, Z:-23.70 [[ 9.53266357e-01 1.64802294e-02 3.01681379e-01 5.01113529e+01] [-2.18779700e-02 9.99655175e-01 1.45218978e-02 -3.17122483e+00] [-3.01338028e-01 -2.04434128e-02 9.53298201e-01 -2.37003239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.708639999999995 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:50.16, Y:-3.07, Z:-23.68 [[ 9.38012786e-01 5.52229948e-02 3.42173106e-01 5.01599848e+01] [-2.16321794e-02 9.94628750e-01 -1.01221039e-01 -3.07254397e+00] [-3.45924938e-01 8.75446788e-02 9.34169078e-01 -2.36818976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.73864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:50.17, Y:-3.23, Z:-23.73 [[ 9.52057258e-01 1.45299754e-04 3.05919852e-01 5.01671912e+01] [-2.40201139e-02 9.96948115e-01 7.42798068e-02 -3.23244014e+00] [-3.04975427e-01 -7.80668589e-02 9.49155179e-01 -2.37298568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.76864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:50.22, Y:-3.08, Z:-23.70 [[ 9.35847415e-01 5.72184835e-02 3.47729293e-01 5.02223866e+01] [-2.49823276e-02 9.95019968e-01 -9.64942778e-02 -3.08310705e+00] [-3.51518846e-01 8.16168333e-02 9.32616316e-01 -2.37036436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.79864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:50.24, Y:-3.16, Z:-23.74 [[ 9.34979767e-01 3.31777582e-02 3.53145965e-01 5.02443475e+01] [-2.97809855e-02 9.99443148e-01 -1.50494831e-02 -3.15705533e+00] [-3.53448623e-01 3.55392730e-03 9.35447187e-01 -2.37366107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.82864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:50.28, Y:-3.16, Z:-23.75 [[ 9.34522381e-01 3.64405824e-02 3.54033902e-01 5.02775107e+01] [-3.31652521e-02 9.99332511e-01 -1.53165795e-02 -3.15966235e+00] [-3.54355734e-01 2.57206267e-03 9.35107159e-01 -2.37477365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.858639999999994 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:50.30, Y:-3.23, Z:-23.77 [[ 9.52017917e-01 1.00599850e-02 3.05876907e-01 5.02973699e+01] [-3.17482179e-02 9.97313546e-01 6.60131986e-02 -3.23271876e+00] [-3.04391091e-01 -7.25567945e-02 9.49779751e-01 -2.37698364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.888639999999995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.35, Y:-3.10, Z:-23.75 [[ 9.33838108e-01 6.80354292e-02 3.51166014e-01 5.03511031e+01] [-3.91561893e-02 9.95288225e-01 -8.87025471e-02 -3.09630269e+00] [-3.55546315e-01 6.90834958e-02 9.32102081e-01 -2.37489768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.918639999999996 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:50.36, Y:-3.19, Z:-23.78 [[ 9.47707958e-01 3.02496136e-02 3.17702041e-01 5.03630310e+01] [-3.51588226e-02 9.99334384e-01 9.72866581e-03 -3.18883291e+00] [-3.17196285e-01 -2.03899637e-02 9.48140689e-01 -2.37778869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.94864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:50.41, Y:-3.15, Z:-23.79 [[ 9.32894241e-01 5.37200853e-02 3.56121451e-01 5.04064160e+01] [-4.60861447e-02 9.98490103e-01 -2.98928204e-02 -3.15109611e+00] [-3.57189589e-01 1.14745753e-02 9.33961419e-01 -2.37874219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.97864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:50.44, Y:-3.16, Z:-23.80 [[ 9.33054820e-01 5.06125473e-02 3.56155966e-01 5.04379887e+01] [-4.76624603e-02 9.98717804e-01 -1.70598398e-02 -3.16326608e+00] [-3.56562746e-01 -1.05750387e-03 9.34270780e-01 -2.38023410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.00864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:50.47, Y:-3.16, Z:-23.81 [[ 9.33567686e-01 5.00958818e-02 3.54882767e-01 5.04716004e+01] [-4.70317081e-02 9.98744247e-01 -1.72611673e-02 -3.16459481e+00] [-3.55301835e-01 -5.76274674e-04 9.34751450e-01 -2.38145615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.03864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:50.49, Y:-3.23, Z:-23.84 [[ 9.47326185e-01 2.77784875e-02 3.19063402e-01 5.04936663e+01] [-4.86270076e-02 9.97156938e-01 5.75626223e-02 -3.23327387e+00] [-3.16557282e-01 -7.00456778e-02 9.45983663e-01 -2.38384192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.068639999999995 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:50.54, Y:-3.11, Z:-23.82 [[ 9.33678184e-01 7.16486591e-02 3.50872511e-01 5.05435926e+01] [-4.22219497e-02 9.94971762e-01 -9.08212480e-02 -3.10932224e+00] [-3.55615461e-01 6.99832964e-02 9.32008574e-01 -2.38172479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.098639999999996 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:50.57, Y:-3.18, Z:-23.85 [[ 9.33555737e-01 4.72805849e-02 3.55300201e-01 5.05659681e+01] [-4.37816267e-02 9.98880994e-01 -1.78865333e-02 -3.17774347e+00] [-3.55748304e-01 1.14245498e-03 9.34581104e-01 -2.38481776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.12864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:50.60, Y:-3.18, Z:-23.86 [[ 9.33727481e-01 4.67620655e-02 3.54917316e-01 5.06002791e+01] [-4.31449344e-02 9.98904789e-01 -1.81034849e-02 -3.18095423e+00] [-3.55375163e-01 1.59083706e-03 9.34722399e-01 -2.38592178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.15864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:50.63, Y:-3.18, Z:-23.87 [[ 9.33327999e-01 4.67952997e-02 3.55962141e-01 5.06334453e+01] [-4.30589878e-02 9.98902765e-01 -1.84171139e-02 -3.18430629e+00] [-3.56433401e-01 1.86183858e-03 9.34318877e-01 -2.38712550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.18864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:50.66, Y:-3.23, Z:-23.89 [[ 9.49092046e-01 3.04863019e-02 3.13520132e-01 5.06588828e+01] [-4.18594650e-02 9.98684751e-01 2.96066488e-02 -3.23479929e+00] [-3.12205178e-01 -4.12232199e-02 9.49119894e-01 -2.38881782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.21864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:50.70, Y:-3.16, Z:-23.88 [[ 9.33329019e-01 5.93179922e-02 3.54088010e-01 5.07030417e+01] [-3.93946781e-02 9.97221865e-01 -6.32187534e-02 -3.15832839e+00] [-3.56854315e-01 4.50547139e-02 9.33072918e-01 -2.38836678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.248639999999995 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:50.72, Y:-3.28, Z:-23.91 [[ 9.50119736e-01 1.44297451e-02 3.11551393e-01 5.07153568e+01] [-3.71598757e-02 9.97050993e-01 6.71450683e-02 -3.27897340e+00] [-3.09663740e-01 -7.53730656e-02 9.47854034e-01 -2.39146240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.278639999999996 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:50.77, Y:-3.14, Z:-23.90 [[ 9.32556577e-01 6.77290469e-02 3.54613883e-01 5.07700109e+01] [-3.53672068e-02 9.94659142e-01 -9.69657305e-02 -3.14250487e+00] [-3.59287337e-01 7.78843272e-02 9.29971312e-01 -2.38966696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.30864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:50.78, Y:-3.30, Z:-23.94 [[ 9.46558905e-01 1.30781024e-02 3.22265733e-01 5.07796368e+01] [-3.69411094e-02 9.96998212e-01 6.80435092e-02 -3.29561954e+00] [-3.20408480e-01 -7.63120433e-02 9.44200656e-01 -2.39372805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.33864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:50.84, Y:-3.15, Z:-23.92 [[ 9.32636671e-01 6.85008469e-02 3.54254815e-01 5.08359606e+01] [-3.36342327e-02 9.94043277e-01 -1.03666304e-01 -3.14859199e+00] [-3.59245847e-01 8.47679082e-02 9.29385186e-01 -2.39181678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.36864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:50.85, Y:-3.27, Z:-23.95 [[ 9.45261649e-01 2.68020893e-02 3.25210797e-01 5.08501399e+01] [-3.77484432e-02 9.98911685e-01 2.73952638e-02 -3.27324351e+00] [-3.24122615e-01 -3.81718935e-02 9.45244644e-01 -2.39536995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:50.88, Y:-3.28, Z:-23.97 [[ 9.42520592e-01 2.99257631e-02 3.32805323e-01 5.08800948e+01] [-4.12363462e-02 9.98785278e-01 2.69728071e-02 -3.27870793e+00] [-3.31593875e-01 -3.91461017e-02 9.42609720e-01 -2.39652043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.428639999999994 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:50.93, Y:-3.16, Z:-23.95 [[ 9.30236621e-01 7.83312281e-02 3.58502508e-01 5.09307406e+01] [-3.95286587e-02 9.92656925e-01 -1.14322855e-01 -3.16370761e+00] [-3.64825046e-01 9.21761829e-02 9.26502152e-01 -2.39518644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.458639999999995 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:50.95, Y:-3.25, Z:-23.98 [[ 9.29615614e-01 4.98215911e-02 3.65147394e-01 5.09525549e+01] [-4.51447994e-02 9.98752504e-01 -2.13396797e-02 -3.25033825e+00] [-3.65755052e-01 3.35319357e-03 9.30705108e-01 -2.39835301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.48864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:50.97, Y:-3.33, Z:-24.00 [[ 9.45689251e-01 2.28586978e-02 3.24267358e-01 5.09738873e+01] [-4.74362017e-02 9.96550685e-01 6.80921300e-02 -3.33219305e+00] [-3.21592361e-01 -7.97760072e-02 9.43511602e-01 -2.40030479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.51864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:51.02, Y:-3.22, Z:-23.99 [[ 9.44575063e-01 7.05565762e-02 3.20623953e-01 5.10224826e+01] [-5.25180786e-02 9.96529904e-01 -6.45755580e-02 -3.21743128e+00] [-3.24067587e-01 4.41579078e-02 9.45002793e-01 -2.39943496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.54864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:51.05, Y:-3.22, Z:-24.01 [[ 9.28505316e-01 6.98763129e-02 3.64685040e-01 5.10525898e+01] [-5.10840712e-02 9.96833469e-01 -6.09381060e-02 -3.22419875e+00] [-3.67788384e-01 3.79517588e-02 9.29134742e-01 -2.40096602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.57864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:51.08, Y:-3.26, Z:-24.03 [[ 9.28112549e-01 5.84030095e-02 3.67690337e-01 5.10811756e+01] [-5.39103671e-02 9.98292537e-01 -2.24874016e-02 -3.26333784e+00] [-3.68375851e-01 1.04851862e-03 9.29676359e-01 -2.40291799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.608639999999994 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:51.11, Y:-3.34, Z:-24.05 [[ 9.42010987e-01 3.30451593e-02 3.33951072e-01 5.11050895e+01] [-5.61970537e-02 9.96621040e-01 5.99032092e-02 -3.33982250e+00] [-3.30843154e-01 -7.51965476e-02 9.40685009e-01 -2.40494434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.638639999999995 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:51.14, Y:-3.29, Z:-24.05 [[ 9.44833976e-01 4.99468525e-02 3.23719123e-01 5.11391958e+01] [-5.34977525e-02 9.98565817e-01 2.07363290e-03 -3.29052656e+00] [-3.23151279e-01 -1.92774844e-02 9.46150955e-01 -2.40503407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.668639999999996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:51.18, Y:-3.22, Z:-24.05 [[ 0.94060706 0.08000698 0.3299352 51.18263629] [ -0.0571714 0.99528442 -0.07836047 -3.224801 ] [ -0.33464875 0.05484355 0.94074566 -24.04816982] [ 0. 0. 0. 1. ]] SLAMing on 63.69864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:51.20, Y:-3.30, Z:-24.07 [[ 9.41726506e-01 5.38870510e-02 3.32035199e-01 5.12034865e+01] [-5.58136814e-02 9.98434201e-01 -3.73891541e-03 -3.29545030e+00] [-3.31716777e-01 -1.50110711e-02 9.43259586e-01 -2.40718218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.72864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:51.23, Y:-3.29, Z:-24.08 [[ 9.41274373e-01 5.80701816e-02 3.32611498e-01 5.12345927e+01] [-5.49705055e-02 9.98312289e-01 -1.87301038e-02 -3.28755141e+00] [-3.33137807e-01 -6.53655501e-04 9.42877921e-01 -2.40800570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.75864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:51.26, Y:-3.33, Z:-24.09 [[ 9.39863328e-01 4.42319780e-02 3.38674560e-01 5.12570559e+01] [-5.37478706e-02 9.98378195e-01 1.87655373e-02 -3.32616701e+00] [-3.37295259e-01 -3.58400767e-02 9.40716428e-01 -2.40938550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.78864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:51.29, Y:-3.30, Z:-24.10 [[ 9.37181679e-01 5.84252573e-02 3.43914218e-01 5.12909285e+01] [-5.55929688e-02 9.98289456e-01 -1.80992995e-02 -3.29705310e+00] [-3.44383393e-01 -2.15688052e-03 9.38826622e-01 -2.40997521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.818639999999995 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:51.34, Y:-3.19, Z:-24.09 [[ 0.92121541 0.10707256 0.37402892 51.34297475] [ -0.05699148 0.98815139 -0.14250895 -3.19156798] [ -0.384856 0.10996498 0.91640251 -24.08718636] [ 0. 0. 0. 1. ]] SLAMing on 63.848639999999996 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:51.35, Y:-3.34, Z:-24.13 [[ 9.35990799e-01 4.94714749e-02 3.48530914e-01 5.13526495e+01] [-6.25209524e-02 9.97697438e-01 2.62859677e-02 -3.34264822e+00] [-3.46427994e-01 -4.63939086e-02 9.36928626e-01 -2.41255934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.87864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:51.40, Y:-3.26, Z:-24.12 [[ 9.19549096e-01 8.63425132e-02 3.83372445e-01 5.13970497e+01] [-6.21722099e-02 9.95241854e-01 -7.50217810e-02 -3.25661915e+00] [-3.88025872e-01 4.51510988e-02 9.20541852e-01 -2.41248824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.90864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:51.42, Y:-3.31, Z:-24.15 [[ 9.19619831e-01 6.78012348e-02 3.86913890e-01 5.14246070e+01] [-6.22035065e-02 9.97698567e-01 -2.69869261e-02 -3.30612034e+00] [-3.87853180e-01 7.50311734e-04 9.21720862e-01 -2.41464925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.93864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:51.45, Y:-3.34, Z:-24.16 [[ 9.33782688e-01 5.35375864e-02 3.53812971e-01 5.14527493e+01] [-6.23304544e-02 9.97964336e-01 1.34944103e-02 -3.34492335e+00] [-3.52370268e-01 -3.46541699e-02 9.35218842e-01 -2.41625565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.96864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:51.49, Y:-3.28, Z:-24.17 [[ 9.18880631e-01 7.88047363e-02 3.86585306e-01 5.14947266e+01] [-5.80768607e-02 9.96191956e-01 -6.50281880e-02 -3.28186918e+00] [-3.90237702e-01 3.73014814e-02 9.19958225e-01 -2.41666986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.998639999999995 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:51.52, Y:-3.32, Z:-24.19 [[ 9.18651423e-01 6.61072571e-02 3.89498900e-01 5.15244924e+01] [-5.98836972e-02 9.97809386e-01 -2.81135529e-02 -3.31717802e+00] [-3.90504168e-01 2.50192121e-03 9.20597760e-01 -2.41858240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.02864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:51.55, Y:-3.39, Z:-24.20 [[ 9.34962781e-01 4.01280344e-02 3.52468919e-01 5.15478879e+01] [-5.98685234e-02 9.97178732e-01 4.52806412e-02 -3.38550358e+00] [-3.49657487e-01 -6.34375080e-02 9.34727406e-01 -2.42028483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.05864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:51.59, Y:-3.34, Z:-24.21 [[ 9.32274306e-01 5.98097846e-02 3.56773609e-01 5.15867773e+01] [-6.08703295e-02 9.98111457e-01 -8.26570959e-03 -3.34443760e+00] [-3.56594197e-01 -1.40110185e-02 9.34154307e-01 -2.42100130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.08864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:51.63, Y:-3.25, Z:-24.21 [[ 0.91828979 0.09665979 0.38392805 51.63375856] [ -0.0560614 0.99171371 -0.11558997 -3.25402591] [ -0.39191961 0.08462155 0.91609946 -24.20602154] [ 0. 0. 0. 1. ]] SLAMing on 64.11864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:51.65, Y:-3.39, Z:-24.24 [[ 9.32746083e-01 4.25775011e-02 3.58011035e-01 5.16481675e+01] [-6.05650201e-02 9.97395195e-01 3.91753017e-02 -3.39343909e+00] [-3.55410500e-01 -5.82235547e-02 9.32895168e-01 -2.42371152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.14864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:51.68, Y:-3.39, Z:-24.25 [[ 9.30019696e-01 4.58010372e-02 3.64644526e-01 5.16773831e+01] [-6.05739057e-02 9.97737329e-01 2.91723035e-02 -3.38759265e+00] [-3.62483333e-01 -4.92187599e-02 9.30689716e-01 -2.42475493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.17864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:51.74, Y:-3.29, Z:-24.25 [[ 9.30014188e-01 9.44220995e-02 3.55187383e-01 5.17421538e+01] [-7.12334076e-02 9.94417971e-01 -7.78376548e-02 -3.29298838e+00] [-3.60554312e-01 4.70889157e-02 9.31548830e-01 -2.42505205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:51.76, Y:-3.37, Z:-24.27 [[ 9.27918424e-01 6.42280079e-02 3.67208607e-01 5.17621370e+01] [-7.20073815e-02 9.97375830e-01 7.50939170e-03 -3.37221545e+00] [-3.65762676e-01 -3.34098332e-02 9.30108299e-01 -2.42719945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:52.31, Y:-2.60, Z:-23.47 [[ 8.91435637e-01 4.52685763e-01 -2.04476188e-02 5.23144950e+01] [-9.33401737e-02 1.39276707e-01 -9.85844618e-01 -2.59806786e+00] [-4.43429946e-01 8.80725609e-01 1.66409988e-01 -2.34655665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.26863999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:51.87, Y:-3.33, Z:-24.26 [[ 8.95819958e-01 8.89111938e-02 4.35432432e-01 5.18743559e+01] [-7.95479650e-02 9.96039104e-01 -3.97268781e-02 -3.33361204e+00] [-4.37239894e-01 9.50366359e-04 8.99344412e-01 -2.42613480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.29863999999999 meters Centerline goodness : 0.868571 Centerline is valid? [True, False] Translation: X:51.93, Y:-3.33, Z:-24.28 [[ 9.05059266e-01 1.06821883e-01 4.11651322e-01 5.19281776e+01] [-9.63625016e-02 9.94275959e-01 -4.61474412e-02 -3.32615705e+00] [-4.14224569e-01 2.09841815e-03 9.10172293e-01 -2.42843617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.32864 meters Centerline goodness : 0.861011 Centerline is valid? [False, False] Translation: X:51.97, Y:-3.32, Z:-24.30 [[ 9.11825472e-01 1.22604367e-01 3.91844967e-01 5.19673676e+01] [-1.12781845e-01 9.92455565e-01 -4.80854115e-02 -3.32345562e+00] [-3.94784200e-01 -3.47495446e-04 9.18773811e-01 -2.43000763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.35864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:52.00, Y:-3.32, Z:-24.31 [[ 9.17776296e-01 1.38132600e-01 3.72298342e-01 5.20047296e+01] [-1.29181231e-01 9.90408865e-01 -4.90152052e-02 -3.32170133e+00] [-3.75498176e-01 -3.10896472e-03 9.26817919e-01 -2.43134467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.38864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:52.04, Y:-3.32, Z:-24.33 [[ 9.18635810e-01 1.37029919e-01 3.70582041e-01 5.20357205e+01] [-1.28661335e-01 9.90558040e-01 -4.73395258e-02 -3.32421003e+00] [-3.73569952e-01 -4.19179650e-03 9.27592540e-01 -2.43260041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.41864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:52.07, Y:-3.32, Z:-24.34 [[ 9.17398255e-01 1.39677578e-01 3.72653479e-01 5.20686279e+01] [-1.27975810e-01 9.90189872e-01 -5.60910862e-02 -3.32126968e+00] [-3.76832368e-01 3.76723391e-03 9.26273812e-01 -2.43383604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.44864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:52.10, Y:-3.33, Z:-24.35 [[ 9.16959511e-01 1.36913906e-01 3.74753035e-01 5.20997245e+01] [-1.24159770e-01 9.90559999e-01 -5.80968105e-02 -3.32522098e+00] [-3.79169628e-01 6.74317220e-03 9.25302612e-01 -2.43498977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.47864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:52.14, Y:-3.29, Z:-24.36 [[ 9.00173392e-01 1.53249479e-01 4.07679361e-01 5.21415678e+01] [-1.19777727e-01 9.87064403e-01 -1.06569982e-01 -3.29064588e+00] [-4.18737579e-01 4.71005547e-02 9.06884986e-01 -2.43589182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.50864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:52.17, Y:-3.34, Z:-24.38 [[ 8.99406145e-01 1.34120532e-01 4.16029169e-01 5.21667478e+01] [-1.19558689e-01 9.90951808e-01 -6.09937139e-02 -3.33586461e+00] [-4.20445367e-01 5.11821910e-03 9.07303421e-01 -2.43813324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.53864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:52.18, Y:-3.42, Z:-24.40 [[ 9.14165211e-01 1.01120636e-01 3.92525902e-01 5.21843449e+01] [-1.21746746e-01 9.92167813e-01 2.79421020e-02 -3.41830835e+00] [-3.86626042e-01 -7.33324486e-02 9.19316407e-01 -2.44006907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:52.89, Y:-2.68, Z:-23.43 [[ 8.87472931e-01 4.42775787e-01 -1.27833479e-01 5.28915112e+01] [-1.03715709e-01 -7.83778123e-02 -9.91513979e-01 -2.68276617e+00] [-4.49037691e-01 8.93200157e-01 -2.36353822e-02 -2.34347554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:52.33, Y:-3.36, Z:-24.39 [[ 8.65901781e-01 1.30945698e-01 4.82770474e-01 5.23257834e+01] [-1.10226401e-01 9.91353707e-01 -7.11896612e-02 -3.36469541e+00] [-4.87918279e-01 8.42920244e-03 8.72848613e-01 -2.43880409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62864 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:52.35, Y:-3.42, Z:-24.41 [[ 8.85415700e-01 1.05666043e-01 4.52629789e-01 5.23486723e+01] [-1.12609191e-01 9.93570861e-01 -1.16668302e-02 -3.41912642e+00] [-4.50952557e-01 -4.06402799e-02 8.91622206e-01 -2.44090046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.65863999999999 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:52.42, Y:-3.39, Z:-24.44 [[ 8.82168756e-01 1.30886161e-01 4.52379374e-01 5.24238210e+01] [-1.19547334e-01 9.91374755e-01 -5.37078257e-02 -3.39149615e+00] [-4.55507102e-01 -6.70138230e-03 8.90206926e-01 -2.44377061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.68863999999999 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:53.20, Y:-2.72, Z:-23.55 [[ 8.52128061e-01 5.05151070e-01 -1.36748540e-01 5.31977238e+01] [-1.08733019e-01 -8.47051386e-02 -9.90455537e-01 -2.72409688e+00] [-5.11912978e-01 8.58864038e-01 -1.72530246e-02 -2.35474795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.71864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:52.56, Y:-3.40, Z:-24.45 [[ 8.25459299e-01 1.37063653e-01 5.47567804e-01 5.25606628e+01] [-1.06738736e-01 9.90471811e-01 -8.70197301e-02 -3.39987939e+00] [-5.54277717e-01 1.33845502e-02 8.32224168e-01 -2.44484488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.74864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:52.60, Y:-3.41, Z:-24.47 [[ 8.26408622e-01 1.37176648e-01 5.46105628e-01 5.25954639e+01] [-1.06721038e-01 9.90449643e-01 -8.72933239e-02 -3.41017882e+00] [-5.52864730e-01 1.38589959e-02 8.33155759e-01 -2.44717147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.77864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:52.63, Y:-3.42, Z:-24.49 [[ 8.26317634e-01 1.38933524e-01 5.45799087e-01 5.26312303e+01] [-1.08171022e-01 9.90203924e-01 -8.82905421e-02 -3.41864360e+00] [-5.52718914e-01 1.39163869e-02 8.33251545e-01 -2.44947725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.80864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:52.67, Y:-3.43, Z:-24.52 [[ 8.26643601e-01 1.41130457e-01 5.44740810e-01 5.26659566e+01] [-1.10243588e-01 9.89896838e-01 -8.91661426e-02 -3.42946592e+00] [-5.51821264e-01 1.36544398e-02 8.33850615e-01 -2.45192743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.83864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:52.70, Y:-3.44, Z:-24.54 [[ 8.26264305e-01 1.44161408e-01 5.44522530e-01 5.27016876e+01] [-1.13208602e-01 9.89470554e-01 -9.01766936e-02 -3.43621877e+00] [-5.51789009e-01 1.28651485e-02 8.33884511e-01 -2.45420765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.86864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:52.73, Y:-3.49, Z:-24.57 [[ 8.45303278e-01 1.22875881e-01 5.19965273e-01 5.27275833e+01] [-1.20430272e-01 9.91969686e-01 -3.86353593e-02 -3.48650974e+00] [-5.20537143e-01 -2.99609634e-02 8.53313204e-01 -2.45660968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.89864 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:53.40, Y:-2.75, Z:-24.01 [[ 8.05422776e-01 5.92598460e-01 1.10098682e-02 5.33955372e+01] [-1.63501699e-01 2.39999597e-01 -9.56905109e-01 -2.75363983e+00] [-5.69702858e-01 7.68913037e-01 2.90191997e-01 -2.40108102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.92864 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:52.87, Y:-3.47, Z:-24.58 [[ 7.97445849e-01 1.68557635e-01 5.79369002e-01 5.28656182e+01] [-1.38717953e-01 9.85683906e-01 -9.58361465e-02 -3.46613413e+00] [-5.87228615e-01 -3.94474472e-03 8.09411510e-01 -2.45816578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:53.80, Y:-2.82, Z:-23.78 [[ 0.76227416 0.61196911 -0.21078878 53.7976611 ] [ -0.11595567 -0.19128058 -0.974662 -2.82365355] [ -0.63678284 0.76740181 -0.07484695 -23.77788287] [ 0. 0. 0. 1. ]] SLAMing on 64.98864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:53.00, Y:-3.49, Z:-24.62 [[ 7.34906612e-01 1.74602811e-01 6.55306135e-01 5.29995620e+01] [-1.26254990e-01 9.84620616e-01 -1.20755622e-01 -3.49495942e+00] [-6.66312201e-01 6.00843568e-03 7.45648677e-01 -2.46199455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.01863999999999 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:53.02, Y:-3.55, Z:-24.65 [[ 7.61509196e-01 1.42995189e-01 6.32183613e-01 5.30230661e+01] [-1.34975284e-01 9.88962782e-01 -6.11088282e-02 -3.55210581e+00] [-6.33944333e-01 -3.87942277e-02 7.72405069e-01 -2.46480362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.04863999999999 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:53.95, Y:-2.84, Z:-23.98 [[ 7.07778994e-01 6.90410037e-01 -1.49609080e-01 5.39526311e+01] [-1.10086375e-01 -1.01399282e-01 -9.88736151e-01 -2.83735946e+00] [-6.97803616e-01 7.16276599e-01 4.23645667e-03 -2.39816816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.07864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:54.11, Y:-2.88, Z:-24.04 [[ 6.50909083e-01 7.35345857e-01 -1.88636786e-01 5.41067182e+01] [-1.31816670e-01 -1.35231451e-01 -9.82006527e-01 -2.87715129e+00] [-7.47624058e-01 6.64062441e-01 8.90746249e-03 -2.40356258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.10864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:54.64, Y:-4.01, Z:-23.62 [[ 6.80555094e-01 -1.12713919e-01 -7.23975370e-01 5.46401888e+01] [-3.97192956e-02 -9.92319097e-01 1.17154545e-01 -4.01108891e+00] [-7.31619533e-01 -5.09743309e-02 -6.79804734e-01 -2.36162349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.13864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:53.34, Y:-3.75, Z:-24.85 [[ 6.78044521e-01 2.00824171e-02 7.34746435e-01 5.33353220e+01] [-4.72603444e-02 9.98749360e-01 1.63149023e-02 -3.75366214e+00] [-7.33499889e-01 -4.57865997e-02 6.78145633e-01 -2.48491037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.16864 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:53.39, Y:-3.73, Z:-24.91 [[ 6.65620672e-01 4.84491807e-02 7.44715918e-01 5.33932776e+01] [-6.63465482e-02 9.97780853e-01 -5.61292003e-03 -3.73133493e+00] [-7.43335225e-01 -4.56732549e-02 6.67357998e-01 -2.49083426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.19864 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:53.47, Y:-3.64, Z:-24.96 [[ 6.53815252e-01 1.30286062e-01 7.45353043e-01 5.34652063e+01] [-8.27694245e-02 9.91467768e-01 -1.00701970e-01 -3.64146831e+00] [-7.52113581e-01 4.14804112e-03 6.59020451e-01 -2.49643077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.22864 meters Centerline goodness : 0.996947 Centerline is valid? [True, True] Translation: X:54.30, Y:-2.92, Z:-24.52 [[ 5.70787639e-01 8.20297266e-01 3.62472864e-02 5.43044224e+01] [-8.27045495e-02 1.01356584e-01 -9.91406476e-01 -2.91886678e+00] [-8.16921923e-01 5.62884746e-01 1.25695401e-01 -2.45188275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.25864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:55.09, Y:-3.65, Z:-24.08 [[ 5.52181337e-01 3.04309157e-01 -7.76203394e-01 5.50882929e+01] [ 2.16934228e-02 -9.35936569e-01 -3.51499836e-01 -3.65179213e+00] [-8.33441760e-01 1.77253141e-01 -5.23408213e-01 -2.40794512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.28864 meters Centerline goodness : 0.997341 Centerline is valid? [True, True] Translation: X:54.61, Y:-4.78, Z:-24.63 [[ 6.63203684e-01 -7.02137628e-01 -2.59159458e-01 5.46080978e+01] [ 1.49783888e-02 -3.33745816e-01 9.42544099e-01 -4.78145340e+00] [-7.48289063e-01 -6.28980509e-01 -2.10824564e-01 -2.46268467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31864 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:54.70, Y:-4.79, Z:-24.77 [[ 7.11390153e-01 -6.43485530e-01 -2.82578171e-01 5.46979536e+01] [ 4.26141261e-02 -3.61841714e-01 9.31265059e-01 -4.79020846e+00] [-7.01504160e-01 -6.74534615e-01 -2.29989059e-01 -2.47746882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34864 meters Centerline goodness : 0.984698 Centerline is valid? [True, True] Translation: X:53.90, Y:-3.86, Z:-25.60 [[ 6.82049979e-01 -4.91567153e-02 7.29651590e-01 5.38979648e+01] [-4.61379624e-02 9.92858277e-01 1.10016957e-01 -3.86475560e+00] [-7.29848693e-01 -1.08701701e-01 6.74910976e-01 -2.56043272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37864 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:55.36, Y:-3.74, Z:-24.48 [[ 0.65983085 0.35662486 -0.66139395 55.35601427] [ 0.17004893 -0.92823295 -0.33085791 -3.73860941] [ -0.73191982 0.10584092 -0.67312041 -24.48487143] [ 0. 0. 0. 1. ]] SLAMing on 65.40863999999999 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:54.05, Y:-3.95, Z:-25.74 [[ 6.61938286e-01 -1.79699840e-01 7.27698889e-01 5.40548723e+01] [ 8.51135166e-02 9.82577540e-01 1.65218242e-01 -3.95377774e+00] [-7.44710276e-01 -4.74272685e-02 6.65700577e-01 -2.57414586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.43863999999999 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:54.89, Y:-3.00, Z:-25.08 [[ 5.68421714e-01 8.14513687e-01 1.16035380e-01 5.48921010e+01] [ 1.46174087e-01 3.88110482e-02 -9.88497263e-01 -3.00007803e+00] [-8.09648004e-01 5.78844674e-01 -9.69997520e-02 -2.50796872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.46864 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:55.03, Y:-2.98, Z:-25.19 [[ 0.5139476 0.84865199 0.12509059 55.03364279] [ 0.14362666 0.05863368 -0.98789345 -2.9757728 ] [ -0.84571227 0.52569181 -0.09175441 -25.18911998] [ 0. 0. 0. 1. ]] SLAMing on 65.49864 meters Centerline goodness : 0.823848 Centerline is valid? [True, False] Translation: X:54.97, Y:-2.98, Z:-25.19 [[ 5.03088113e-01 8.43971326e-01 1.86050401e-01 5.49662071e+01] [ 1.38586097e-01 1.33709536e-01 -9.81282657e-01 -2.98182121e+00] [-8.53051138e-01 5.19455639e-01 -4.96950137e-02 -2.51921776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.52864 meters Centerline goodness : 0.997000 Centerline is valid? [False, True] Translation: X:54.90, Y:-2.99, Z:-25.20 [[ 4.92721389e-01 8.34036402e-01 2.48211427e-01 5.48999745e+01] [ 1.29717754e-01 2.11654078e-01 -9.68698021e-01 -2.99317312e+00] [-8.60464373e-01 5.09495664e-01 -3.90283715e-03 -2.52034939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.55864 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:55.88, Y:-3.77, Z:-24.94 [[ 4.77881614e-01 3.85360713e-01 -7.89383483e-01 5.58770997e+01] [ 2.34868015e-01 -9.21972495e-01 -3.07902151e-01 -3.77428705e+00] [-8.46443252e-01 -3.82601553e-02 -5.31102610e-01 -2.49418641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.58864 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:55.44, Y:-4.77, Z:-25.65 [[ 5.61283983e-01 -7.07739047e-01 -4.29028824e-01 5.54363159e+01] [ 2.46815257e-01 -3.51657802e-01 9.03005548e-01 -4.77046009e+00] [-7.89963619e-01 -6.12733410e-01 -2.26990967e-02 -2.56489767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.61864 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:54.48, Y:-4.10, Z:-26.17 [[ 0.56021646 -0.43189319 0.70684213 54.47691797] [ 0.2141429 0.89982112 0.38008521 -4.09704557] [ -0.80018769 -0.06156476 0.59658146 -26.17496307] [ 0. 0. 0. 1. ]] SLAMing on 65.64864 meters Centerline goodness : 0.958706 Centerline is valid? [True, True] Translation: X:54.88, Y:-3.00, Z:-25.79 [[ 0.53141027 0.64452509 0.54971859 54.88460615] [ 0.24022418 0.5076338 -0.82740574 -2.99899358] [ -0.8123395 0.57174761 0.11493131 -25.78653425] [ 0. 0. 0. 1. ]] SLAMing on 65.67864 meters Centerline goodness : 0.827315 Centerline is valid? [True, False] Translation: X:54.83, Y:-3.04, Z:-25.80 [[ 0.52677317 0.60865601 0.59333624 54.82821222] [ 0.23101914 0.56924429 -0.78904441 -3.03549038] [ -0.81800989 0.55271945 0.15925143 -25.8021975 ] [ 0. 0. 0. 1. ]] SLAMing on 65.70864 meters Centerline goodness : 0.996555 Centerline is valid? [False, True] Translation: X:54.78, Y:-3.07, Z:-25.83 [[ 0.52588204 0.57074756 0.63063087 54.78237039] [ 0.2181097 0.62615078 -0.74857421 -3.07213557] [ -0.82211692 0.53120845 0.20479587 -25.82603284] [ 0. 0. 0. 1. ]] SLAMing on 65.73864 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:55.91, Y:-3.25, Z:-25.36 [[ 0.46713142 0.75938289 -0.45290823 55.90984416] [ 0.27082973 -0.61049717 -0.74427445 -3.24996051] [ -0.84168848 0.22501296 -0.49084588 -25.35538664] [ 0. 0. 0. 1. ]] SLAMing on 65.76863999999999 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:56.16, Y:-4.38, Z:-25.79 [[ 0.49149325 -0.28552865 -0.82274405 56.16082023] [ 0.34085598 -0.80628974 0.48343982 -4.38375361] [ -0.801406 -0.51804464 -0.29896182 -25.79160832] [ 0. 0. 0. 1. ]] SLAMing on 65.79863999999999 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:54.85, Y:-4.17, Z:-26.61 [[ 0.51191214 -0.60489923 0.60995318 54.84906673] [ 0.33102378 0.79411177 0.50971536 -4.16970765] [ -0.79269743 -0.05902048 0.60675149 -26.60632843] [ 0. 0. 0. 1. ]] SLAMing on 65.82864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:55.17, Y:-2.92, Z:-26.10 [[ 4.44262439e-01 6.79858317e-01 5.83458271e-01 5.51725690e+01] [ 3.15491390e-01 4.90817101e-01 -8.12135307e-01 -2.92088073e+00] [-8.38508240e-01 5.44877273e-01 3.56215735e-03 -2.61026831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.85864 meters Centerline goodness : 0.997592 Centerline is valid? [True, True] Translation: X:56.07, Y:-4.52, Z:-26.38 [[ 5.20316818e-01 -6.49237086e-01 -5.54762665e-01 5.60743204e+01] [ 3.06811583e-01 -4.64131132e-01 8.30932576e-01 -4.51678428e+00] [-7.96954868e-01 -6.02555805e-01 -4.23017755e-02 -2.63805284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.88864 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:55.30, Y:-2.83, Z:-26.40 [[ 4.64344865e-01 6.55400817e-01 5.95679121e-01 5.52981271e+01] [ 2.87574860e-01 5.24567140e-01 -8.01330154e-01 -2.83426993e+00] [-8.37666131e-01 5.43395882e-01 5.51032599e-02 -2.63962421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.91864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:56.48, Y:-3.15, Z:-26.06 [[ 4.06930879e-01 7.05659449e-01 -5.80044828e-01 5.64828415e+01] [ 3.42042970e-01 -7.06512135e-01 -6.19554042e-01 -3.14690881e+00] [-8.47002873e-01 5.37154149e-02 -5.28867457e-01 -2.60590580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.94864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:56.45, Y:-4.33, Z:-26.77 [[ 4.71667957e-01 -5.83431972e-01 -6.61162969e-01 5.64462769e+01] [ 3.67214096e-01 -5.51729309e-01 7.48831475e-01 -4.33228579e+00] [-8.01675213e-01 -5.95988174e-01 -4.59885920e-02 -2.67669845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.97864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:56.50, Y:-4.29, Z:-26.94 [[ 5.10113581e-01 -5.48832691e-01 -6.62243770e-01 5.64989053e+01] [ 4.02770621e-01 -5.27890930e-01 7.47734574e-01 -4.29147954e+00] [-7.59973658e-01 -6.48161896e-01 -4.82306489e-02 -2.69364116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.00864 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:55.48, Y:-2.75, Z:-26.96 [[ 0.46828673 0.54489808 0.69555275 55.48262258] [ 0.37561504 0.58976275 -0.71490786 -2.74997867] [ -0.79976302 0.59604194 0.07150616 -26.95897972] [ 0. 0. 0. 1. ]] SLAMing on 66.03864 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:56.76, Y:-2.99, Z:-26.56 [[ 4.21872241e-01 7.16370601e-01 -5.55731027e-01 5.67604249e+01] [ 4.45929722e-01 -6.97629355e-01 -5.60767301e-01 -2.99482234e+00] [-7.89411486e-01 -1.12448243e-02 -6.13761402e-01 -2.65626307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06864 meters Centerline goodness : 0.997541 Centerline is valid? [True, True] Translation: X:55.64, Y:-3.90, Z:-27.69 [[ 4.13320829e-01 -7.54973153e-01 5.09098645e-01 5.56351279e+01] [ 4.47831368e-01 6.55337491e-01 6.08259681e-01 -3.90281755e+00] [-7.92851158e-01 -2.34160526e-02 6.08965295e-01 -2.76868915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09864 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:55.66, Y:-2.64, Z:-27.20 [[ 3.54941607e-01 5.57094300e-01 7.50774531e-01 5.56638261e+01] [ 4.07341869e-01 6.30669855e-01 -6.60551388e-01 -2.63583395e+00] [-8.41480277e-01 5.40279072e-01 -3.07686144e-03 -2.72004663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12864 meters Centerline goodness : 0.996503 Centerline is valid? [True, True] Translation: X:56.90, Y:-4.02, Z:-27.51 [[ 0.41085596 -0.57318159 -0.70898536 56.90466889] [ 0.49203424 -0.51527435 0.70170838 -4.02188861] [ -0.7675283 -0.63714614 0.07032144 -27.51269732] [ 0. 0. 0. 1. ]] SLAMing on 66.15863999999999 meters Centerline goodness : 0.997487 Centerline is valid? [True, True] Translation: X:55.68, Y:-3.54, Z:-28.00 [[ 0.42434564 -0.60136423 0.67697256 55.67512519] [ 0.39472318 0.79569984 0.45940763 -3.53975053] [ -0.81493827 0.07226914 0.57502416 -28.00437012] [ 0. 0. 0. 1. ]] SLAMing on 66.18863999999999 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:55.99, Y:-2.34, Z:-27.49 [[ 0.34844536 0.71631157 0.60455236 55.99210068] [ 0.37082903 0.48700399 -0.79076731 -2.33580057] [ -0.86085519 0.49972477 -0.09593485 -27.49046572] [ 0. 0. 0. 1. ]] SLAMing on 66.21864 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:56.08, Y:-2.26, Z:-27.62 [[ 0.30029828 0.73006077 0.61386661 56.0795369 ] [ 0.33400733 0.52233921 -0.78460236 -2.25528648] [ -0.893454 0.44065068 -0.08698808 -27.62154252] [ 0. 0. 0. 1. ]] SLAMing on 66.24864 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:57.07, Y:-3.76, Z:-28.00 [[ 3.75699544e-01 -6.93437169e-01 -6.14812773e-01 5.70733566e+01] [ 3.33570024e-01 -5.17763479e-01 7.87814711e-01 -3.76211242e+00] [-8.64627603e-01 -5.01064739e-01 3.67863503e-02 -2.80000699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.27864 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:56.19, Y:-2.15, Z:-27.91 [[ 0.29914721 0.72792173 0.61696102 56.18654606] [ 0.33573364 0.52493315 -0.78213049 -2.15013674] [ -0.89319308 0.44110672 -0.08735552 -27.91499643] [ 0. 0. 0. 1. ]] SLAMing on 66.30864 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:57.15, Y:-3.66, Z:-28.30 [[ 0.3487623 -0.72194201 -0.5976325 57.15085475] [ 0.36838413 -0.4807471 0.79572317 -3.66383341] [ -0.86177607 -0.49767657 0.09828552 -28.3021524 ] [ 0. 0. 0. 1. ]] SLAMing on 66.33864 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:56.13, Y:-3.40, Z:-28.70 [[ 3.78199154e-01 -7.41980293e-01 5.53561781e-01 5.61277617e+01] [ 3.58551821e-01 6.68711045e-01 6.51357145e-01 -3.40246374e+00] [-8.53467042e-01 -4.78621365e-02 5.18944336e-01 -2.86997615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.36864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:56.10, Y:-2.18, Z:-28.41 [[ 0.35223107 0.49203973 0.79613453 56.10282077] [ 0.28254205 0.7550577 -0.59165688 -2.17599402] [ -0.89224619 0.43334142 0.12693286 -28.41452523] [ 0. 0. 0. 1. ]] SLAMing on 66.39864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:57.44, Y:-2.16, Z:-28.10 [[ 2.90855666e-01 7.93625642e-01 -5.34379380e-01 5.74422023e+01] [ 3.51917599e-01 -6.08112418e-01 -7.11585055e-01 -2.15597657e+00] [-8.89694883e-01 1.89110367e-02 -4.56163773e-01 -2.81013645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.42864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:56.32, Y:-3.32, Z:-28.95 [[ 2.61881676e-01 -7.74875167e-01 5.75314230e-01 5.63209075e+01] [ 3.21312144e-01 6.32114258e-01 7.05117062e-01 -3.32146345e+00] [-9.10042029e-01 1.98210629e-04 4.14515942e-01 -2.89462083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:56.36, Y:-3.32, Z:-28.99 [[ 2.88514033e-01 -7.92191004e-01 5.37766739e-01 5.63593201e+01] [ 3.49806440e-01 6.10036034e-01 7.10979249e-01 -3.32409680e+00] [-8.91288454e-01 -1.70132223e-02 4.53117471e-01 -2.89948805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:56.22, Y:-2.14, Z:-28.79 [[ 0.26762146 0.40961606 0.87212008 56.21610576] [ 0.27094194 0.83662046 -0.47608473 -2.13586312] [ -0.92464546 0.3637044 0.11291542 -28.78589119] [ 0. 0. 0. 1. ]] SLAMing on 66.51863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:57.37, Y:-1.80, Z:-28.56 [[ 0.18415204 0.94405059 -0.27359916 57.37334361] [ 0.28061339 -0.31727113 -0.90586707 -1.79845899] [ -0.94198946 0.09004168 -0.32333937 -28.55591407] [ 0. 0. 0. 1. ]] SLAMing on 66.54863999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:57.93, Y:-2.90, Z:-28.97 [[ 0.18899297 -0.21073053 -0.95910078 57.92580718] [ 0.3683507 -0.8901701 0.26816964 -2.89850415] [ -0.91027437 -0.40396761 -0.09061315 -28.96618427] [ 0. 0. 0. 1. ]] SLAMing on 66.57864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:56.89, Y:-3.36, Z:-29.49 [[ 0.23203348 -0.96080054 0.15173263 56.88640366] [ 0.37361684 0.23205721 0.89808681 -3.36284264] [ -0.89809294 -0.15169634 0.4128163 -29.48795166] [ 0. 0. 0. 1. ]] SLAMing on 66.60864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:56.64, Y:-3.20, Z:-29.58 [[ 2.42030698e-01 -8.58041194e-01 4.52975110e-01 5.66365970e+01] [ 3.60885229e-01 5.12970276e-01 7.78860287e-01 -3.20376548e+00] [-9.00656978e-01 -2.50360723e-02 4.33808947e-01 -2.95762247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.63864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:56.32, Y:-2.07, Z:-29.40 [[ 0.22248404 0.27729449 0.93467033 56.32142338] [ 0.2772639 0.90111617 -0.33333822 -2.07105966] [ -0.9346794 0.33331278 0.12360022 -29.39985995] [ 0. 0. 0. 1. ]] SLAMing on 66.66864 meters Centerline goodness : 0.890902 Centerline is valid? [True, False] Translation: X:56.32, Y:-2.08, Z:-29.45 [[ 0.22897997 0.25105172 0.94050051 56.32217664] [ 0.26111425 0.91492122 -0.3077962 -2.08259121] [ -0.93775664 0.31605725 0.14394545 -29.4473393 ] [ 0. 0. 0. 1. ]] SLAMing on 66.69864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:56.33, Y:-2.08, Z:-29.52 [[ 0.24813651 0.22881331 0.94131437 56.33412772] [ 0.24155232 0.92639692 -0.28886194 -2.08359197] [ -0.93812619 0.29905387 0.17460251 -29.52280374] [ 0. 0. 0. 1. ]] SLAMing on 66.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:-1.52, Z:-29.27 [[ 0.15582518 0.97873269 -0.13341976 57.43744665] [ 0.2526985 -0.17007347 -0.95248018 -1.51781673] [ -0.95491465 0.11470542 -0.27382601 -29.27132467] [ 0. 0. 0. 1. ]] SLAMing on 66.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.17, Y:-2.52, Z:-29.60 [[ 1.53993419e-01 -4.64005088e-02 -9.86981773e-01 5.81706603e+01] [ 3.43503191e-01 -9.34075857e-01 9.75082098e-02 -2.51912578e+00] [-9.26440276e-01 -3.54047011e-01 -1.27902811e-01 -2.95999060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.78864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.96, Y:-3.12, Z:-30.11 [[ 0.19021334 -0.93560029 0.29744073 56.96102734] [ 0.34450933 0.34731691 0.87217217 -3.12131142] [ -0.91931072 -0.06342767 0.38838734 -30.11019751] [ 0. 0. 0. 1. ]] SLAMing on 66.81864 meters Centerline goodness : 0.959362 Centerline is valid? [True, True] Translation: X:56.46, Y:-1.97, Z:-29.97 [[ 0.1728937 0.22164219 0.95967834 56.45905404] [ 0.33719411 0.90215444 -0.26910499 -1.97308861] [ -0.92542309 0.37012444 0.08124038 -29.96530209] [ 0. 0. 0. 1. ]] SLAMing on 66.84864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:56.72, Y:-1.56, Z:-29.98 [[ 1.34024258e-01 6.22781401e-01 7.70831255e-01 5.67153182e+01] [ 2.47485651e-01 7.32166533e-01 -6.34573101e-01 -1.55513566e+00] [-9.59577173e-01 2.75817864e-01 -5.60013841e-02 -2.99769023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.36, Y:-1.24, Z:-30.02 [[ 1.57372684e-02 9.83526823e-01 1.80075892e-01 5.73619604e+01] [ 1.79773963e-01 1.74380057e-01 -9.68128565e-01 -1.24226934e+00] [-9.83582056e-01 4.76086557e-02 -1.74068249e-01 -3.00156833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.90863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:58.36, Y:-1.93, Z:-30.30 [[-1.71826791e-02 3.09612632e-01 -9.50707512e-01 5.83560073e+01] [ 2.74878468e-01 -9.12746445e-01 -3.02218058e-01 -1.93373913e+00] [-9.61325431e-01 -2.66521940e-01 -6.94224166e-02 -3.03015140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.57, Y:-2.99, Z:-30.67 [[ 2.15466646e-02 -9.81856806e-01 -1.88395737e-01 5.75704524e+01] [ 2.91747971e-01 -1.74062563e-01 9.40523974e-01 -2.98959480e+00] [-9.56252510e-01 -7.52292287e-02 2.82704263e-01 -3.06690030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.44, Y:-2.97, Z:-30.74 [[ 3.09181795e-02 -9.98375299e-01 -4.78626035e-02 5.74356509e+01] [ 2.84830465e-01 -3.70994959e-02 9.57859715e-01 -2.97282960e+00] [-9.58079158e-01 -4.32480062e-02 2.83220652e-01 -3.07401673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:56.56, Y:-1.96, Z:-30.66 [[ 2.82766340e-03 -3.29513560e-02 9.99452957e-01 5.65585165e+01] [ 1.73019699e-01 9.84399506e-01 3.19655437e-02 -1.95829758e+00] [-9.84914305e-01 1.72834662e-01 8.48478414e-03 -3.06640913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.57, Y:-1.84, Z:-30.82 [[ 1.32009304e-03 8.80784190e-03 9.99960339e-01 5.65659984e+01] [ 1.07796147e-01 9.94133191e-01 -8.89882186e-03 -1.83993132e+00] [-9.94172142e-01 1.07803619e-01 3.62896885e-04 -3.08174335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.36, Y:-2.14, Z:-30.98 [[ 5.74754754e-02 -1.19682639e-01 -9.91147131e-01 5.83625341e+01] [ 1.84248286e-01 -9.74463053e-01 1.28352354e-01 -2.14443579e+00] [-9.81197808e-01 -1.89994272e-01 -3.39564062e-02 -3.09824261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.25, Y:-2.79, Z:-31.28 [[ 6.84579320e-02 -9.87162073e-01 1.44307146e-01 5.72457662e+01] [ 1.90847838e-01 1.54933242e-01 9.69315631e-01 -2.79448259e+00] [-9.79229602e-01 -3.88166368e-02 1.99004156e-01 -3.12844398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:56.59, Y:-1.65, Z:-31.29 [[ 6.61306773e-02 1.25427224e-01 9.89896330e-01 5.65910836e+01] [ 1.00102414e-01 9.86229078e-01 -1.31649964e-01 -1.65197604e+00] [-9.92777035e-01 1.07797114e-01 5.26644290e-02 -3.12870819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.14864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:57.59, Y:-0.93, Z:-31.33 [[-2.60921519e-02 9.99268578e-01 2.79554609e-02 5.75919286e+01] [ 8.84153439e-02 3.01622174e-02 -9.95626922e-01 -9.34102326e-01] [-9.95741898e-01 -2.35063572e-02 -8.91376722e-02 -3.13273861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.83, Y:-2.69, Z:-31.55 [[ 1.41600319e-02 -9.08329229e-01 -4.18016155e-01 5.78312228e+01] [ 8.14000766e-02 -4.15623292e-01 9.05887028e-01 -2.69123852e+00] [-9.96580915e-01 -4.68539362e-02 6.80528297e-02 -3.15534259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:57.45, Y:-2.73, Z:-31.65 [[ 1.39043600e-02 -9.99809625e-01 -1.36887768e-02 5.74500074e+01] [ 1.27209502e-01 -1.18100865e-02 9.91805558e-01 -2.72695365e+00] [-9.91778408e-01 -1.55317640e-02 1.27021072e-01 -3.16469509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:56.62, Y:-1.88, Z:-31.74 [[ 4.41894053e-02 -2.20104328e-01 9.74474926e-01 5.66152174e+01] [ 4.00568184e-02 9.75033711e-01 2.18414089e-01 -1.87806005e+00] [-9.98219789e-01 2.93827765e-02 5.19028389e-02 -3.17386873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.26863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:57.20, Y:-0.90, Z:-31.86 [[-2.24631022e-02 8.76852043e-01 4.80235260e-01 5.72048387e+01] [-1.64834184e-02 4.79966337e-01 -8.77132038e-01 -9.01861563e-01] [-9.99611778e-01 -2.76190254e-02 3.67198616e-03 -3.18584044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.29863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.95, Y:-0.91, Z:-31.89 [[-1.95752846e-02 9.42428613e-01 -3.33833966e-01 5.79472821e+01] [ 1.00490651e-02 -3.33695620e-01 -9.42627312e-01 -9.09001988e-01] [-9.99757883e-01 -2.18069172e-02 -2.93833973e-03 -3.18858473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:57.11, Y:-0.95, Z:-31.93 [[-1.02169414e-01 8.06495361e-01 5.82345810e-01 5.71114194e+01] [-2.63440568e-02 5.83010304e-01 -8.12037546e-01 -9.45858212e-01] [-9.94418122e-01 -9.83067514e-02 -3.83194616e-02 -3.19305090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.07, Y:-0.97, Z:-32.05 [[-9.82307489e-02 8.79029237e-01 -4.66538658e-01 5.80658643e+01] [-4.70561550e-02 -4.72384356e-01 -8.80135636e-01 -9.70332748e-01] [-9.94050521e-01 -6.45028673e-02 8.77664051e-02 -3.20477192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.39, Y:-1.34, Z:-32.09 [[-7.85337395e-02 4.96796394e-01 -8.64306540e-01 5.83893265e+01] [-2.54498044e-02 -8.67700794e-01 -4.96434931e-01 -1.34493237e+00] [-9.96586554e-01 -1.69904592e-02 8.07871591e-02 -3.20865938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.49, Z:-32.13 [[-1.06103412e-01 3.42920573e-01 -9.33352852e-01 5.84387246e+01] [-2.77963581e-02 -9.39307513e-01 -3.41948472e-01 -1.48878181e+00] [-9.93966513e-01 -1.03380896e-02 1.09195676e-01 -3.21270902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.87, Y:-2.59, Z:-32.10 [[-3.54935399e-02 -9.08117337e-01 -4.17208714e-01 5.78679480e+01] [-2.08421693e-02 -4.16708324e-01 9.08801286e-01 -2.59382236e+00] [-9.99152547e-01 4.09521093e-02 -4.13668177e-03 -3.21049694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.85, Z:-32.18 [[-1.07325650e-01 9.84313130e-01 -1.40031664e-01 5.77469368e+01] [ 1.17190525e-02 -1.39582961e-01 -9.90141031e-01 -8.52272955e-01] [-9.94154851e-01 -1.07908568e-01 3.44561489e-03 -3.21817681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:58.46, Y:-1.70, Z:-32.30 [[-1.12882727e-01 1.12056479e-01 -9.87269383e-01 5.84571691e+01] [ 1.92588004e-02 -9.93186871e-01 -1.14930141e-01 -1.69607293e+00] [-9.93421657e-01 -3.19872518e-02 1.09955569e-01 -3.23019986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.53864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:58.44, Y:-1.92, Z:-32.34 [[-1.05861069e-01 -1.38842824e-01 -9.84640089e-01 5.84378063e+01] [ 4.29458903e-02 -9.89918568e-01 1.34969917e-01 -1.91893445e+00] [-9.93453111e-01 -2.79981855e-02 1.10756566e-01 -3.23425772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:57.48, Y:-2.64, Z:-32.37 [[-3.32243805e-02 -9.99438039e-01 4.44367579e-03 5.74764021e+01] [ 4.58693140e-02 2.91663917e-03 9.98943191e-01 -2.64477511e+00] [-9.98394785e-01 3.33930970e-02 4.57466337e-02 -3.23721032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59864 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:56.62, Y:-1.79, Z:-32.38 [[-2.01520811e-02 -1.27672276e-01 9.91611660e-01 5.66207204e+01] [-2.98950024e-02 9.91446541e-01 1.27043474e-01 -1.79384289e+00] [-9.99349880e-01 -2.70840425e-02 -2.37964741e-02 -3.23805718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62864 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:57.76, Y:-0.85, Z:-32.47 [[-3.77799163e-02 9.75650170e-01 -2.16054217e-01 5.77607349e+01] [-2.70247459e-02 -2.17127047e-01 -9.75769188e-01 -8.50466594e-01] [-9.98920588e-01 -3.10256679e-02 3.45697396e-02 -3.24719539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.65863999999999 meters Centerline goodness : 0.997145 Centerline is valid? [True, True] Translation: X:58.12, Y:-1.04, Z:-32.52 [[-4.67599388e-02 7.82156648e-01 -6.21324783e-01 5.81169759e+01] [-1.22837582e-02 -6.22408373e-01 -7.82596273e-01 -1.04383983e+00] [-9.98830625e-01 -2.89619504e-02 3.87116006e-02 -3.25212875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.68863999999999 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:58.31, Y:-1.28, Z:-32.53 [[-2.05528978e-02 5.32688630e-01 -8.46061701e-01 5.83122011e+01] [ 2.05637652e-02 -8.45836203e-01 -5.33046198e-01 -1.27567692e+00] [-9.99577266e-01 -2.83538582e-02 6.43030111e-03 -3.25332278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.71864 meters Centerline goodness : 0.996204 Centerline is valid? [True, True] Translation: X:58.43, Y:-1.71, Z:-32.69 [[-8.22396576e-03 8.80241202e-02 -9.96084394e-01 5.84277959e+01] [ 8.84271392e-02 -9.92151653e-01 -8.84066638e-02 -1.71186880e+00] [-9.96048697e-01 -8.88079467e-02 3.75700092e-04 -3.26905121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.74864 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:57.90, Y:-2.57, Z:-32.81 [[ 2.46244967e-02 -8.89246469e-01 -4.56765094e-01 5.79034792e+01] [ 9.39631459e-02 -4.52822139e-01 8.86635798e-01 -2.56809099e+00] [-9.95271099e-01 -6.47520454e-02 7.24058785e-02 -3.28128599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.77864 meters Centerline goodness : 0.996450 Centerline is valid? [True, True] Translation: X:57.64, Y:-2.64, Z:-32.89 [[ 4.11100343e-02 -9.83969907e-01 -1.73531519e-01 5.76406919e+01] [ 8.27093169e-02 -1.69730920e-01 9.82013535e-01 -2.63636013e+00] [-9.95725431e-01 -5.47232835e-02 7.44058349e-02 -3.28913963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.80864 meters Centerline goodness : 0.996457 Centerline is valid? [True, True] Translation: X:57.40, Y:-2.63, Z:-32.97 [[ 6.17056861e-02 -9.94706378e-01 8.21683061e-02 5.74043543e+01] [ 6.43578975e-02 8.61191873e-02 9.94203976e-01 -2.62834370e+00] [-9.96017304e-01 -5.60598591e-02 6.93312546e-02 -3.29736193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.83864 meters Centerline goodness : 0.996109 Centerline is valid? [True, True] Translation: X:56.64, Y:-1.50, Z:-33.11 [[-1.21587636e-02 1.53521723e-01 9.88070466e-01 5.66446705e+01] [-4.74116592e-02 9.86943600e-01 -1.53930063e-01 -1.49780858e+00] [-9.98801431e-01 -4.87176595e-02 -4.72129435e-03 -3.31133972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.86864 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:58.18, Y:-1.04, Z:-33.26 [[-3.84902749e-02 7.79045374e-01 -6.25784951e-01 5.81768656e+01] [ 6.62774499e-02 -6.22879673e-01 -7.79505107e-01 -1.03912315e+00] [-9.97058573e-01 -7.14787966e-02 -2.76583309e-02 -3.32634444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.89864 meters Centerline goodness : 0.995893 Centerline is valid? [True, True] Translation: X:58.17, Y:-1.03, Z:-33.37 [[-1.05872828e-01 7.88175239e-01 -6.06276122e-01 5.81706460e+01] [ 8.53254808e-02 -6.00253276e-01 -7.95245602e-01 -1.03273791e+00] [-9.90712121e-01 -1.35925703e-01 -3.70091923e-03 -3.33703653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.92864 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:58.31, Y:-2.24, Z:-33.48 [[-6.01236573e-02 -5.24625945e-01 -8.49207138e-01 5.83123771e+01] [ 9.15733679e-02 -8.50057569e-01 5.18667955e-01 -2.23549776e+00] [-9.93981622e-01 -4.65805433e-02 9.91503346e-02 -3.34817620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95864 meters Centerline goodness : 0.995524 Centerline is valid? [True, True] Translation: X:56.69, Y:-1.90, Z:-33.40 [[-7.73079362e-02 -2.94611860e-01 9.52484821e-01 5.66874114e+01] [-3.95247511e-02 9.55498532e-01 2.92336021e-01 -1.90340942e+00] [-9.96223508e-01 -1.50468310e-02 -8.55120800e-02 -3.33968937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98864 meters Centerline goodness : 0.990893 Centerline is valid? [True, True] Translation: X:58.48, Y:-1.73, Z:-33.50 [[-4.31774865e-02 8.95197455e-03 -9.99027310e-01 5.84800150e+01] [ 3.81045980e-02 -9.99217528e-01 -1.06005417e-02 -1.72761389e+00] [-9.98340495e-01 -3.85252388e-02 4.28025899e-02 -3.34995948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.01863999999999 meters Centerline goodness : 0.995516 Centerline is valid? [True, True] Translation: X:58.31, Y:-1.18, Z:-33.54 [[-8.22919612e-02 6.39230710e-01 -7.64599328e-01 5.83054602e+01] [ 4.16033084e-02 -7.64329301e-01 -6.43482622e-01 -1.17776589e+00] [-9.95739523e-01 -8.47633085e-02 3.63040448e-02 -3.35442676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.04863999999999 meters Centerline goodness : 0.995620 Centerline is valid? [True, True] Translation: X:58.43, Y:-1.97, Z:-33.59 [[-5.29858159e-02 -2.16049161e-01 -9.74943723e-01 5.84299043e+01] [ 5.10993808e-02 -9.75622719e-01 2.13422500e-01 -1.97362079e+00] [-9.97286998e-01 -3.85106552e-02 6.27341440e-02 -3.35912498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.07864 meters Centerline goodness : 0.988466 Centerline is valid? [True, True] Translation: X:57.27, Y:-2.57, Z:-33.59 [[-3.57094373e-02 -9.68776991e-01 2.45348685e-01 5.72667547e+01] [-2.74975153e-03 2.45599583e-01 9.69367466e-01 -2.56833448e+00] [-9.99358432e-01 3.39409189e-02 -1.14341189e-02 -3.35932093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.10864 meters Centerline goodness : 0.931550 Centerline is valid? [True, False] Translation: X:57.85, Y:-0.14, Z:-34.60 [[ 0.15828697 -0.96565388 -0.20605293 57.84919953] [ 0.34978029 0.24998911 -0.90286167 -0.14105764] [ 0.92336287 0.07083798 0.37733671 -34.59756134] [ 0. 0. 0. 1. ]] SLAMing on 68.13864 meters Centerline goodness : 0.994733 Centerline is valid? [False, True] Translation: X:57.95, Y:-0.21, Z:-34.68 [[ 1.69238301e-01 -9.27662466e-01 -3.32867462e-01 5.79460346e+01] [ 3.53347696e-01 3.72397074e-01 -8.58175871e-01 -2.11720192e-01] [ 9.20056413e-01 2.76182757e-02 3.90811243e-01 -3.46844242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.16864 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:57.97, Y:-0.21, Z:-34.66 [[ 1.77993412e-01 -9.20474906e-01 -3.47914203e-01 5.79709993e+01] [ 3.84687430e-01 3.90512535e-01 -8.36370457e-01 -2.06424977e-01] [ 9.05722875e-01 1.50302108e-02 4.23603785e-01 -3.46598276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.19864 meters Centerline goodness : 0.995373 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.20, Z:-34.63 [[ 1.73388185e-01 -9.18066172e-01 -3.56498304e-01 5.79833960e+01] [ 3.85052988e-01 3.96361075e-01 -8.33445916e-01 -1.98321508e-01] [ 9.06460553e-01 7.23893743e-03 4.22228450e-01 -3.46343177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.22864 meters Centerline goodness : 0.995131 Centerline is valid? [True, True] Translation: X:57.99, Y:-0.19, Z:-34.61 [[ 1.70759194e-01 -9.18922603e-01 -3.55559484e-01 5.79872982e+01] [ 3.85188288e-01 3.94399412e-01 -8.34313542e-01 -1.87679275e-01] [ 9.06902023e-01 5.50935938e-03 4.21305550e-01 -3.46085746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.25864 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:57.99, Y:-0.18, Z:-34.58 [[ 1.68349081e-01 -9.19786317e-01 -3.54473860e-01 5.79924584e+01] [ 3.86201931e-01 3.92402730e-01 -8.34786300e-01 -1.76659186e-01] [ 9.06921526e-01 3.63701758e-03 4.21283891e-01 -3.45828973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.28864 meters Centerline goodness : 0.995027 Centerline is valid? [True, True] Translation: X:58.00, Y:-0.17, Z:-34.56 [[ 1.63780178e-01 -9.21006356e-01 -3.53444969e-01 5.80004104e+01] [ 3.87770416e-01 3.89547478e-01 -8.35396234e-01 -1.67411624e-01] [ 9.07088837e-01 -2.34158224e-04 4.20939173e-01 -3.45577501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31864 meters Centerline goodness : 0.995171 Centerline is valid? [True, True] Translation: X:58.01, Y:-0.16, Z:-34.53 [[ 1.61841443e-01 -9.21793730e-01 -3.52283505e-01 5.80052453e+01] [ 3.88952572e-01 3.87676662e-01 -8.35716879e-01 -1.58107523e-01] [ 9.06930672e-01 -1.76794995e-03 4.21276192e-01 -3.45322346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34864 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:58.05, Y:-0.17, Z:-34.51 [[ 1.42746300e-01 -9.03951164e-01 -4.03107661e-01 5.80537137e+01] [ 3.52668167e-01 4.27000123e-01 -8.32644017e-01 -1.65805734e-01] [ 9.24796550e-01 -2.33063871e-02 3.79747488e-01 -3.45087423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37864 meters Centerline goodness : 0.994928 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.13, Z:-34.48 [[ 1.57189347e-01 -9.38821353e-01 -3.06440822e-01 5.79774326e+01] [ 3.92796025e-01 3.44132563e-01 -8.52809511e-01 -1.27815950e-01] [ 9.06092044e-01 1.36838332e-02 4.22859268e-01 -3.44790252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.40863999999999 meters Centerline goodness : 0.994983 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.15, Z:-34.46 [[ 1.38543479e-01 -8.99537480e-01 -4.14292200e-01 5.80779469e+01] [ 3.49835300e-01 4.35809201e-01 -8.29268113e-01 -1.51594691e-01] [ 9.26510101e-01 -3.00443469e-02 3.75068487e-01 -3.44562066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.43863999999999 meters Centerline goodness : 0.994881 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.11, Z:-34.43 [[ 1.57355115e-01 -9.41776905e-01 -2.97145805e-01 5.79827730e+01] [ 3.93259365e-01 3.35765382e-01 -8.55925628e-01 -1.08419098e-01] [ 9.05862263e-01 1.78289051e-02 4.23196988e-01 -3.44268426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.46864 meters Centerline goodness : 0.995082 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.15, Z:-34.41 [[ 1.45537831e-01 -8.80911525e-01 -4.50348337e-01 5.81234967e+01] [ 3.60692832e-01 4.71109430e-01 -8.04957506e-01 -1.50400580e-01] [ 9.21259692e-01 -4.52856469e-02 3.86302717e-01 -3.44055229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.49864 meters Centerline goodness : 0.995217 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.09, Z:-34.37 [[ 1.47292668e-01 -9.44782460e-01 -2.92730206e-01 5.79811258e+01] [ 3.55142639e-01 3.26739696e-01 -8.75850944e-01 -8.59665391e-02] [ 9.23135188e-01 2.50454447e-02 3.83658897e-01 -3.43719926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.52864 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:58.02, Y:-0.09, Z:-34.35 [[ 1.61736358e-01 -9.31543227e-01 -3.25681696e-01 5.80248384e+01] [ 3.94172561e-01 3.63539412e-01 -8.44077655e-01 -8.75124009e-02] [ 9.04692955e-01 8.14325795e-03 4.25986320e-01 -3.43500821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.55864 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.10, Z:-34.33 [[ 1.48825978e-01 -9.09594806e-01 -3.87927978e-01 5.80803677e+01] [ 3.57276566e-01 4.15257516e-01 -8.36609019e-01 -9.71286828e-02] [ 9.22065227e-01 -1.40884205e-02 3.86778015e-01 -3.43258988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.58864 meters Centerline goodness : 0.994731 Centerline is valid? [True, True] Translation: X:58.04, Y:-0.07, Z:-34.30 [[ 1.52271884e-01 -9.25913366e-01 -3.45684411e-01 5.80446466e+01] [ 3.58437689e-01 3.77686769e-01 -8.53741839e-01 -7.20318023e-02] [ 9.21051408e-01 6.09455661e-03 3.89393323e-01 -3.42995420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.61864 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:58.03, Y:-0.05, Z:-34.27 [[ 1.65536775e-01 -9.33743710e-01 -3.17364555e-01 5.80287535e+01] [ 3.94217603e-01 3.57626630e-01 -8.46578806e-01 -5.35148429e-02] [ 9.03985651e-01 1.50292312e-02 4.27298567e-01 -3.42731016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.64864 meters Centerline goodness : 0.995176 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.05, Z:-34.25 [[ 1.66089543e-01 -9.24644685e-01 -3.42704640e-01 5.80565157e+01] [ 3.94085952e-01 3.80811243e-01 -8.36468206e-01 -5.01383912e-02] [ 9.03941661e-01 3.87353771e-03 4.27638246e-01 -3.42484184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.67864 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:58.13, Y:-0.02, Z:-34.22 [[ 1.18694353e-01 -9.02964136e-01 -4.12998088e-01 5.81320859e+01] [ 3.46516213e-01 4.27457122e-01 -8.34989175e-01 -2.32762206e-02] [ 9.30504253e-01 -4.40020338e-02 3.63628459e-01 -3.42233446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70864 meters Centerline goodness : 0.995715 Centerline is valid? [True, True] Translation: X:58.07, Y:-0.03, Z:-34.20 [[ 1.50095238e-01 -9.22950281e-01 -3.54449149e-01 5.80686344e+01] [ 3.64237928e-01 3.84914896e-01 -8.48039654e-01 -3.30517529e-02] [ 9.19131194e-01 -1.81710987e-03 3.93947391e-01 -3.41958341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73864 meters Centerline goodness : 0.997191 Centerline is valid? [True, True] Translation: X:58.09, Y:-0.02, Z:-34.20 [[ 1.41685131e-01 -9.22921876e-01 -3.57967226e-01 5.80866847e+01] [ 3.52264893e-01 3.84951727e-01 -8.53066007e-01 -2.43449100e-02] [ 9.25113382e-01 -5.23251800e-03 3.79654912e-01 -3.42043479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.76863999999999 meters Centerline goodness : 0.909740 Centerline is valid? [True, False] Translation: X:58.18, Y:-0.12, Z:-34.28 [[ 1.53215322e-01 -8.63605101e-01 -4.80324156e-01 5.81830212e+01] [ 3.55601254e-01 5.01685268e-01 -7.88580776e-01 -1.17571764e-01] [ 9.21993933e-01 -4.99812141e-02 3.83964927e-01 -3.42841593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.79863999999999 meters Centerline goodness : 0.884950 Centerline is valid? [False, False] Translation: X:58.27, Y:-0.22, Z:-34.36 [[ 0.16437868 -0.79115858 -0.58910759 58.2656102 ] [ 0.35802659 0.60435653 -0.71173741 -0.21887949] [ 0.91912818 -0.09392172 0.38259914 -34.35658596] [ 0. 0. 0. 1. ]] SLAMing on 68.82864 meters Centerline goodness : 0.998129 Centerline is valid? [False, True] Translation: X:58.33, Y:-0.32, Z:-34.42 [[ 0.17563548 -0.70792806 -0.68409797 58.33365384] [ 0.35818518 0.69322564 -0.62541314 -0.3248566 ] [ 0.91698176 -0.13518902 0.37532436 -34.42060351] [ 0. 0. 0. 1. ]] SLAMing on 68.85864 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:58.08, Y:-0.16, Z:-34.40 [[ 1.80590936e-01 -8.91432317e-01 -4.15614411e-01 5.80839269e+01] [ 3.55344228e-01 4.53153862e-01 -8.17546363e-01 -1.57592475e-01] [ 9.17124524e-01 -4.47194281e-05 3.98600809e-01 -3.44007807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.88864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.16, Z:-34.38 [[ 1.79709922e-01 -8.75620361e-01 -4.48322795e-01 5.81218563e+01] [ 3.58116794e-01 4.82703373e-01 -7.99218253e-01 -1.61230518e-01] [ 9.16218700e-01 -1.69244718e-02 4.00320942e-01 -3.43788782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.91864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.15, Z:-34.35 [[ 1.77941787e-01 -8.79376789e-01 -4.41625614e-01 5.81214200e+01] [ 3.56909683e-01 4.75903026e-01 -8.03823232e-01 -1.51070377e-01] [ 9.17034459e-01 -1.45867160e-02 3.98541126e-01 -3.43526755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.94864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:58.11, Y:-0.13, Z:-34.33 [[ 1.79237915e-01 -8.87530589e-01 -4.24456386e-01 5.81133138e+01] [ 3.59322804e-01 4.60694818e-01 -8.11570950e-01 -1.34676893e-01] [ 9.15838901e-01 -7.05257372e-03 4.01483958e-01 -3.43271916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.97864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:58.10, Y:-0.11, Z:-34.30 [[ 1.94173691e-01 -8.99872783e-01 -3.90545198e-01 5.80956540e+01] [ 3.95168751e-01 4.36144404e-01 -8.08467511e-01 -1.13575111e-01] [ 8.97852012e-01 2.65186251e-03 4.40289373e-01 -3.43008295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.00864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:58.16, Y:-0.13, Z:-34.28 [[ 1.77357674e-01 -8.66590407e-01 -4.66438979e-01 5.81639168e+01] [ 3.57925755e-01 4.98294814e-01 -7.89678056e-01 -1.33897123e-01] [ 9.16751553e-01 -2.68950611e-02 3.98551435e-01 -3.42760790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.03864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:58.20, Y:-0.14, Z:-34.25 [[ 1.68063881e-01 -8.51180172e-01 -4.97239224e-01 5.81954465e+01] [ 3.47216691e-01 5.23202441e-01 -7.78267161e-01 -1.41089721e-01] [ 9.22602353e-01 -4.18511583e-02 3.83475396e-01 -3.42541603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.07, Z:-34.22 [[ 1.83117594e-01 -9.20996113e-01 -3.43851867e-01 5.80629693e+01] [ 3.61477285e-01 3.88342261e-01 -8.47658222e-01 -6.91693394e-02] [ 9.14222139e-01 3.09264950e-02 4.04031475e-01 -3.42201364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.09, Z:-34.20 [[ 1.84381953e-01 -8.89095426e-01 -4.18942261e-01 5.81386494e+01] [ 3.65069910e-01 4.57708763e-01 -8.10695164e-01 -8.67939275e-02] [ 9.12538907e-01 -3.46565614e-03 4.08975223e-01 -3.41994110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:58.11, Y:-0.06, Z:-34.17 [[ 2.02619219e-01 -9.03721296e-01 -3.77138267e-01 5.81134452e+01] [ 3.99009547e-01 4.27897531e-01 -8.10984022e-01 -6.13283424e-02] [ 8.94280064e-01 1.38391796e-02 4.47293689e-01 -3.41719294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.15863999999999 meters Centerline goodness : 0.747994 Centerline is valid? [True, False] Translation: X:58.20, Y:-0.16, Z:-34.24 [[ 2.14312610e-01 -8.42138001e-01 -4.94847140e-01 5.81980688e+01] [ 3.98748621e-01 5.37911438e-01 -7.42731999e-01 -1.57025602e-01] [ 8.91666778e-01 -3.81427821e-02 4.51082571e-01 -3.42441508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.18863999999999 meters Centerline goodness : 0.999753 Centerline is valid? [False, True] Translation: X:58.27, Y:-0.25, Z:-34.30 [[ 0.22671225 -0.77352935 -0.59182252 58.26646189] [ 0.39517884 0.62843608 -0.67000132 -0.24911 ] [ 0.89018832 -0.08197823 0.44815659 -34.30364522] [ 0. 0. 0. 1. ]] SLAMing on 69.21864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:58.12, Y:-0.15, Z:-34.28 [[ 2.31377035e-01 -8.70375838e-01 -4.34638433e-01 5.81215038e+01] [ 3.92182020e-01 4.92299397e-01 -7.77067930e-01 -1.51484442e-01] [ 8.90313389e-01 9.33829480e-03 4.55252529e-01 -3.42781138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.24864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.15, Z:-34.25 [[ 2.36152054e-01 -8.60718434e-01 -4.50994440e-01 5.81430058e+01] [ 3.95589218e-01 5.09076924e-01 -7.64427797e-01 -1.46337378e-01] [ 8.87547958e-01 2.11265680e-03 4.60710494e-01 -3.42549150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.27864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:58.13, Y:-0.13, Z:-34.23 [[ 2.36479394e-01 -8.67694088e-01 -4.37246458e-01 5.81337273e+01] [ 3.92888077e-01 4.96972766e-01 -7.73729300e-01 -1.28045568e-01] [ 8.88659921e-01 1.11821158e-02 4.58430481e-01 -3.42282379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.30864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:58.15, Y:-0.12, Z:-34.21 [[ 2.37109517e-01 -8.62083487e-01 -4.47874020e-01 5.81476634e+01] [ 3.92157372e-01 5.06725813e-01 -7.67750966e-01 -1.20370442e-01] [ 8.88814757e-01 6.40396207e-03 4.58221908e-01 -3.42055869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.33864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:58.14, Y:-0.10, Z:-34.18 [[ 2.41120624e-01 -8.63423959e-01 -4.43125164e-01 5.81436813e+01] [ 3.90890972e-01 5.04325528e-01 -7.69974032e-01 -1.01966774e-01] [ 8.88293360e-01 1.24429926e-02 4.59107916e-01 -3.41811038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.36864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:58.15, Y:-0.09, Z:-34.16 [[ 2.44435686e-01 -8.62859889e-01 -4.42407060e-01 5.81458508e+01] [ 3.92102219e-01 5.05236771e-01 -7.68759816e-01 -8.98309486e-02] [ 8.86852325e-01 1.44435430e-02 4.61827174e-01 -3.41568753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.39864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:58.15, Y:-0.08, Z:-34.13 [[ 2.48782222e-01 -8.59628652e-01 -4.46257759e-01 5.81457916e+01] [ 3.89195993e-01 5.10634732e-01 -7.66667235e-01 -7.70405083e-02] [ 8.86923833e-01 1.70514471e-02 4.61600870e-01 -3.41325579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.42864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:58.17, Y:-0.08, Z:-34.11 [[ 2.46810725e-01 -8.44603236e-01 -4.75110345e-01 5.81736196e+01] [ 3.83153608e-01 5.35379701e-01 -7.52703055e-01 -7.61682015e-02] [ 8.90099870e-01 3.73494345e-03 4.55750229e-01 -3.41101905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:58.06, Y:-0.01, Z:-34.08 [[ 2.71094272e-01 -9.01189029e-01 -3.38180764e-01 5.80568333e+01] [ 4.22674513e-01 4.27105133e-01 -7.99329382e-01 -1.16880952e-02] [ 8.64785610e-01 7.37532275e-02 4.96695389e-01 -3.40752993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:58.18, Y:-0.05, Z:-34.06 [[ 2.52697650e-01 -8.38778253e-01 -4.82280976e-01 5.81813863e+01] [ 3.82446419e-01 5.44456988e-01 -7.46526172e-01 -4.68144319e-02] [ 8.88751166e-01 4.19877745e-03 4.58370741e-01 -3.40601100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.51863999999999 meters Centerline goodness : 0.833891 Centerline is valid? [True, False] Translation: X:58.24, Y:-0.13, Z:-34.13 [[ 2.64173263e-01 -7.72666186e-01 -5.77234313e-01 5.82447805e+01] [ 3.80137465e-01 6.33462026e-01 -6.73959472e-01 -1.34520408e-01] [ 8.86401712e-01 -4.13863157e-02 4.61063095e-01 -3.41317514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.54863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:58.30, Y:-0.23, Z:-34.20 [[ 0.27432075 -0.69980439 -0.65956193 58.29721698] [ 0.37753381 0.70917886 -0.59542721 -0.22840012] [ 0.88442996 -0.08566889 0.4587423 -34.20077064] [ 0. 0. 0. 1. ]] SLAMing on 69.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.68, Y:-1.68, Z:-33.36 [[ 1.33229642e-01 9.29526426e-01 3.43846601e-01 5.76753395e+01] [ 4.43944153e-01 -3.66158192e-01 8.17827468e-01 -1.68245538e+00] [ 8.86094494e-01 4.36898274e-02 -4.61440947e-01 -3.33583259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.60864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:58.23, Y:-1.65, Z:-33.42 [[ 4.14619658e-02 9.80955505e-01 -1.89755641e-01 5.82273466e+01] [ 4.37143555e-01 1.52966523e-01 8.86288190e-01 -1.65096191e+00] [ 8.98435539e-01 -1.19697706e-01 -4.22476084e-01 -3.34183137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.63864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:57.95, Y:-0.01, Z:-34.09 [[ 1.20918654e-01 -9.68816549e-01 -2.16271065e-01 5.79510141e+01] [ 4.21483988e-01 2.47363805e-01 -8.72446214e-01 -9.99372369e-03] [ 8.98737964e-01 1.43402309e-02 4.38251561e-01 -3.40926807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.66864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:57.92, Y:0.00, Z:-34.06 [[ 1.19895272e-01 -9.75882512e-01 -1.82423811e-01 5.79219910e+01] [ 4.22748358e-01 2.16442316e-01 -8.80020767e-01 3.44165836e-03] [ 8.98281108e-01 2.83909630e-02 4.38503140e-01 -3.40647543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.69864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:57.92, Y:0.02, Z:-34.04 [[ 1.17596674e-01 -9.76363353e-01 -1.81343939e-01 5.79192973e+01] [ 4.23880665e-01 2.14491101e-01 -8.79953834e-01 1.51368898e-02] [ 8.98051337e-01 2.66114552e-02 4.39084987e-01 -3.40396131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.72864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:57.92, Y:0.03, Z:-34.01 [[ 1.15206788e-01 -9.76867461e-01 -1.80159264e-01 5.79170706e+01] [ 4.25374501e-01 2.12412470e-01 -8.79737163e-01 2.68034864e-02] [ 8.97654683e-01 2.47165359e-02 4.40005867e-01 -3.40135922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:57.91, Y:0.04, Z:-33.99 [[ 1.11521970e-01 -9.77520942e-01 -1.78929202e-01 5.79126303e+01] [ 4.27764935e-01 2.09737965e-01 -8.79219623e-01 3.91063605e-02] [ 8.96983841e-01 2.15126656e-02 4.41539573e-01 -3.39878948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.78864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:57.97, Y:0.05, Z:-33.97 [[ 1.01088347e-01 -9.65394998e-01 -2.40403086e-01 5.79652474e+01] [ 3.91034285e-01 2.60748278e-01 -8.82667844e-01 4.51015423e-02] [ 9.14807812e-01 -4.77841539e-03 4.03861156e-01 -3.39675693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:57.85, Y:0.06, Z:-33.93 [[ 1.07485041e-01 -9.88089809e-01 -1.10115827e-01 5.78455681e+01] [ 4.32822048e-01 1.46216069e-01 -8.89542543e-01 5.97189930e-02] [ 8.95048625e-01 4.79519590e-02 4.43383095e-01 -3.39304408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.96, Y:0.07, Z:-33.92 [[ 9.85124111e-02 -9.66462347e-01 -2.37162047e-01 5.79561540e+01] [ 3.94243373e-01 2.56724294e-01 -8.82419855e-01 7.10096631e-02] [ 9.13710823e-01 -6.57025775e-03 4.06311904e-01 -3.39175136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.90, Y:0.09, Z:-33.89 [[ 9.38634341e-02 -9.80387174e-01 -1.73293523e-01 5.78993867e+01] [ 4.02801973e-01 1.96575837e-01 -8.93928694e-01 8.64387386e-02] [ 9.10461546e-01 1.41042442e-02 4.13353171e-01 -3.38896579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.90863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.88, Y:0.10, Z:-33.86 [[ 9.47443120e-02 -9.82123486e-01 -1.62655999e-01 5.78833474e+01] [ 3.98503774e-01 1.87145486e-01 -8.97870430e-01 9.60709033e-02] [ 9.12259973e-01 2.02490867e-02 4.09110886e-01 -3.38611092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.86, Y:0.11, Z:-33.83 [[ 9.67522254e-02 -9.85707947e-01 -1.37908849e-01 5.78619496e+01] [ 4.34978101e-01 1.66502097e-01 -8.84913048e-01 1.07511426e-01] [ 8.95227937e-01 2.56299773e-02 4.44870819e-01 -3.38325809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.96864 meters Centerline goodness : 0.983785 Centerline is valid? [True, True] Translation: X:57.94, Y:0.14, Z:-33.81 [[ 1.68121312e-01 -9.50161155e-01 -2.62543338e-01 5.79442607e+01] [ 3.88332469e-01 3.08634971e-01 -8.68298536e-01 1.39646418e-01] [ 9.06053596e-01 4.40253859e-02 4.20866543e-01 -3.38112603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:0.12, Z:-33.79 [[ 7.93822990e-02 -9.55275393e-01 -2.84863782e-01 5.79991198e+01] [ 3.96272884e-01 2.92456446e-01 -8.70308582e-01 1.20999447e-01] [ 9.14694622e-01 -4.37966965e-02 4.01765600e-01 -3.37945038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:57.86, Y:0.14, Z:-33.76 [[ 7.96613179e-02 -9.88622987e-01 -1.27587867e-01 5.78571142e+01] [ 4.18562597e-01 1.49338740e-01 -8.95825481e-01 1.37357306e-01] [ 9.04687474e-01 1.79591293e-02 4.25697126e-01 -3.37576715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.94, Y:0.15, Z:-33.74 [[ 7.35043799e-02 -9.74682465e-01 -2.11166282e-01 5.79353714e+01] [ 4.00541401e-01 2.22763302e-01 -8.88787431e-01 1.48300872e-01] [ 9.13325622e-01 -1.92510694e-02 4.06774759e-01 -3.37419701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.08864 meters Centerline goodness : 0.757771 Centerline is valid? [True, False] Translation: X:58.04, Y:0.09, Z:-33.82 [[ 0.08458187 -0.9379728 -0.33623345 58.04325282] [ 0.40345112 0.34078273 -0.84917273 0.09281328] [ 0.91108348 -0.06382914 0.40725022 -33.81846973] [ 0. 0. 0. 1. ]] SLAMing on 70.11864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:58.14, Y:0.03, Z:-33.88 [[ 9.72735983e-02 -8.86924910e-01 -4.51555148e-01 5.81432210e+01] [ 4.03556466e-01 4.49884431e-01 -7.96709594e-01 2.74051031e-02] [ 9.09769216e-01 -1.04729191e-01 4.01686160e-01 -3.38820158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.76, Y:0.08, Z:-33.81 [[ 1.19577951e-01 -9.92196477e-01 -3.53166330e-02 5.77575246e+01] [ 4.48759455e-01 8.57460409e-02 -8.89529408e-01 7.78359492e-02] [ 8.85616207e-01 9.05194309e-02 4.55510886e-01 -3.38101860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.07, Y:0.07, Z:-33.82 [[ 1.10338923e-01 -9.25476827e-01 -3.62378206e-01 5.80651144e+01] [ 4.07876720e-01 3.74651856e-01 -8.32629911e-01 6.99934736e-02] [ 9.06345355e-01 -5.59341468e-02 4.18819135e-01 -3.38234478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.84, Y:0.10, Z:-33.77 [[ 0.12790058 -0.98530744 -0.11318434 57.84103114] [ 0.45549439 0.15973074 -0.87579162 0.10196674] [ 0.88100301 0.06045942 0.46923166 -33.77224219] [ 0. 0. 0. 1. ]] SLAMing on 70.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:58.00, Y:0.11, Z:-33.77 [[ 1.26613155e-01 -9.51760755e-01 -2.79500581e-01 5.80004132e+01] [ 4.22410016e-01 3.06675842e-01 -8.52947657e-01 1.06791196e-01] [ 8.97518182e-01 -1.00694510e-02 4.40862472e-01 -3.37659690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.26863999999999 meters Centerline goodness : 0.912011 Centerline is valid? [True, False] Translation: X:58.10, Y:0.04, Z:-33.83 [[ 1.39720769e-01 -9.05984345e-01 -3.99587880e-01 5.81003427e+01] [ 4.22306042e-01 4.19526505e-01 -8.03526676e-01 4.00826951e-02] [ 8.95620295e-01 -5.64790109e-02 4.41219229e-01 -3.38347829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.29863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:58.19, Y:-0.04, Z:-33.90 [[ 1.51507784e-01 -8.47414549e-01 -5.08855553e-01 5.81907696e+01] [ 4.21849155e-01 5.20995352e-01 -7.42029065e-01 -3.79154391e-02] [ 8.93917604e-01 -1.02237106e-01 4.36415962e-01 -3.39002616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.32864 meters Centerline goodness : 0.702701 Centerline is valid? [True, False] Translation: X:58.27, Y:-0.12, Z:-33.96 [[ 0.16359129 -0.77825413 -0.60626595 58.27171291] [ 0.42030684 0.61096271 -0.67087012 -0.1236406 ] [ 0.89251333 -0.14506922 0.42705371 -33.9597284 ] [ 0. 0. 0. 1. ]] SLAMing on 70.35864 meters Centerline goodness : 0.953011 Centerline is valid? [False, True] Translation: X:58.34, Y:-0.21, Z:-34.01 [[ 0.17613076 -0.70261055 -0.68943192 58.34152264] [ 0.41695491 0.68769807 -0.59432312 -0.21308042] [ 0.89169869 -0.18278345 0.4140817 -34.01408604] [ 0. 0. 0. 1. ]] SLAMing on 70.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:57.75, Y:-0.07, Z:-33.94 [[ 0.14602183 -0.98588391 -0.0819179 57.74923168] [ 0.46325519 0.14130897 -0.87488651 -0.06626358] [ 0.87411226 0.08980364 0.47735004 -33.94455097] [ 0. 0. 0. 1. ]] SLAMing on 70.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:57.85, Y:-0.05, Z:-33.94 [[ 1.53407090e-01 -9.69407500e-01 -1.91612537e-01 5.78541168e+01] [ 4.99577779e-01 2.43386523e-01 -8.31375392e-01 -5.14879005e-02] [ 8.52577450e-01 3.18135143e-02 5.21631664e-01 -3.39378233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:57.93, Y:-0.04, Z:-33.92 [[ 1.47299464e-01 -9.50714419e-01 -2.72846038e-01 5.79266171e+01] [ 4.63773542e-01 3.10038206e-01 -8.29933981e-01 -4.48482988e-02] [ 8.73622899e-01 -4.28994259e-03 4.86584655e-01 -3.39194541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.47864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:57.87, Y:-0.03, Z:-33.89 [[ 1.51556814e-01 -9.64871505e-01 -2.14600817e-01 5.78726956e+01] [ 4.71109121e-01 2.61374196e-01 -8.42460519e-01 -2.58079084e-02] [ 8.68957265e-01 2.65802302e-02 4.94172807e-01 -3.38900278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.50864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:57.90, Y:-0.01, Z:-33.87 [[ 1.50113258e-01 -9.57932426e-01 -2.44604735e-01 5.79015099e+01] [ 4.72392924e-01 2.86834700e-01 -8.33409131e-01 -1.30708536e-02] [ 8.68510757e-01 9.55621413e-03 4.95578191e-01 -3.38708676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.53864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:57.81, Y:0.01, Z:-33.83 [[ 1.55955980e-01 -9.76461177e-01 -1.49001014e-01 5.78083984e+01] [ 4.97420555e-01 2.07961651e-01 -8.42214191e-01 7.35964914e-03] [ 8.53375957e-01 5.72321722e-02 5.18144724e-01 -3.38339955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:57.91, Y:0.01, Z:-33.82 [[ 1.48851274e-01 -9.54209905e-01 -2.59473997e-01 5.79087074e+01] [ 4.71840047e-01 2.99136099e-01 -8.29388066e-01 1.48246339e-02] [ 8.69028347e-01 1.02524795e-03 4.94761236e-01 -3.38206508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:57.84, Y:0.04, Z:-33.79 [[ 1.51355549e-01 -9.72081272e-01 -1.79302814e-01 5.78377152e+01] [ 4.94853844e-01 2.31540267e-01 -8.37561209e-01 3.62221741e-02] [ 8.55693386e-01 3.80408496e-02 5.16083058e-01 -3.37857509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.62863999999999 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:57.89, Y:0.04, Z:-33.77 [[ 1.39132988e-01 -9.60460313e-01 -2.41159696e-01 5.78915022e+01] [ 4.74911699e-01 2.78412199e-01 -8.34832633e-01 4.40224733e-02] [ 8.68965413e-01 1.62319727e-03 4.94870161e-01 -3.37688340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.65863999999999 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:57.85, Y:0.06, Z:-33.74 [[ 1.41050847e-01 -9.71001409e-01 -1.93030883e-01 5.78529337e+01] [ 5.11578699e-01 2.38418652e-01 -8.25496082e-01 6.08255644e-02] [ 8.47580022e-01 1.76864339e-02 5.30372790e-01 -3.37403924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.68863999999999 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:57.97, Y:0.06, Z:-33.73 [[ 1.23578461e-01 -9.39736030e-01 -3.18786070e-01 5.79693982e+01] [ 4.72486647e-01 3.38218137e-01 -8.13858010e-01 6.30871164e-02] [ 8.72630926e-01 -5.00468411e-02 4.85809203e-01 -3.37290225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.71864 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:57.79, Y:0.08, Z:-33.68 [[ 1.19990573e-01 -9.85075727e-01 -1.23402085e-01 5.77871840e+01] [ 4.76408407e-01 1.66187050e-01 -8.63375291e-01 8.35344627e-02] [ 8.70997871e-01 4.48071052e-02 4.89239237e-01 -3.36804393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.74864 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:57.86, Y:0.10, Z:-33.67 [[ 1.15048985e-01 -9.74273096e-01 -1.93792842e-01 5.78575976e+01] [ 4.83098312e-01 2.25339977e-01 -8.46072051e-01 9.74884794e-02] [ 8.67974511e-01 3.71873567e-03 4.96594824e-01 -3.36675351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.77864 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:57.84, Y:0.11, Z:-33.64 [[ 1.18073881e-01 -9.78494809e-01 -1.69134466e-01 5.78448869e+01] [ 5.17371356e-01 2.06000630e-01 -8.30596545e-01 1.12704692e-01] [ 8.47576214e-01 1.05664296e-02 5.30568480e-01 -3.36391288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.80864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:57.88, Y:0.13, Z:-33.62 [[ 1.18426666e-01 -9.71497208e-01 -2.05349214e-01 5.78839432e+01] [ 5.18183618e-01 2.36876874e-01 -8.21812074e-01 1.25913851e-01] [ 8.47030615e-01 -9.08413514e-03 5.31466477e-01 -3.36194960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.83864 meters Centerline goodness : 0.987149 Centerline is valid? [True, True] Translation: X:57.99, Y:0.11, Z:-33.63 [[ 3.58587799e-02 -9.59683434e-01 -2.78786395e-01 5.79940106e+01] [ 5.16653853e-01 2.56595498e-01 -8.16839976e-01 1.14712537e-01] [ 8.55443127e-01 -1.14745180e-01 5.05025346e-01 -3.36300146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.86864 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:57.65, Y:0.13, Z:-33.52 [[ 1.13170236e-01 -9.91399622e-01 6.57212909e-02 5.76474160e+01] [ 5.17461539e-01 2.34347669e-03 -8.55703257e-01 1.28932640e-01] [ 8.48189869e-01 1.30848380e-01 5.13276386e-01 -3.35233479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.89864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:57.90, Y:0.17, Z:-33.55 [[ 1.20146509e-01 -9.71509885e-01 -2.04287444e-01 5.78993566e+01] [ 5.19604185e-01 2.36879744e-01 -8.20913807e-01 1.65004746e-01] [ 8.45917435e-01 -7.51868305e-03 5.33260876e-01 -3.35482047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.92864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:57.95, Y:0.17, Z:-33.53 [[ 1.10274967e-01 -9.60962625e-01 -2.53752369e-01 5.79451981e+01] [ 4.79738120e-01 2.75062678e-01 -8.33181768e-01 1.72898721e-01] [ 8.70454346e-01 -2.98555927e-02 4.91342931e-01 -3.35303335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95864 meters Centerline goodness : 0.842147 Centerline is valid? [True, False] Translation: X:58.05, Y:0.11, Z:-33.59 [[ 0.1248326 -0.9194233 -0.37293111 58.04948327] [ 0.48088528 0.38483895 -0.78781237 0.10981614] [ 0.86785147 -0.08099242 0.49017758 -33.59467806] [ 0. 0. 0. 1. ]] SLAMing on 70.98864 meters Centerline goodness : 0.997636 Centerline is valid? [False, True] Translation: X:58.14, Y:0.03, Z:-33.66 [[ 1.36649346e-01 -8.64990016e-01 -4.82824221e-01 5.81448251e+01] [ 4.82290945e-01 4.83823142e-01 -7.30281187e-01 3.29566854e-02] [ 8.65287467e-01 -1.33069303e-01 4.83290968e-01 -3.36583634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.01863999999999 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:58.04, Y:-1.54, Z:-32.76 [[ 5.37544435e-02 9.86090343e-01 1.57277764e-01 5.80372022e+01] [ 4.89600790e-01 -1.63300985e-01 8.56518450e-01 -1.54330789e+00] [ 8.70288186e-01 3.09616448e-02 -4.91568765e-01 -3.27599886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.04863999999999 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:58.58, Y:-1.35, Z:-32.84 [[-2.35485443e-02 9.12824116e-01 -4.07673399e-01 5.85819495e+01] [ 4.64380126e-01 3.71110538e-01 8.04131872e-01 -1.34767598e+00] [ 8.85322859e-01 -1.70379289e-01 -4.32636491e-01 -3.28356088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.07864 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:57.79, Y:0.07, Z:-33.62 [[-2.42541432e-02 -9.99494647e-01 2.05471702e-02 5.77946702e+01] [ 4.61622848e-01 -2.94280133e-02 -8.86588032e-01 7.23563398e-02] [ 8.86744655e-01 -1.20183898e-02 4.62103317e-01 -3.36167050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.10864 meters Centerline goodness : 0.867810 Centerline is valid? [True, False] Translation: X:57.92, Y:0.04, Z:-33.70 [[-1.03454885e-02 -9.92206104e-01 -1.24177365e-01 5.79246641e+01] [ 4.67266400e-01 1.04994565e-01 -8.77860042e-01 3.54937286e-02] [ 8.84056040e-01 -6.71058014e-02 4.62538354e-01 -3.36957512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.13864 meters Centerline goodness : 0.997345 Centerline is valid? [False, True] Translation: X:58.05, Y:-0.01, Z:-33.76 [[ 3.29872727e-03 -9.66533587e-01 -2.56518893e-01 5.80466974e+01] [ 4.70073288e-01 2.27910248e-01 -8.52694566e-01 -1.27992007e-02] [ 8.82621223e-01 -1.17769873e-01 4.55093435e-01 -3.37605578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.16864 meters Centerline goodness : 0.990426 Centerline is valid? [True, True] Translation: X:57.81, Y:-0.02, Z:-33.77 [[ 3.69868201e-02 -9.98810297e-01 -3.17799662e-02 5.78139678e+01] [ 4.79707536e-01 4.56440506e-02 -8.76240436e-01 -2.32166648e-02] [ 8.76648536e-01 1.71642580e-02 4.80825054e-01 -3.37664037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.19864 meters Centerline goodness : 0.969606 Centerline is valid? [True, True] Translation: X:57.74, Y:0.23, Z:-33.30 [[ 8.41311434e-02 -9.95588859e-01 4.15304047e-02 5.77375543e+01] [ 4.67423500e-01 2.62233250e-03 -8.84029635e-01 2.29163627e-01] [ 8.80021149e-01 9.37867111e-02 4.65582249e-01 -3.32959000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.22864 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:57.78, Y:0.27, Z:-33.25 [[ 8.35978452e-02 -9.96487695e-01 4.86561333e-03 5.77799570e+01] [ 4.56728547e-01 3.39755334e-02 -8.88957084e-01 2.65484808e-01] [ 8.85669484e-01 7.65371612e-02 4.57964659e-01 -3.32451159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.25864 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:57.71, Y:0.24, Z:-33.17 [[ 5.08887149e-02 -9.94555748e-01 9.09351570e-02 5.77081836e+01] [ 4.65101320e-01 -5.69759050e-02 -8.83422045e-01 2.43535230e-01] [ 8.83793585e-01 8.72502741e-02 4.59669760e-01 -3.31721981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.28864 meters Centerline goodness : 0.944854 Centerline is valid? [True, False] Translation: X:58.47, Y:-2.02, Z:-32.00 [[ 3.33569724e-02 9.81950112e-01 -1.86175427e-01 5.84716298e+01] [ 4.71223732e-01 1.48822520e-01 8.69367616e-01 -2.02484531e+00] [ 8.81382724e-01 -1.16729751e-01 -4.57753928e-01 -3.19954328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31864 meters Centerline goodness : 0.997349 Centerline is valid? [False, True] Translation: X:57.28, Y:-1.44, Z:-32.10 [[ -0.06313658 -0.51459763 0.85510412 57.28033151] [ -0.53470023 0.74090485 0.40639348 -1.44449213] [ -0.84267991 -0.43156607 -0.32193367 -32.10482467] [ 0. 0. 0. 1. ]] SLAMing on 71.34864 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:58.41, Y:-0.50, Z:-32.79 [[-8.59448426e-02 9.94473904e-01 -6.02921047e-02 5.84093713e+01] [-4.99477146e-01 -9.53697272e-02 -8.61061668e-01 -4.98105073e-01] [-8.62053400e-01 -4.38892811e-02 5.04913524e-01 -3.27928264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.37863999999999 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:58.41, Y:-0.70, Z:-33.13 [[ -0.15236813 0.98333636 -0.09916427 58.41043864] [ -0.5156692 -0.16469425 -0.84080978 -0.7048989 ] [ -0.84313061 -0.07697666 0.53217043 -33.12789887] [ 0. 0. 0. 1. ]] SLAMing on 71.40863999999999 meters Centerline goodness : 0.996807 Centerline is valid? [True, True] Translation: X:58.35, Y:-0.50, Z:-32.82 [[-9.10751299e-02 9.95843790e-01 -6.82968817e-04 5.83547636e+01] [-5.22798896e-01 -4.83963848e-02 -8.51081138e-01 -4.98307303e-01] [-8.47576920e-01 -7.71552699e-02 5.25033741e-01 -3.28189455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.43863999999999 meters Centerline goodness : 0.903581 Centerline is valid? [True, False] Translation: X:58.29, Y:-0.47, Z:-32.78 [[-9.79162444e-02 9.92620934e-01 7.15268475e-02 5.82944148e+01] [-5.20651589e-01 1.01578071e-02 -8.53708815e-01 -4.66174375e-01] [-8.48135798e-01 -1.20832528e-01 5.15815053e-01 -3.27777907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.46864 meters Centerline goodness : 0.996802 Centerline is valid? [False, True] Translation: X:58.23, Y:-0.44, Z:-32.73 [[ -0.10421366 0.98423341 0.14291295 58.23155237] [ -0.51927842 0.06870615 -0.85183883 -0.43918101] [ -0.84822723 -0.16298485 0.50393105 -32.73359034] [ 0. 0. 0. 1. ]] SLAMing on 71.49864 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:59.05, Y:-1.46, Z:-32.32 [[-9.68329976e-02 2.85807973e-02 -9.94890199e-01 5.90545388e+01] [-4.62121881e-01 -8.86601818e-01 1.95085449e-02 -1.46234988e+00] [-8.81513890e-01 4.61649601e-01 9.90601236e-02 -3.23207219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.52864 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:57.93, Y:-2.09, Z:-31.96 [[-2.89251861e-02 -9.99363545e-01 2.08767521e-02 5.79341610e+01] [-4.86607850e-01 3.23216662e-02 8.73022399e-01 -2.09421492e+00] [-8.73141531e-01 1.50935439e-02 -4.87233056e-01 -3.19604703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.55864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:57.23, Y:-1.49, Z:-32.37 [[-5.98642141e-03 -3.94824466e-01 9.18737070e-01 5.72329609e+01] [-5.27465253e-01 7.81792870e-01 3.32536188e-01 -1.49104722e+00] [-8.49555513e-01 -4.82611179e-01 -2.12936328e-01 -3.23666891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.58864 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:58.27, Y:-0.58, Z:-32.96 [[-7.26525656e-03 9.98882814e-01 4.66941170e-02 5.82732056e+01] [-5.26037102e-01 3.58944751e-02 -8.49703803e-01 -5.77021398e-01] [-8.50430587e-01 -3.07361541e-02 5.25188638e-01 -3.29582927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.61864 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:59.04, Y:-1.49, Z:-32.50 [[-8.25682213e-03 8.38423390e-02 -9.96444824e-01 5.90397371e+01] [-4.69573362e-01 -8.80101217e-01 -7.01619991e-02 -1.49406685e+00] [-8.82854848e-01 4.67324631e-01 4.66369682e-02 -3.24975722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.64864 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:58.07, Y:-2.30, Z:-32.28 [[ 7.21444338e-02 -9.79385717e-01 -1.88676438e-01 5.80732186e+01] [-4.43191814e-01 -2.00946577e-01 8.73614039e-01 -2.29776072e+00] [-8.93518996e-01 2.05934627e-02 -4.48552909e-01 -3.22765539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.67864 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:57.18, Y:-1.57, Z:-32.93 [[ 1.00919912e-01 -1.99456720e-01 9.74695946e-01 5.71774247e+01] [-5.15831643e-01 8.27240174e-01 2.22691288e-01 -1.56815496e+00] [-8.50724919e-01 -5.25252997e-01 -1.94010820e-02 -3.29302567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:57.98, Y:-0.79, Z:-33.40 [[ 0.08983086 0.94703255 0.30831765 57.97790721] [ -0.54312899 0.30606818 -0.78187798 -0.78527008] [ -0.83483011 -0.09721948 0.5418552 -33.3972684 ] [ 0. 0. 0. 1. ]] SLAMing on 71.73864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:59.01, Y:-1.47, Z:-33.09 [[ 4.33593657e-02 4.07275970e-01 -9.12275314e-01 5.90111415e+01] [-4.62527933e-01 -8.01198171e-01 -3.79670123e-01 -1.46736451e+00] [-8.85543831e-01 4.38415071e-01 1.53637068e-01 -3.30921377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.76863999999999 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:58.29, Y:-2.56, Z:-32.77 [[ 0.11821662 -0.91405569 -0.38797813 58.28555672] [ -0.42647715 -0.39958329 0.81144959 -2.5599073 ] [ -0.89673969 0.06953698 -0.43706125 -32.76772403] [ 0. 0. 0. 1. ]] SLAMing on 71.79863999999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:57.20, Y:-1.99, Z:-33.39 [[ 1.47508749e-01 -3.24085174e-01 9.34457045e-01 5.72015558e+01] [-4.92481378e-01 7.95274175e-01 3.53554916e-01 -1.98554101e+00] [-8.57731462e-01 -5.12355137e-01 -4.22960143e-02 -3.33862252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.82864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:57.97, Y:-1.06, Z:-33.86 [[ 1.29863038e-01 9.41637385e-01 3.10571450e-01 5.79726736e+01] [-5.06903929e-01 3.32247241e-01 -7.95399382e-01 -1.05721366e+00] [-8.52164302e-01 -5.41369081e-02 5.20466327e-01 -3.38622286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.85864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:59.03, Y:-1.80, Z:-33.48 [[ 1.03153379e-01 3.07731955e-01 -9.45864908e-01 5.90322015e+01] [-4.27780574e-01 -8.44774815e-01 -3.21495400e-01 -1.79685459e+00] [-8.97977261e-01 4.37785970e-01 4.45003751e-02 -3.34791621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.88864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:58.27, Y:-2.84, Z:-33.26 [[ 1.90458172e-01 -9.17971604e-01 -3.47927894e-01 5.82703428e+01] [-3.95629434e-01 -3.96133420e-01 8.28586547e-01 -2.84255035e+00] [-8.98444787e-01 -2.01605636e-02 -4.38623433e-01 -3.32649800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.91864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:57.26, Y:-2.35, Z:-33.89 [[ 2.22116831e-01 -4.03933155e-01 8.87413162e-01 5.72575589e+01] [-4.76091640e-01 7.49338409e-01 4.60248519e-01 -2.35376471e+00] [-8.50882403e-01 -5.24718930e-01 -2.58685257e-02 -3.38862302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.94864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:57.89, Y:-1.35, Z:-34.35 [[ 0.18471062 0.88280133 0.43190716 57.89153274] [ -0.48702949 0.46393382 -0.73997817 -1.35090833] [ -0.85363005 -0.07366969 0.51564378 -34.34704167] [ 0. 0. 0. 1. ]] SLAMing on 71.97864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:59.02, Y:-1.83, Z:-34.03 [[ 0.14336847 0.54697132 -0.82478352 59.01840791] [ -0.40324937 -0.72878838 -0.55340532 -1.82754412] [ -0.90378948 0.41193432 0.11608056 -34.02584613] [ 0. 0. 0. 1. ]] SLAMing on 72.00864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:58.70, Y:-2.95, Z:-33.75 [[ 0.20992435 -0.68515137 -0.69749506 58.70425737] [ -0.37737176 -0.71489028 0.58866157 -2.94922374] [ -0.90195472 0.13964054 -0.40862966 -33.74700409] [ 0. 0. 0. 1. ]] SLAMing on 72.03864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:57.92, Y:-3.19, Z:-34.03 [[ 3.20512931e-01 -9.41848923e-01 1.00955766e-01 5.79150353e+01] [-3.59952435e-01 -2.25174968e-02 9.32698883e-01 -3.19414915e+00] [-8.76188168e-01 -3.35281327e-01 -3.46237963e-01 -3.40326899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:57.72, Y:-1.75, Z:-34.81 [[ 0.27643539 0.69176906 0.66711247 57.71589174] [ -0.40869401 0.71288521 -0.56988059 -1.74664267] [ -0.86980037 -0.11510971 0.47978857 -34.80503555] [ 0. 0. 0. 1. ]] SLAMing on 72.09864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:58.93, Y:-1.84, Z:-34.57 [[ 0.20247881 0.79304239 -0.57453119 58.93282166] [ -0.3402438 -0.49316416 -0.80063929 -1.83871104] [ -0.91827909 0.35759317 0.16997246 -34.56500755] [ 0. 0. 0. 1. ]] SLAMing on 72.12863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:58.99, Y:-3.05, Z:-34.28 [[ 0.26897226 -0.41733352 -0.86803609 58.99419948] [ -0.25194491 -0.90035463 0.35480319 -3.04620289] [ -0.92961158 0.12326507 -0.34731548 -34.28118374] [ 0. 0. 0. 1. ]] SLAMing on 72.15863999999999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:57.90, Y:-3.42, Z:-34.67 [[ 0.36294167 -0.89714777 0.25179203 57.90078471] [ -0.29059299 0.14776592 0.94536815 -3.41837309] [ -0.88534121 -0.41628249 -0.20707445 -34.67199238] [ 0. 0. 0. 1. ]] SLAMing on 72.18863999999999 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:57.75, Y:-2.04, Z:-35.26 [[ 0.32166464 0.57586569 0.75160533 57.74923596] [ -0.33680299 0.81146439 -0.47758694 -2.03738975] [ -0.88492689 -0.09952009 0.45497269 -35.26432764] [ 0. 0. 0. 1. ]] SLAMing on 72.21864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:59.08, Y:-2.07, Z:-34.96 [[ 0.2472541 0.76788285 -0.59094953 59.07638096] [ -0.26207668 -0.53415535 -0.80373744 -2.07200323] [ -0.93283505 0.35360147 0.06917209 -34.95923126] [ 0. 0. 0. 1. ]] SLAMing on 72.24864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:59.03, Y:-3.37, Z:-34.78 [[ 3.13884374e-01 -5.21492808e-01 -7.93424130e-01 5.90298415e+01] [-1.79569053e-01 -8.53181584e-01 4.89730681e-01 -3.37211543e+00] [-9.32325885e-01 -1.12443881e-02 -3.61444337e-01 -3.47846246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.27864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:57.79, Y:-3.42, Z:-35.39 [[ 3.89807981e-01 -7.20163308e-01 5.73946467e-01 5.77872371e+01] [-2.51838121e-01 5.16125124e-01 8.18652806e-01 -3.41762927e+00] [-8.85791905e-01 -4.63658997e-01 1.98251185e-02 -3.53904983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.30864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:57.87, Y:-2.23, Z:-35.75 [[ 3.69253778e-01 5.25488671e-01 7.66494164e-01 5.78731261e+01] [-2.69509343e-01 8.49889252e-01 -4.52827753e-01 -2.22811473e+00] [-8.89391006e-01 -3.93689802e-02 4.55448924e-01 -3.57523366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.33864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:59.25, Y:-2.28, Z:-35.37 [[ 3.03573019e-01 7.15783089e-01 -6.28886311e-01 5.92527259e+01] [-2.17715264e-01 -5.90462666e-01 -7.77144712e-01 -2.27934913e+00] [-9.27600930e-01 3.72838315e-01 -2.34116304e-02 -3.53656140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.36864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:58.98, Y:-3.70, Z:-35.32 [[ 0.36837136 -0.70868277 -0.60172359 58.97885376] [ -0.15505631 -0.68500655 0.71184519 -3.70112011] [ -0.91665702 -0.16892234 -0.36222253 -35.32337114] [ 0. 0. 0. 1. ]] SLAMing on 72.39864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:57.92, Y:-2.47, Z:-36.07 [[ 3.73703448e-01 3.85893650e-01 8.43464181e-01 5.79170247e+01] [-1.74768686e-01 9.22354741e-01 -3.44554261e-01 -2.46818811e+00] [-9.10934487e-01 -1.86500112e-02 4.12129273e-01 -3.60659559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.42864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:59.23, Y:-2.24, Z:-35.77 [[ 3.08170522e-01 8.55607753e-01 -4.15892175e-01 5.92287902e+01] [-1.62601378e-01 -3.83363180e-01 -9.09171856e-01 -2.24419607e+00] [-9.37332236e-01 3.47804607e-01 2.09817683e-02 -3.57713071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:59.50, Y:-3.48, Z:-35.68 [[ 3.15040609e-01 -2.91489691e-01 -9.03207160e-01 5.95027459e+01] [-8.69967335e-02 -9.56530525e-01 2.78353953e-01 -3.48209068e+00] [-9.45082527e-01 -9.11672635e-03 -3.26704610e-01 -3.56811145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:57.97, Y:-2.75, Z:-36.35 [[ 3.53537335e-01 1.90729427e-01 9.15769424e-01 5.79679516e+01] [-7.32075788e-02 9.81631137e-01 -1.76184450e-01 -2.75418361e+00] [-9.32551341e-01 -4.75348143e-03 3.61006096e-01 -3.63505325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.51863999999999 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:59.28, Y:-2.30, Z:-36.12 [[ 2.70969950e-01 9.11867743e-01 -3.08338297e-01 5.92829306e+01] [-9.59150099e-02 -2.93150552e-01 -9.51242905e-01 -2.29782673e+00] [-9.57797263e-01 2.87332513e-01 8.02681333e-03 -3.61185973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.54863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:59.73, Y:-3.48, Z:-36.11 [[ 2.61810963e-01 -1.75040623e-01 -9.49113165e-01 5.97262497e+01] [ 7.47477836e-04 -9.83378440e-01 1.81566202e-01 -3.48387048e+00] [-9.65118884e-01 -4.82454633e-02 -2.57328417e-01 -3.61133280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.57864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:58.88, Y:-4.08, Z:-36.56 [[ 3.33180150e-01 -9.33395658e-01 -1.33279903e-01 5.88840992e+01] [ 2.83942937e-02 -1.31359496e-01 9.90928074e-01 -4.08231381e+00] [-9.42435542e-01 -3.33941953e-01 -1.72632661e-02 -3.65597355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.60864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:58.07, Y:-3.13, Z:-36.90 [[ 3.57899429e-01 -1.14761928e-01 9.26681012e-01 5.80695593e+01] [ 3.18417945e-02 9.93341482e-01 1.10719462e-01 -3.12976077e+00] [-9.33217070e-01 -1.01192458e-02 3.59170575e-01 -3.69022941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.63864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:58.13, Y:-3.03, Z:-37.05 [[ 3.75680172e-01 -3.19050491e-02 9.26200019e-01 5.81313761e+01] [-2.52379579e-02 9.98684345e-01 4.46388173e-02 -3.03020859e+00] [-9.26405664e-01 -4.01453156e-02 3.74380689e-01 -3.70493546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.66864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:59.16, Y:-2.22, Z:-36.88 [[ 2.84030787e-01 9.57629367e-01 4.76708180e-02 5.91633340e+01] [-5.07674000e-02 6.46690027e-02 -9.96614565e-01 -2.22378438e+00] [-9.57470199e-01 2.80649096e-01 6.69843409e-02 -3.68846343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.69864 meters Centerline goodness : 0.764735 Centerline is valid? [True, False] Translation: X:59.07, Y:-2.23, Z:-36.85 [[ 2.69957562e-01 9.54405095e-01 1.27412047e-01 5.90740172e+01] [-4.69370479e-02 1.45211544e-01 -9.88286659e-01 -2.22533832e+00] [-9.61727523e-01 2.60815112e-01 8.39979121e-02 -3.68509175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.72864 meters Centerline goodness : 0.999361 Centerline is valid? [False, True] Translation: X:58.99, Y:-2.23, Z:-36.82 [[ 2.56449281e-01 9.45230390e-01 2.01923938e-01 5.89944184e+01] [-4.50610549e-02 2.20375130e-01 -9.74373801e-01 -2.23256806e+00] [-9.65506741e-01 2.40778555e-01 9.91081219e-02 -3.68157474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.75864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:59.99, Y:-3.08, Z:-36.71 [[ 2.21468568e-01 2.52815664e-01 -9.41825840e-01 5.99901422e+01] [ 4.36744720e-02 -9.67411665e-01 -2.49413734e-01 -3.08335321e+00] [-9.74189003e-01 1.41035563e-02 -2.25292867e-01 -3.67078636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.78864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:59.22, Y:-4.09, Z:-37.11 [[ 3.09296169e-01 -9.16604070e-01 -2.53323623e-01 5.92225775e+01] [ 7.38118725e-02 -2.42442568e-01 9.67353818e-01 -4.09397636e+00] [-9.48096877e-01 -3.17897121e-01 -7.33029461e-03 -3.71140388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:58.28, Y:-3.35, Z:-37.44 [[ 3.22398170e-01 -3.02869126e-01 8.96844308e-01 5.82804367e+01] [ 4.09165961e-02 9.51006544e-01 3.06451279e-01 -3.35192452e+00] [-9.45719436e-01 -6.21035151e-02 3.18995143e-01 -3.74402884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:58.99, Y:-2.28, Z:-37.33 [[ 2.71767687e-01 8.94182201e-01 3.55781557e-01 5.89919114e+01] [ 4.69225357e-02 3.56944169e-01 -9.32946481e-01 -2.27925243e+00] [-9.61218289e-01 2.70238880e-01 5.50485948e-02 -3.73273001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.87863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:59.51, Y:-2.29, Z:-37.38 [[ 1.37676405e-01 9.85388900e-01 -1.00269253e-01 5.95121508e+01] [ 3.04765940e-02 -1.05399823e-01 -9.93962803e-01 -2.28612514e+00] [-9.90008275e-01 1.33789360e-01 -4.45423662e-02 -3.73789563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.90863999999999 meters Centerline goodness : 0.766372 Centerline is valid? [True, False] Translation: X:59.46, Y:-2.28, Z:-37.35 [[ 1.26500659e-01 9.91247444e-01 -3.77635684e-02 5.94567155e+01] [ 3.37770765e-02 -4.23516255e-02 -9.98531646e-01 -2.27640494e+00] [-9.91391291e-01 1.25039369e-01 -3.88389493e-02 -3.73477663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.93863999999999 meters Centerline goodness : 0.999655 Centerline is valid? [False, True] Translation: X:59.40, Y:-2.27, Z:-37.32 [[ 1.14649503e-01 9.93101441e-01 2.45971546e-02 5.94007720e+01] [ 3.56126798e-02 2.06356913e-02 -9.99152594e-01 -2.27138434e+00] [-9.92767459e-01 1.15428319e-01 -3.30011318e-02 -3.73172264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.96864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:59.16, Y:-4.05, Z:-37.52 [[ 2.36849224e-01 -9.71524774e-01 6.48520178e-03 5.91597212e+01] [ 1.61619034e-02 1.06141644e-02 9.99813049e-01 -4.05473855e+00] [-9.71411982e-01 -2.36700131e-01 1.82156462e-02 -3.75214089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.99864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:58.49, Y:-3.51, Z:-37.76 [[ 2.34210867e-01 -4.85402264e-01 8.42335985e-01 5.84855162e+01] [-5.09398450e-02 8.59117683e-01 5.09236624e-01 -3.51307083e+00] [-9.70850350e-01 -1.62177216e-01 1.76488381e-01 -3.77599784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.02864 meters Centerline goodness : 0.800285 Centerline is valid? [True, False] Translation: X:58.45, Y:-3.41, Z:-37.71 [[ 2.30162218e-01 -3.83453435e-01 8.94420939e-01 5.84452362e+01] [-4.64912438e-02 9.13714469e-01 4.03688536e-01 -3.40538293e+00] [-9.72041109e-01 -1.34496591e-01 1.92475322e-01 -3.77081733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.05864 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:58.43, Y:-3.32, Z:-37.70 [[ 2.38362091e-01 -2.95386178e-01 9.25165131e-01 5.84286035e+01] [-3.48411039e-02 9.49409084e-01 3.12103330e-01 -3.31591780e+00] [-9.70551189e-01 -1.06627377e-01 2.16011554e-01 -3.77000733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.08864 meters Centerline goodness : 0.852778 Centerline is valid? [True, False] Translation: X:58.42, Y:-3.24, Z:-37.71 [[ 2.50669741e-01 -2.18055108e-01 9.43194917e-01 5.84249974e+01] [-2.72942002e-02 9.72322529e-01 2.32042942e-01 -3.23761277e+00] [-9.67687815e-01 -8.39098952e-02 2.37780197e-01 -3.77077813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.11864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:58.45, Y:-3.18, Z:-37.78 [[ 2.80856277e-01 -1.58499496e-01 9.46571530e-01 5.84450058e+01] [-1.97763003e-02 9.85103871e-01 1.70819384e-01 -3.17502404e+00] [-9.59546064e-01 -6.66953790e-02 2.73538071e-01 -3.77764993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.14864 meters Centerline goodness : 0.885050 Centerline is valid? [True, False] Translation: X:58.48, Y:-3.13, Z:-37.87 [[ 3.14704272e-01 -1.12690906e-01 9.42476515e-01 5.84784908e+01] [-1.13914627e-02 9.92407475e-01 1.22464844e-01 -3.12706691e+00] [-9.49121413e-01 -4.92763957e-02 3.11031158e-01 -3.78708123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.17864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:58.52, Y:-3.09, Z:-37.97 [[ 3.50327131e-01 -7.52294579e-02 9.33601323e-01 5.85166896e+01] [-7.84063743e-03 9.96498695e-01 8.32398613e-02 -3.08704358e+00] [-9.36594590e-01 -3.64812113e-02 3.48510682e-01 -3.79671560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:58.54, Y:-3.18, Z:-38.01 [[ 4.07581340e-01 -1.73167688e-01 8.96599355e-01 5.85393059e+01] [ 3.05056970e-03 9.82107612e-01 1.88295863e-01 -3.17759090e+00] [-9.13163811e-01 -7.40107413e-02 4.00816997e-01 -3.80143640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:59.40, Y:-2.22, Z:-37.82 [[ 2.69529132e-01 9.33048495e-01 2.38274112e-01 5.93956575e+01] [ 3.24492235e-02 2.38490752e-01 -9.70602498e-01 -2.21958442e+00] [-9.62445372e-01 2.69337459e-01 3.40035063e-02 -3.78236426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.26863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:59.44, Y:-4.02, Z:-38.00 [[ 3.89322585e-01 -9.15709147e-01 -9.95222701e-02 5.94351167e+01] [ 4.30195198e-02 -8.98524729e-02 9.95025554e-01 -4.02178844e+00] [-9.20096324e-01 -3.91667322e-01 4.41177074e-03 -3.80039352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.29863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:58.67, Y:-3.20, Z:-38.39 [[ 3.51793863e-01 -2.21804635e-01 9.09419475e-01 5.86713586e+01] [-3.68815405e-02 9.67482883e-01 2.50233136e-01 -3.20484482e+00] [-9.35350645e-01 -1.21571273e-01 3.32174045e-01 -3.83863483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:58.69, Y:-3.10, Z:-38.43 [[ 4.06321094e-01 -1.16260755e-01 9.06303815e-01 5.86879537e+01] [-2.61540570e-02 9.89986070e-01 1.38721112e-01 -3.09799817e+00] [-9.13355973e-01 -8.00688356e-02 3.99211532e-01 -3.84297598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.35864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:58.76, Y:-2.88, Z:-38.51 [[ 3.81221243e-01 1.07482810e-01 9.18214468e-01 5.87561434e+01] [-4.91416348e-02 9.94170297e-01 -9.59714590e-02 -2.87875513e+00] [-9.23176832e-01 -8.53620120e-03 3.84280717e-01 -3.85089636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.38864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:59.68, Y:-2.20, Z:-38.35 [[ 2.70789622e-01 9.52504679e-01 1.39311944e-01 5.96764745e+01] [-5.11401556e-02 1.58748741e-01 -9.85993672e-01 -2.19998958e+00] [-9.61279182e-01 2.59872420e-01 9.16987491e-02 -3.83534410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.41864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:60.58, Y:-2.93, Z:-38.23 [[ 2.42246385e-01 3.97704461e-01 -8.84956412e-01 6.05782740e+01] [ 4.93146165e-02 -9.15992513e-01 -3.98152967e-01 -2.92640501e+00] [-9.68960658e-01 5.28098310e-02 -2.41508518e-01 -3.82343087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.44864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:60.10, Y:-4.00, Z:-38.59 [[ 0.324578 -0.78470101 -0.52810363 60.09666424] [ 0.09366332 -0.52892322 0.84348528 -4.00101339] [ -0.94121002 -0.3232407 -0.09817914 -38.58674289] [ 0. 0. 0. 1. ]] SLAMing on 73.47864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:58.92, Y:-3.35, Z:-39.00 [[ 0.34323809 -0.35300253 0.8703889 58.92473969] [ 0.06287588 0.93324351 0.35369928 -3.35373897] [ -0.93714153 -0.0666766 0.34252006 -39.00373196] [ 0. 0. 0. 1. ]] SLAMing on 73.50864 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:58.94, Y:-3.21, Z:-39.11 [[ 3.45361487e-01 -2.19300424e-01 9.12487133e-01 5.89393260e+01] [ 4.53506095e-02 9.75077843e-01 2.17178548e-01 -3.20865152e+00] [-9.37373333e-01 -3.36232587e-02 3.46699742e-01 -3.91079677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.53864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:59.59, Y:-2.26, Z:-39.01 [[ 2.64257459e-01 8.48507012e-01 4.58479930e-01 5.95877434e+01] [-1.50343271e-03 4.75740443e-01 -8.79584430e-01 -2.26473950e+00] [-9.64451002e-01 2.31747453e-01 1.26993634e-01 -3.90135152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:60.65, Y:-2.59, Z:-38.91 [[ 0.19728148 0.7226696 -0.66244145 60.65248802] [ 0.06377192 -0.68375039 -0.72692403 -2.59116518] [ -0.97827049 0.10116349 -0.18097732 -38.90799017] [ 0. 0. 0. 1. ]] SLAMing on 73.59864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:60.69, Y:-3.73, Z:-39.16 [[ 0.23494048 -0.43805948 -0.86770206 60.69282762] [ 0.14379291 -0.8672032 0.47674124 -3.72556637] [ -0.96131502 -0.23677523 -0.14075129 -39.15867002] [ 0. 0. 0. 1. ]] SLAMing on 73.62863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:59.23, Y:-3.60, Z:-39.59 [[ 2.67505737e-01 -6.06264812e-01 7.48921664e-01 5.92339265e+01] [ 1.37387057e-01 7.93304838e-01 5.93120756e-01 -3.60203982e+00] [-9.53711423e-01 -5.57710615e-02 2.95506533e-01 -3.95911843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.65863999999999 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:59.20, Y:-3.42, Z:-39.72 [[ 2.73305312e-01 -4.45898072e-01 8.52337443e-01 5.91962005e+01] [ 1.11548095e-01 8.94786048e-01 4.32336617e-01 -3.41742911e+00] [-9.55437716e-01 -2.30832765e-02 2.94288861e-01 -3.97170893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.68863999999999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:59.64, Y:-2.32, Z:-39.66 [[ 2.20271893e-01 7.56763014e-01 6.15459206e-01 5.96353860e+01] [ 4.78980410e-02 6.21803841e-01 -7.81706953e-01 -2.31685778e+00] [-9.74261808e-01 2.01667360e-01 1.00718443e-01 -3.96600793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.71864 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:60.86, Y:-2.53, Z:-39.60 [[ 1.24452237e-01 7.40845714e-01 -6.60044899e-01 6.08567796e+01] [ 9.40315613e-02 -6.71028748e-01 -7.35444413e-01 -2.52808518e+00] [-9.87759944e-01 2.94626502e-02 -1.53173908e-01 -3.96019593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.74864 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:61.01, Y:-2.69, Z:-39.79 [[ 0.06989589 0.61293032 -0.78703938 61.01257224] [ 0.18468287 -0.78328094 -0.59360189 -2.68810824] [ -0.98030954 -0.10386236 -0.16794585 -39.79220336] [ 0. 0. 0. 1. ]] SLAMing on 73.77864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:61.09, Y:-2.80, Z:-39.98 [[ 4.23320637e-02 5.25599044e-01 -8.49678552e-01 6.10892556e+01] [ 2.63855486e-01 -8.26129298e-01 -4.97886197e-01 -2.79656249e+00] [-9.63632855e-01 -2.03115797e-01 -1.73653949e-01 -3.99841028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.80864 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:60.14, Y:-3.99, Z:-40.45 [[ 6.08991332e-02 -9.97607708e-01 3.27132527e-02 6.01368038e+01] [ 2.95963137e-01 4.93479033e-02 9.53923795e-01 -3.98756790e+00] [-9.53256061e-01 -4.84112154e-02 2.98260351e-01 -4.04537587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.83864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:59.38, Y:-3.02, Z:-40.40 [[ 0.08924024 -0.10085267 0.99089097 59.37853079] [ 0.21123359 0.974146 0.08012454 -3.01847029] [ -0.97335325 0.20215913 0.10823649 -40.40132475] [ 0. 0. 0. 1. ]] SLAMing on 73.86864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:60.21, Y:-2.12, Z:-40.33 [[ 3.44746948e-03 9.69804158e-01 2.43860638e-01 6.02121699e+01] [ 1.72068576e-01 2.39649538e-01 -9.55489667e-01 -2.11990889e+00] [-9.85078941e-01 4.52547743e-02 -1.66046636e-01 -4.03251097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.89864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:61.23, Y:-2.83, Z:-40.54 [[-2.15554130e-02 2.82218290e-01 -9.59108024e-01 6.12305254e+01] [ 2.38336605e-01 -9.30221910e-01 -2.79075009e-01 -2.83383643e+00] [-9.70943369e-01 -2.34606128e-01 -4.72116318e-02 -4.05400248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.92864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:60.47, Y:-3.84, Z:-40.86 [[ 8.38455728e-04 -9.72438772e-01 -2.33156883e-01 6.04656321e+01] [ 2.71395107e-01 -2.24184835e-01 9.35994581e-01 -3.84493163e+00] [-9.62467658e-01 -6.40624270e-02 2.63727155e-01 -4.08574788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:60.19, Y:-3.81, Z:-40.99 [[ 4.04329291e-02 -9.97922504e-01 5.01583019e-02 6.01920936e+01] [ 2.53538248e-01 5.88031238e-02 9.65536405e-01 -3.80560761e+00] [-9.66479971e-01 -2.63224170e-02 2.55389106e-01 -4.09900587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:59.43, Y:-2.86, Z:-40.96 [[ 5.78620314e-02 -1.00361568e-01 9.93267105e-01 5.94267715e+01] [ 1.58260752e-01 9.83274963e-01 9.01325814e-02 -2.85697576e+00] [-9.85700522e-01 1.51979944e-01 7.27775840e-02 -4.09613359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.01863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:60.16, Y:-1.95, Z:-40.95 [[-3.05020700e-02 9.41721031e-01 3.35009140e-01 6.01551948e+01] [ 1.24348999e-01 3.36136472e-01 -9.33568208e-01 -1.95199727e+00] [-9.91769605e-01 1.31822884e-02 -1.27354926e-01 -4.09480837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.04863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:61.27, Y:-2.65, Z:-41.14 [[-2.12140825e-02 2.70466433e-01 -9.62495647e-01 6.12688291e+01] [ 1.97883577e-01 -9.42530610e-01 -2.69217644e-01 -2.65403964e+00] [-9.79995945e-01 -1.96173287e-01 -3.35259431e-02 -4.11449858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.07864 meters Centerline goodness : 0.856475 Centerline is valid? [True, False] Translation: X:60.62, Y:-2.33, Z:-42.21 [[ 0.45056896 -0.62625158 -0.63623626 60.62461494] [ 0.18190197 0.76212748 -0.62134804 -2.32734209] [ 0.87401332 0.16422751 0.45730738 -42.20823152] [ 0. 0. 0. 1. ]] SLAMing on 74.10864 meters Centerline goodness : 0.999361 Centerline is valid? [False, True] Translation: X:60.65, Y:-2.43, Z:-42.29 [[ 0.46166246 -0.54571613 -0.69932945 60.64818199] [ 0.18013343 0.8296199 -0.52847211 -2.42599389] [ 0.86857338 0.11800312 0.48130608 -42.2945502 ] [ 0. 0. 0. 1. ]] SLAMing on 74.13864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:60.75, Y:-2.56, Z:-42.29 [[ 4.94540777e-01 -4.10140361e-01 -7.66299096e-01 6.07517651e+01] [ 2.01294428e-01 9.11736616e-01 -3.58073869e-01 -2.55920291e+00] [ 8.45523491e-01 2.28303911e-02 5.33449904e-01 -4.22882766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.16864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.63, Z:-42.27 [[ 4.55614834e-01 -3.36775493e-01 -8.24012980e-01 6.07990199e+01] [ 1.81592116e-01 9.41370677e-01 -2.84333522e-01 -2.62517387e+00] [ 8.71458219e-01 -2.00876907e-02 4.90058219e-01 -4.22663520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.19864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:60.78, Y:-2.55, Z:-42.24 [[ 4.64672472e-01 -4.00848261e-01 -7.89556943e-01 6.07765220e+01] [ 1.80115172e-01 9.15814634e-01 -3.58945791e-01 -2.54731663e+00] [ 8.66970598e-01 2.45810438e-02 4.97752704e-01 -4.22387516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.22864 meters Centerline goodness : 0.894972 Centerline is valid? [True, False] Translation: X:60.78, Y:-2.63, Z:-42.29 [[ 4.70547163e-01 -3.24042376e-01 -8.20720358e-01 6.07820902e+01] [ 1.75546137e-01 9.45912329e-01 -2.72824890e-01 -2.63261610e+00] [ 8.64736330e-01 -1.56973107e-02 5.01980750e-01 -4.22877209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.25864 meters Centerline goodness : 0.999261 Centerline is valid? [False, True] Translation: X:60.78, Y:-2.71, Z:-42.34 [[ 4.79956004e-01 -2.54428112e-01 -8.39588334e-01 6.07783606e+01] [ 1.69889444e-01 9.65861201e-01 -1.95575351e-01 -2.70912487e+00] [ 8.60685663e-01 -4.87696313e-02 5.06795533e-01 -4.23380020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.28864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.59, Z:-42.31 [[ 4.82135171e-01 -3.56057209e-01 -8.00480443e-01 6.07449652e+01] [ 1.65923551e-01 9.34263659e-01 -3.15627613e-01 -2.59463466e+00] [ 8.60241275e-01 1.93566159e-02 5.09519646e-01 -4.23116472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:60.74, Y:-2.55, Z:-42.28 [[ 5.19733739e-01 -3.93872414e-01 -7.58116984e-01 6.07373691e+01] [ 1.84809880e-01 9.18205983e-01 -3.50347087e-01 -2.54864385e+00] [ 8.34099604e-01 4.19796922e-02 5.50014142e-01 -4.22843938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:60.78, Y:-2.61, Z:-42.27 [[ 4.85477765e-01 -3.28611593e-01 -8.10139347e-01 6.07832657e+01] [ 1.68789248e-01 9.44465141e-01 -2.81949973e-01 -2.60705264e+00] [ 8.57800402e-01 1.37631661e-04 5.13982929e-01 -4.22662101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.37863999999999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:60.78, Y:-2.57, Z:-42.24 [[ 4.84306809e-01 -3.56822402e-01 -7.98827070e-01 6.07801775e+01] [ 1.70856287e-01 9.34045103e-01 -3.13636534e-01 -2.57099622e+00] [ 8.58053054e-01 1.54116823e-02 5.13329754e-01 -4.22412725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.40863999999999 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:60.79, Y:-2.55, Z:-42.22 [[ 4.86883906e-01 -3.70963011e-01 -7.90778418e-01 6.07854283e+01] [ 1.74388148e-01 9.28390151e-01 -3.28147073e-01 -2.55071365e+00] [ 8.55881321e-01 2.18671448e-02 5.16709775e-01 -4.22159346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.43863999999999 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:60.80, Y:-2.55, Z:-42.19 [[ 4.88078578e-01 -3.68337992e-01 -7.91268870e-01 6.07998121e+01] [ 1.77526590e-01 9.29531464e-01 -3.23195866e-01 -2.54684159e+00] [ 8.54554628e-01 1.72737146e-02 5.19074183e-01 -4.21936790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.46864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:60.82, Y:-2.55, Z:-42.17 [[ 4.86752852e-01 -3.58770486e-01 -7.96464312e-01 6.08166190e+01] [ 1.81291304e-01 9.33404301e-01 -3.09660900e-01 -2.54910778e+00] [ 8.54520406e-01 6.33627229e-03 5.19379175e-01 -4.21683508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.49864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:60.82, Y:-2.52, Z:-42.14 [[ 4.95814392e-01 -3.83845808e-01 -7.78993250e-01 6.08186602e+01] [ 1.87878918e-01 9.23182818e-01 -3.35313281e-01 -2.51762125e+00] [ 8.47861782e-01 1.98967416e-02 5.29843863e-01 -4.21434807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.52864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:60.87, Y:-2.59, Z:-42.13 [[ 4.80236023e-01 -3.15436494e-01 -8.18457806e-01 6.08747538e+01] [ 2.03346255e-01 9.47715569e-01 -2.45938004e-01 -2.59403288e+00] [ 8.53243027e-01 -4.83220406e-02 5.19269985e-01 -4.21322487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.55864 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:60.82, Y:-2.47, Z:-42.12 [[ 4.74508792e-01 -4.33782339e-01 -7.65946662e-01 6.08152441e+01] [ 1.83624288e-01 8.99781896e-01 -3.95821501e-01 -2.46720012e+00] [ 8.60885316e-01 4.71743721e-02 5.06607394e-01 -4.21206303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.58864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:60.75, Y:-2.35, Z:-42.05 [[ 0.49196146 -0.52861479 -0.69176609 60.75050264] [ 0.18645498 0.84010611 -0.50936849 -2.35381076] [ 0.85041664 0.12160643 0.51186269 -42.05263031] [ 0. 0. 0. 1. ]] SLAMing on 74.61864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:60.88, Y:-2.53, Z:-42.06 [[ 4.88899741e-01 -3.51611884e-01 -7.98339606e-01 6.08815877e+01] [ 1.90571166e-01 9.36114788e-01 -2.95587102e-01 -2.52814013e+00] [ 8.51269448e-01 -7.62805204e-03 5.24673364e-01 -4.20564342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.64864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:60.89, Y:-2.51, Z:-42.03 [[ 4.87530488e-01 -3.61881805e-01 -7.94578871e-01 6.08900450e+01] [ 1.92255185e-01 9.32218208e-01 -3.06605866e-01 -2.51495740e+00] [ 8.51675975e-01 -3.28220020e-03 5.24058451e-01 -4.20330927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.67864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:60.90, Y:-2.50, Z:-42.01 [[ 4.87093666e-01 -3.70992255e-01 -7.90635508e-01 6.09001773e+01] [ 1.94528847e-01 9.28635957e-01 -3.15901545e-01 -2.50294012e+00] [ 8.51409589e-01 7.22279006e-05 5.24501389e-01 -4.20088530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:60.90, Y:-2.47, Z:-41.98 [[ 5.20133141e-01 -3.97078207e-01 -7.56168244e-01 6.09020724e+01] [ 2.12589639e-01 9.17680498e-01 -3.35660764e-01 -2.47139502e+00] [ 8.27204425e-01 1.38347531e-02 5.61730753e-01 -4.19844834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:60.93, Y:-2.49, Z:-41.96 [[ 5.21546002e-01 -3.75521833e-01 -7.66141711e-01 6.09280427e+01] [ 2.11610984e-01 9.26813490e-01 -3.10221770e-01 -2.48763796e+00] [ 8.26565520e-01 -3.29077502e-04 5.62840415e-01 -4.19623959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.76863999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:60.94, Y:-2.48, Z:-41.94 [[ 5.22036069e-01 -3.75858769e-01 -7.65642559e-01 6.09420931e+01] [ 2.11264223e-01 9.26676807e-01 -3.10865765e-01 -2.48260718e+00] [ 8.26344826e-01 5.30261667e-04 5.63164228e-01 -4.19390456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.79863999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:60.97, Y:-2.52, Z:-41.92 [[ 4.86330840e-01 -3.38863871e-01 -8.05390334e-01 6.09740415e+01] [ 1.95684425e-01 9.40563710e-01 -2.77574338e-01 -2.51530516e+00] [ 8.51580835e-01 -2.26093835e-02 5.23735521e-01 -4.19175771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.82864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:60.97, Y:-2.47, Z:-41.89 [[ 4.91069353e-01 -3.79862290e-01 -7.83935923e-01 6.09657622e+01] [ 1.95309051e-01 9.25017166e-01 -3.25879759e-01 -2.46797755e+00] [ 8.48943617e-01 6.91978168e-03 5.28438125e-01 -4.18909624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.85864 meters Centerline goodness : 0.757628 Centerline is valid? [True, False] Translation: X:60.97, Y:-2.55, Z:-41.94 [[ 4.96331050e-01 -3.05413657e-01 -8.12636442e-01 6.09710827e+01] [ 1.91396395e-01 9.51536752e-01 -2.40718155e-01 -2.55363703e+00] [ 8.46772052e-01 -3.60597908e-02 5.30732308e-01 -4.19376560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.88864 meters Centerline goodness : 0.999361 Centerline is valid? [False, True] Translation: X:60.97, Y:-2.63, Z:-41.99 [[ 0.50547241 -0.24043973 -0.82866542 60.96702518] [ 0.18799782 0.96800634 -0.1661943 -2.63042664] [ 0.84211309 -0.07178066 0.53450264 -41.98680287] [ 0. 0. 0. 1. ]] SLAMing on 74.91864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:60.89, Y:-2.43, Z:-41.95 [[ 0.55856284 -0.42749068 -0.71081592 60.89041973] [ 0.20493908 0.90151749 -0.38113802 -2.42594237] [ 0.80374593 0.06721557 0.59116372 -41.94544332] [ 0. 0. 0. 1. ]] SLAMing on 74.94864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:60.99, Y:-2.61, Z:-41.94 [[ 0.51589035 -0.24441232 -0.82104797 60.99354009] [ 0.18962621 0.96724046 -0.16878326 -2.61493698] [ 0.83540352 -0.06861856 0.54533701 -41.93874815] [ 0. 0. 0. 1. ]] SLAMing on 74.97864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:60.94, Y:-2.47, Z:-41.91 [[ 5.18240857e-01 -3.78019614e-01 -7.67155516e-01 6.09449597e+01] [ 1.82754950e-01 9.25241174e-01 -3.32459618e-01 -2.46626956e+00] [ 8.35480127e-01 3.20926901e-02 5.48582735e-01 -4.19060058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.00864 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:60.97, Y:-2.49, Z:-41.89 [[ 5.22727061e-01 -3.52522310e-01 -7.76198712e-01 6.09724014e+01] [ 1.83270940e-01 9.35677299e-01 -3.01529027e-01 -2.48665675e+00] [ 8.32567224e-01 1.53627142e-02 5.53710940e-01 -4.18861284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.03864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:60.99, Y:-2.48, Z:-41.86 [[ 5.32812545e-01 -3.52187133e-01 -7.69464109e-01 6.09887015e+01] [ 1.84631656e-01 9.35756165e-01 -3.00452245e-01 -2.47935929e+00] [ 8.25846199e-01 1.80172920e-02 5.63607517e-01 -4.18647602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:61.01, Y:-2.49, Z:-41.84 [[ 5.35762131e-01 -3.33216463e-01 -7.75838725e-01 6.10120437e+01] [ 1.85450435e-01 9.42839800e-01 -2.76877677e-01 -2.49384760e+00] [ 8.23751829e-01 4.46094511e-03 5.66932998e-01 -4.18435210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:61.03, Y:-2.49, Z:-41.82 [[ 5.35741975e-01 -3.28723883e-01 -7.77766768e-01 6.10298277e+01] [ 1.87309453e-01 9.44425588e-01 -2.70139737e-01 -2.49433680e+00] [ 8.23344220e-01 -9.57871135e-04 5.67541520e-01 -4.18227711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.12863999999999 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:61.04, Y:-2.47, Z:-41.80 [[ 5.36959696e-01 -3.44747002e-01 -7.69950511e-01 6.10355621e+01] [ 1.87522836e-01 9.38630428e-01 -2.89496296e-01 -2.47232339e+00] [ 8.22501958e-01 1.10645399e-02 5.68654645e-01 -4.17975260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.15863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:61.05, Y:-2.47, Z:-41.78 [[ 5.37119811e-01 -3.39613007e-01 -7.72117422e-01 6.10542067e+01] [ 1.88773098e-01 9.40546658e-01 -2.82376879e-01 -2.47249565e+00] [ 8.22111322e-01 5.91521769e-03 5.69296043e-01 -4.17763283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.18863999999999 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:61.07, Y:-2.47, Z:-41.75 [[ 5.35851451e-01 -3.32804973e-01 -7.75953654e-01 6.10719870e+01] [ 1.88774277e-01 9.42995598e-01 -2.74086801e-01 -2.47404001e+00] [ 8.22938330e-01 3.89720363e-04 5.68130577e-01 -4.17540258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.21864 meters Centerline goodness : 0.942499 Centerline is valid? [True, False] Translation: X:61.07, Y:-2.55, Z:-41.80 [[ 5.43770392e-01 -2.70934994e-01 -7.94297167e-01 6.10672744e+01] [ 1.85652038e-01 9.61840506e-01 -2.00987963e-01 -2.54827693e+00] [ 8.18441862e-01 -3.81715841e-02 5.73320023e-01 -4.18027602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.24864 meters Centerline goodness : 0.998770 Centerline is valid? [False, True] Translation: X:61.06, Y:-2.62, Z:-41.84 [[ 0.54975548 -0.2157419 -0.80698472 61.06218688] [ 0.1839064 0.973628 -0.13500727 -2.61562603] [ 0.81482964 -0.07418867 0.57493364 -41.83992108] [ 0. 0. 0. 1. ]] SLAMing on 75.27864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:61.03, Y:-2.49, Z:-41.81 [[ 5.51410470e-01 -3.25995144e-01 -7.67902116e-01 6.10276357e+01] [ 1.80064056e-01 9.45298853e-01 -2.72005541e-01 -2.48867544e+00] [ 8.14569475e-01 1.17151339e-02 5.79947693e-01 -4.18108177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.30864 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:61.07, Y:-2.55, Z:-41.80 [[ 5.56305965e-01 -2.57090735e-01 -7.90207585e-01 6.10732466e+01] [ 1.81998828e-01 9.65544986e-01 -1.86008890e-01 -2.55437266e+00] [ 8.10802133e-01 -4.03389993e-02 5.83928648e-01 -4.17952621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.33864 meters Centerline goodness : 0.919087 Centerline is valid? [True, False] Translation: X:61.06, Y:-2.61, Z:-41.85 [[ 0.56776625 -0.2064155 -0.79689028 61.0575604 ] [ 0.17638911 0.97607296 -0.12715527 -2.6107094 ] [ 0.80406987 -0.0683683 0.59059073 -41.84737202] [ 0. 0. 0. 1. ]] SLAMing on 75.36864 meters Centerline goodness : 0.999213 Centerline is valid? [False, True] Translation: X:61.03, Y:-2.65, Z:-41.90 [[ 0.59214338 -0.17988255 -0.78549888 61.0253811 ] [ 0.17654594 0.98004458 -0.09134628 -2.64982214] [ 0.78625552 -0.08458654 0.61208445 -41.90415798] [ 0. 0. 0. 1. ]] SLAMing on 75.39864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:60.99, Y:-2.51, Z:-41.88 [[ 5.92857290e-01 -3.08311144e-01 -7.43951929e-01 6.09871104e+01] [ 1.82048907e-01 9.51206551e-01 -2.49127061e-01 -2.50620868e+00] [ 7.84460598e-01 1.22611587e-02 6.20057445e-01 -4.18756666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.42864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:61.00, Y:-2.50, Z:-41.85 [[ 5.93620363e-01 -3.07850753e-01 -7.43533980e-01 6.10008415e+01] [ 1.80591661e-01 9.51332314e-01 -2.49706788e-01 -2.49696062e+00] [ 7.84220324e-01 1.39549976e-02 6.20325512e-01 -4.18521702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:61.05, Y:-2.59, Z:-41.84 [[ 5.38323225e-01 -2.14771791e-01 -8.14911764e-01 6.10529271e+01] [ 1.67426771e-01 9.74961129e-01 -1.46352567e-01 -2.59175246e+00] [ 8.25939696e-01 -5.76530594e-02 5.60802767e-01 -4.18351001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:61.03, Y:-2.50, Z:-41.81 [[ 5.57002575e-01 -2.94171272e-01 -7.76666849e-01 6.10320070e+01] [ 1.69695154e-01 9.55750519e-01 -2.40300855e-01 -2.49928279e+00] [ 8.12989352e-01 2.05159483e-03 5.82274940e-01 -4.18084299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.51863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:61.00, Y:-2.40, Z:-41.77 [[ 0.56388605 -0.37739869 -0.73457658 61.00194874] [ 0.17008843 0.92347906 -0.34388421 -2.4026332 ] [ 0.80814754 0.06896853 0.58492811 -41.77499991] [ 0. 0. 0. 1. ]] SLAMing on 75.54863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.03, Y:-2.42, Z:-41.76 [[ 5.98277135e-01 -3.52004899e-01 -7.19831245e-01 6.10339819e+01] [ 1.88700332e-01 9.34969290e-01 -3.00374119e-01 -2.42426050e+00] [ 7.78753269e-01 4.38745729e-02 6.25794190e-01 -4.17581565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.57864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:61.07, Y:-2.46, Z:-41.74 [[ 5.97410325e-01 -3.13314237e-01 -7.38197190e-01 6.10708499e+01] [ 1.88661390e-01 9.49593686e-01 -2.50357169e-01 -2.46102776e+00] [ 7.79427856e-01 1.02966493e-02 6.26407372e-01 -4.17412537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.60864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:61.09, Y:-2.45, Z:-41.72 [[ 5.95257577e-01 -3.15992087e-01 -7.38794571e-01 6.10869453e+01] [ 1.91767071e-01 9.48728964e-01 -2.51274239e-01 -2.45485605e+00] [ 7.80316479e-01 7.89642350e-03 6.25334982e-01 -4.17188085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.63864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:61.12, Y:-2.48, Z:-41.70 [[ 5.59318323e-01 -2.86367800e-01 -7.77918053e-01 6.11172047e+01] [ 1.82397779e-01 9.57950626e-01 -2.21498644e-01 -2.48423977e+00] [ 8.08637165e-01 -1.80022749e-02 5.88032188e-01 -4.17002480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.66864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:61.11, Y:-2.43, Z:-41.67 [[ 5.60455901e-01 -3.28132985e-01 -7.60406422e-01 6.11124225e+01] [ 1.82987653e-01 9.44532177e-01 -2.72716861e-01 -2.43446926e+00] [ 8.07715731e-01 1.37007880e-02 5.89412917e-01 -4.16732612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.69864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:61.13, Y:-2.44, Z:-41.65 [[ 5.60476099e-01 -3.21686313e-01 -7.63141179e-01 6.11320499e+01] [ 1.85608924e-01 9.46829462e-01 -2.62798967e-01 -2.43681293e+00] [ 8.07103382e-01 5.64672672e-03 5.90383134e-01 -4.16511254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.72864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:61.15, Y:-2.44, Z:-41.63 [[ 5.59245213e-01 -3.19300819e-01 -7.65043645e-01 6.11478182e+01] [ 1.85465497e-01 9.47647022e-01 -2.59937822e-01 -2.43506686e+00] [ 8.07989691e-01 3.47978292e-03 5.89186346e-01 -4.16276938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.75864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:61.17, Y:-2.44, Z:-41.61 [[ 5.59699572e-01 -3.13066740e-01 -7.67284566e-01 6.11691162e+01] [ 1.86165271e-01 9.49729105e-01 -2.51708402e-01 -2.43769812e+00] [ 8.07514013e-01 -1.96065410e-03 5.89845128e-01 -4.16076233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.78864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:61.21, Y:-2.50, Z:-41.59 [[ 5.60595706e-01 -2.54770063e-01 -7.87924279e-01 6.12071330e+01] [ 1.89145310e-01 9.65738031e-01 -1.77691047e-01 -2.49716177e+00] [ 8.06198801e-01 -4.94193446e-02 5.89577155e-01 -4.15906097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:61.14, Y:-2.32, Z:-41.54 [[ 0.56769327 -0.41132814 -0.71311535 61.13949201] [ 0.18537512 0.90785386 -0.37608169 -2.31832076] [ 0.80209751 0.0813052 0.59163253 -41.54477897] [ 0. 0. 0. 1. ]] SLAMing on 75.84864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:61.23, Y:-2.47, Z:-41.54 [[ 5.48798941e-01 -2.66113191e-01 -7.92466714e-01 6.12339628e+01] [ 1.84323137e-01 9.63167755e-01 -1.95787785e-01 -2.47066864e+00] [ 8.15380098e-01 -3.86218215e-02 5.77636262e-01 -4.15421865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.87863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:61.20, Y:-2.37, Z:-41.51 [[ 5.65208538e-01 -3.55702817e-01 -7.44321714e-01 6.12032066e+01] [ 1.85346544e-01 9.33952518e-01 -3.05580353e-01 -2.36652618e+00] [ 8.03856932e-01 3.47591672e-02 5.93806225e-01 -4.15097895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.90863999999999 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:61.25, Y:-2.41, Z:-41.49 [[ 5.66625068e-01 -3.07385053e-01 -7.64493598e-01 6.12454374e+01] [ 1.85693966e-01 9.51579998e-01 -2.44976037e-01 -2.41061622e+00] [ 8.02778789e-01 -3.15228515e-03 5.96268631e-01 -4.14944738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.93863999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:61.25, Y:-2.38, Z:-41.47 [[ 5.67950088e-01 -3.32655522e-01 -7.52843278e-01 6.12458210e+01] [ 1.85224013e-01 9.42880102e-01 -2.76891996e-01 -2.37609717e+00] [ 8.01950599e-01 1.78161802e-02 5.97124628e-01 -4.14682856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.96864 meters Centerline goodness : 0.765975 Centerline is valid? [True, False] Translation: X:61.24, Y:-2.44, Z:-41.52 [[ 5.74586448e-01 -2.75349859e-01 -7.70735278e-01 6.12406073e+01] [ 1.82458679e-01 9.61103759e-01 -2.07336430e-01 -2.44367271e+00] [ 7.97846630e-01 -2.14946377e-02 6.02477167e-01 -4.15158548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.99864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:61.24, Y:-2.51, Z:-41.55 [[ 5.80281126e-01 -2.22717757e-01 -7.83371314e-01 6.12364851e+01] [ 1.80859719e-01 9.73103194e-01 -1.42688246e-01 -2.50665378e+00] [ 7.94080334e-01 -5.88810197e-02 6.04954088e-01 -4.15531564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.02864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:61.17, Y:-2.33, Z:-41.51 [[ 0.58564146 -0.37291398 -0.71969386 61.17443527] [ 0.17773536 0.92535707 -0.33484987 -2.33282846] [ 0.790844 0.06818692 0.60820746 -41.51086492] [ 0. 0. 0. 1. ]] SLAMing on 76.05864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:61.22, Y:-2.39, Z:-41.50 [[ 5.87600403e-01 -3.15182318e-01 -7.45242157e-01 6.12228591e+01] [ 1.82871120e-01 9.48915605e-01 -2.57132900e-01 -2.38834713e+00] [ 7.88215656e-01 1.48081278e-02 6.15220935e-01 -4.14999619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.08864 meters Centerline goodness : 0.996904 Centerline is valid? [True, True] Translation: X:61.27, Y:-2.42, Z:-41.49 [[ 6.03137622e-01 -2.49594137e-01 -7.57580211e-01 6.12664726e+01] [ 1.61770790e-01 9.68318982e-01 -1.90232914e-01 -2.42390701e+00] [ 7.81060318e-01 -7.81772194e-03 6.24406648e-01 -4.14884452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.11864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:61.25, Y:-2.37, Z:-41.46 [[ 5.86833731e-01 -3.26327501e-01 -7.41037472e-01 6.12501924e+01] [ 1.88199890e-01 9.45098253e-01 -2.67151817e-01 -2.36889736e+00] [ 7.87532205e-01 1.73105266e-02 6.16030334e-01 -4.14577497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.14864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:61.27, Y:-2.37, Z:-41.44 [[ 5.87953471e-01 -3.23568076e-01 -7.41359843e-01 6.12688187e+01] [ 1.94331364e-01 9.46170089e-01 -2.58838723e-01 -2.37143985e+00] [ 7.85204456e-01 8.11565585e-03 6.19183413e-01 -4.14362058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.17864 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:61.31, Y:-2.41, Z:-41.43 [[ 6.04755148e-01 -2.58556532e-01 -7.53272680e-01 6.13107225e+01] [ 1.71689920e-01 9.65919289e-01 -1.93707248e-01 -2.40539334e+00] [ 7.77684886e-01 -1.21838705e-02 6.28536213e-01 -4.14294177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20864 meters Centerline goodness : 0.987813 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.33, Z:-41.41 [[ 6.17211115e-01 -3.02150279e-01 -7.26467926e-01 6.12907049e+01] [ 1.54908317e-01 9.51916545e-01 -2.64307216e-01 -2.32902074e+00] [ 7.71397338e-01 5.05974275e-02 6.34339064e-01 -4.14067464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23864 meters Centerline goodness : 0.767581 Centerline is valid? [True, False] Translation: X:61.28, Y:-2.40, Z:-41.46 [[ 6.24531010e-01 -2.40893991e-01 -7.42920657e-01 6.12834277e+01] [ 1.50427028e-01 9.70534054e-01 -1.88242818e-01 -2.40425067e+00] [ 7.66376361e-01 5.80813145e-03 6.42365581e-01 -4.14562318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.26863999999999 meters Centerline goodness : 0.997640 Centerline is valid? [False, True] Translation: X:61.28, Y:-2.47, Z:-41.49 [[ 6.29967964e-01 -1.91180040e-01 -7.52722098e-01 6.12773174e+01] [ 1.48113589e-01 9.81012997e-01 -1.25203296e-01 -2.46638271e+00] [ 7.62366532e-01 -3.26143061e-02 6.46323122e-01 -4.14898874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.29863999999999 meters Centerline goodness : 0.826296 Centerline is valid? [True, False] Translation: X:61.26, Y:-2.51, Z:-41.53 [[ 6.43789655e-01 -1.59454793e-01 -7.48404336e-01 6.12577902e+01] [ 1.46980432e-01 9.85603826e-01 -8.35574693e-02 -2.50948760e+00] [ 7.50953816e-01 -5.62073581e-02 6.57958281e-01 -4.15270170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.32864 meters Centerline goodness : 0.997640 Centerline is valid? [False, True] Translation: X:61.25, Y:-2.53, Z:-41.55 [[ 0.64849679 -0.14404457 -0.74746443 61.2456512 ] [ 0.14316758 0.98748942 -0.06608846 -2.52831598] [ 0.7476329 -0.06415452 0.66100623 -41.5480901 ] [ 0. 0. 0. 1. ]] SLAMing on 76.35864 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:61.24, Y:-2.44, Z:-41.52 [[ 6.48501848e-01 -2.18680648e-01 -7.29125591e-01 6.12365848e+01] [ 1.45942111e-01 9.75796157e-01 -1.62858099e-01 -2.44183556e+00] [ 7.47091864e-01 -7.96350264e-04 6.64720326e-01 -4.15198204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.38864 meters Centerline goodness : 0.990789 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.50, Z:-41.50 [[ 6.26029395e-01 -1.00463680e-01 -7.73300877e-01 6.12941941e+01] [ 7.84818587e-02 9.94748411e-01 -6.56977607e-02 -2.50423445e+00] [ 7.75840058e-01 -1.95613608e-02 6.30626322e-01 -4.15030245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.41864 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:61.28, Y:-2.48, Z:-41.48 [[ 6.03147158e-01 -1.90792665e-01 -7.74475090e-01 6.12794226e+01] [ 1.43858317e-01 9.81068258e-01 -1.29652837e-01 -2.47998551e+00] [ 7.84549738e-01 -3.32149432e-02 6.19175643e-01 -4.14809400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.44864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:61.26, Y:-2.38, Z:-41.45 [[ 6.46628492e-01 -2.80433100e-01 -7.09386263e-01 6.12622636e+01] [ 1.54912922e-01 9.58868821e-01 -2.37849893e-01 -2.37650947e+00] [ 7.46909352e-01 4.39074188e-02 6.63474610e-01 -4.14470028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.47864 meters Centerline goodness : 0.997338 Centerline is valid? [True, True] Translation: X:61.33, Y:-2.52, Z:-41.44 [[ 6.07903932e-01 -1.59015199e-01 -7.77924788e-01 6.13285774e+01] [ 1.46348478e-01 9.85394595e-01 -8.70609905e-02 -2.51517391e+00] [ 7.80406902e-01 -6.09233899e-02 6.22296881e-01 -4.14421063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.50864 meters Centerline goodness : 0.996649 Centerline is valid? [True, True] Translation: X:61.32, Y:-2.44, Z:-41.41 [[ 6.03106773e-01 -2.32038098e-01 -7.63164819e-01 6.13193323e+01] [ 1.44610068e-01 9.72706266e-01 -1.81467485e-01 -2.43818985e+00] [ 7.84442572e-01 -9.17047041e-04 6.20200782e-01 -4.14104851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.53864 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:61.35, Y:-2.49, Z:-41.40 [[ 6.15338687e-01 -1.90706913e-01 -7.64845849e-01 6.13501840e+01] [ 1.50728966e-01 9.80855516e-01 -1.23301400e-01 -2.48786809e+00] [ 7.73717700e-01 -3.94123023e-02 6.32303401e-01 -4.13995993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56864 meters Centerline goodness : 0.997197 Centerline is valid? [True, True] Translation: X:61.34, Y:-2.40, Z:-41.36 [[ 6.05108255e-01 -2.67410084e-01 -7.49890557e-01 6.13405783e+01] [ 1.38817196e-01 9.62913858e-01 -2.31358354e-01 -2.39541869e+00] [ 7.83947566e-01 3.58991455e-02 6.19788242e-01 -4.13622528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59864 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:61.37, Y:-2.43, Z:-41.35 [[ 6.11824506e-01 -2.34069345e-01 -7.55567545e-01 6.13690650e+01] [ 1.41285842e-01 9.72190821e-01 -1.86770766e-01 -2.43223316e+00] [ 7.78273143e-01 7.51993494e-03 6.27880853e-01 -4.13466130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.62863999999999 meters Centerline goodness : 0.839880 Centerline is valid? [True, False] Translation: X:61.36, Y:-2.50, Z:-41.38 [[ 6.16948391e-01 -1.82643165e-01 -7.65516922e-01 6.13614391e+01] [ 1.38622301e-01 9.82709443e-01 -1.22743672e-01 -2.49674412e+00] [ 7.74699000e-01 -3.03912061e-02 6.31599425e-01 -4.13806259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.65863999999999 meters Centerline goodness : 0.997244 Centerline is valid? [False, True] Translation: X:61.34, Y:-2.55, Z:-41.42 [[ 6.30028511e-01 -1.44915116e-01 -7.62930983e-01 6.13416039e+01] [ 1.35900339e-01 9.87848340e-01 -7.54105813e-02 -2.54808175e+00] [ 7.64588238e-01 -5.61717626e-02 6.42066632e-01 -4.14200618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.68863999999999 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:61.33, Y:-2.46, Z:-41.39 [[ 6.29874441e-01 -2.17417743e-01 -7.45645837e-01 6.13342301e+01] [ 1.37189898e-01 9.76070553e-01 -1.68716353e-01 -2.46318506e+00] [ 7.64484873e-01 3.97504228e-03 6.44629411e-01 -4.13929934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.71864 meters Centerline goodness : 0.744331 Centerline is valid? [True, False] Translation: X:61.31, Y:-2.51, Z:-41.43 [[ 6.40344249e-01 -1.79601671e-01 -7.46794806e-01 6.13143564e+01] [ 1.35264839e-01 9.83450685e-01 -1.20532874e-01 -2.51244636e+00] [ 7.56083769e-01 -2.38325469e-02 6.54040781e-01 -4.14344426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.74864 meters Centerline goodness : 0.997392 Centerline is valid? [False, True] Translation: X:61.29, Y:-2.56, Z:-41.48 [[ 6.53263854e-01 -1.43368707e-01 -7.43432411e-01 6.12901668e+01] [ 1.33553560e-01 9.88331489e-01 -7.32414855e-02 -2.55946428e+00] [ 7.45258199e-01 -5.14420298e-02 6.64788639e-01 -4.14774313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.77864 meters Centerline goodness : 0.996852 Centerline is valid? [True, True] Translation: X:61.29, Y:-2.49, Z:-41.45 [[ 6.54241144e-01 -1.97977543e-01 -7.29913295e-01 6.12881177e+01] [ 1.30636901e-01 9.80204558e-01 -1.48771718e-01 -2.48830919e+00] [ 7.44917798e-01 1.97896804e-03 6.67153324e-01 -4.14502128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.80864 meters Centerline goodness : 0.997292 Centerline is valid? [True, True] Translation: X:61.30, Y:-2.46, Z:-41.43 [[ 6.58591301e-01 -2.13480316e-01 -7.21584127e-01 6.12995829e+01] [ 1.27835410e-01 9.76716843e-01 -1.72285568e-01 -2.46080722e+00] [ 7.41562948e-01 2.12217735e-02 6.70547560e-01 -4.14271571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.83864 meters Centerline goodness : 0.997047 Centerline is valid? [True, True] Translation: X:61.32, Y:-2.46, Z:-41.41 [[ 6.60144532e-01 -2.07719796e-01 -7.21846025e-01 6.13178829e+01] [ 1.27735117e-01 9.78049643e-01 -1.64628784e-01 -2.46187132e+00] [ 7.40197904e-01 1.64737047e-02 6.72187236e-01 -4.14088498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.86864 meters Centerline goodness : 0.997388 Centerline is valid? [True, True] Translation: X:61.34, Y:-2.46, Z:-41.39 [[ 6.64797892e-01 -2.07743764e-01 -7.17555776e-01 6.13377475e+01] [ 1.28443337e-01 9.78036133e-01 -1.64157341e-01 -2.45581453e+00] [ 7.35898140e-01 1.69661965e-02 6.76879662e-01 -4.13900919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.89864 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:61.35, Y:-2.44, Z:-41.37 [[ 6.65843530e-01 -2.12360352e-01 -7.15231064e-01 6.13514277e+01] [ 1.28145020e-01 9.76942569e-01 -1.70769058e-01 -2.44305159e+00] [ 7.35004250e-01 2.20521728e-02 6.77703810e-01 -4.13686091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.92864 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:61.37, Y:-2.45, Z:-41.35 [[ 6.66336983e-01 -2.05941989e-01 -7.16646999e-01 6.13712738e+01] [ 1.28925092e-01 9.78447892e-01 -1.61301098e-01 -2.44556452e+00] [ 7.34420414e-01 1.50871062e-02 6.78527106e-01 -4.13494680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95864 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:61.39, Y:-2.43, Z:-41.33 [[ 6.70526067e-01 -2.17057766e-01 -7.09422808e-01 6.13851792e+01] [ 1.29647823e-01 9.75811024e-01 -1.76023542e-01 -2.42550144e+00] [ 7.30469873e-01 2.60532509e-02 6.82447795e-01 -4.13276581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98864 meters Centerline goodness : 0.996014 Centerline is valid? [True, True] Translation: X:61.41, Y:-2.44, Z:-41.31 [[ 6.67999127e-01 -2.00823872e-01 -7.16552119e-01 6.14094778e+01] [ 1.30351435e-01 9.79587689e-01 -1.53024387e-01 -2.43796862e+00] [ 7.32656584e-01 8.81655991e-03 6.80541401e-01 -4.13100108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.01863999999999 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:61.43, Y:-2.43, Z:-41.29 [[ 6.70582737e-01 -2.06543238e-01 -7.12501708e-01 6.14259176e+01] [ 1.31470788e-01 9.78343874e-01 -1.59870874e-01 -2.42639848e+00] [ 7.30091929e-01 1.35334867e-02 6.83214915e-01 -4.12892071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.04863999999999 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:61.44, Y:-2.41, Z:-41.27 [[ 6.73881218e-01 -2.11929937e-01 -7.07792205e-01 6.14403437e+01] [ 1.32012116e-01 9.77099760e-01 -1.66879777e-01 -2.41125582e+00] [ 7.26950414e-01 1.90200009e-02 6.86426496e-01 -4.12671646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.07864 meters Centerline goodness : 0.995128 Centerline is valid? [True, True] Translation: X:61.46, Y:-2.41, Z:-41.25 [[ 6.77000193e-01 -2.11649209e-01 -7.04893858e-01 6.14595786e+01] [ 1.33606696e-01 9.77187471e-01 -1.65087545e-01 -2.40590373e+00] [ 7.23754094e-01 1.75857608e-02 6.89833858e-01 -4.12481392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.10864 meters Centerline goodness : 0.995065 Centerline is valid? [True, True] Translation: X:61.48, Y:-2.41, Z:-41.23 [[ 6.78122809e-01 -2.07920621e-01 -7.04924443e-01 6.14799202e+01] [ 1.34603468e-01 9.78060179e-01 -1.58997463e-01 -2.40507446e+00] [ 7.22517378e-01 1.29345321e-02 6.91231753e-01 -4.12283492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.13864 meters Centerline goodness : 0.994543 Centerline is valid? [True, True] Translation: X:61.50, Y:-2.40, Z:-41.21 [[ 6.77354791e-01 -2.07154596e-01 -7.05887711e-01 6.14998678e+01] [ 1.37167758e-01 9.78271456e-01 -1.55466923e-01 -2.40199172e+00] [ 7.22755487e-01 8.48123034e-03 6.91051789e-01 -4.12084127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.16864 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:61.52, Y:-2.40, Z:-41.19 [[ 6.77730832e-01 -2.08246193e-01 -7.05205249e-01 6.15188665e+01] [ 1.38634889e-01 9.78046314e-01 -1.55582055e-01 -2.39677945e+00] [ 7.22122764e-01 7.67670429e-03 6.91722330e-01 -4.11879576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.19864 meters Centerline goodness : 0.994632 Centerline is valid? [True, True] Translation: X:61.54, Y:-2.39, Z:-41.17 [[ 6.77085918e-01 -2.09107431e-01 -7.05569800e-01 6.15380997e+01] [ 1.42546013e-01 9.77887971e-01 -1.53022059e-01 -2.39345401e+00] [ 7.21966269e-01 3.03291977e-03 6.91921605e-01 -4.11676146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.22864 meters Centerline goodness : 0.994744 Centerline is valid? [True, True] Translation: X:61.56, Y:-2.42, Z:-41.15 [[ 6.69060637e-01 -1.89813578e-01 -7.18560136e-01 6.15643866e+01] [ 1.44217429e-01 9.81616765e-01 -1.25019439e-01 -2.41533376e+00] [ 7.29081063e-01 -1.99833099e-02 6.84135564e-01 -4.11503041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.25864 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:61.56, Y:-2.34, Z:-41.12 [[ 6.97070852e-01 -2.46655452e-01 -6.73240904e-01 6.15589159e+01] [ 1.52327016e-01 9.68476720e-01 -1.97102315e-01 -2.34253649e+00] [ 7.00634503e-01 3.48415001e-02 7.12669182e-01 -4.11201181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.28864 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:61.59, Y:-2.38, Z:-41.11 [[ 6.97001401e-01 -2.15515526e-01 -6.83916738e-01 6.15929739e+01] [ 1.52111477e-01 9.76497477e-01 -1.52691766e-01 -2.37680414e+00] [ 7.00750416e-01 2.39478972e-03 7.13402495e-01 -4.11056471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31864 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:61.63, Y:-2.41, Z:-41.09 [[ 6.79377325e-01 -1.72543755e-01 -7.13214626e-01 6.16284198e+01] [ 1.39925967e-01 9.84588736e-01 -1.04908265e-01 -2.40929634e+00] [ 7.20324354e-01 -2.85249504e-02 6.93050613e-01 -4.10913422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34864 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:61.63, Y:-2.37, Z:-41.07 [[ 6.75665798e-01 -2.12329367e-01 -7.05968816e-01 6.16322099e+01] [ 1.50163738e-01 9.77187626e-01 -1.50183870e-01 -2.36874001e+00] [ 7.21752437e-01 -4.53681221e-03 6.92136429e-01 -4.10669455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.37863999999999 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:61.66, Y:-2.37, Z:-41.05 [[ 6.84285505e-01 -1.93949677e-01 -7.02948697e-01 6.16560877e+01] [ 1.37081517e-01 9.81008398e-01 -1.37226752e-01 -2.36652411e+00] [ 7.16213659e-01 -2.45899629e-03 6.97876743e-01 -4.10486340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.40863999999999 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:61.67, Y:-2.36, Z:-41.03 [[ 6.81355420e-01 -2.17133221e-01 -6.99004975e-01 6.16670197e+01] [ 1.53489062e-01 9.76138439e-01 -1.53606173e-01 -2.35510147e+00] [ 7.15678629e-01 -2.62921932e-03 6.98424790e-01 -4.10263614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.43863999999999 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:61.68, Y:-2.34, Z:-41.00 [[ 6.78673067e-01 -2.26978815e-01 -6.98486567e-01 6.16809838e+01] [ 1.54619701e-01 9.73887758e-01 -1.66238934e-01 -2.33982139e+00] [ 7.17980233e-01 4.82210342e-03 6.96046788e-01 -4.10023960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.46864 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:61.70, Y:-2.34, Z:-40.98 [[ 6.81298844e-01 -2.23412526e-01 -6.97078711e-01 6.17016635e+01] [ 1.55757558e-01 9.74723830e-01 -1.60165657e-01 -2.33658436e+00] [ 7.15242245e-01 5.45399002e-04 6.98876408e-01 -4.09834856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.49864 meters Centerline goodness : 0.996160 Centerline is valid? [True, True] Translation: X:61.72, Y:-2.32, Z:-40.96 [[ 7.00598290e-01 -2.34754777e-01 -6.73833979e-01 6.17168248e+01] [ 1.63950613e-01 9.72026836e-01 -1.68178554e-01 -2.31994205e+00] [ 6.94465429e-01 7.35011335e-03 7.19488529e-01 -4.09629568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.52864 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:61.74, Y:-2.33, Z:-40.94 [[ 6.99660777e-01 -2.27606122e-01 -6.77251985e-01 6.17397027e+01] [ 1.65946358e-01 9.73747446e-01 -1.55813086e-01 -2.32600030e+00] [ 6.94936403e-01 -3.37119530e-03 7.19063301e-01 -4.09441207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.55864 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:61.76, Y:-2.32, Z:-40.92 [[ 6.98461662e-01 -2.29941368e-01 -6.77700726e-01 6.17584169e+01] [ 1.68607433e-01 9.73191606e-01 -1.56427723e-01 -2.32146374e+00] [ 6.95501862e-01 -5.00661248e-03 7.18506850e-01 -4.09245095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.58864 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:61.78, Y:-2.34, Z:-40.91 [[ 6.79489625e-01 -2.16166745e-01 -7.01117528e-01 6.17836212e+01] [ 1.68229462e-01 9.76055251e-01 -1.37894873e-01 -2.33950677e+00] [ 7.14137730e-01 -2.42504891e-02 6.99585032e-01 -4.09066093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.61864 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:61.79, Y:-2.30, Z:-40.88 [[ 6.96821543e-01 -2.50861901e-01 -6.71943482e-01 6.17897537e+01] [ 1.76540986e-01 9.68006519e-01 -1.78316177e-01 -2.29786628e+00] [ 6.95178407e-01 5.62898856e-03 7.18815204e-01 -4.08812730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.64864 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:61.82, Y:-2.31, Z:-40.86 [[ 6.97613354e-01 -2.37968526e-01 -6.75800702e-01 6.18170047e+01] [ 1.79063373e-01 9.71206151e-01 -1.57146176e-01 -2.31375872e+00] [ 6.93737643e-01 -1.13838821e-02 7.20137827e-01 -4.08643960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.67864 meters Centerline goodness : 0.996310 Centerline is valid? [True, True] Translation: X:61.84, Y:-2.31, Z:-40.84 [[ 6.97610818e-01 -2.41818898e-01 -6.74435146e-01 6.18367891e+01] [ 1.84210902e-01 9.70213298e-01 -1.57329275e-01 -2.31391756e+00] [ 6.92391139e-01 -1.44837023e-02 7.21376970e-01 -4.08448120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70864 meters Centerline goodness : 0.995917 Centerline is valid? [True, True] Translation: X:61.86, Y:-2.31, Z:-40.83 [[ 6.97581557e-01 -2.43792414e-01 -6.73754578e-01 6.18567956e+01] [ 1.86607361e-01 9.69699715e-01 -1.57671034e-01 -2.31217138e+00] [ 6.91778624e-01 -1.57391587e-02 7.21938096e-01 -4.08257749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73864 meters Centerline goodness : 0.996263 Centerline is valid? [True, True] Translation: X:61.89, Y:-2.35, Z:-40.81 [[ 6.76944111e-01 -2.19905088e-01 -7.02416132e-01 6.18879370e+01] [ 1.82847865e-01 9.74652310e-01 -1.28916767e-01 -2.34533464e+00] [ 7.12960959e-01 -4.11658435e-02 6.99994317e-01 -4.08090864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.76863999999999 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:61.89, Y:-2.29, Z:-40.78 [[ 6.95943655e-01 -2.68201781e-01 -6.66130793e-01 6.18896934e+01] [ 1.90739148e-01 9.63353626e-01 -1.88595782e-01 -2.28910701e+00] [ 6.92301239e-01 4.19481846e-03 7.21596423e-01 -4.07826304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.79863999999999 meters Centerline goodness : 0.996213 Centerline is valid? [True, True] Translation: X:61.92, Y:-2.32, Z:-40.77 [[ 6.96188445e-01 -2.48392800e-01 -6.73515157e-01 6.19203893e+01] [ 1.91864803e-01 9.68480170e-01 -1.58852316e-01 -2.31530526e+00] [ 6.91743845e-01 -1.86327058e-02 7.21902539e-01 -4.07664610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.82864 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:61.94, Y:-2.32, Z:-40.75 [[ 6.96415766e-01 -2.49503053e-01 -6.72869458e-01 6.19414994e+01] [ 1.93070801e-01 9.68186510e-01 -1.59180863e-01 -2.31894577e+00] [ 6.91179244e-01 -1.90553826e-02 7.22432104e-01 -4.07464906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.85864 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:61.97, Y:-2.35, Z:-40.73 [[ 6.78248167e-01 -2.17912193e-01 -7.01778954e-01 6.19718094e+01] [ 1.85688122e-01 9.74849337e-01 -1.23242408e-01 -2.35405123e+00] [ 7.10984772e-01 -4.67230789e-02 7.01653482e-01 -4.07291490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.88864 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:61.98, Y:-2.32, Z:-40.71 [[ 6.77549057e-01 -2.47183154e-01 -6.92696011e-01 6.19795534e+01] [ 1.85005608e-01 9.68827929e-01 -1.64758518e-01 -2.31661024e+00] [ 7.11828772e-01 -1.65206680e-02 7.02158719e-01 -4.07072798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.91864 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:62.00, Y:-2.32, Z:-40.69 [[ 6.77531109e-01 -2.40898910e-01 -6.94923961e-01 6.20001193e+01] [ 1.82494101e-01 9.70355033e-01 -1.58451925e-01 -2.32295632e+00] [ 7.12493859e-01 -1.94634150e-02 7.01408352e-01 -4.06888229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.94864 meters Centerline goodness : 0.996508 Centerline is valid? [True, True] Translation: X:62.01, Y:-2.30, Z:-40.67 [[ 6.81628508e-01 -2.59465839e-01 -6.84149147e-01 6.20123691e+01] [ 1.81996870e-01 9.65751049e-01 -1.84937965e-01 -2.29691903e+00] [ 7.08702840e-01 1.54598584e-03 7.05505417e-01 -4.06665738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.97864 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:62.04, Y:-2.33, Z:-40.65 [[ 6.80787869e-01 -2.31821730e-01 -6.94828441e-01 6.20429547e+01] [ 1.80951011e-01 9.72422517e-01 -1.47143397e-01 -2.33164813e+00] [ 7.09777859e-01 -2.55564695e-02 7.03961830e-01 -4.06503649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.00864 meters Centerline goodness : 0.996945 Centerline is valid? [True, True] Translation: X:62.04, Y:-2.27, Z:-40.62 [[ 7.04714925e-01 -2.77449981e-01 -6.52991870e-01 6.20447755e+01] [ 1.85385880e-01 9.60401036e-01 -2.07995013e-01 -2.26966824e+00] [ 6.84842281e-01 2.55217174e-02 7.28244253e-01 -4.06229104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.03864 meters Centerline goodness : 0.996702 Centerline is valid? [True, True] Translation: X:62.09, Y:-2.33, Z:-40.61 [[ 6.85621151e-01 -2.22113192e-01 -6.93245531e-01 6.20861751e+01] [ 1.78162568e-01 9.74551868e-01 -1.36039537e-01 -2.33478856e+00] [ 7.05819904e-01 -3.02388198e-02 7.07745630e-01 -4.06103922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06864 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:62.09, Y:-2.29, Z:-40.59 [[ 6.90018285e-01 -2.50210608e-01 -6.79168181e-01 6.20949981e+01] [ 1.73426941e-01 9.68167901e-01 -1.80482718e-01 -2.29340247e+00] [ 7.02707523e-01 6.75031504e-03 7.11446815e-01 -4.05882941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09864 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:62.12, Y:-2.31, Z:-40.57 [[ 6.89311662e-01 -2.32756249e-01 -6.86056820e-01 6.21205052e+01] [ 1.69643591e-01 9.72513750e-01 -1.59493126e-01 -2.30900332e+00] [ 7.04322713e-01 -6.44467096e-03 7.09850676e-01 -4.05700905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.12863999999999 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:62.13, Y:-2.27, Z:-40.55 [[ 7.12938346e-01 -2.50350405e-01 -6.55014190e-01 6.21319894e+01] [ 1.66877897e-01 9.67834461e-01 -1.88276986e-01 -2.27247655e+00] [ 6.81080525e-01 2.49224923e-02 7.31784249e-01 -4.05476117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.15863999999999 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:62.17, Y:-2.33, Z:-40.53 [[ 6.88533355e-01 -1.96340781e-01 -6.98120417e-01 6.21693251e+01] [ 1.57674575e-01 9.80154274e-01 -1.20151267e-01 -2.33264286e+00] [ 7.07856304e-01 -2.73476851e-02 7.05826860e-01 -4.05337063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.18863999999999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:62.18, Y:-2.29, Z:-40.51 [[ 6.90121426e-01 -2.23604892e-01 -6.88282841e-01 6.21764039e+01] [ 1.53134816e-01 9.74653606e-01 -1.63095301e-01 -2.28862747e+00] [ 7.07306260e-01 7.15549551e-03 7.06871030e-01 -4.05098117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.21864 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:62.21, Y:-2.33, Z:-40.49 [[ 6.91433091e-01 -1.78176666e-01 -7.00123815e-01 6.22096178e+01] [ 1.48257248e-01 9.83478761e-01 -1.03871627e-01 -2.33391894e+00] [ 7.07064403e-01 -3.19781496e-02 7.06425742e-01 -4.04922392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.24864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:62.18, Y:-2.17, Z:-40.45 [[ 0.72218439 -0.29773264 -0.62434364 62.17656498] [ 0.15686253 0.94959962 -0.27139403 -2.17389771] [ 0.67367934 0.09806041 0.73248911 -40.45429163] [ 0. 0. 0. 1. ]] SLAMing on 78.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.23, Y:-2.26, Z:-40.45 [[ 7.21595369e-01 -2.19815252e-01 -6.56491719e-01 6.22328685e+01] [ 1.52053019e-01 9.75422274e-01 -1.59471835e-01 -2.26433418e+00] [ 6.75410988e-01 1.52525899e-02 7.37283769e-01 -4.04485607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.25, Y:-2.25, Z:-40.43 [[ 7.22285403e-01 -2.18322510e-01 -6.56230965e-01 6.22520521e+01] [ 1.49637034e-01 9.75723169e-01 -1.59915779e-01 -2.25379301e+00] [ 6.75212970e-01 1.73083776e-02 7.37419734e-01 -4.04301256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.28, Y:-2.29, Z:-40.41 [[ 6.96897647e-01 -1.83139175e-01 -6.93392899e-01 6.22825881e+01] [ 1.44010859e-01 9.82887399e-01 -1.14861804e-01 -2.29246485e+00] [ 7.02562839e-01 -1.98091863e-02 7.11345945e-01 -4.04120683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.25, Z:-40.39 [[ 6.98410868e-01 -2.15730884e-01 -6.82409294e-01 6.22878576e+01] [ 1.48451113e-01 9.76418700e-01 -1.56744346e-01 -2.24732738e+00] [ 7.00131792e-01 8.16753560e-03 7.13966922e-01 -4.03912466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.18, Z:-40.36 [[ 7.25113538e-01 -2.61558290e-01 -6.37022463e-01 6.22857443e+01] [ 1.54874062e-01 9.63301429e-01 -2.19235903e-01 -2.17982092e+00] [ 6.70987617e-01 6.03126647e-02 7.39011502e-01 -4.03636692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.34, Y:-2.29, Z:-40.36 [[ 6.96128894e-01 -1.75366535e-01 -6.96168903e-01 6.23435939e+01] [ 1.48241714e-01 9.83920982e-01 -9.96187460e-02 -2.28569270e+00] [ 7.02444985e-01 -3.38537839e-02 7.10932461e-01 -4.03558746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.32, Y:-2.16, Z:-40.32 [[ 7.22070746e-01 -2.68821208e-01 -6.37455094e-01 6.23236280e+01] [ 1.59035393e-01 9.61240891e-01 -2.25219209e-01 -2.16391978e+00] [ 6.73291602e-01 6.12462809e-02 7.36836014e-01 -4.03233085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.36, Y:-2.21, Z:-40.31 [[ 7.20936533e-01 -2.26747614e-01 -6.54855736e-01 6.23647119e+01] [ 1.59495490e-01 9.73878732e-01 -1.61621175e-01 -2.21351892e+00] [ 6.74397290e-01 1.20720731e-02 7.38269978e-01 -4.03115945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.51863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.41, Y:-2.29, Z:-40.30 [[ 6.91507342e-01 -1.64811099e-01 -7.03317067e-01 6.24063241e+01] [ 1.56312808e-01 9.84696948e-01 -7.70598848e-02 -2.28840122e+00] [ 7.05254494e-01 -5.66499893e-02 7.06687256e-01 -4.02976244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.54863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.16, Z:-40.27 [[ 7.01046929e-01 -2.64480173e-01 -6.62256326e-01 6.23856132e+01] [ 1.57964681e-01 9.63204318e-01 -2.17450229e-01 -2.15778371e+00] [ 6.95399427e-01 4.78297057e-02 7.17029955e-01 -4.02685813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.42, Y:-2.21, Z:-40.26 [[ 6.99502708e-01 -2.22235352e-01 -6.79196150e-01 6.24245528e+01] [ 1.60095083e-01 9.74992621e-01 -1.54139395e-01 -2.20932289e+00] [ 6.96466457e-01 -9.15039695e-04 7.17588766e-01 -4.02559521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.44, Y:-2.20, Z:-40.24 [[ 6.96978818e-01 -2.30024537e-01 -6.79197496e-01 6.24406807e+01] [ 1.62637285e-01 9.73180417e-01 -1.62692933e-01 -2.19733935e+00] [ 6.98405069e-01 2.93069155e-03 7.15696703e-01 -4.02372617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.46, Y:-2.19, Z:-40.22 [[ 6.98662499e-01 -2.37138770e-01 -6.75008086e-01 6.24569042e+01] [ 1.64925530e-01 9.71444082e-01 -1.70575396e-01 -2.18636869e+00] [ 6.96182650e-01 7.84856545e-03 7.17821787e-01 -4.02163985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.48, Y:-2.19, Z:-40.20 [[ 6.99874572e-01 -2.39252703e-01 -6.73003513e-01 6.24796940e+01] [ 1.69856328e-01 9.70950514e-01 -1.68534648e-01 -2.18725994e+00] [ 6.93775477e-01 3.63920933e-03 7.20182160e-01 -4.02003218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-2.18, Z:-40.18 [[ 7.00972388e-01 -2.41712393e-01 -6.70979009e-01 6.24994120e+01] [ 1.71641775e-01 9.70338999e-01 -1.70239032e-01 -2.18179967e+00] [ 6.92225984e-01 4.16483296e-03 7.21668789e-01 -4.01809841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.72864 meters Centerline goodness : 0.927333 Centerline is valid? [True, False] Translation: X:62.47, Y:-2.24, Z:-40.23 [[ 7.12386840e-01 -1.95334826e-01 -6.74054371e-01 6.24709326e+01] [ 1.66127912e-01 9.80121939e-01 -1.08455065e-01 -2.24494425e+00] [ 6.81840529e-01 -3.47172844e-02 7.30676538e-01 -4.02323970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.75864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:62.45, Y:-2.29, Z:-40.27 [[ 0.72418525 -0.16537544 -0.6694824 62.4456775 ] [ 0.16455942 0.98421552 -0.06511533 -2.28906002] [ 0.66968345 -0.06301408 0.73996845 -40.26591836] [ 0. 0. 0. 1. ]] SLAMing on 78.78864 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:62.52, Y:-2.28, Z:-40.23 [[ 0.70756765 -0.16586809 -0.68690304 62.52010559] [ 0.16460852 0.98400873 -0.06805033 -2.28468694] [ 0.68720597 -0.06491988 0.72355605 -40.23317019] [ 0. 0. 0. 1. ]] SLAMing on 78.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-2.38, Z:-40.24 [[ 7.04889303e-01 -8.28946090e-02 -7.04456922e-01 6.24976464e+01] [ 1.55512536e-01 9.87045441e-01 3.94607198e-02 -2.38358890e+00] [ 6.92059912e-01 -1.37367322e-01 7.08648923e-01 -4.02356164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84864 meters Centerline goodness : 0.912996 Centerline is valid? [True, False] Translation: X:62.44, Y:-2.35, Z:-40.28 [[ 7.16989311e-01 -1.10638560e-01 -6.88248093e-01 6.24430917e+01] [ 1.50944474e-01 9.88540842e-01 -1.66387758e-03 -2.35276267e+00] [ 6.80545439e-01 -1.02694264e-01 7.25473496e-01 -4.02822616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:62.39, Y:-2.35, Z:-40.33 [[ 7.37929642e-01 -1.15729990e-01 -6.64880751e-01 6.23869237e+01] [ 1.42048873e-01 9.89751643e-01 -1.46219810e-02 -2.34676289e+00] [ 6.59759018e-01 -8.36555681e-02 7.46806390e-01 -4.03297642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.90863999999999 meters Centerline goodness : 0.913813 Centerline is valid? [True, False] Translation: X:62.33, Y:-2.34, Z:-40.38 [[ 7.58795435e-01 -1.21980983e-01 -6.39804757e-01 6.23297429e+01] [ 1.35545758e-01 9.90373556e-01 -2.80636194e-02 -2.34151633e+00] [ 6.37068941e-01 -6.54282747e-02 7.68024938e-01 -4.03762500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:62.29, Y:-2.35, Z:-40.41 [[ 7.71653328e-01 -1.18720185e-01 -6.24865313e-01 6.22850499e+01] [ 1.31126297e-01 9.91015243e-01 -2.63568313e-02 -2.34741330e+00] [ 6.22380138e-01 -6.15979380e-02 7.80287548e-01 -4.04118609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.29, Y:-2.27, Z:-40.39 [[ 7.70643303e-01 -1.67626634e-01 -6.14825351e-01 6.22896488e+01] [ 1.32984049e-01 9.85845732e-01 -1.02095230e-01 -2.27284843e+00] [ 6.23236827e-01 -3.08295940e-03 7.82027079e-01 -4.03891287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.31, Y:-2.25, Z:-40.37 [[ 7.87758584e-01 -1.81910495e-01 -5.88510820e-01 6.23056237e+01] [ 1.39817751e-01 9.83267178e-01 -1.16776078e-01 -2.25178613e+00] [ 5.99906168e-01 9.70709866e-03 8.00011476e-01 -4.03698347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:62.34, Y:-2.28, Z:-40.35 [[ 7.70075647e-01 -1.61798164e-01 -6.17093876e-01 6.23352178e+01] [ 1.35522368e-01 9.86715301e-01 -8.95913104e-02 -2.27601712e+00] [ 6.23391679e-01 -1.46379372e-02 7.81772694e-01 -4.03547545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.35, Y:-2.24, Z:-40.33 [[ 7.87797817e-01 -1.88760435e-01 -5.86296936e-01 6.23457223e+01] [ 1.42251660e-01 9.81907633e-01 -1.24987460e-01 -2.23559129e+00] [ 5.99282125e-01 1.50631361e-02 8.00396175e-01 -4.03313918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.39, Y:-2.30, Z:-40.32 [[ 7.64051981e-01 -1.38088972e-01 -6.30203147e-01 6.23878376e+01] [ 1.38610642e-01 9.89149296e-01 -4.86904487e-02 -2.30403710e+00] [ 6.30088613e-01 -5.01508294e-02 7.74902080e-01 -4.03216220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.38, Y:-2.19, Z:-40.29 [[ 7.86992545e-01 -2.15265360e-01 -5.78189898e-01 6.23791093e+01] [ 1.45382189e-01 9.75470401e-01 -1.65292214e-01 -2.19141765e+00] [ 5.99588820e-01 4.60252274e-02 7.98983683e-01 -4.02901740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.42, Y:-2.24, Z:-40.28 [[ 7.86103779e-01 -1.82555684e-01 -5.90520339e-01 6.24161669e+01] [ 1.46632586e-01 9.83194900e-01 -1.08750508e-01 -2.23908096e+00] [ 6.00449609e-01 -1.10033904e-03 7.99661839e-01 -4.02805640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.44, Y:-2.24, Z:-40.26 [[ 7.85245113e-01 -1.84283030e-01 -5.91125941e-01 6.24379611e+01] [ 1.48406661e-01 9.82871334e-01 -1.09267583e-01 -2.23545233e+00] [ 6.01136903e-01 -1.92519099e-03 7.99143740e-01 -4.02634742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.46, Y:-2.23, Z:-40.25 [[ 7.85153944e-01 -1.84900404e-01 -5.91054249e-01 6.24599011e+01] [ 1.48888325e-01 9.82755417e-01 -1.09654263e-01 -2.23131139e+00] [ 6.01136883e-01 -1.90559959e-03 7.99143803e-01 -4.02458924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.49, Y:-2.26, Z:-40.23 [[ 7.64859696e-01 -1.63622473e-01 -6.23070888e-01 6.24905602e+01] [ 1.46039352e-01 9.86065158e-01 -7.96744095e-02 -2.25934324e+00] [ 6.27425018e-01 -3.00531240e-02 7.78096817e-01 -4.02315304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.50, Y:-2.20, Z:-40.21 [[ 7.85377916e-01 -2.05662963e-01 -5.83852957e-01 6.24958620e+01] [ 1.53031913e-01 9.78425359e-01 -1.38798600e-01 -2.19865732e+00] [ 5.99802270e-01 1.96612203e-02 7.99906665e-01 -4.02066926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.29863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.54, Y:-2.27, Z:-40.20 [[ 7.62334628e-01 -1.49171704e-01 -6.29756872e-01 6.25367744e+01] [ 1.45976658e-01 9.87631043e-01 -5.72340633e-02 -2.27286811e+00] [ 6.30505139e-01 -4.82982949e-02 7.74680931e-01 -4.01957366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.54, Y:-2.21, Z:-40.18 [[ 7.66876806e-01 -1.92277997e-01 -6.12314573e-01 6.25438749e+01] [ 1.46084916e-01 9.81318592e-01 -1.25191924e-01 -2.21111782e+00] [ 6.24947327e-01 6.55686031e-03 7.80639383e-01 -4.01757889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.57, Y:-2.22, Z:-40.16 [[ 7.65288607e-01 -1.83788837e-01 -6.16891409e-01 6.25671519e+01] [ 1.47125717e-01 9.82945384e-01 -1.10328581e-01 -2.22375938e+00] [ 6.26647725e-01 -6.32738494e-03 7.79276968e-01 -4.01586152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.59, Y:-2.21, Z:-40.14 [[ 7.69003194e-01 -1.90591392e-01 -6.10171295e-01 6.25871677e+01] [ 1.47285257e-01 9.81664292e-01 -1.21005251e-01 -2.21106189e+00] [ 6.22045931e-01 3.18418813e-03 7.82974278e-01 -4.01411782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.61, Y:-2.23, Z:-40.12 [[ 7.66746076e-01 -1.74856367e-01 -6.17677672e-01 6.26137724e+01] [ 1.46689567e-01 9.84454965e-01 -9.65949902e-02 -2.22980198e+00] [ 6.24966100e-01 -1.65430403e-02 7.80476586e-01 -4.01241486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.63, Y:-2.20, Z:-40.10 [[ 7.71655941e-01 -1.95193475e-01 -6.05348343e-01 6.26277636e+01] [ 1.47987641e-01 9.80724642e-01 -1.27588535e-01 -2.19886840e+00] [ 6.18584487e-01 8.87037775e-03 7.85668218e-01 -4.01048369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.65, Y:-2.21, Z:-40.09 [[ 7.73024163e-01 -1.83222461e-01 -6.07341068e-01 6.26541897e+01] [ 1.48984331e-01 9.83040372e-01 -1.06935940e-01 -2.21479107e+00] [ 6.16633856e-01 -7.82023722e-03 7.87211237e-01 -4.00894640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.67, Y:-2.20, Z:-40.07 [[ 7.73145094e-01 -1.87101909e-01 -6.06002920e-01 6.26739751e+01] [ 1.49005846e-01 9.82336561e-01 -1.13190720e-01 -2.20475788e+00] [ 6.16477024e-01 -2.78512834e-03 7.87367971e-01 -4.00714231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.70, Y:-2.20, Z:-40.05 [[ 7.74184680e-01 -1.84870797e-01 -6.05360115e-01 6.26956691e+01] [ 1.47346244e-01 9.82759037e-01 -1.11685986e-01 -2.20128644e+00] [ 6.15570601e-01 -2.73195974e-03 7.88077009e-01 -4.00544478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.71, Y:-2.18, Z:-40.04 [[ 7.90812556e-01 -1.96072062e-01 -5.79802767e-01 6.27133809e+01] [ 1.52423349e-01 9.80544006e-01 -1.23695489e-01 -2.18340631e+00] [ 5.92775357e-01 9.44446650e-03 8.05312472e-01 -4.00376364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.75, Y:-2.24, Z:-40.02 [[ 7.68306293e-01 -1.52754918e-01 -6.21587785e-01 6.27489689e+01] [ 1.45208209e-01 9.87382721e-01 -6.31659546e-02 -2.23870001e+00] [ 6.23393949e-01 -4.17288484e-02 7.80793627e-01 -4.00237135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.62863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.75, Y:-2.17, Z:-40.00 [[ 7.72335168e-01 -1.97411675e-01 -6.03760729e-01 6.27530748e+01] [ 1.44085833e-01 9.80152247e-01 -1.36164771e-01 -2.16636172e+00] [ 6.18657951e-01 1.81714735e-02 7.85450277e-01 -4.00000841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.65863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.78, Y:-2.17, Z:-39.98 [[ 7.74697955e-01 -1.90005509e-01 -6.03109431e-01 6.27775540e+01] [ 1.44968676e-01 9.81751091e-01 -1.23080780e-01 -2.17155123e+00] [ 6.15489368e-01 7.91845260e-03 7.88105409e-01 -3.99848142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.68863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.81, Y:-2.20, Z:-39.97 [[ 7.73185270e-01 -1.70246176e-01 -6.10901610e-01 6.28086217e+01] [ 1.46803930e-01 9.85176391e-01 -8.87473138e-02 -2.19737005e+00] [ 6.16954734e-01 -2.10646412e-02 7.86716682e-01 -3.99739673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.82, Y:-2.16, Z:-39.95 [[ 7.73847712e-01 -1.93825672e-01 -6.02985346e-01 6.28185860e+01] [ 1.46181449e-01 9.80977693e-01 -1.27725293e-01 -2.15806839e+00] [ 6.16271614e-01 1.06946539e-02 7.87461061e-01 -3.99502289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.74864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:62.84, Y:-2.16, Z:-39.93 [[ 7.74409957e-01 -1.87052422e-01 -6.04401034e-01 6.28418078e+01] [ 1.46958584e-01 9.82349610e-01 -1.15725618e-01 -2.16067084e+00] [ 6.15379877e-01 7.97151264e-04 7.88230278e-01 -3.99345449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.77864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:62.86, Y:-2.15, Z:-39.92 [[ 7.74514413e-01 -1.89855087e-01 -6.03392467e-01 6.28614661e+01] [ 1.48015194e-01 9.81808126e-01 -1.18929834e-01 -2.15261439e+00] [ 6.14995062e-01 2.80161770e-03 7.88525983e-01 -3.99179278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.80864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:62.88, Y:-2.14, Z:-39.90 [[ 7.77357858e-01 -1.91607660e-01 -5.99167143e-01 6.28829883e+01] [ 1.47484634e-01 9.81447579e-01 -1.22510947e-01 -2.14356998e+00] [ 6.11525178e-01 6.86690054e-03 7.91195174e-01 -3.99008488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.83864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:62.90, Y:-2.14, Z:-39.88 [[ 7.79010789e-01 -1.91866308e-01 -5.96933422e-01 6.29043503e+01] [ 1.48687069e-01 9.81403827e-01 -1.21402983e-01 -2.13792585e+00] [ 6.09125887e-01 5.81795221e-03 7.93052209e-01 -3.98838605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:62.93, Y:-2.13, Z:-39.87 [[ 7.79946607e-01 -1.94148175e-01 -5.94970400e-01 6.29261615e+01] [ 1.48306540e-01 9.80923439e-01 -1.25675686e-01 -2.12760010e+00] [ 6.08020115e-01 9.78232310e-03 7.93861351e-01 -3.98670031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.89864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:62.95, Y:-2.13, Z:-39.85 [[ 7.80667633e-01 -1.87623185e-01 -5.96117091e-01 6.29506033e+01] [ 1.50424892e-01 9.82238807e-01 -1.12157377e-01 -2.13405850e+00] [ 6.06572665e-01 -2.11321466e-03 7.95025243e-01 -3.98510758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:62.98, Y:-2.15, Z:-39.84 [[ 7.72808529e-01 -1.75469192e-01 -6.09899615e-01 6.29766723e+01] [ 1.50191716e-01 9.84285189e-01 -9.28714940e-02 -2.14888754e+00] [ 6.16611244e-01 -1.98299870e-02 7.87018008e-01 -3.98355823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:62.99, Y:-2.10, Z:-39.81 [[ 7.80365600e-01 -2.04718105e-01 -5.90863798e-01 6.29870150e+01] [ 1.53282019e-01 9.78689125e-01 -1.36646328e-01 -2.10392874e+00] [ 6.06245951e-01 1.60652974e-02 7.95114931e-01 -3.98144513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:63.02, Y:-2.18, Z:-39.82 [[ 0.77303333 -0.20226082 -0.60125705 63.02240706] [ 0.2008625 0.97708368 -0.07043965 -2.1772927 ] [ 0.60172563 -0.06631779 0.79594486 -39.81685956] [ 0. 0. 0. 1. ]] SLAMing on 80.01863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.00, Y:-2.02, Z:-39.77 [[ 0.79596485 -0.25803111 -0.54759465 63.00252037] [ 0.16124275 0.96229495 -0.21906437 -2.01601588] [ 0.58347299 0.08607187 0.80755861 -39.76563904] [ 0. 0. 0. 1. ]] SLAMing on 80.04863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.06, Y:-2.10, Z:-39.77 [[ 7.95770535e-01 -1.97389924e-01 -5.72526395e-01 6.30559535e+01] [ 1.60623718e-01 9.80324834e-01 -1.14731169e-01 -2.10365416e+00] [ 5.83908620e-01 -6.61633963e-04 8.11819121e-01 -3.97655131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.08, Y:-2.12, Z:-39.75 [[ 7.78437517e-01 -1.83260607e-01 -6.00375368e-01 6.30835307e+01] [ 1.58861535e-01 9.82813945e-01 -9.40200142e-02 -2.12384473e+00] [ 6.07287448e-01 -2.21878461e-02 7.94172308e-01 -3.97503275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:63.09, Y:-2.08, Z:-39.73 [[ 7.94747760e-01 -2.15702535e-01 -5.67316856e-01 6.30944101e+01] [ 1.65638497e-01 9.76317409e-01 -1.39169698e-01 -2.07574735e+00] [ 5.83900579e-01 1.66352941e-02 8.11654718e-01 -3.97278029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:63.12, Y:-2.09, Z:-39.71 [[ 7.93637723e-01 -2.04487077e-01 -5.72995811e-01 6.31235556e+01] [ 1.68689030e-01 9.78857259e-01 -1.15682663e-01 -2.09454487e+00] [ 5.84536719e-01 -4.84798278e-03 8.11352773e-01 -3.97139324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.16864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:63.14, Y:-2.09, Z:-39.70 [[ 7.89062274e-01 -2.10273693e-01 -5.77205078e-01 6.31444775e+01] [ 1.69307792e-01 9.77642329e-01 -1.24701036e-01 -2.08555458e+00] [ 5.90521464e-01 6.71566019e-04 8.07021654e-01 -3.96973061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.18, Y:-2.12, Z:-39.68 [[ 7.75616453e-01 -1.83650363e-01 -6.03897062e-01 6.31772494e+01] [ 1.68981950e-01 9.82229478e-01 -8.16722288e-02 -2.12471984e+00] [ 6.08164631e-01 -3.87013789e-02 7.92866941e-01 -3.96837993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.19, Y:-2.08, Z:-39.66 [[ 7.75960607e-01 -2.11264181e-01 -5.94350555e-01 6.31878106e+01] [ 1.70296033e-01 9.77420205e-01 -1.25095982e-01 -2.08451469e+00] [ 6.07358541e-01 -4.14598771e-03 7.94417027e-01 -3.96609673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.25864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:63.21, Y:-2.08, Z:-39.64 [[ 7.78605072e-01 -2.15849475e-01 -5.89222492e-01 6.32086401e+01] [ 1.72992655e-01 9.76425627e-01 -1.29098941e-01 -2.07720250e+00] [ 6.03197880e-01 -1.41407301e-03 7.97590320e-01 -3.96449068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.23, Y:-2.06, Z:-39.63 [[ 7.93057130e-01 -2.26000151e-01 -5.65671566e-01 6.32291776e+01] [ 1.78968354e-01 9.74090922e-01 -1.38264977e-01 -2.06498642e+00] [ 5.82263443e-01 8.41471638e-03 8.12956626e-01 -3.96265384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:63.26, Y:-2.11, Z:-39.61 [[ 7.76154386e-01 -1.94638561e-01 -5.99750114e-01 6.32620472e+01] [ 1.76294967e-01 9.80217593e-01 -8.99641850e-02 -2.11102565e+00] [ 6.05396113e-01 -3.59068297e-02 7.95113983e-01 -3.96133291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:63.28, Y:-2.09, Z:-39.59 [[ 7.75394585e-01 -2.10171432e-01 -5.95475614e-01 6.32780166e+01] [ 1.76700290e-01 9.77531872e-01 -1.14928007e-01 -2.08651305e+00] [ 6.06250975e-01 -1.61061595e-02 7.95110273e-01 -3.95940452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.37863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.32, Y:-2.16, Z:-39.58 [[ 7.70522826e-01 -1.60544073e-01 -6.16863174e-01 6.33181838e+01] [ 1.77150541e-01 9.83571689e-01 -3.47047297e-02 -2.15767463e+00] [ 6.12300793e-01 -8.25368584e-02 7.86304906e-01 -3.95812310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.40863999999999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:63.27, Y:-2.03, Z:-39.57 [[ 7.70711617e-01 -3.08945067e-01 -5.57276008e-01 6.32720532e+01] [ 2.27772398e-01 9.50384672e-01 -2.11869560e-01 -2.02681116e+00] [ 5.95082631e-01 3.63582385e-02 8.02841666e-01 -3.95723260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.43863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:63.30, Y:-1.97, Z:-39.52 [[ 0.78020931 -0.27426113 -0.56218703 63.30326546] [ 0.16449306 0.95707949 -0.23862288 -1.9730258 ] [ 0.60350266 0.09369992 0.79183639 -39.52346554] [ 0. 0. 0. 1. ]] SLAMing on 80.46864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:63.35, Y:-2.06, Z:-39.52 [[ 7.86657084e-01 -2.11544633e-01 -5.80016810e-01 6.33549967e+01] [ 1.67464254e-01 9.77357457e-01 -1.29337256e-01 -2.06476563e+00] [ 5.94244357e-01 4.61198586e-03 8.04271331e-01 -3.95242350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.49864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:63.38, Y:-2.09, Z:-39.51 [[ 7.85628970e-01 -1.94194576e-01 -5.87431348e-01 6.33843802e+01] [ 1.65171578e-01 9.80835223e-01 -1.03347061e-01 -2.08744326e+00] [ 5.96242796e-01 -1.58345173e-02 8.02647990e-01 -3.95117266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.52864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:63.40, Y:-2.07, Z:-39.49 [[ 7.85609897e-01 -2.04706454e-01 -5.83877006e-01 6.34018529e+01] [ 1.65960715e-01 9.78819608e-01 -1.19871668e-01 -2.07181687e+00] [ 5.96048766e-01 -2.72827672e-03 8.02943600e-01 -3.94935925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.55864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:63.43, Y:-2.08, Z:-39.48 [[ 7.85565754e-01 -1.97450041e-01 -5.86429815e-01 6.34278927e+01] [ 1.65550049e-01 9.80239214e-01 -1.08278642e-01 -2.07963771e+00] [ 5.96221123e-01 -1.20234913e-02 8.02730221e-01 -3.94781979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.58864 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:63.44, Y:-2.14, Z:-39.49 [[ 0.77751643 -0.24038757 -0.58110413 63.4445869 ] [ 0.23782338 0.96782755 -0.08215761 -2.14042934] [ 0.58215826 -0.07432126 0.80967161 -39.48739329] [ 0. 0. 0. 1. ]] SLAMing on 80.61864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:63.43, Y:-1.94, Z:-39.42 [[ 0.80531961 -0.28826868 -0.5180362 63.42664086] [ 0.17124118 0.94968234 -0.26225926 -1.93864719] [ 0.56757096 0.12249339 0.81416127 -39.42328139] [ 0. 0. 0. 1. ]] SLAMing on 80.64864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:63.50, Y:-2.12, Z:-39.43 [[ 7.85145459e-01 -1.69752793e-01 -5.95592644e-01 6.35030768e+01] [ 1.65285025e-01 9.84254665e-01 -6.26387705e-02 -2.12239405e+00] [ 5.96847944e-01 -4.92619988e-02 8.00840675e-01 -3.94319436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.67864 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:63.50, Y:-2.03, Z:-39.41 [[ 8.06780674e-01 -2.31459703e-01 -5.43627952e-01 6.35042168e+01] [ 1.71021125e-01 9.72170599e-01 -1.60112775e-01 -2.02741289e+00] [ 5.65558767e-01 3.62040289e-02 8.23912950e-01 -3.94065669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:63.54, Y:-2.07, Z:-39.40 [[ 8.07283339e-01 -2.01464570e-01 -5.54712212e-01 6.35398384e+01] [ 1.69900039e-01 9.79473047e-01 -1.08473627e-01 -2.07027928e+00] [ 5.65179253e-01 -6.67667488e-03 8.24941110e-01 -3.93961412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.55, Y:-2.09, Z:-39.40 [[ 7.86369612e-01 -1.91702073e-01 -5.87259014e-01 6.35537656e+01] [ 1.64045656e-01 9.81302854e-01 -1.00666437e-01 -2.09119473e+00] [ 5.95576911e-01 -1.71762637e-02 8.03114637e-01 -3.94002401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.76863999999999 meters Centerline goodness : 0.973414 Centerline is valid? [True, True] Translation: X:63.59, Y:-2.02, Z:-39.36 [[ 8.15930535e-01 -1.21198037e-01 -5.65303810e-01 6.35940561e+01] [ 7.39142883e-02 9.91624299e-01 -1.05914718e-01 -2.02370267e+00] [ 5.73405650e-01 4.46350236e-02 8.18054812e-01 -3.93647675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.79863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.07, Z:-39.35 [[ 8.09254566e-01 -1.91933440e-01 -5.55219417e-01 6.36058478e+01] [ 1.65645095e-01 9.81324141e-01 -9.77989373e-02 -2.07313155e+00] [ 5.63621104e-01 -1.28251366e-02 8.25933875e-01 -3.93494387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.82864 meters Centerline goodness : 0.968377 Centerline is valid? [True, True] Translation: X:63.61, Y:-2.10, Z:-39.38 [[ 7.75427240e-01 -2.02836564e-01 -5.97971507e-01 6.36113834e+01] [ 1.75392486e-01 9.78924366e-01 -1.04616260e-01 -2.10298592e+00] [ 6.06588881e-01 -2.37574118e-02 7.94660628e-01 -3.93789762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.85864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:63.61, Y:-1.95, Z:-39.31 [[ 0.8107565 -0.26477968 -0.52207817 63.60557041] [ 0.16374506 0.95883432 -0.23200065 -1.94591258] [ 0.56201553 0.10260831 0.82073752 -39.30591657] [ 0. 0. 0. 1. ]] SLAMing on 80.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:63.66, Y:-2.05, Z:-39.31 [[ 8.11954369e-01 -1.93351877e-01 -5.50767786e-01 6.36608874e+01] [ 1.61474262e-01 9.81126148e-01 -1.06383945e-01 -2.05370817e+00] [ 5.60942212e-01 -2.55591302e-03 8.27851015e-01 -3.93058610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.69, Y:-2.07, Z:-39.29 [[ 7.95767408e-01 -1.81192549e-01 -5.77861135e-01 6.36886042e+01] [ 1.58457239e-01 9.83246842e-01 -9.00941278e-02 -2.06976952e+00] [ 5.84504521e-01 -1.98723094e-02 8.11147062e-01 -3.92902428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.70, Y:-2.03, Z:-39.27 [[ 8.10466826e-01 -2.05937717e-01 -5.48391448e-01 6.37032377e+01] [ 1.64569122e-01 9.78509333e-01 -1.24243668e-01 -2.03174451e+00] [ 5.62192608e-01 1.04470720e-02 8.26940343e-01 -3.92715594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:63.73, Y:-2.06, Z:-39.26 [[ 7.94481930e-01 -1.83471563e-01 -5.78909879e-01 6.37340511e+01] [ 1.61728452e-01 9.82767251e-01 -8.95122247e-02 -2.06427089e+00] [ 5.85356618e-01 -2.25103535e-02 8.10463394e-01 -3.92569601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.00864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:63.75, Y:-2.05, Z:-39.24 [[ 7.91500009e-01 -1.95109312e-01 -5.79189168e-01 6.37546022e+01] [ 1.64178215e-01 9.80717746e-01 -1.06010452e-01 -2.05236789e+00] [ 5.88704722e-01 -1.11829704e-02 8.08270803e-01 -3.92398798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.03864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:63.77, Y:-2.02, Z:-39.22 [[ 8.09597090e-01 -2.15690106e-01 -5.45921541e-01 6.37723094e+01] [ 1.71734978e-01 9.76383521e-01 -1.31081340e-01 -2.02414165e+00] [ 5.61301745e-01 1.23692472e-02 8.27518793e-01 -3.92226144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:63.80, Y:-2.04, Z:-39.21 [[ 8.08840200e-01 -2.04047004e-01 -5.51491025e-01 6.38003521e+01] [ 1.73091261e-01 9.78929743e-01 -1.08332698e-01 -2.04319166e+00] [ 5.61975930e-01 -7.83443552e-03 8.27116483e-01 -3.92075463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:63.82, Y:-2.04, Z:-39.19 [[ 8.09326512e-01 -2.04138788e-01 -5.50743091e-01 6.38230315e+01] [ 1.73051992e-01 9.78913521e-01 -1.08541815e-01 -2.04328053e+00] [ 5.61287453e-01 -7.46142090e-03 8.27587290e-01 -3.91912025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.12863999999999 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:63.85, Y:-2.04, Z:-39.17 [[ 8.09257085e-01 -2.04599980e-01 -5.50673967e-01 6.38457195e+01] [ 1.73371866e-01 9.78818075e-01 -1.08891560e-01 -2.03861817e+00] [ 5.61288844e-01 -7.35010673e-03 8.27587343e-01 -3.91746467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.15863999999999 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:63.87, Y:-2.04, Z:-39.16 [[ 8.09445375e-01 -2.04394952e-01 -5.50473332e-01 6.38694392e+01] [ 1.73000084e-01 9.78863868e-01 -1.09071071e-01 -2.03744750e+00] [ 5.61132031e-01 -6.94485856e-03 8.27697174e-01 -3.91587852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.18863999999999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:63.89, Y:-2.04, Z:-39.14 [[ 8.09672534e-01 -2.03774088e-01 -5.50369430e-01 6.38928287e+01] [ 1.72017891e-01 9.78999018e-01 -1.09411001e-01 -2.03618095e+00] [ 5.61106259e-01 -6.08630605e-03 8.27721404e-01 -3.91423316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.21864 meters Centerline goodness : 0.998324 Centerline is valid? [True, True] Translation: X:63.92, Y:-2.04, Z:-39.13 [[ 8.09733781e-01 -2.01305313e-01 -5.51187241e-01 6.39162626e+01] [ 1.68684476e-01 9.79520536e-01 -1.09932099e-01 -2.03535170e+00] [ 5.62029138e-01 -3.96099651e-03 8.27107949e-01 -3.91260944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.24864 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:63.94, Y:-2.05, Z:-39.11 [[ 7.94660711e-01 -1.86925129e-01 -5.77558093e-01 6.39427611e+01] [ 1.60716637e-01 9.82245113e-01 -9.67713861e-02 -2.04911705e+00] [ 5.85392618e-01 -1.59227760e-02 8.10593578e-01 -3.91093409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.27864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:63.96, Y:-2.04, Z:-39.09 [[ 7.93158079e-01 -1.90846473e-01 -5.78340630e-01 6.39629556e+01] [ 1.58842423e-01 9.81589436e-01 -1.06071971e-01 -2.03785081e+00] [ 5.87936515e-01 -7.73318643e-03 8.08870108e-01 -3.90926368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.30864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:63.98, Y:-2.02, Z:-39.08 [[ 7.95788565e-01 -2.00250807e-01 -5.71506933e-01 6.39819185e+01] [ 1.58223529e-01 9.79716495e-01 -1.22967088e-01 -2.01834286e+00] [ 5.84539028e-01 7.42995886e-03 8.11331573e-01 -3.90755204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.33864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:64.00, Y:-2.01, Z:-39.06 [[ 8.10732637e-01 -2.02740861e-01 -5.49189161e-01 6.40043024e+01] [ 1.61593646e-01 9.79171608e-01 -1.22924590e-01 -2.01021677e+00] [ 5.62672272e-01 1.09134976e-02 8.26608015e-01 -3.90601579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.36864 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:64.03, Y:-2.03, Z:-39.04 [[ 7.94121391e-01 -1.81425099e-01 -5.80048403e-01 6.40326034e+01] [ 1.54485418e-01 9.83314444e-01 -9.60570616e-02 -2.03384117e+00] [ 5.87797135e-01 -1.33280530e-02 8.08898566e-01 -3.90440674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.39864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:64.05, Y:-2.00, Z:-39.03 [[ 7.98470919e-01 -1.97542565e-01 -5.68701263e-01 6.40497847e+01] [ 1.55510629e-01 9.80252075e-01 -1.22156919e-01 -2.00442873e+00] [ 5.81601784e-01 9.09965653e-03 8.13422744e-01 -3.90262265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.42864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:64.08, Y:-2.03, Z:-39.01 [[ 7.94966192e-01 -1.77183718e-01 -5.80202279e-01 6.40782295e+01] [ 1.55490516e-01 9.83959968e-01 -8.74384396e-02 -2.03075489e+00] [ 5.86388483e-01 -2.07053484e-02 8.09765296e-01 -3.90096750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:64.09, Y:-1.98, Z:-38.99 [[ 7.97905408e-01 -2.03730141e-01 -5.67310312e-01 6.40903300e+01] [ 1.55393397e-01 9.78862695e-01 -1.32968856e-01 -1.98338897e+00] [ 5.82408664e-01 1.79402924e-02 8.12698157e-01 -3.89910979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48864 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:64.12, Y:-2.00, Z:-38.97 [[ 7.98311149e-01 -1.92400016e-01 -5.70685152e-01 6.41159564e+01] [ 1.56718800e-01 9.81316524e-01 -1.11611366e-01 -1.99595277e+00] [ 5.81496799e-01 -3.36494814e-04 8.13548622e-01 -3.89746312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.51863999999999 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:64.14, Y:-1.99, Z:-38.96 [[ 7.96728374e-01 -1.91132911e-01 -5.73316761e-01 6.41380996e+01] [ 1.57702269e-01 9.81554718e-01 -1.08075575e-01 -1.99435110e+00] [ 5.83398571e-01 -4.30647659e-03 8.12174588e-01 -3.89590737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.54863999999999 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:64.16, Y:-1.99, Z:-38.94 [[ 7.94008358e-01 -1.90858601e-01 -5.77168711e-01 6.41598048e+01] [ 1.59303082e-01 9.81583072e-01 -1.05438137e-01 -1.98889878e+00] [ 5.86662812e-01 -8.22599263e-03 8.09789527e-01 -3.89426176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.57864 meters Centerline goodness : 0.998274 Centerline is valid? [True, True] Translation: X:64.18, Y:-1.96, Z:-38.92 [[ 7.95812287e-01 -2.05405604e-01 -5.69641415e-01 6.41758465e+01] [ 1.60914201e-01 9.78623142e-01 -1.28075624e-01 -1.96183990e+00] [ 5.83771722e-01 1.02607620e-02 8.11853000e-01 -3.89241748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.60864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:64.20, Y:-1.94, Z:-38.91 [[ 8.13717376e-01 -2.19144424e-01 -5.38367674e-01 6.41955860e+01] [ 1.69992408e-01 9.75433014e-01 -1.40117867e-01 -1.94038005e+00] [ 5.55847652e-01 2.24979256e-02 8.30979681e-01 -3.89081387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.63864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:64.22, Y:-1.96, Z:-38.89 [[ 8.12016221e-01 -2.08273867e-01 -5.45207899e-01 6.42236496e+01] [ 1.75162584e-01 9.78062578e-01 -1.12746011e-01 -1.95871940e+00] [ 5.56729491e-01 -3.94843432e-03 8.30684467e-01 -3.88940199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.66864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:64.27, Y:-1.99, Z:-38.88 [[ 8.09999128e-01 -1.16230017e-01 -5.74797352e-01 6.42722203e+01] [ 1.11308296e-01 9.92815685e-01 -4.39030581e-02 -1.98680994e+00] [ 5.75770680e-01 -2.84182748e-02 8.17117204e-01 -3.88785390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.69864 meters Centerline goodness : 0.994041 Centerline is valid? [True, True] Translation: X:64.28, Y:-1.96, Z:-38.86 [[ 8.12717545e-01 -1.29894680e-01 -5.67994335e-01 6.42840324e+01] [ 1.10578845e-01 9.91502253e-01 -6.85244520e-02 -1.95513753e+00] [ 5.72068624e-01 -7.11713286e-03 8.20174881e-01 -3.88647938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.72864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:64.28, Y:-1.92, Z:-38.84 [[ 8.09428012e-01 -2.36819796e-01 -5.37347818e-01 6.42833750e+01] [ 1.90306625e-01 9.71476248e-01 -1.41482465e-01 -1.92057204e+00] [ 5.55526491e-01 1.22590202e-02 8.31408464e-01 -3.88437164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.75864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:64.31, Y:-1.94, Z:-38.83 [[ 8.09675877e-01 -2.24684066e-01 -5.42164223e-01 6.43117259e+01] [ 1.92901348e-01 9.74370808e-01 -1.15717756e-01 -1.94009494e+00] [ 5.54268928e-01 -1.08903341e-02 8.32266397e-01 -3.88294709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.78864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:64.34, Y:-1.98, Z:-38.81 [[ 7.88182567e-01 -2.03458501e-01 -5.80838083e-01 6.43409619e+01] [ 1.93796681e-01 9.77812354e-01 -7.95351949e-02 -1.97775809e+00] [ 5.84132765e-01 -4.98762389e-02 8.10124233e-01 -3.88130679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:64.35, Y:-1.89, Z:-38.79 [[ 8.07789968e-01 -2.57631365e-01 -5.30190011e-01 6.43477819e+01] [ 2.01251115e-01 9.65925991e-01 -1.62742032e-01 -1.89321704e+00] [ 5.54051763e-01 2.47600494e-02 8.32113925e-01 -3.87929805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:64.38, Y:-1.94, Z:-38.78 [[ 8.06436927e-01 -2.34186864e-01 -5.42969609e-01 6.43836309e+01] [ 2.03720368e-01 9.72051261e-01 -1.16680580e-01 -1.93553664e+00] [ 5.55119352e-01 -1.65184399e-02 8.31606666e-01 -3.87807632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.87863999999999 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:64.41, Y:-1.93, Z:-38.76 [[ 8.05740264e-01 -2.35253640e-01 -5.43542411e-01 6.44065131e+01] [ 2.04710882e-01 9.71787396e-01 -1.17143981e-01 -1.93422923e+00] [ 5.55766212e-01 -1.68814244e-02 8.31167213e-01 -3.87645525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.90863999999999 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:64.43, Y:-1.94, Z:-38.75 [[ 8.05892350e-01 -2.36301858e-01 -5.42861817e-01 6.44296370e+01] [ 2.05830846e-01 9.71527827e-01 -1.17334328e-01 -1.93613492e+00] [ 5.55131681e-01 -1.71788703e-02 8.31585055e-01 -3.87482504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.93863999999999 meters Centerline goodness : 0.997881 Centerline is valid? [True, True] Translation: X:64.45, Y:-1.93, Z:-38.73 [[ 8.06021981e-01 -2.36092052e-01 -5.42760636e-01 6.44525708e+01] [ 2.05364585e-01 9.71588295e-01 -1.17650213e-01 -1.93398580e+00] [ 5.55116162e-01 -1.66351545e-02 8.31606469e-01 -3.87315763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.96864 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:64.48, Y:-1.94, Z:-38.72 [[ 8.06514605e-01 -2.35550062e-01 -5.42264106e-01 6.44761334e+01] [ 2.04545873e-01 9.71733037e-01 -1.17880831e-01 -1.93548999e+00] [ 5.54702783e-01 -1.58452728e-02 8.31897680e-01 -3.87160118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.99864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:64.52, Y:-2.05, Z:-38.70 [[ 7.82864077e-01 -1.62921348e-01 -6.00483531e-01 6.45168278e+01] [ 2.01306821e-01 9.79522633e-01 -3.31277837e-03 -2.04592465e+00] [ 5.88726932e-01 -1.18287976e-01 7.99630261e-01 -3.86959164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.02864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:64.51, Y:-1.91, Z:-38.68 [[ 7.89060012e-01 -2.48962203e-01 -5.61606729e-01 6.45119968e+01] [ 1.98338188e-01 9.68484187e-01 -1.50666328e-01 -1.91037567e+00] [ 5.81417458e-01 7.49671345e-03 8.13570857e-01 -3.86798133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.05864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:64.55, Y:-1.91, Z:-38.66 [[ 8.11955574e-01 -1.88026226e-01 -5.52606808e-01 6.45514231e+01] [ 1.45479042e-01 9.82010783e-01 -1.20377204e-01 -1.90851326e+00] [ 5.65299915e-01 1.73482328e-02 8.24703004e-01 -3.86623329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.08864 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:64.56, Y:-1.95, Z:-38.65 [[ 7.93429605e-01 -2.24332880e-01 -5.65812885e-01 6.45645306e+01] [ 1.98601402e-01 9.74141400e-01 -1.07731223e-01 -1.94806907e+00] [ 5.75349411e-01 -2.68940904e-02 8.17465450e-01 -3.86487946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.11864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:64.58, Y:-1.92, Z:-38.63 [[ 7.94334676e-01 -2.39125165e-01 -5.58436727e-01 6.45826991e+01] [ 1.97768658e-01 9.70981970e-01 -1.34467733e-01 -1.92492977e+00] [ 5.74386612e-01 -3.62889879e-03 8.18576112e-01 -3.86326647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.14864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:64.60, Y:-1.90, Z:-38.62 [[ 8.13625832e-01 -2.54685297e-01 -5.22636016e-01 6.46020082e+01] [ 2.02299529e-01 9.66788249e-01 -1.56190211e-01 -1.89753343e+00] [ 5.45057709e-01 2.13513709e-02 8.38126609e-01 -3.86154739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.17864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:64.63, Y:-1.93, Z:-38.60 [[ 8.16073053e-01 -2.30752648e-01 -5.29884882e-01 6.46342562e+01] [ 1.99538350e-01 9.72953068e-01 -1.16390612e-01 -1.93194271e+00] [ 5.42410563e-01 -1.07491131e-02 8.40044783e-01 -3.86005446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:64.66, Y:-1.93, Z:-38.59 [[ 8.16736903e-01 -2.30301953e-01 -5.29057504e-01 6.46569608e+01] [ 1.98886802e-01 9.73067498e-01 -1.16549060e-01 -1.92815463e+00] [ 5.41650138e-01 -1.00326366e-02 8.40544154e-01 -3.85853267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:64.68, Y:-1.92, Z:-38.57 [[ 8.16484277e-01 -2.28931590e-01 -5.30041275e-01 6.46800117e+01] [ 1.96905786e-01 9.73403178e-01 -1.17108349e-01 -1.92393919e+00] [ 5.42753662e-01 -8.75106791e-03 8.39846344e-01 -3.85694657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.26863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.71, Y:-1.97, Z:-38.55 [[ 7.97626591e-01 -1.97849048e-01 -5.69778533e-01 6.47086824e+01] [ 1.89464894e-01 9.79039537e-01 -7.47304436e-02 -1.96546279e+00] [ 5.72621058e-01 -4.83460403e-02 8.18393417e-01 -3.85515846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.71, Y:-1.87, Z:-38.54 [[ 8.18227256e-01 -2.52128363e-01 -5.16657959e-01 6.47141416e+01] [ 1.92377692e-01 9.66969846e-01 -1.67212857e-01 -1.87021467e+00] [ 5.41751771e-01 3.74246509e-02 8.39704956e-01 -3.85357067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.32864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:64.75, Y:-1.91, Z:-38.52 [[ 8.19854755e-01 -2.21461693e-01 -5.28008428e-01 6.47474655e+01] [ 1.87860628e-01 9.75164423e-01 -1.17314671e-01 -1.90814674e+00] [ 5.40875740e-01 -3.01100396e-03 8.41097122e-01 -3.85224244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:64.78, Y:-1.94, Z:-38.51 [[ 8.01342061e-01 -1.98162871e-01 -5.64431022e-01 6.47757450e+01] [ 1.83747257e-01 9.79462939e-01 -8.30017858e-02 -1.93984556e+00] [ 5.69287140e-01 -3.71998300e-02 8.21296734e-01 -3.85050578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:64.79, Y:-1.89, Z:-38.49 [[ 8.01947817e-01 -2.23803766e-01 -5.53887691e-01 6.47893577e+01] [ 1.83769976e-01 9.74634008e-01 -1.27738585e-01 -1.89405788e+00] [ 5.68426156e-01 6.51751906e-04 8.22734027e-01 -3.84902692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:64.81, Y:-1.85, Z:-38.47 [[ 8.19508938e-01 -2.41182300e-01 -5.19842475e-01 6.48059981e+01] [ 1.85757961e-01 9.69944281e-01 -1.57168926e-01 -1.85390635e+00] [ 5.42124599e-01 3.22364619e-02 8.39679540e-01 -3.84729880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:64.84, Y:-1.88, Z:-38.46 [[ 8.19765353e-01 -2.19834612e-01 -5.28826540e-01 6.48370209e+01] [ 1.85124446e-01 9.75536900e-01 -1.18560935e-01 -1.88169887e+00] [ 5.41953600e-01 -7.06573855e-04 8.40408113e-01 -3.84587426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:64.87, Y:-1.93, Z:-38.44 [[ 7.98094167e-01 -1.87440478e-01 -5.72635807e-01 6.48673440e+01] [ 1.83011371e-01 9.80892331e-01 -6.60081322e-02 -1.92847101e+00] [ 5.74066667e-01 -5.21181586e-02 8.17148187e-01 -3.84436362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.50864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:64.87, Y:-1.84, Z:-38.43 [[ 8.03612780e-01 -2.40692072e-01 -5.44310413e-01 6.48716058e+01] [ 1.84021309e-01 9.70245531e-01 -1.57352366e-01 -1.83954612e+00] [ 5.65988213e-01 2.62856572e-02 8.23994179e-01 -3.84251198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.90, Y:-1.84, Z:-38.41 [[ 8.20117280e-01 -2.40178874e-01 -5.19347433e-01 6.48966084e+01] [ 1.91090520e-01 9.70493520e-01 -1.47060328e-01 -1.83767940e+00] [ 5.39344102e-01 2.13643452e-02 8.41814412e-01 -3.84103753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:64.93, Y:-1.86, Z:-38.40 [[ 8.19026410e-01 -2.25920297e-01 -5.27404740e-01 6.49259609e+01] [ 1.92013944e-01 9.74138671e-01 -1.19098676e-01 -1.85893044e+00] [ 5.40672161e-01 -3.72410296e-03 8.41225146e-01 -3.83962019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:64.95, Y:-1.89, Z:-38.38 [[ 8.00616820e-01 -2.07075726e-01 -5.62256481e-01 6.49537703e+01] [ 1.91484500e-01 9.77598109e-01 -8.73820549e-02 -1.89091399e+00] [ 5.67755575e-01 -3.77038584e-02 8.22333282e-01 -3.83799460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.62863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:64.97, Y:-1.85, Z:-38.36 [[ 8.02750553e-01 -2.30394076e-01 -5.50009199e-01 6.49681534e+01] [ 1.90081870e-01 9.73097410e-01 -1.30193372e-01 -1.84666430e+00] [ 5.65208308e-01 -3.39758415e-05 8.24948221e-01 -3.83637820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.65863999999999 meters Centerline goodness : 0.991634 Centerline is valid? [True, True] Translation: X:65.02, Y:-1.81, Z:-38.37 [[ 7.82884078e-01 -2.81821542e-01 -5.54679311e-01 6.50239012e+01] [ 2.31761802e-01 9.59462146e-01 -1.60371003e-01 -1.80598584e+00] [ 5.77389805e-01 -3.00157191e-03 8.16463106e-01 -3.83650273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.68863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:65.04, Y:-1.96, Z:-38.33 [[ 8.00015527e-01 -1.56280395e-01 -5.79268155e-01 6.50352785e+01] [ 1.93374706e-01 9.81122117e-01 2.36956817e-03 -1.95949598e+00] [ 5.67962481e-01 -1.13911500e-01 8.15133603e-01 -3.83300927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:65.02, Y:-1.78, Z:-38.31 [[ 8.20455686e-01 -2.63429858e-01 -5.07402382e-01 6.50225278e+01] [ 1.94487758e-01 9.63189575e-01 -1.85581127e-01 -1.77781980e+00] [ 5.37612295e-01 5.35775390e-02 8.41488246e-01 -3.83149873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.07, Y:-1.87, Z:-38.30 [[ 8.02722884e-01 -2.02188848e-01 -5.61030874e-01 6.50677877e+01] [ 1.88153605e-01 9.78586987e-01 -8.34609535e-02 -1.87132234e+00] [ 5.65892386e-01 -3.85639639e-02 8.23576728e-01 -3.83014501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.07, Y:-1.79, Z:-38.28 [[ 8.21804707e-01 -2.50723741e-01 -5.11639159e-01 6.50735694e+01] [ 1.91791975e-01 9.67302477e-01 -1.65957093e-01 -1.78529600e+00] [ 5.36519208e-01 3.82560354e-02 8.43020530e-01 -3.82839283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.11, Y:-1.86, Z:-38.27 [[ 8.03695717e-01 -2.02135246e-01 -5.59655730e-01 6.51134052e+01] [ 1.88228724e-01 9.78599695e-01 -8.31419541e-02 -1.86122665e+00] [ 5.64484846e-01 -3.85224517e-02 8.24544043e-01 -3.82686810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:65.12, Y:-1.78, Z:-38.25 [[ 8.22915062e-01 -2.51883810e-01 -5.09279243e-01 6.51199168e+01] [ 1.92986604e-01 9.66984636e-01 -1.66423809e-01 -1.77505844e+00] [ 5.34384667e-01 3.86685875e-02 8.44356422e-01 -3.82517005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.16, Y:-1.85, Z:-38.24 [[ 8.03432613e-01 -2.06726087e-01 -5.58355050e-01 6.51586280e+01] [ 1.90273506e-01 9.77759549e-01 -8.82171043e-02 -1.84789253e+00] [ 5.64173759e-01 -3.53636743e-02 8.24898406e-01 -3.82368685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.17, Y:-1.77, Z:-38.22 [[ 8.23298175e-01 -2.51996307e-01 -5.08603949e-01 6.51669030e+01] [ 1.96798260e-01 9.67193413e-01 -1.60646649e-01 -1.77149613e+00] [ 5.32400752e-01 3.21677204e-02 8.45881007e-01 -3.82205216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:65.20, Y:-1.80, Z:-38.21 [[ 8.22905078e-01 -2.31610918e-01 -5.18829081e-01 6.51991779e+01] [ 1.97562846e-01 9.72803889e-01 -1.20919460e-01 -1.80373003e+00] [ 5.32725215e-01 -2.99611210e-03 8.46282972e-01 -3.82061317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.22, Y:-1.80, Z:-38.19 [[ 8.22475424e-01 -2.32850248e-01 -5.18955624e-01 6.52216249e+01] [ 1.98793704e-01 9.72506642e-01 -1.21292599e-01 -1.79852557e+00] [ 5.32930803e-01 -3.40492894e-03 8.46151975e-01 -3.81898850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.25, Y:-1.84, Z:-38.17 [[ 8.02893929e-01 -2.05444841e-01 -5.59601426e-01 6.52528483e+01] [ 1.93169120e-01 9.77749119e-01 -8.18067944e-02 -1.83529947e+00] [ 5.63956585e-01 -4.24155366e-02 8.24714431e-01 -3.81732433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.01863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.27, Y:-1.79, Z:-38.16 [[ 8.03582932e-01 -2.32026776e-01 -5.48104047e-01 6.52657877e+01] [ 1.92974383e-01 9.72706846e-01 -1.28849830e-01 -1.78750523e+00] [ 5.63041169e-01 -2.22851595e-03 8.26425844e-01 -3.81576698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.04863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.29, Y:-1.78, Z:-38.14 [[ 8.06828932e-01 -2.34126122e-01 -5.42413158e-01 6.52870004e+01] [ 1.93248822e-01 9.72204508e-01 -1.32186561e-01 -1.78071795e+00] [ 5.58284845e-01 1.83123813e-03 8.29647322e-01 -3.81435097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.30, Y:-1.74, Z:-38.13 [[ 8.25018463e-01 -2.53865801e-01 -5.04872946e-01 6.53035217e+01] [ 1.98695443e-01 9.66682079e-01 -1.61387359e-01 -1.74279155e+00] [ 5.29022360e-01 3.28315969e-02 8.47972540e-01 -3.81262939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.34, Y:-1.81, Z:-38.11 [[ 8.09018231e-01 -2.11004326e-01 -5.48604298e-01 6.53412399e+01] [ 1.93009555e-01 9.76955908e-01 -9.11288421e-02 -1.80676462e+00] [ 5.55190790e-01 -3.21609767e-02 8.31100992e-01 -3.81109171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.36, Y:-1.77, Z:-38.10 [[ 8.08652960e-01 -2.24533232e-01 -5.43751062e-01 6.53589694e+01] [ 1.89930843e-01 9.74446065e-01 -1.19921396e-01 -1.77495429e+00] [ 5.56782421e-01 -6.30030559e-03 8.30634481e-01 -3.80954391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.37, Y:-1.73, Z:-38.08 [[ 8.27630688e-01 -2.52307510e-01 -5.01366498e-01 6.53715888e+01] [ 1.96744096e-01 9.67002347e-01 -1.61858646e-01 -1.72590907e+00] [ 5.25660732e-01 3.53182842e-02 8.49960830e-01 -3.80786137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:65.41, Y:-1.79, Z:-38.06 [[ 8.10587489e-01 -2.06934535e-01 -5.47837586e-01 6.54105123e+01] [ 1.88961814e-01 9.77871583e-01 -8.97808396e-02 -1.79135377e+00] [ 5.54293564e-01 -3.07451588e-02 8.31753197e-01 -3.80631768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.42, Y:-1.74, Z:-38.05 [[ 8.12668029e-01 -2.31997288e-01 -5.34553957e-01 6.54230162e+01] [ 1.88401397e-01 9.72669223e-01 -1.35718441e-01 -1.74318519e+00] [ 5.51430493e-01 9.58332542e-03 8.34165794e-01 -3.80474579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.45, Y:-1.78, Z:-38.03 [[ 8.09617929e-01 -2.07140223e-01 -5.49191894e-01 6.54532468e+01] [ 1.87914761e-01 9.77885137e-01 -9.18079575e-02 -1.77757725e+00] [ 5.56063711e-01 -2.88718949e-02 8.30638045e-01 -3.80322072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:65.46, Y:-1.72, Z:-38.02 [[ 8.13284562e-01 -2.36492065e-01 -5.31638716e-01 6.54635613e+01] [ 1.85917975e-01 9.71400302e-01 -1.47702268e-01 -1.71783678e+00] [ 5.51364424e-01 2.12827806e-02 8.33992995e-01 -3.80158623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.49, Y:-1.72, Z:-38.00 [[ 8.15535915e-01 -2.29607043e-01 -5.31207847e-01 6.54886757e+01] [ 1.85357987e-01 9.73202928e-01 -1.36082611e-01 -1.72025634e+00] [ 5.48218558e-01 1.25166393e-02 8.36241440e-01 -3.80003970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.51, Y:-1.72, Z:-37.99 [[ 8.15570473e-01 -2.22389705e-01 -5.34216831e-01 6.55124018e+01] [ 1.82585160e-01 9.74938593e-01 -1.27111759e-01 -1.71723381e+00] [ 5.49096952e-01 6.12853168e-03 8.35736190e-01 -3.79856309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.37863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.53, Y:-1.70, Z:-37.97 [[ 8.30989546e-01 -2.32857718e-01 -5.05206549e-01 6.55313450e+01] [ 1.88976851e-01 9.72332107e-01 -1.37324522e-01 -1.69505775e+00] [ 5.23205623e-01 1.86428995e-02 8.52002534e-01 -3.79722649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.56, Y:-1.72, Z:-37.96 [[ 8.13777507e-01 -2.16058143e-01 -5.39522981e-01 6.55612508e+01] [ 1.85752200e-01 9.76328821e-01 -1.10806826e-01 -1.71711808e+00] [ 5.50692554e-01 -1.00454779e-02 8.34647710e-01 -3.79577911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.43863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.58, Y:-1.68, Z:-37.94 [[ 8.30161019e-01 -2.38472060e-01 -5.03948171e-01 6.55762250e+01] [ 1.94069789e-01 9.70978073e-01 -1.39780182e-01 -1.67882799e+00] [ 5.22656292e-01 1.82389428e-02 8.52348369e-01 -3.79410046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.60, Y:-1.69, Z:-37.93 [[ 8.29539552e-01 -2.31464123e-01 -5.08220908e-01 6.56024096e+01] [ 1.96036108e-01 9.72840280e-01 -1.23091978e-01 -1.68627741e+00] [ 5.22909147e-01 2.48001553e-03 8.52384815e-01 -3.79264027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:65.62, Y:-1.68, Z:-37.91 [[ 8.28517542e-01 -2.33290847e-01 -5.09052122e-01 6.56247512e+01] [ 1.97844149e-01 9.72405483e-01 -1.23633609e-01 -1.67578021e+00] [ 5.23847664e-01 1.71962971e-03 8.51810230e-01 -3.79116095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:65.65, Y:-1.67, Z:-37.90 [[ 8.28512311e-01 -2.34200574e-01 -5.08642745e-01 6.56471689e+01] [ 1.98764221e-01 9.72187093e-01 -1.23875101e-01 -1.66721504e+00] [ 5.23507532e-01 1.53206750e-03 8.52019669e-01 -3.78965927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.55864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:65.67, Y:-1.66, Z:-37.88 [[ 8.28972798e-01 -2.33887078e-01 -5.08036352e-01 6.56692504e+01] [ 1.98282343e-01 9.72261477e-01 -1.24063421e-01 -1.65939498e+00] [ 5.22961005e-01 2.11056348e-03 8.52353995e-01 -3.78809890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.58864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.70, Z:-37.87 [[ 8.08703881e-01 -2.01954725e-01 -5.52460245e-01 6.57036115e+01] [ 1.92863985e-01 9.78330772e-01 -7.53152268e-02 -1.70072844e+00] [ 5.55699124e-01 -4.56419682e-02 8.30129685e-01 -3.78655236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.61864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.65, Z:-37.85 [[ 8.08941958e-01 -2.30612755e-01 -5.40768588e-01 6.57143285e+01] [ 1.91496572e-01 9.73045530e-01 -1.28496921e-01 -1.64638266e+00] [ 5.55825487e-01 3.91219805e-04 8.31298908e-01 -3.78489479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.64864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:65.72, Y:-1.59, Z:-37.83 [[ 8.31007882e-01 -2.60566908e-01 -4.91457818e-01 6.57236089e+01] [ 1.98721313e-01 9.64264255e-01 -1.75226386e-01 -1.58938860e+00] [ 5.19553404e-01 4.79513654e-02 8.53091394e-01 -3.78305406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.67864 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.63, Z:-37.82 [[ 8.31582980e-01 -2.32511036e-01 -5.04389101e-01 6.57586252e+01] [ 1.96590592e-01 9.72584941e-01 -1.24220253e-01 -1.62728522e+00] [ 5.19443824e-01 4.14129640e-03 8.54494566e-01 -3.78182401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70864 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:65.78, Y:-1.62, Z:-37.80 [[ 8.32436009e-01 -2.31545447e-01 -5.03425264e-01 6.57806614e+01] [ 1.95409759e-01 9.72810663e-01 -1.24315890e-01 -1.61856792e+00] [ 5.18522243e-01 5.11081377e-03 8.55048866e-01 -3.78021604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73864 meters Centerline goodness : 0.997736 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.61, Z:-37.79 [[ 8.33096582e-01 -2.29432277e-01 -5.03300025e-01 6.58021249e+01] [ 1.92757936e-01 9.73300843e-01 -1.24618811e-01 -1.60638014e+00] [ 5.18453916e-01 6.80443193e-03 8.55078498e-01 -3.77866999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.76863999999999 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:65.82, Y:-1.60, Z:-37.77 [[ 8.32973603e-01 -2.28731383e-01 -5.03822322e-01 6.58244271e+01] [ 1.91653457e-01 9.73459677e-01 -1.25080817e-01 -1.59796733e+00] [ 5.19060622e-01 7.62972929e-03 8.54703374e-01 -3.77718201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.79863999999999 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:65.86, Y:-1.68, Z:-37.76 [[ 8.13718028e-01 -1.91254271e-01 -5.48894138e-01 6.58647499e+01] [ 2.05601598e-01 9.77974751e-01 -3.59634407e-02 -1.68104635e+00] [ 5.43682770e-01 -8.35894118e-02 8.35117869e-01 -3.77640822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.82864 meters Centerline goodness : 0.895745 Centerline is valid? [True, False] Translation: X:65.81, Y:-1.68, Z:-37.79 [[ 8.29478013e-01 -1.89168623e-01 -5.25529693e-01 6.58144170e+01] [ 1.98279369e-01 9.79346618e-01 -3.95663155e-02 -1.67825052e+00] [ 5.22160433e-01 -7.13823072e-02 8.49854722e-01 -3.77935240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.85864 meters Centerline goodness : 0.996356 Centerline is valid? [False, True] Translation: X:65.78, Y:-1.68, Z:-37.81 [[ 8.37267269e-01 -1.81064268e-01 -5.15945008e-01 6.57800675e+01] [ 1.88434984e-01 9.81327007e-01 -3.85948340e-02 -1.68031464e+00] [ 5.13298916e-01 -6.49078981e-02 8.55751826e-01 -3.78139565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.88864 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:65.78, Y:-1.60, Z:-37.80 [[ 8.36493067e-01 -2.28514891e-01 -4.98056516e-01 6.57803967e+01] [ 1.91958587e-01 9.73504728e-01 -1.24259591e-01 -1.59507723e+00] [ 5.13255540e-01 8.33606123e-03 8.58195351e-01 -3.77955688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.91864 meters Centerline goodness : 0.995332 Centerline is valid? [True, True] Translation: X:65.80, Y:-1.58, Z:-37.78 [[ 8.35912565e-01 -2.29877623e-01 -4.98403914e-01 6.58005358e+01] [ 1.93292378e-01 9.73187643e-01 -1.24675054e-01 -1.58070436e+00] [ 5.13700535e-01 7.87976666e-03 8.57933371e-01 -3.77796971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.94864 meters Centerline goodness : 0.805143 Centerline is valid? [True, False] Translation: X:65.77, Y:-1.62, Z:-37.81 [[ 8.44035239e-01 -2.04143107e-01 -4.95913407e-01 6.57701356e+01] [ 1.90649939e-01 9.78528048e-01 -7.83291779e-02 -1.62471500e+00] [ 5.01255540e-01 -2.84332743e-02 8.64832026e-01 -3.78079377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.97864 meters Centerline goodness : 0.994835 Centerline is valid? [False, True] Translation: X:65.75, Y:-1.64, Z:-37.82 [[ 8.48464216e-01 -1.88665737e-01 -4.94483280e-01 6.57468995e+01] [ 1.84412628e-01 9.81140833e-01 -5.79193339e-02 -1.64108737e+00] [ 4.96085131e-01 -4.20464791e-02 8.67255232e-01 -3.78240706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.00864 meters Centerline goodness : 0.994889 Centerline is valid? [True, True] Translation: X:65.75, Y:-1.58, Z:-37.81 [[ 8.48237193e-01 -2.19803479e-01 -4.81850697e-01 6.57548924e+01] [ 1.85101944e-01 9.75472111e-01 -1.19127793e-01 -1.57862660e+00] [ 4.96216620e-01 1.18571239e-02 8.68117777e-01 -3.78055040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.03864 meters Centerline goodness : 0.920477 Centerline is valid? [True, False] Translation: X:65.73, Y:-1.62, Z:-37.83 [[ 8.55427982e-01 -1.99019694e-01 -4.78157014e-01 6.57258823e+01] [ 1.84814301e-01 9.79740150e-01 -7.71551165e-02 -1.61672227e+00] [ 4.83825012e-01 -2.23696086e-02 8.74878825e-01 -3.78331748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06864 meters Centerline goodness : 0.995334 Centerline is valid? [False, True] Translation: X:65.69, Y:-1.64, Z:-37.86 [[ 8.67622523e-01 -1.83665969e-01 -4.62058406e-01 6.56913447e+01] [ 1.81531363e-01 9.82137168e-01 -4.95272363e-02 -1.64325530e+00] [ 4.62901202e-01 -4.09071463e-02 8.85465461e-01 -3.78566312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09864 meters Centerline goodness : 0.995089 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.59, Z:-37.84 [[ 8.65127685e-01 -2.11966959e-01 -4.54559234e-01 6.57039846e+01] [ 1.88511049e-01 9.77275127e-01 -9.69376626e-02 -1.59393684e+00] [ 4.64777015e-01 -1.82598223e-03 8.85425882e-01 -3.78394405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.12863999999999 meters Centerline goodness : 0.995571 Centerline is valid? [True, True] Translation: X:65.74, Y:-1.62, Z:-37.83 [[ 8.44043193e-01 -1.94309748e-01 -4.99834782e-01 6.57362723e+01] [ 1.87505966e-01 9.80150038e-01 -6.44004252e-02 -1.62493992e+00] [ 5.02426711e-01 -3.93652633e-02 8.63723206e-01 -3.78289005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.15863999999999 meters Centerline goodness : 0.917540 Centerline is valid? [True, False] Translation: X:65.70, Y:-1.65, Z:-37.85 [[ 8.56196394e-01 -1.81032211e-01 -4.83895725e-01 6.57046431e+01] [ 1.84351212e-01 9.81996904e-01 -4.11911629e-02 -1.64532382e+00] [ 4.82641031e-01 -5.39390384e-02 8.74155716e-01 -3.78514387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.18863999999999 meters Centerline goodness : 0.943762 Centerline is valid? [False, False] Translation: X:65.71, Y:-1.65, Z:-37.85 [[ 8.57632469e-01 -1.69562639e-01 -4.85504954e-01 6.57055818e+01] [ 1.76429683e-01 9.83795163e-01 -3.19318668e-02 -1.65064646e+00] [ 4.83051877e-01 -5.82716791e-02 8.73650557e-01 -3.78516181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.21864 meters Centerline goodness : 0.994042 Centerline is valid? [False, True] Translation: X:65.70, Y:-1.66, Z:-37.85 [[ 8.59495417e-01 -1.58951836e-01 -4.85800311e-01 6.57018215e+01] [ 1.69202366e-01 9.85312198e-01 -2.30311192e-02 -1.65658394e+00] [ 4.82325811e-01 -6.24034205e-02 8.73766345e-01 -3.78517179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.24864 meters Centerline goodness : 0.928831 Centerline is valid? [True, False] Translation: X:65.68, Y:-1.66, Z:-37.86 [[ 8.64563797e-01 -1.50373723e-01 -4.79496803e-01 6.56833383e+01] [ 1.60783146e-01 9.86795840e-01 -1.95640025e-02 -1.65882661e+00] [ 4.76107362e-01 -6.01806761e-02 8.77325519e-01 -3.78643066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.27864 meters Centerline goodness : 0.994253 Centerline is valid? [False, True] Translation: X:65.66, Y:-1.66, Z:-37.87 [[ 8.69742433e-01 -1.45979596e-01 -4.71421317e-01 6.56587770e+01] [ 1.56350032e-01 9.87549363e-01 -1.73471153e-02 -1.66163423e+00] [ 4.68084146e-01 -5.86192159e-02 8.81737500e-01 -3.78740505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.30864 meters Centerline goodness : 0.994352 Centerline is valid? [True, True] Translation: X:65.69, Y:-1.67, Z:-37.86 [[ 8.39231581e-01 -1.41966828e-01 -5.24915016e-01 6.56918417e+01] [ 1.59590666e-01 9.87112528e-01 -1.18184990e-02 -1.67270562e+00] [ 5.19828023e-01 -7.38530791e-02 8.51072588e-01 -3.78572700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.33864 meters Centerline goodness : 0.924609 Centerline is valid? [True, False] Translation: X:65.67, Y:-1.67, Z:-37.87 [[ 8.43358039e-01 -1.36270580e-01 -5.19786058e-01 6.56725148e+01] [ 1.51851033e-01 9.88321473e-01 -1.27251417e-02 -1.67462130e+00] [ 5.15449785e-01 -6.81981992e-02 8.54201688e-01 -3.78721435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.36864 meters Centerline goodness : 0.994003 Centerline is valid? [False, True] Translation: X:65.65, Y:-1.68, Z:-37.89 [[ 8.47921638e-01 -1.30655478e-01 -5.13768471e-01 6.56513894e+01] [ 1.44327921e-01 9.89438855e-01 -1.34240229e-02 -1.67627578e+00] [ 5.10096410e-01 -6.27686159e-02 8.57823848e-01 -3.78871135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.39864 meters Centerline goodness : 0.976694 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.57, Z:-37.88 [[ 8.35618123e-01 -2.33634464e-01 -4.97149162e-01 6.57071313e+01] [ 1.96096534e-01 9.72283751e-01 -1.27320290e-01 -1.56969624e+00] [ 5.13116460e-01 8.90191400e-03 8.58272832e-01 -3.78777568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.42864 meters Centerline goodness : 0.951493 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.74, Z:-37.87 [[ 8.37606066e-01 -1.42798893e-01 -5.27280338e-01 6.57554525e+01] [ 2.03347959e-01 9.77367238e-01 5.83342890e-02 -1.74167199e+00] [ 5.07016456e-01 -1.56082535e-01 8.47686591e-01 -3.78688461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45864 meters Centerline goodness : 0.994199 Centerline is valid? [True, True] Translation: X:65.70, Y:-1.64, Z:-37.84 [[ 8.73584637e-01 -1.64955696e-01 -4.57864063e-01 6.56995527e+01] [ 1.58132826e-01 9.85967097e-01 -5.35060145e-02 -1.64190941e+00] [ 4.60265023e-01 -2.56613058e-02 8.87410619e-01 -3.78410863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.48863999999999 meters Centerline goodness : 0.968907 Centerline is valid? [True, True] Translation: X:65.78, Y:-1.60, Z:-37.82 [[ 8.46551527e-01 -1.53726301e-01 -5.09626075e-01 6.57780478e+01] [ 1.40537014e-01 9.87967865e-01 -6.45665985e-02 -1.60442684e+00] [ 5.13419769e-01 -1.69623740e-02 8.57969940e-01 -3.78238390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.51863999999999 meters Centerline goodness : 0.994344 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.73, Z:-37.82 [[ 8.75092260e-01 -1.19520949e-01 -4.68965116e-01 6.57583183e+01] [ 1.57738171e-01 9.86548321e-01 4.29077999e-02 -1.73037549e+00] [ 4.57528367e-01 -1.11521983e-01 8.82173816e-01 -3.78202243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.54863999999999 meters Centerline goodness : 0.781030 Centerline is valid? [True, False] Translation: X:65.73, Y:-1.71, Z:-37.83 [[ 8.78694298e-01 -1.27292731e-01 -4.60100958e-01 6.57293426e+01] [ 1.52404935e-01 9.88160094e-01 1.76738388e-02 -1.71238109e+00] [ 4.52403655e-01 -8.56515579e-02 8.87690680e-01 -3.78309160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.57864 meters Centerline goodness : 0.994644 Centerline is valid? [False, True] Translation: X:65.69, Y:-1.70, Z:-37.85 [[ 8.87616781e-01 -1.28592851e-01 -4.42267260e-01 6.56927861e+01] [ 1.44510211e-01 9.89500584e-01 2.32209725e-03 -1.70360601e+00] [ 4.37325108e-01 -6.59732678e-02 8.96880303e-01 -3.78459530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.60864 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:65.65, Y:-1.67, Z:-37.81 [[ 8.95373201e-01 -2.06783210e-01 -3.94395150e-01 6.56483068e+01] [ 2.00495044e-01 9.78000144e-01 -5.75973614e-02 -1.67358468e+00] [ 3.97628681e-01 -2.75031392e-02 9.17134128e-01 -3.78141782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.63864 meters Centerline goodness : 0.945444 Centerline is valid? [True, False] Translation: X:65.65, Y:-1.68, Z:-37.81 [[ 8.97816788e-01 -1.89818772e-01 -3.97358589e-01 6.56507213e+01] [ 1.88485973e-01 9.81142103e-01 -4.28160326e-02 -1.68465868e+00] [ 3.97992528e-01 -3.64555673e-02 9.16664027e-01 -3.78143695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.66864 meters Centerline goodness : 0.994689 Centerline is valid? [False, True] Translation: X:65.65, Y:-1.70, Z:-37.81 [[ 9.00397894e-01 -1.72426759e-01 -3.99440414e-01 6.56510028e+01] [ 1.76399963e-01 9.83945206e-01 -2.71087443e-02 -1.69943550e+00] [ 3.97701754e-01 -4.60526180e-02 9.16358266e-01 -3.78142968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.69864 meters Centerline goodness : 0.827904 Centerline is valid? [True, False] Translation: X:65.63, Y:-1.71, Z:-37.82 [[ 9.06481290e-01 -1.56779275e-01 -3.92061129e-01 6.56273262e+01] [ 1.63714433e-01 9.86379383e-01 -1.59153077e-02 -1.71130271e+00] [ 3.89216205e-01 -4.97591370e-02 9.19801486e-01 -3.78247844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.72864 meters Centerline goodness : 0.993707 Centerline is valid? [False, True] Translation: X:65.59, Y:-1.72, Z:-37.84 [[ 9.15602060e-01 -1.47735268e-01 -3.73961439e-01 6.55923341e+01] [ 1.55301244e-01 9.87816501e-01 -1.00042301e-02 -1.72032262e+00] [ 3.70883257e-01 -4.89167830e-02 9.27390294e-01 -3.78390154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.75864 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:65.61, Y:-1.67, Z:-37.82 [[ 9.15597245e-01 -1.64253571e-01 -3.67018323e-01 6.56095656e+01] [ 1.52956733e-01 9.86417272e-01 -5.98765662e-02 -1.67379119e+00] [ 3.71868153e-01 -1.31510442e-03 9.28284626e-01 -3.78242699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.78864 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:65.64, Y:-1.67, Z:-37.81 [[ 9.15604831e-01 -1.62203248e-01 -3.67910179e-01 6.56354392e+01] [ 1.50604770e-01 9.86757336e-01 -6.02342388e-02 -1.67167480e+00] [ 3.72808257e-01 -2.58267860e-04 9.27908367e-01 -3.78137094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81864 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:65.66, Y:-1.67, Z:-37.80 [[ 9.16763120e-01 -1.57740210e-01 -3.66965131e-01 6.56610641e+01] [ 1.45774028e-01 9.87479043e-01 -6.02915584e-02 -1.67055901e+00] [ 3.71880780e-01 1.77909208e-03 9.28278795e-01 -3.78011660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84864 meters Centerline goodness : 0.994401 Centerline is valid? [True, True] Translation: X:65.69, Y:-1.67, Z:-37.79 [[ 9.17933967e-01 -1.55031848e-01 -3.65188114e-01 6.56858186e+01] [ 1.42894946e-01 9.87904650e-01 -6.02115959e-02 -1.66592105e+00] [ 3.70105751e-01 3.08673303e-03 9.28984502e-01 -3.77892707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.87863999999999 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:65.71, Y:-1.66, Z:-37.78 [[ 9.18322376e-01 -1.53012961e-01 -3.65063074e-01 6.57110687e+01] [ 1.40646140e-01 9.88215570e-01 -6.04040650e-02 -1.66015852e+00] [ 3.70003619e-01 4.12569236e-03 9.29021152e-01 -3.77778434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.90863999999999 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:65.74, Y:-1.66, Z:-37.77 [[ 9.18272894e-01 -1.53393126e-01 -3.65028001e-01 6.57369138e+01] [ 1.40971271e-01 9.88156306e-01 -6.06153160e-02 -1.65581894e+00] [ 3.70002694e-01 4.20294028e-03 9.29021174e-01 -3.77667369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.93863999999999 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:65.76, Y:-1.65, Z:-37.76 [[ 9.19468371e-01 -1.47563292e-01 -3.64421444e-01 6.57619671e+01] [ 1.34692028e-01 9.89030095e-01 -6.06426377e-02 -1.64853237e+00] [ 3.69372403e-01 6.67432406e-03 9.29257489e-01 -3.77560803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.96864 meters Centerline goodness : 0.996214 Centerline is valid? [True, True] Translation: X:65.79, Y:-1.64, Z:-37.74 [[ 9.20059941e-01 -1.41214123e-01 -3.65442577e-01 6.57863128e+01] [ 1.27705429e-01 9.89933832e-01 -6.10109208e-02 -1.63922740e+00] [ 3.70379574e-01 9.46470319e-03 9.28832273e-01 -3.77445432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.99864 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:65.81, Y:-1.63, Z:-37.73 [[ 9.20912959e-01 -1.38320983e-01 -3.64398996e-01 6.58109162e+01] [ 1.24590644e-01 9.90328349e-01 -6.10486087e-02 -1.63087897e+00] [ 3.69318960e-01 1.08197493e-02 9.29239710e-01 -3.77334415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.02864 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:65.83, Y:-1.62, Z:-37.72 [[ 9.21175558e-01 -1.36104751e-01 -3.64569730e-01 6.58349281e+01] [ 1.22108979e-01 9.90622474e-01 -6.12903841e-02 -1.62212233e+00] [ 3.69492881e-01 1.19419663e-02 9.29156822e-01 -3.77223045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.05864 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:65.86, Y:-1.61, Z:-37.71 [[ 9.21811286e-01 -1.33506202e-01 -3.63923134e-01 6.58589544e+01] [ 1.19284202e-01 9.90960317e-01 -6.13916009e-02 -1.60960786e+00] [ 3.68829544e-01 1.31811898e-02 9.29403585e-01 -3.77119245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.08864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:65.88, Y:-1.60, Z:-37.70 [[ 9.21849785e-01 -1.33182295e-01 -3.63944296e-01 6.58840101e+01] [ 1.18851100e-01 9.90999131e-01 -6.16046954e-02 -1.60177781e+00] [ 3.68873136e-01 1.35350952e-02 9.29381198e-01 -3.77006081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.11864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:65.91, Y:-1.59, Z:-37.69 [[ 9.22369947e-01 -1.32954216e-01 -3.62707675e-01 6.59077001e+01] [ 1.18625961e-01 9.91026176e-01 -6.16035670e-02 -1.58856566e+00] [ 3.67643255e-01 1.37947323e-02 9.29864583e-01 -3.76902993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.14864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:65.93, Y:-1.58, Z:-37.68 [[ 9.22914462e-01 -1.32972327e-01 -3.61313237e-01 6.59320043e+01] [ 1.18679367e-01 9.91021612e-01 -6.15741214e-02 -1.57856790e+00] [ 3.66256881e-01 1.39472208e-02 9.30409250e-01 -3.76780769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.17864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:65.96, Y:-1.57, Z:-37.67 [[ 9.23050735e-01 -1.32773698e-01 -3.61038067e-01 6.59561326e+01] [ 1.18407550e-01 9.91044162e-01 -6.17342722e-02 -1.56869859e+00] [ 3.66001357e-01 1.42342322e-02 9.30505451e-01 -3.76670801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:65.98, Y:-1.55, Z:-37.66 [[ 9.22372195e-01 -1.32097515e-01 -3.63014848e-01 6.59798450e+01] [ 1.17432583e-01 9.91125992e-01 -6.22804596e-02 -1.55340104e+00] [ 3.68020545e-01 1.48159931e-02 9.29699610e-01 -3.76575230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.23863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:66.00, Y:-1.54, Z:-37.65 [[ 9.23030272e-01 -1.31991158e-01 -3.61377159e-01 6.60046394e+01] [ 1.17376331e-01 9.91137395e-01 -6.22049990e-02 -1.54340995e+00] [ 3.66384925e-01 1.49999720e-02 9.30342457e-01 -3.76464102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.04, Y:-1.56, Z:-37.64 [[ 9.14054570e-01 -1.24442562e-01 -3.86028875e-01 6.60372212e+01] [ 1.19844615e-01 9.92137617e-01 -3.60585162e-02 -1.55554283e+00] [ 3.87480982e-01 -1.33040305e-02 9.21781694e-01 -3.76410170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.05, Y:-1.50, Z:-37.62 [[ 9.23340180e-01 -1.44191673e-01 -3.55881543e-01 6.60477928e+01] [ 1.20652864e-01 9.88821838e-01 -8.76028501e-02 -1.49827747e+00] [ 3.64535043e-01 3.79491039e-02 9.30416072e-01 -3.76183001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.08, Y:-1.51, Z:-37.61 [[ 9.22908040e-01 -1.38266644e-01 -3.59337007e-01 6.60774125e+01] [ 1.24089562e-01 9.90310363e-01 -6.23471443e-02 -1.51023049e+00] [ 3.64475692e-01 1.29507091e-02 9.31122843e-01 -3.76106840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.10, Y:-1.50, Z:-37.60 [[ 9.22243645e-01 -1.40481260e-01 -3.60182835e-01 6.61018468e+01] [ 1.26314366e-01 9.90006538e-01 -6.27035546e-02 -1.50227914e+00] [ 3.65392036e-01 1.23316882e-02 9.30772039e-01 -3.76003647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.13, Y:-1.49, Z:-37.59 [[ 9.22100151e-01 -1.41877427e-01 -3.60002928e-01 6.61266192e+01] [ 1.27746526e-01 9.89811590e-01 -6.28795742e-02 -1.49393117e+00] [ 3.65256263e-01 1.19921416e-02 9.30829765e-01 -3.75895004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.17, Y:-1.58, Z:-37.59 [[ 9.03507844e-01 -1.29122493e-01 -4.08657506e-01 6.61702061e+01] [ 1.53344268e-01 9.87806166e-01 2.69168028e-02 -1.57756206e+00] [ 4.00198839e-01 -8.69848283e-02 9.12290814e-01 -3.75948996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.15, Y:-1.39, Z:-37.54 [[ 0.92300359 -0.18297693 -0.33850231 66.15095524] [ 0.13554018 0.97792476 -0.15903465 -1.39089573] [ 0.36012946 0.10090889 0.92742879 -37.54499955] [ 0. 0. 0. 1. ]] SLAMing on 85.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.20, Y:-1.47, Z:-37.55 [[ 9.21625075e-01 -1.50407439e-01 -3.57749667e-01 6.61985531e+01] [ 1.36985575e-01 9.88584877e-01 -6.27287205e-02 -1.46519478e+00] [ 3.63100777e-01 8.80581791e-03 9.31708261e-01 -3.75540107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.22, Y:-1.46, Z:-37.54 [[ 9.20469505e-01 -1.53314862e-01 -3.59486361e-01 6.62239044e+01] [ 1.39888696e-01 9.88145627e-01 -6.32405954e-02 -1.45794047e+00] [ 3.64920599e-01 7.92296124e-03 9.31004932e-01 -3.75436131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.50, Z:-37.54 [[ 9.04533004e-01 -1.36463042e-01 -4.03977578e-01 6.62579705e+01] [ 1.40037904e-01 9.89926773e-01 -2.08415358e-02 -1.49526129e+00] [ 4.02752320e-01 -3.77203162e-02 9.14531436e-01 -3.75399219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:66.26, Y:-1.40, Z:-37.51 [[ 9.19631146e-01 -1.75578253e-01 -3.51355707e-01 6.62628320e+01] [ 1.45385710e-01 9.83154717e-01 -1.10769116e-01 -1.40339099e+00] [ 3.64885668e-01 5.07846299e-02 9.29666268e-01 -3.75132014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:66.31, Y:-1.48, Z:-37.52 [[ 9.02594167e-01 -1.42604075e-01 -4.06186961e-01 6.63085380e+01] [ 1.45450274e-01 9.89073536e-01 -2.40365852e-02 -1.48054651e+00] [ 4.05176489e-01 -3.73847233e-02 9.13473806e-01 -3.75182212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.62863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:66.31, Y:-1.39, Z:-37.49 [[ 9.18749804e-01 -1.79913841e-01 -3.51468074e-01 6.63133510e+01] [ 1.50655413e-01 9.82543549e-01 -1.09138086e-01 -1.38898164e+00] [ 3.64968141e-01 4.73200270e-02 9.29816687e-01 -3.74896347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.65863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:66.35, Y:-1.45, Z:-37.49 [[ 9.04071362e-01 -1.55349651e-01 -3.98147533e-01 6.63537150e+01] [ 1.50183837e-01 9.87663029e-01 -4.43458733e-02 -1.44632632e+00] [ 4.00124714e-01 -1.97034902e-02 9.16248867e-01 -3.74915278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.68863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:66.37, Y:-1.43, Z:-37.48 [[ 9.03024221e-01 -1.66303853e-01 -3.96093783e-01 6.63740594e+01] [ 1.54073158e-01 9.86064902e-01 -6.27492774e-02 -1.42637641e+00] [ 4.01009623e-01 -4.36330273e-03 9.16063450e-01 -3.74770278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.40, Y:-1.42, Z:-37.47 [[ 9.02508134e-01 -1.72894110e-01 -3.94444792e-01 6.63961481e+01] [ 1.58347937e-01 9.84940400e-01 -6.94142582e-02 -1.41656290e+00] [ 4.00505928e-01 1.87413435e-04 9.16294149e-01 -3.74655808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.41, Y:-1.38, Z:-37.45 [[ 9.17045273e-01 -1.89890295e-01 -3.50670276e-01 6.64148844e+01] [ 1.64662036e-01 9.81194897e-01 -1.00712403e-01 -1.37813852e+00] [ 3.63200193e-01 3.46157515e-02 9.31067865e-01 -3.74465273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.45, Y:-1.43, Z:-37.45 [[ 9.03176686e-01 -1.73588984e-01 -3.92605066e-01 6.64504304e+01] [ 1.67868188e-01 9.84583232e-01 -4.91541514e-02 -1.42718781e+00] [ 3.95084984e-01 -2.15110176e-02 9.18392689e-01 -3.74479516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.80864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:66.47, Y:-1.47, Z:-37.45 [[ 8.95332786e-01 -2.09769824e-01 -3.92906890e-01 6.64693857e+01] [ 2.14975236e-01 9.76118786e-01 -3.12692114e-02 -1.46837537e+00] [ 3.90083133e-01 -5.64689014e-02 9.19046469e-01 -3.74476603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.83864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:66.49, Y:-1.39, Z:-37.42 [[ 8.97225427e-01 -1.89607193e-01 -3.98792735e-01 6.64925769e+01] [ 1.67531859e-01 9.81762845e-01 -8.98598450e-02 -1.38969167e+00] [ 4.08557963e-01 1.38140497e-02 9.12627834e-01 -3.74172422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.86864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:66.52, Y:-1.42, Z:-37.41 [[ 9.01049557e-01 -1.75679296e-01 -3.96543164e-01 6.65232699e+01] [ 1.67687894e-01 9.84302378e-01 -5.50417917e-02 -1.41637023e+00] [ 3.99988082e-01 -1.69001060e-02 9.16364513e-01 -3.74133277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.55, Y:-1.42, Z:-37.40 [[ 8.99421919e-01 -1.74099920e-01 -4.00910750e-01 6.65467719e+01] [ 1.68394226e-01 9.84464426e-01 -4.97310679e-02 -1.41874073e+00] [ 4.03340546e-01 -2.27818427e-02 9.14766304e-01 -3.74041156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.56, Y:-1.35, Z:-37.38 [[ 9.02377020e-01 -1.95940494e-01 -3.83826833e-01 6.65593165e+01] [ 1.59978545e-01 9.79323114e-01 -1.23826913e-01 -1.34730114e+00] [ 4.00153195e-01 5.03345022e-02 9.15064948e-01 -3.73761453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.59, Y:-1.37, Z:-37.37 [[ 9.06798725e-01 -1.79904925e-01 -3.81248333e-01 6.65928186e+01] [ 1.57194701e-01 9.83441362e-01 -9.01826635e-02 -1.37162786e+00] [ 3.91159685e-01 2.18473067e-02 9.20063474e-01 -3.73746388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.98863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.62, Y:-1.35, Z:-37.36 [[ 9.22370653e-01 -1.83112774e-01 -3.40150100e-01 6.66169195e+01] [ 1.55038996e-01 9.81964379e-01 -1.08207528e-01 -1.34584384e+00] [ 3.53829462e-01 4.70709187e-02 9.34124746e-01 -3.73577665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.01863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.66, Y:-1.42, Z:-37.36 [[ 9.10327548e-01 -1.52153907e-01 -3.84906410e-01 6.66602091e+01] [ 1.53077288e-01 9.87804809e-01 -2.84429881e-02 -1.41833248e+00] [ 3.84540115e-01 -3.30279939e-02 9.22517237e-01 -3.73637051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.04863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:66.68, Y:-1.43, Z:-37.35 [[ 9.10494122e-01 -1.44736841e-01 -3.87365074e-01 6.66843090e+01] [ 1.52379967e-01 9.88259743e-01 -1.10916798e-02 -1.43025708e+00] [ 3.84422684e-01 -4.89277678e-02 9.21859682e-01 -3.73544179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:66.69, Y:-1.33, Z:-37.32 [[ 9.10257051e-01 -1.82994823e-01 -3.71409471e-01 6.66904831e+01] [ 1.48274884e-01 9.81608442e-01 -1.20247348e-01 -1.32813252e+00] [ 3.86583315e-01 5.43853002e-02 9.20649542e-01 -3.73210597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.72, Y:-1.33, Z:-37.31 [[ 9.24745991e-01 -1.77772280e-01 -3.36514292e-01 6.67209386e+01] [ 1.50546638e-01 9.82950581e-01 -1.05564507e-01 -1.33112740e+00] [ 3.49543362e-01 4.69592597e-02 9.35742628e-01 -3.73130726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.76, Y:-1.41, Z:-37.32 [[ 9.09661258e-01 -1.45424615e-01 -3.89060506e-01 6.67646866e+01] [ 1.51138412e-01 9.88382057e-01 -1.60651670e-02 -1.41270239e+00] [ 3.86876694e-01 -4.41881271e-02 9.21072111e-01 -3.73206694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.78, Y:-1.36, Z:-37.30 [[ 9.11514547e-01 -1.65845249e-01 -3.76346362e-01 6.67769146e+01] [ 1.50070484e-01 9.86116747e-01 -7.10817238e-02 -1.35803278e+00] [ 3.82910017e-01 8.31354445e-03 9.23748236e-01 -3.73001507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.80, Y:-1.35, Z:-37.29 [[ 9.13008597e-01 -1.67173523e-01 -3.72113311e-01 6.68012668e+01] [ 1.50305111e-01 9.85857616e-01 -7.41156828e-02 -1.34924625e+00] [ 3.79240921e-01 1.17377231e-02 9.25223513e-01 -3.72893005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.82, Y:-1.31, Z:-37.27 [[ 9.26603513e-01 -1.78402555e-01 -3.31026371e-01 6.68217655e+01] [ 1.51897602e-01 9.82855573e-01 -1.04508573e-01 -1.31140629e+00] [ 3.43995709e-01 4.65558990e-02 9.37816347e-01 -3.72708754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:-1.41, Z:-37.28 [[ 9.12905912e-01 -1.38212342e-01 -3.84057474e-01 6.68708268e+01] [ 1.51613309e-01 9.88428827e-01 4.67540118e-03 -1.40951011e+00] [ 3.78967280e-01 -6.24964258e-02 9.23297350e-01 -3.72823009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.87, Y:-1.28, Z:-37.24 [[ 0.92676704 -0.18805567 -0.32517366 66.86597125] [ 0.15284052 0.97954482 -0.13088822 -1.27536748] [ 0.34313645 0.07160318 0.93655238 -37.24256135] [ 0. 0. 0. 1. ]] SLAMing on 86.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:-1.41, Z:-37.26 [[ 9.14272407e-01 -1.34834355e-01 -3.82002176e-01 6.69230261e+01] [ 1.54777316e-01 9.87708608e-01 2.18102825e-02 -1.40999327e+00] [ 3.74366062e-01 -7.90658108e-02 9.23904026e-01 -3.72622793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.92, Y:-1.29, Z:-37.23 [[ 9.12612650e-01 -1.79279140e-01 -3.67419572e-01 6.69248327e+01] [ 1.52359469e-01 9.83123154e-01 -1.01269224e-01 -1.29446901e+00] [ 3.79374148e-01 3.64397240e-02 9.24525501e-01 -3.72285797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.37863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:66.96, Y:-1.31, Z:-37.22 [[ 9.13758405e-01 -1.71734533e-01 -3.68174996e-01 6.69559129e+01] [ 1.55669448e-01 9.85097214e-01 -7.31471282e-02 -1.31398841e+00] [ 3.75250050e-01 9.52520479e-03 9.26874679e-01 -3.72226401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:66.98, Y:-1.31, Z:-37.21 [[ 9.14419752e-01 -1.73714369e-01 -3.65595178e-01 6.69802795e+01] [ 1.57069699e-01 9.84732448e-01 -7.50407603e-02 -1.30562650e+00] [ 3.73049093e-01 1.11948287e-02 9.27744065e-01 -3.72111815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.43863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.01, Y:-1.31, Z:-37.20 [[ 9.13608014e-01 -1.67077619e-01 -3.70682433e-01 6.70102094e+01] [ 1.58169485e-01 9.85904465e-01 -5.45417309e-02 -1.31346065e+00] [ 3.74570169e-01 -8.80088728e-03 9.27156801e-01 -3.72040018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.46864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:67.03, Y:-1.28, Z:-37.19 [[ 9.16073712e-01 -1.77211521e-01 -3.59729109e-01 6.70290690e+01] [ 1.59407764e-01 9.84060433e-01 -7.88303859e-02 -1.28398513e+00] [ 3.67964835e-01 1.48708314e-02 9.29720785e-01 -3.71900710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:67.06, Y:-1.29, Z:-37.18 [[ 9.15332556e-01 -1.66755376e-01 -3.66550074e-01 6.70596924e+01] [ 1.56537725e-01 9.85987557e-01 -5.76582889e-02 -1.29329218e+00] [ 3.71028642e-01 -4.60240554e-03 9.28610018e-01 -3.71829768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.08, Y:-1.28, Z:-37.17 [[ 9.17424126e-01 -1.70707418e-01 -3.59432818e-01 6.70819023e+01] [ 1.58021061e-01 9.85318612e-01 -6.46264375e-02 -1.27896214e+00] [ 3.65188058e-01 2.49189782e-03 9.30930434e-01 -3.71708656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.10, Y:-1.26, Z:-37.16 [[ 9.18573085e-01 -1.76565498e-01 -3.53621426e-01 6.71028046e+01] [ 1.59203824e-01 9.84171284e-01 -7.78525945e-02 -1.25532346e+00] [ 3.61770135e-01 1.52154147e-02 9.32143154e-01 -3.71572006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:67.14, Y:-1.30, Z:-37.16 [[ 9.19378765e-01 -1.56710760e-01 -3.60810786e-01 6.71400747e+01] [ 1.60131522e-01 9.86880675e-01 -2.06016552e-02 -1.29795620e+00] [ 3.59305693e-01 -3.88364561e-02 9.32411470e-01 -3.71598608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.14, Y:-1.20, Z:-37.13 [[ 9.20510022e-01 -1.95906669e-01 -3.38056026e-01 6.71429334e+01] [ 1.64787111e-01 9.79157718e-01 -1.18723929e-01 -1.20475068e+00] [ 3.54268976e-01 5.35792909e-02 9.33607386e-01 -3.71260233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.19, Y:-1.27, Z:-37.14 [[ 9.14659775e-01 -1.75571307e-01 -3.64104672e-01 6.71872430e+01] [ 1.73345258e-01 9.84085877e-01 -3.90692826e-02 -1.26987560e+00] [ 3.65169711e-01 -2.73807172e-02 9.30538220e-01 -3.71358831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:67.20, Y:-1.21, Z:-37.11 [[ 9.26399153e-01 -2.02196465e-01 -3.17649492e-01 6.71998420e+01] [ 1.80312424e-01 9.78797298e-01 -9.71765328e-02 -1.20770167e+00] [ 3.30563215e-01 3.27481078e-02 9.43215523e-01 -3.71119624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.24, Y:-1.26, Z:-37.12 [[ 9.14070294e-01 -1.93004290e-01 -3.56685914e-01 6.72359526e+01] [ 1.89627110e-01 9.80834452e-01 -4.47809913e-02 -1.25501455e+00] [ 3.58492756e-01 -2.67043450e-02 9.33150482e-01 -3.71163726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.73863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:67.26, Y:-1.26, Z:-37.11 [[ 9.10259757e-01 -1.91905415e-01 -3.66878026e-01 6.72641207e+01] [ 1.91024179e-01 9.80806758e-01 -3.90879369e-02 -1.25727326e+00] [ 3.67337634e-01 -3.45023978e-02 9.29447496e-01 -3.71067673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.76863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:67.27, Y:-1.19, Z:-37.08 [[ 9.21787411e-01 -2.24666670e-01 -3.15963379e-01 6.72740799e+01] [ 2.01114676e-01 9.73845391e-01 -1.05726256e-01 -1.18974023e+00] [ 3.31452646e-01 3.39122593e-02 9.42862186e-01 -3.70804542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.79863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:67.32, Y:-1.25, Z:-37.09 [[ 9.12701952e-01 -1.99248020e-01 -3.56756743e-01 6.73188287e+01] [ 1.96871615e-01 9.79469589e-01 -4.33692388e-02 -1.24698027e+00] [ 3.58073616e-01 -3.06520874e-02 9.33190085e-01 -3.70853056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:67.34, Y:-1.23, Z:-37.07 [[ 9.12573400e-01 -2.05071552e-01 -3.53773160e-01 6.73411174e+01] [ 1.97533901e-01 9.78595608e-01 -5.77147719e-02 -1.23009415e+00] [ 3.58036518e-01 -1.72132265e-02 9.33548904e-01 -3.70724229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.85864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:67.37, Y:-1.27, Z:-37.07 [[ 9.07767191e-01 -1.95036484e-01 -3.71375143e-01 6.73728890e+01] [ 2.06730386e-01 9.78361111e-01 -8.49020042e-03 -1.27475599e+00] [ 3.64994896e-01 -6.90674012e-02 9.28444085e-01 -3.70745747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.88864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:67.38, Y:-1.17, Z:-37.04 [[ 9.10217922e-01 -2.31252461e-01 -3.43548589e-01 6.73766981e+01] [ 2.01554137e-01 9.72060126e-01 -1.20312266e-01 -1.17424071e+00] [ 3.61772393e-01 4.02667414e-02 9.31396438e-01 -3.70362725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.91864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:67.41, Y:-1.23, Z:-37.04 [[ 9.09012004e-01 -2.16876886e-01 -3.55895479e-01 6.74139663e+01] [ 2.09402390e-01 9.75992663e-01 -5.99079333e-02 -1.22970698e+00] [ 3.60344023e-01 -2.00683335e-02 9.32603585e-01 -3.70416380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.94864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:67.44, Y:-1.21, Z:-37.03 [[ 9.20711861e-01 -2.27101813e-01 -3.17355378e-01 6.74384162e+01] [ 2.12007141e-01 9.73837818e-01 -8.18100049e-02 -1.20528496e+00] [ 3.27631870e-01 8.04183541e-03 9.44771235e-01 -3.70280828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.97864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:67.47, Y:-1.22, Z:-37.02 [[ 9.21456497e-01 -2.19675304e-01 -3.20407062e-01 6.74702683e+01] [ 2.12024269e-01 9.75479227e-01 -5.90422552e-02 -1.22429471e+00] [ 3.25520558e-01 -1.35292033e-02 9.45438167e-01 -3.70237877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.00864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:67.50, Y:-1.26, Z:-37.02 [[ 9.11855773e-01 -2.09631815e-01 -3.52949786e-01 6.75012989e+01] [ 2.11968083e-01 9.76736057e-01 -3.24993312e-02 -1.25543067e+00] [ 3.51551676e-01 -4.51793867e-02 9.35077666e-01 -3.70186248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.03864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:67.53, Y:-1.25, Z:-37.01 [[ 9.09184036e-01 -2.05719693e-01 -3.62027341e-01 6.75291254e+01] [ 2.05514651e-01 9.77855086e-01 -3.95368153e-02 -1.24950417e+00] [ 3.62143778e-01 -3.84556814e-02 9.31328645e-01 -3.70065348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:67.54, Y:-1.17, Z:-36.98 [[ 9.22213102e-01 -2.33644141e-01 -3.08112658e-01 6.75369420e+01] [ 2.07232952e-01 9.71352421e-01 -1.16314139e-01 -1.17368045e+00] [ 3.26462093e-01 4.34153272e-02 9.44212694e-01 -3.69811898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:67.58, Y:-1.23, Z:-36.98 [[ 9.24521969e-01 -2.10262879e-01 -3.17881505e-01 6.75781216e+01] [ 2.02049186e-01 9.77596907e-01 -5.89950294e-02 -1.22601604e+00] [ 3.23164441e-01 -9.68549875e-03 9.46293261e-01 -3.69841141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.12863999999999 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:67.60, Y:-1.22, Z:-36.97 [[ 9.24911242e-01 -2.08419725e-01 -3.17962911e-01 6.76045175e+01] [ 2.00039048e-01 9.77999237e-01 -5.91766096e-02 -1.22413269e+00] [ 3.23301057e-01 -8.87188648e-03 9.46254573e-01 -3.69740662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.15863999999999 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:67.63, Y:-1.22, Z:-36.96 [[ 9.26088608e-01 -2.03811204e-01 -3.17523045e-01 6.76307720e+01] [ 1.95137314e-01 9.78984546e-01 -5.92510556e-02 -1.22344571e+00] [ 3.22926183e-01 -7.08886669e-03 9.46397606e-01 -3.69641961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.18863999999999 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:67.67, Y:-1.29, Z:-36.96 [[ 9.17910737e-01 -1.72124312e-01 -3.57509579e-01 6.76728965e+01] [ 1.88511705e-01 9.82006899e-01 1.12155222e-02 -1.28752359e+00] [ 3.49146409e-01 -7.76895887e-02 9.33842124e-01 -3.69637740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.21864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:67.67, Y:-1.15, Z:-36.93 [[ 9.28903117e-01 -2.18475801e-01 -2.99010575e-01 6.76673363e+01] [ 1.87069403e-01 9.73669936e-01 -1.30276222e-01 -1.15417268e+00] [ 3.19599809e-01 6.50782589e-02 9.45315176e-01 -3.69287010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.24864 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:67.71, Y:-1.21, Z:-36.93 [[ 9.29778877e-01 -1.92085087e-01 -3.14029552e-01 6.77102234e+01] [ 1.82833646e-01 9.81374823e-01 -5.89517965e-02 -1.21251651e+00] [ 3.19504457e-01 -2.60303290e-03 9.47581198e-01 -3.69337467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.27864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:67.74, Y:-1.25, Z:-36.93 [[ 9.17255061e-01 -1.76757306e-01 -3.56931377e-01 6.77420777e+01] [ 1.80057419e-01 9.83357044e-01 -2.42538581e-02 -1.24556590e+00] [ 3.55278030e-01 -4.20211683e-02 9.33815690e-01 -3.69291602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.30864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:67.76, Y:-1.23, Z:-36.92 [[ 9.16500579e-01 -1.77821982e-01 -3.58337873e-01 6.77632229e+01] [ 1.74707896e-01 9.83752176e-01 -4.13377283e-02 -1.22501874e+00] [ 3.59866419e-01 -2.47184040e-02 9.32676343e-01 -3.69178592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.33864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:67.77, Y:-1.13, Z:-36.89 [[ 0.93284886 -0.20500591 -0.29625256 67.77037527] [ 0.17390306 0.97639887 -0.12807405 -1.13440343] [ 0.3155166 0.06795451 0.94648373 -36.88921187] [ 0. 0. 0. 1. ]] SLAMing on 87.36864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:67.82, Y:-1.24, Z:-36.90 [[ 9.16569207e-01 -1.67829226e-01 -3.62952116e-01 6.78190831e+01] [ 1.74218419e-01 9.84587897e-01 -1.53171359e-02 -1.23645706e+00] [ 3.59928924e-01 -4.91937287e-02 9.31681891e-01 -3.69022381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.39864 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:67.83, Y:-1.14, Z:-36.87 [[ 9.33670151e-01 -1.99011965e-01 -2.97748696e-01 6.78252134e+01] [ 1.72653448e-01 9.78521704e-01 -1.12632420e-01 -1.13633152e+00] [ 3.13768760e-01 5.37541897e-02 9.47976609e-01 -3.68732608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.42864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:67.86, Y:-1.18, Z:-36.88 [[ 9.32932127e-01 -1.84113857e-01 -3.09418381e-01 6.78636807e+01] [ 1.74580368e-01 9.82904775e-01 -5.84798969e-02 -1.17986665e+00] [ 3.14895764e-01 5.39399823e-04 9.49126107e-01 -3.68750852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:67.91, Y:-1.28, Z:-36.88 [[ 9.17544833e-01 -1.50691374e-01 -3.67972268e-01 6.79077255e+01] [ 1.79700606e-01 9.82660698e-01 4.56688524e-02 -1.27768666e+00] [ 3.54709984e-01 -1.08028059e-01 9.28714577e-01 -3.68811058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.48863999999999 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:67.90, Y:-1.12, Z:-36.84 [[ 9.17073280e-01 -2.09698775e-01 -3.39120957e-01 6.78977351e+01] [ 1.74830812e-01 9.75890141e-01 -1.30662232e-01 -1.11606191e+00] [ 3.58344508e-01 6.05380490e-02 9.31624580e-01 -3.68417113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.51863999999999 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:67.94, Y:-1.17, Z:-36.85 [[ 9.15778671e-01 -1.91778817e-01 -3.52945195e-01 6.79376929e+01] [ 1.80499065e-01 9.81429030e-01 -6.49395555e-02 -1.17029132e+00] [ 3.58844691e-01 -4.23601790e-03 9.33387671e-01 -3.68466174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.54863999999999 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:67.95, Y:-1.11, Z:-36.82 [[ 9.32485714e-01 -2.08837515e-01 -2.94715601e-01 6.79535708e+01] [ 1.82063157e-01 9.76437255e-01 -1.15858940e-01 -1.11286293e+00] [ 3.11966986e-01 5.43799536e-02 9.48535408e-01 -3.68248196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.57864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:68.00, Y:-1.20, Z:-36.83 [[ 9.18164515e-01 -1.79084678e-01 -3.53415621e-01 6.79988279e+01] [ 1.82135628e-01 9.82957931e-01 -2.49061835e-02 -1.19573531e+00] [ 3.51853004e-01 -4.15016022e-02 9.35134793e-01 -3.68326891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.60864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:68.01, Y:-1.11, Z:-36.81 [[ 9.33380370e-01 -2.02171795e-01 -2.96525970e-01 6.80096557e+01] [ 1.79485296e-01 9.78444370e-01 -1.02135415e-01 -1.11267163e+00] [ 3.10783066e-01 4.21091403e-02 9.49547632e-01 -3.68081718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.63864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:68.05, Y:-1.15, Z:-36.81 [[ 9.33094158e-01 -1.88615032e-01 -3.06201996e-01 6.80459654e+01] [ 1.79444709e-01 9.82050830e-01 -5.81013169e-02 -1.14534032e+00] [ 3.11664706e-01 -7.32328719e-04 9.50191862e-01 -3.68080019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.66864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:68.08, Y:-1.17, Z:-36.80 [[ 9.19943477e-01 -1.80543963e-01 -3.48005570e-01 6.80764967e+01] [ 1.81102925e-01 9.82968499e-01 -3.12195402e-02 -1.17242940e+00] [ 3.47715012e-01 -3.43046142e-02 9.36972499e-01 -3.68040616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.69864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:68.10, Y:-1.14, Z:-36.79 [[ 9.20989559e-01 -1.93351261e-01 -3.38221115e-01 6.80951167e+01] [ 1.84223150e-01 9.81098846e-01 -5.92189561e-02 -1.14384741e+00] [ 3.43278406e-01 -7.76811906e-03 9.39201572e-01 -3.67919206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.72864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:68.11, Y:-1.09, Z:-36.77 [[ 9.33096058e-01 -2.08194178e-01 -2.93235284e-01 6.81125670e+01] [ 1.85013864e-01 9.77109347e-01 -1.05010453e-01 -1.09189764e+00] [ 3.08385502e-01 4.37322470e-02 9.50255688e-01 -3.67699996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.75864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:68.15, Y:-1.13, Z:-36.77 [[ 9.33000367e-01 -1.94884996e-01 -3.02539508e-01 6.81498182e+01] [ 1.86219604e-01 9.80822480e-01 -5.75284415e-02 -1.13028413e+00] [ 3.07948981e-01 -2.66473037e-03 9.51399140e-01 -3.67704652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.78864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:68.18, Y:-1.18, Z:-36.77 [[ 9.17791758e-01 -1.83946003e-01 -3.51883726e-01 6.81813521e+01] [ 1.92200714e-01 9.81286348e-01 -1.16614374e-02 -1.17875338e+00] [ 3.47443771e-01 -5.69295323e-02 9.35971075e-01 -3.67684624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:68.19, Y:-1.07, Z:-36.74 [[ 9.31741175e-01 -2.19656496e-01 -2.89152912e-01 6.81879768e+01] [ 1.93596992e-01 9.74174632e-01 -1.16206671e-01 -1.07424478e+00] [ 3.07210982e-01 5.22954061e-02 9.50203454e-01 -3.67400157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:68.24, Y:-1.18, Z:-36.76 [[ 9.27712122e-01 -1.51891993e-01 -3.40997128e-01 6.82406848e+01] [ 1.65201310e-01 9.86207605e-01 1.01532199e-02 -1.17626391e+00] [ 3.34751768e-01 -6.57524373e-02 9.40009506e-01 -3.67584125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.87863999999999 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:68.26, Y:-1.15, Z:-36.74 [[ 9.19469005e-01 -1.99196390e-01 -3.38965406e-01 6.82550649e+01] [ 1.97538421e-01 9.79488163e-01 -3.97682194e-02 -1.14593304e+00] [ 3.39934288e-01 -3.03930459e-02 9.39957947e-01 -3.67361014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.90863999999999 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:68.26, Y:-1.03, Z:-36.70 [[ 0.93160295 -0.23842697 -0.27435109 68.25669159] [ 0.20043777 0.96664374 -0.15945088 -1.03084044] [ 0.30321716 0.09355459 0.94831793 -36.70103124] [ 0. 0. 0. 1. ]] SLAMing on 87.93863999999999 meters Centerline goodness : 0.992138 Centerline is valid? [True, True] Translation: X:68.32, Y:-1.18, Z:-36.74 [[ 9.29157665e-01 -1.22740290e-01 -3.48713140e-01 6.83232701e+01] [ 1.45208788e-01 9.88634719e-01 3.89332814e-02 -1.18386302e+00] [ 3.39971235e-01 -8.68113694e-02 9.36420496e-01 -3.67362782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.96864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:68.31, Y:-1.03, Z:-36.68 [[ 0.93101268 -0.24412104 -0.27133062 68.3104162 ] [ 0.20682779 0.96538875 -0.15889251 -1.02844434] [ 0.30072853 0.09181223 0.94928018 -36.68227271] [ 0. 0. 0. 1. ]] SLAMing on 87.99864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:68.36, Y:-1.12, Z:-36.70 [[ 9.31508908e-01 -2.16060830e-01 -2.92589939e-01 6.83625049e+01] [ 2.08938879e-01 9.76336777e-01 -5.57767219e-02 -1.12328823e+00] [ 2.97717483e-01 -9.17690064e-03 9.54609912e-01 -3.66959158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.02864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:68.39, Y:-1.17, Z:-36.69 [[ 9.19815597e-01 -2.05360746e-01 -3.34314569e-01 6.83928066e+01] [ 2.12169333e-01 9.77094418e-01 -1.64521016e-02 -1.16557087e+00] [ 3.30035515e-01 -5.57983993e-02 9.42317939e-01 -3.66914635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.41, Y:-1.13, Z:-36.68 [[ 9.19385932e-01 -2.15604035e-01 -3.29005179e-01 6.84127099e+01] [ 2.10020764e-01 9.76266008e-01 -5.28768418e-02 -1.13174155e+00] [ 3.32597033e-01 -2.04836945e-02 9.42846558e-01 -3.66767195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.44, Y:-1.12, Z:-36.67 [[ 9.18418846e-01 -2.16436543e-01 -3.31152604e-01 6.84386961e+01] [ 2.06571042e-01 9.76259177e-01 -6.51645892e-02 -1.12437574e+00] [ 3.37394767e-01 -8.55815164e-03 9.41324349e-01 -3.66654799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.11864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:68.46, Y:-1.11, Z:-36.67 [[ 9.31659263e-01 -1.91456175e-01 -3.08796940e-01 6.84587226e+01] [ 1.80351736e-01 9.81491717e-01 -6.43992280e-02 -1.10758278e+00] [ 3.15411269e-01 4.30607305e-03 9.48945304e-01 -3.66658869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.48, Y:-1.08, Z:-36.64 [[ 9.25250273e-01 -2.32256542e-01 -2.99948047e-01 6.84808030e+01] [ 2.07176004e-01 9.71715495e-01 -1.13345050e-01 -1.08181695e+00] [ 3.17789294e-01 4.27305011e-02 9.47198009e-01 -3.66423281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.52, Y:-1.11, Z:-36.64 [[ 9.34012549e-01 -2.19444580e-01 -2.81894722e-01 6.85180778e+01] [ 2.07275797e-01 9.75579183e-01 -7.26773754e-02 -1.11088268e+00] [ 2.90959279e-01 9.45162742e-03 9.56688750e-01 -3.66388795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:68.55, Y:-1.16, Z:-36.64 [[ 9.27143676e-01 -1.93523888e-01 -3.20863067e-01 6.85542293e+01] [ 1.99469942e-01 9.79795547e-01 -1.45749055e-02 -1.16488552e+00] [ 3.17200797e-01 -5.04895058e-02 9.47013445e-01 -3.66390598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.23863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.57, Y:-1.11, Z:-36.62 [[ 9.25044929e-01 -2.19795566e-01 -3.09809277e-01 6.85708902e+01] [ 2.05278410e-01 9.75498605e-01 -7.91406759e-02 -1.11386081e+00] [ 3.19613287e-01 9.61152500e-03 9.47499322e-01 -3.66209763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.26863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:68.60, Y:-1.10, Z:-36.61 [[ 9.34912209e-01 -2.22903791e-01 -2.76139568e-01 6.85977806e+01] [ 2.07041830e-01 9.74569936e-01 -8.57153432e-02 -1.10246957e+00] [ 2.88223596e-01 2.29638792e-02 9.57287741e-01 -3.66101290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.29863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:68.64, Y:-1.16, Z:-36.61 [[ 9.24777680e-01 -2.01723274e-01 -3.22635960e-01 6.86356539e+01] [ 2.04943414e-01 9.78471108e-01 -2.43410598e-02 -1.16108013e+00] [ 3.20600124e-01 -4.36120463e-02 9.46210098e-01 -3.66071505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.32864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:68.65, Y:-1.09, Z:-36.59 [[ 9.35800177e-01 -2.23342855e-01 -2.72756296e-01 6.86502693e+01] [ 2.05713886e-01 9.74278932e-01 -9.19910859e-02 -1.08957093e+00] [ 2.86286264e-01 2.99755171e-02 9.57675124e-01 -3.65903725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.35864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.69, Y:-1.12, Z:-36.59 [[ 9.37582139e-01 -2.09628265e-01 -2.77481033e-01 6.86851178e+01] [ 2.02814356e-01 9.77761302e-01 -5.33776557e-02 -1.12150797e+00] [ 2.82499681e-01 -6.23120044e-03 9.59247154e-01 -3.65857695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.38864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:68.71, Y:-1.12, Z:-36.58 [[ 9.37763228e-01 -2.08984808e-01 -2.77354429e-01 6.87111152e+01] [ 2.02105815e-01 9.77901195e-01 -5.35022708e-02 -1.11680288e+00] [ 2.82406389e-01 -5.88248064e-03 9.59276825e-01 -3.65770519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.41864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:68.74, Y:-1.13, Z:-36.57 [[ 9.29452048e-01 -1.97968343e-01 -3.11331696e-01 6.87411779e+01] [ 1.97334651e-01 9.79750725e-01 -3.38755475e-02 -1.13491718e+00] [ 3.11733741e-01 -2.99508346e-02 9.49697332e-01 -3.65686485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.44864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:68.79, Y:-1.11, Z:-36.57 [[ 9.44040752e-01 -1.30706416e-01 -3.02824851e-01 6.87891723e+01] [ 1.33469020e-01 9.90984512e-01 -1.16497708e-02 -1.11470540e+00] [ 3.01617437e-01 -2.94198777e-02 9.52975022e-01 -3.65668318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.47864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.78, Y:-1.09, Z:-36.55 [[ 9.29828282e-01 -2.09810722e-01 -3.02322389e-01 6.87838737e+01] [ 1.97610795e-01 9.77723281e-01 -7.07612860e-02 -1.09428311e+00] [ 3.10434115e-01 6.05367739e-03 9.50575622e-01 -3.65500881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.50864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:68.81, Y:-1.08, Z:-36.54 [[ 9.38982263e-01 -2.11571692e-01 -2.71200534e-01 6.88082797e+01] [ 1.97984685e-01 9.77188032e-01 -7.68479972e-02 -1.07719050e+00] [ 2.81272777e-01 1.84653540e-02 9.59450184e-01 -3.65410745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.53864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.84, Y:-1.09, Z:-36.54 [[ 9.39219736e-01 -2.04289194e-01 -2.75920664e-01 6.88386800e+01] [ 1.96916064e-01 9.78905468e-01 -5.44807163e-02 -1.09138989e+00] [ 2.81230069e-01 -3.16384717e-03 9.59635159e-01 -3.65350720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:68.86, Y:-1.08, Z:-36.53 [[ 9.39636957e-01 -2.03200779e-01 -2.75303165e-01 6.88645470e+01] [ 1.95771231e-01 9.79133432e-01 -5.45100613e-02 -1.08487789e+00] [ 2.80635020e-01 -2.67677142e-03 9.59810825e-01 -3.65270731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:68.89, Y:-1.10, Z:-36.52 [[ 9.30535615e-01 -1.98138252e-01 -3.07968670e-01 6.88928793e+01] [ 1.94371714e-01 9.79976678e-01 -4.31896642e-02 -1.09603118e+00] [ 3.10359639e-01 -1.96708776e-02 9.50415673e-01 -3.65191969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.62863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:68.91, Y:-1.08, Z:-36.51 [[ 9.30597409e-01 -2.02236838e-01 -3.05104448e-01 6.89149515e+01] [ 1.93790042e-01 9.79323393e-01 -5.80612823e-02 -1.07726809e+00] [ 3.10538053e-01 -5.09452488e-03 9.50547297e-01 -3.65092981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.65863999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.94, Y:-1.05, Z:-36.50 [[ 9.40063451e-01 -2.09887748e-01 -2.68752378e-01 6.89374201e+01] [ 1.96906688e-01 9.77572367e-01 -7.46995520e-02 -1.04930939e+00] [ 2.78403420e-01 1.73031780e-02 9.60308355e-01 -3.64993577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.68863999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.97, Y:-1.06, Z:-36.49 [[ 9.40485410e-01 -2.03193651e-01 -2.72395912e-01 6.89671601e+01] [ 1.95790019e-01 9.79136153e-01 -5.43935932e-02 -1.05915279e+00] [ 2.77765118e-01 -2.17602012e-03 9.60646555e-01 -3.64925326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.71864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:68.99, Y:-1.05, Z:-36.48 [[ 9.40386943e-01 -2.03688427e-01 -2.72366340e-01 6.89937509e+01] [ 1.96262359e-01 9.79033368e-01 -5.45412714e-02 -1.05397520e+00] [ 2.77765161e-01 -2.16536106e-03 9.60646567e-01 -3.64838838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.74864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:69.02, Y:-1.05, Z:-36.48 [[ 9.40109668e-01 -2.03806128e-01 -2.73234103e-01 6.90204187e+01] [ 1.96295339e-01 9.79009095e-01 -5.48573774e-02 -1.04781185e+00] [ 2.78678942e-01 -2.06263024e-03 9.60382108e-01 -3.64762751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.77864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:69.06, Y:-1.12, Z:-36.47 [[ 9.31059071e-01 -1.78515113e-01 -3.18215902e-01 6.90571465e+01] [ 1.95767127e-01 9.80385192e-01 2.28058578e-02 -1.11867730e+00] [ 3.07902968e-01 -8.35298136e-02 9.47743917e-01 -3.64728689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.80864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:69.06, Y:-0.99, Z:-36.45 [[ 9.29955197e-01 -2.19422832e-01 -2.95020258e-01 6.90593226e+01] [ 1.93109100e-01 9.74304377e-01 -1.15930392e-01 -9.88960065e-01] [ 3.12877303e-01 5.08389736e-02 9.48431965e-01 -3.64504578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.83864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:69.09, Y:-1.01, Z:-36.45 [[ 9.41175945e-01 -2.12751911e-01 -2.62534693e-01 6.90920679e+01] [ 1.97735224e-01 9.76762991e-01 -8.26730964e-02 -1.00674273e+00] [ 2.74023031e-01 2.58975732e-02 9.61374378e-01 -3.64466536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.86864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:69.14, Y:-1.10, Z:-36.44 [[ 9.30654486e-01 -1.81615887e-01 -3.17644294e-01 6.91365452e+01] [ 1.95722831e-01 9.80575866e-01 1.27884394e-02 -1.09561448e+00] [ 3.09151745e-01 -7.40718588e-02 9.48123704e-01 -3.64443075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.89864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:69.14, Y:-0.99, Z:-36.43 [[ 9.30192871e-01 -2.15999222e-01 -2.96792114e-01 6.91409397e+01] [ 1.96425586e-01 9.75940599e-01 -9.46410948e-02 -9.94212098e-01] [ 3.10093877e-01 2.97369068e-02 9.50240761e-01 -3.64276259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.92864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:69.17, Y:-1.01, Z:-36.42 [[ 9.31476987e-01 -2.10021458e-01 -2.97054893e-01 6.91711743e+01] [ 1.96914774e-01 9.77643654e-01 -7.37391175e-02 -1.00676940e+00] [ 3.05900628e-01 1.01917940e-02 9.52008893e-01 -3.64213241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:69.20, Y:-0.99, Z:-36.41 [[ 9.42554638e-01 -2.12822075e-01 -2.57483044e-01 6.91962602e+01] [ 1.98060797e-01 9.76729937e-01 -8.22833575e-02 -9.87726231e-01] [ 2.69003112e-01 2.65592634e-02 9.62773042e-01 -3.64098967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.98863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:69.23, Y:-1.05, Z:-36.41 [[ 9.31127671e-01 -1.92647666e-01 -3.09658096e-01 6.92349852e+01] [ 1.95712893e-01 9.80426549e-01 -2.14533249e-02 -1.04625800e+00] [ 3.07729951e-01 -4.06282975e-02 9.50605922e-01 -3.64075722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.01863999999999 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:69.25, Y:-0.97, Z:-36.39 [[ 9.42987755e-01 -2.14539555e-01 -2.54454071e-01 6.92468269e+01] [ 1.97047990e-01 9.76005173e-01 -9.26606300e-02 -9.70372919e-01] [ 2.68227860e-01 3.72381764e-02 9.62635514e-01 -3.63912332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.04863999999999 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:69.28, Y:-1.00, Z:-36.39 [[ 9.43160918e-01 -2.03111577e-01 -2.63045948e-01 6.92817091e+01] [ 1.95961063e-01 9.79154921e-01 -5.34312873e-02 -1.00037017e+00] [ 2.68415247e-01 -1.15246164e-03 9.63302614e-01 -3.63882889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.07864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:69.32, Y:-1.08, Z:-36.38 [[ 9.33975296e-01 -1.75838493e-01 -3.11080328e-01 6.93214643e+01] [ 1.94413719e-01 9.80476393e-01 2.94847307e-02 -1.07713497e+00] [ 2.99822368e-01 -8.80162936e-02 9.49926144e-01 -3.63832748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.10864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:69.31, Y:-0.91, Z:-36.36 [[ 0.94430064 -0.22410183 -0.24098687 69.31428083] [ 0.19363346 0.9704868 -0.14374093 -0.90896345] [ 0.26608718 0.08907153 0.95982492 -36.35623898] [ 0. 0. 0. 1. ]] SLAMing on 89.13864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:69.36, Y:-0.98, Z:-36.36 [[ 9.45046060e-01 -1.96856739e-01 -2.61027525e-01 6.93608454e+01] [ 1.89542368e-01 9.80431961e-01 -5.31682294e-02 -9.83642649e-01] [ 2.66386252e-01 7.70650629e-04 9.63866054e-01 -3.63607091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.16864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:69.39, Y:-0.98, Z:-36.35 [[ 9.46029701e-01 -1.91975438e-01 -2.61100050e-01 6.93870878e+01] [ 1.84433879e-01 9.81397047e-01 -5.33289837e-02 -9.76939155e-01] [ 2.66480673e-01 2.29510746e-03 9.63837530e-01 -3.63530442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.19864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:69.41, Y:-0.97, Z:-36.35 [[ 9.46199063e-01 -1.89854345e-01 -2.62035609e-01 6.94130322e+01] [ 1.82136604e-01 9.81807516e-01 -5.36680455e-02 -9.71557688e-01] [ 2.67457642e-01 3.05437843e-03 9.63564778e-01 -3.63451786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.22864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:69.44, Y:-0.97, Z:-36.34 [[ 9.46057560e-01 -1.89427698e-01 -2.62854028e-01 6.94394726e+01] [ 1.81603358e-01 9.81889004e-01 -5.39833626e-02 -9.65915947e-01] [ 2.68319424e-01 3.33619427e-03 9.63324222e-01 -3.63366042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.25864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:69.47, Y:-1.01, Z:-36.33 [[ 9.41077284e-01 -1.72734970e-01 -2.90751053e-01 6.94735562e+01] [ 1.79170927e-01 9.83807417e-01 -4.55460147e-03 -1.00767247e+00] [ 2.86829782e-01 -4.78079037e-02 9.56787897e-01 -3.63310155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.28864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:69.48, Y:-0.90, Z:-36.31 [[ 9.47431883e-01 -2.01336678e-01 -2.48669195e-01 6.94799401e+01] [ 1.79418268e-01 9.77814673e-01 -1.08108973e-01 -9.04301040e-01] [ 2.64918689e-01 5.78100919e-02 9.62536275e-01 -3.63112448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:69.52, Y:-0.95, Z:-36.31 [[ 9.47790862e-01 -1.85320523e-01 -2.59516447e-01 6.95181247e+01] [ 1.77494673e-01 9.82667216e-01 -5.34862944e-02 -9.45651466e-01] [ 2.64930413e-01 4.63103405e-03 9.64256413e-01 -3.63109647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:69.55, Y:-0.99, Z:-36.30 [[ 9.36151968e-01 -1.70643956e-01 -3.07408740e-01 6.95501244e+01] [ 1.77934644e-01 9.84032575e-01 -4.37640082e-03 -9.89677550e-01] [ 3.03247021e-01 -5.06016886e-02 9.51567503e-01 -3.63038866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.37863999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:69.56, Y:-0.88, Z:-36.29 [[ 9.48275234e-01 -2.01767695e-01 -2.45079330e-01 6.95558427e+01] [ 1.79211920e-01 9.77491370e-01 -1.11327035e-01 -8.77817110e-01] [ 2.62025130e-01 6.16475325e-02 9.63090034e-01 -3.62857769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.40863999999999 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:69.64, Y:-0.91, Z:-36.28 [[ 9.49924876e-01 -1.31250914e-01 -2.83577022e-01 6.96353292e+01] [ 1.28982819e-01 9.91286201e-01 -2.67413481e-02 -9.14899359e-01] [ 2.84615816e-01 -1.11742920e-02 9.58576535e-01 -3.62786461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.43863999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:69.62, Y:-0.96, Z:-36.28 [[ 9.37826769e-01 -1.76986509e-01 -2.98591236e-01 6.96199560e+01] [ 1.81786842e-01 9.83266475e-01 -1.18567922e-02 -9.61822498e-01] [ 2.95693245e-01 -4.31603409e-02 9.54307440e-01 -3.62821660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.46864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:69.63, Y:-0.88, Z:-36.27 [[ 9.47897213e-01 -1.99627345e-01 -2.48273631e-01 6.96298075e+01] [ 1.83788719e-01 9.79226128e-01 -8.56615250e-02 -8.79479721e-01] [ 2.60216409e-01 3.55684283e-02 9.64894972e-01 -3.62655991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.49864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:69.67, Y:-0.93, Z:-36.26 [[ 9.38130893e-01 -1.81915658e-01 -2.94647452e-01 6.96677915e+01] [ 1.83532787e-01 9.82758245e-01 -2.24041832e-02 -9.34250861e-01] [ 2.93642885e-01 -3.30594117e-02 9.55343358e-01 -3.62643376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.52864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:69.68, Y:-0.88, Z:-36.25 [[ 9.39295495e-01 -1.96621995e-01 -2.81182794e-01 6.96833465e+01] [ 1.84704414e-01 9.80400234e-01 -6.85540723e-02 -8.81668531e-01] [ 2.89150915e-01 1.24568281e-02 9.57202474e-01 -3.62506643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.72, Y:-0.92, Z:-36.25 [[ 9.39130238e-01 -1.84099363e-01 -2.90072095e-01 6.97169826e+01] [ 1.88593631e-01 9.81973854e-01 -1.26409241e-02 -9.24726374e-01] [ 2.87170399e-01 -4.28342754e-02 9.56921307e-01 -3.62498989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.72, Y:-0.82, Z:-36.22 [[ 9.40663445e-01 -2.16170442e-01 -2.61577183e-01 6.97200058e+01] [ 1.89286309e-01 9.74028798e-01 -1.24252135e-01 -8.16053681e-01] [ 2.81643348e-01 6.73664618e-02 9.57151391e-01 -3.62249492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.61864 meters Centerline goodness : 0.843210 Centerline is valid? [True, False] Translation: X:69.72, Y:-0.84, Z:-36.23 [[ 9.43750591e-01 -2.02531360e-01 -2.61373049e-01 6.97179003e+01] [ 1.84089436e-01 9.78454178e-01 -9.34799536e-02 -8.39229403e-01] [ 2.74674174e-01 4.01057441e-02 9.60700592e-01 -3.62307218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.64864 meters Centerline goodness : 0.990758 Centerline is valid? [False, True] Translation: X:69.71, Y:-0.87, Z:-36.24 [[ 9.47808979e-01 -1.85571790e-01 -2.59270613e-01 6.97123264e+01] [ 1.76716477e-01 9.82594263e-01 -5.72695532e-02 -8.70336682e-01] [ 2.65385430e-01 8.46320735e-03 9.64105257e-01 -3.62395711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.67864 meters Centerline goodness : 0.907450 Centerline is valid? [True, False] Translation: X:69.70, Y:-0.89, Z:-36.25 [[ 9.54055095e-01 -1.73200495e-01 -2.44500437e-01 6.96951975e+01] [ 1.69211447e-01 9.84870116e-01 -3.73944050e-02 -8.86965627e-01] [ 2.47277903e-01 -5.69595000e-03 9.68927858e-01 -3.62496837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:69.69, Y:-0.89, Z:-36.25 [[ 9.58165828e-01 -1.63528585e-01 -2.34897101e-01 6.96905450e+01] [ 1.61657412e-01 9.86468258e-01 -2.73360122e-02 -8.93937600e-01] [ 2.36188753e-01 -1.17804247e-02 9.71635783e-01 -3.62542648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.73863999999999 meters Centerline goodness : 0.963234 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.89, Z:-36.26 [[ 9.61714846e-01 -5.76470392e-02 -2.67920461e-01 6.97425711e+01] [ 6.69557222e-02 9.97424115e-01 2.57306404e-02 -8.90449400e-01] [ 2.65747033e-01 -4.26843468e-02 9.63097379e-01 -3.62591106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.76863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.74, Y:-0.85, Z:-36.23 [[ 9.55999355e-01 -1.82462555e-01 -2.29722983e-01 6.97362539e+01] [ 1.69824371e-01 9.82706574e-01 -7.38069946e-02 -8.47757328e-01] [ 2.39217298e-01 3.15468782e-02 9.70453440e-01 -3.62325154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.79863999999999 meters Centerline goodness : 0.946199 Centerline is valid? [True, False] Translation: X:69.72, Y:-0.87, Z:-36.24 [[ 9.62468690e-01 -1.65796066e-01 -2.14862014e-01 6.97177003e+01] [ 1.59412454e-01 9.86100686e-01 -4.68306099e-02 -8.73882484e-01] [ 2.19639910e-01 1.08213149e-02 9.75520994e-01 -3.62435191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.82864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:69.72, Y:-0.89, Z:-36.25 [[ 9.64344833e-01 -1.50078528e-01 -2.17980453e-01 6.97224454e+01] [ 1.46878876e-01 9.88671599e-01 -3.09041165e-02 -8.88223560e-01] [ 2.20149127e-01 -2.21449873e-03 9.75463714e-01 -3.62456168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:69.75, Y:-0.90, Z:-36.24 [[ 9.64613001e-01 -1.52165760e-01 -2.15330768e-01 6.97515500e+01] [ 1.50479782e-01 9.88314360e-01 -2.43014582e-02 -8.96875715e-01] [ 2.16512340e-01 -8.96142447e-03 9.76238751e-01 -3.62401738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.88864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:69.77, Y:-0.85, Z:-36.23 [[ 9.63307985e-01 -1.66203257e-01 -2.10746775e-01 6.97691796e+01] [ 1.52426114e-01 9.85061169e-01 -8.01297290e-02 -8.48833050e-01] [ 2.20916287e-01 4.50662958e-02 9.74251006e-01 -3.62265477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:69.81, Y:-0.94, Z:-36.23 [[ 9.63331087e-01 -1.47164469e-01 -2.24356492e-01 6.98103889e+01] [ 1.54482798e-01 9.87876653e-01 1.53226617e-02 -9.40088551e-01] [ 2.19381589e-01 -4.94200149e-02 9.74386669e-01 -3.62290407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.94864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:69.83, Y:-0.88, Z:-36.22 [[ 9.62547834e-01 -1.62468880e-01 -2.17038086e-01 6.98301694e+01] [ 1.55164958e-01 9.86602149e-01 -5.03987672e-02 -8.82503660e-01] [ 2.22318473e-01 1.48345188e-02 9.74861238e-01 -3.62174176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:69.85, Y:-0.85, Z:-36.21 [[ 9.70429176e-01 -1.72183917e-01 -1.69174209e-01 6.98523167e+01] [ 1.60996474e-01 9.83878790e-01 -7.78631015e-02 -8.52451199e-01] [ 1.79853689e-01 4.83241745e-02 9.82505687e-01 -3.62086067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.00864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:69.89, Y:-0.91, Z:-36.21 [[ 9.70562435e-01 -1.61531604e-01 -1.78650781e-01 6.98882251e+01] [ 1.59873711e-01 9.86852075e-01 -2.37355822e-02 -9.06606334e-01] [ 1.80135941e-01 -5.52469889e-03 9.83626210e-01 -3.62100386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.03864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:69.92, Y:-0.91, Z:-36.20 [[ 9.70628443e-01 -1.61674383e-01 -1.78162338e-01 6.99156207e+01] [ 1.60011642e-01 9.86829132e-01 -2.37600171e-02 -9.07766232e-01] [ 1.79657171e-01 -5.44589979e-03 9.83714208e-01 -3.62049363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:69.94, Y:-0.91, Z:-36.20 [[ 9.70584689e-01 -1.62298947e-01 -1.77832544e-01 6.99431642e+01] [ 1.60636535e-01 9.86726519e-01 -2.38050551e-02 -9.07733192e-01] [ 1.79335622e-01 -5.46158166e-03 9.83772792e-01 -3.61985568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:69.97, Y:-0.91, Z:-36.19 [[ 9.70542458e-01 -1.62595378e-01 -1.77792240e-01 6.99703631e+01] [ 1.60922206e-01 9.86677920e-01 -2.38898836e-02 -9.07800565e-01] [ 1.79308062e-01 -5.42457312e-03 9.83778020e-01 -3.61928731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.12863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:70.01, Y:-1.01, Z:-36.19 [[ 0.9629701 -0.13712724 -0.23213082 70.00872039] [ 0.15990498 0.98370023 0.0822451 -1.01309641] [ 0.21706909 -0.11631844 0.96920123 -36.18630437] [ 0. 0. 0. 1. ]] SLAMing on 90.15863999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.90, Z:-36.18 [[ 9.62573279e-01 -1.60319030e-01 -2.18518859e-01 7.00233474e+01] [ 1.55669729e-01 9.87060722e-01 -3.84456303e-02 -9.03545496e-01] [ 2.21854949e-01 2.98996475e-03 9.75075095e-01 -3.61760454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.18863999999999 meters Centerline goodness : 0.908248 Centerline is valid? [True, False] Translation: X:70.02, Y:-0.92, Z:-36.18 [[ 9.67700687e-01 -1.43113746e-01 -2.07542371e-01 7.00174615e+01] [ 1.42090003e-01 9.89653462e-01 -1.99112156e-02 -9.22669327e-01] [ 2.08244595e-01 -1.02215992e-02 9.78023368e-01 -3.61798802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.21864 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:70.00, Y:-0.93, Z:-36.19 [[ 9.73154118e-01 -1.29336707e-01 -1.90376148e-01 6.99970723e+01] [ 1.29840782e-01 9.91485658e-01 -9.87728068e-03 -9.32817646e-01] [ 1.90032716e-01 -1.51064716e-02 9.81661531e-01 -3.61851105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.24864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:70.02, Y:-0.89, Z:-36.18 [[ 9.74197227e-01 -1.25870982e-01 -1.87339955e-01 7.00236147e+01] [ 1.18496518e-01 9.91689687e-01 -5.01012984e-02 -8.93706925e-01] [ 1.92089401e-01 2.66094136e-02 9.81016616e-01 -3.61775983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.27864 meters Centerline goodness : 0.958464 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.94, Z:-36.19 [[ 9.67181084e-01 -1.12631673e-01 -2.27760527e-01 7.01228817e+01] [ 1.20098489e-01 9.92577289e-01 1.91488240e-02 -9.38096291e-01] [ 2.23913163e-01 -4.58740755e-02 9.73528872e-01 -3.61924201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.30864 meters Centerline goodness : 0.915793 Centerline is valid? [True, False] Translation: X:70.11, Y:-0.93, Z:-36.19 [[ 9.70278427e-01 -1.04698409e-01 -2.18169697e-01 7.01066137e+01] [ 1.09124460e-01 9.93993412e-01 8.30353746e-03 -9.30194973e-01] [ 2.15989874e-01 -3.18643936e-02 9.75875522e-01 -3.61947308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.33864 meters Centerline goodness : 0.999557 Centerline is valid? [False, True] Translation: X:70.07, Y:-0.94, Z:-36.20 [[ 9.75851037e-01 -9.42044172e-02 -1.97079378e-01 7.00704871e+01] [ 9.76000420e-02 9.95196957e-01 7.56625543e-03 -9.37028827e-01] [ 1.95420022e-01 -2.66184938e-02 9.80358338e-01 -3.62023578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.36864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:70.10, Y:-0.92, Z:-36.19 [[ 9.75929428e-01 -9.82538783e-02 -1.94699579e-01 7.00959224e+01] [ 9.67339626e-02 9.95159514e-01 -1.73228977e-02 -9.16557932e-01] [ 1.95459181e-01 -1.92813620e-03 9.80709942e-01 -3.61949512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.39864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:70.13, Y:-0.91, Z:-36.19 [[ 9.74519771e-01 -9.96064851e-02 -2.00972047e-01 7.01255719e+01] [ 9.56681009e-02 9.94983744e-01 -2.92397761e-02 -9.08465673e-01] [ 2.02876391e-01 9.26812580e-03 9.79160493e-01 -3.61905241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.42864 meters Centerline goodness : 0.862054 Centerline is valid? [True, False] Translation: X:70.12, Y:-0.92, Z:-36.19 [[ 9.75375626e-01 -9.22008159e-02 -2.00353185e-01 7.01202297e+01] [ 8.97870445e-02 9.95737007e-01 -2.11210506e-02 -9.19030418e-01] [ 2.01446459e-01 2.61183761e-03 9.79496045e-01 -3.61880653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45864 meters Centerline goodness : 0.999213 Centerline is valid? [False, True] Translation: X:70.11, Y:-0.93, Z:-36.19 [[ 9.76614175e-01 -8.09139982e-02 -1.99192564e-01 7.01146408e+01] [ 8.06094036e-02 9.96699033e-01 -9.65205453e-03 -9.29774541e-01] [ 1.99316022e-01 -6.63046051e-03 9.79912833e-01 -3.61867171e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.48863999999999 meters Centerline goodness : 0.928603 Centerline is valid? [True, False] Translation: X:70.08, Y:-0.94, Z:-36.19 [[ 9.81970374e-01 -6.64508491e-02 -1.76970252e-01 7.00751913e+01] [ 6.64557813e-02 9.97771892e-01 -5.90596977e-03 -9.36432549e-01] [ 1.76968400e-01 -5.96120904e-03 9.84198481e-01 -3.61948200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.51863999999999 meters Centerline goodness : 0.998821 Centerline is valid? [False, True] Translation: X:70.03, Y:-0.94, Z:-36.20 [[ 9.86451633e-01 -5.59851482e-02 -1.54203888e-01 7.00340397e+01] [ 5.56047752e-02 9.98429824e-01 -6.78206189e-03 -9.36493228e-01] [ 1.54341455e-01 -1.88429650e-03 9.88015771e-01 -3.62024880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.54863999999999 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:70.06, Y:-0.89, Z:-36.20 [[ 9.91660568e-01 -5.53428844e-02 -1.16389362e-01 7.00599032e+01] [ 4.97628624e-02 9.97492829e-01 -5.03161279e-02 -8.92557482e-01] [ 1.18882194e-01 4.41046522e-02 9.91928326e-01 -3.61980744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.57864 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:70.09, Y:-0.93, Z:-36.20 [[ 9.91808327e-01 -4.63921476e-02 -1.19012654e-01 7.00898991e+01] [ 4.57680798e-02 9.98920274e-01 -7.97305223e-03 -9.27392355e-01] [ 1.19254040e-01 2.46075895e-03 9.92860725e-01 -3.61957791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.60864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:70.12, Y:-0.92, Z:-36.19 [[ 9.92060398e-01 -4.34805441e-02 -1.18006819e-01 7.01175903e+01] [ 4.28390287e-02 9.99050209e-01 -7.96854632e-03 -9.24265846e-01] [ 1.18241213e-01 2.84998174e-03 9.92980812e-01 -3.61910407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.63864 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:70.15, Y:-0.92, Z:-36.19 [[ 9.92038954e-01 -4.39786950e-02 -1.18002488e-01 7.01457295e+01] [ 4.33331316e-02 9.99028390e-01 -8.03212154e-03 -9.22546831e-01] [ 1.18241078e-01 2.85476010e-03 9.92980814e-01 -3.61870662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.66864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:70.17, Y:-0.98, Z:-36.18 [[ 9.89564156e-01 -3.01272361e-02 -1.40908237e-01 7.01739497e+01] [ 3.86430167e-02 9.97562930e-01 5.80940502e-02 -9.78500756e-01] [ 1.38814621e-01 -6.29329091e-02 9.88316726e-01 -3.61826342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.69864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:70.20, Y:-0.89, Z:-36.17 [[ 9.88755486e-01 -4.09363284e-02 -1.43829086e-01 7.01974932e+01] [ 3.65912487e-02 9.98794267e-01 -3.27275408e-02 -8.92942135e-01] [ 1.44995412e-01 2.70966497e-02 9.89061223e-01 -3.61749115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.72864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:70.22, Y:-0.87, Z:-36.17 [[ 9.93116992e-01 -4.33285275e-02 -1.08817645e-01 7.02239052e+01] [ 3.81177048e-02 9.98045561e-01 -4.95186634e-02 -8.71231048e-01] [ 1.10750538e-01 4.50299472e-02 9.92827589e-01 -3.61716160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.75864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:70.25, Y:-0.90, Z:-36.17 [[ 9.92878011e-01 -4.14573913e-02 -1.11689477e-01 7.02540743e+01] [ 4.08426367e-02 9.99135243e-01 -7.78752634e-03 -9.02629989e-01] [ 1.11915743e-01 3.17037093e-03 9.93712642e-01 -3.61706304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.78864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:70.28, Y:-0.90, Z:-36.17 [[ 9.92827157e-01 -4.48873453e-02 -1.10812288e-01 7.02811712e+01] [ 4.42971401e-02 9.98988077e-01 -7.78360522e-03 -8.99735988e-01] [ 1.11049540e-01 2.81910720e-03 9.93810874e-01 -3.61660267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:70.31, Y:-0.90, Z:-36.16 [[ 9.92741540e-01 -4.73132880e-02 -1.10569829e-01 7.03091012e+01] [ 4.67342757e-02 9.98876716e-01 -7.82387871e-03 -8.96291542e-01] [ 1.10815801e-01 2.59968852e-03 9.93837562e-01 -3.61621759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84864 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:70.34, Y:-0.89, Z:-36.16 [[ 9.92546461e-01 -5.08318852e-02 -1.10759387e-01 7.03364390e+01] [ 5.02661257e-02 9.98704645e-01 -7.89616779e-03 -8.88226325e-01] [ 1.11017291e-01 2.26986813e-03 9.93815883e-01 -3.61582993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.87863999999999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:70.36, Y:-0.88, Z:-36.16 [[ 9.92462470e-01 -5.22010411e-02 -1.10875144e-01 7.03636727e+01] [ 5.16360563e-02 9.98634222e-01 -7.96299360e-03 -8.83508515e-01] [ 1.11139390e-01 2.17781711e-03 9.93802442e-01 -3.61553075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.90863999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:70.39, Y:-0.88, Z:-36.15 [[ 9.92454495e-01 -5.26952208e-02 -1.10712643e-01 7.03908606e+01] [ 5.21283574e-02 9.98608265e-01 -8.01047070e-03 -8.79550987e-01] [ 1.10980674e-01 2.17875944e-03 9.93820176e-01 -3.61511751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.93863999999999 meters Centerline goodness : 0.894392 Centerline is valid? [True, False] Translation: X:70.36, Y:-0.87, Z:-36.15 [[ 9.95035458e-01 -4.40230558e-02 -8.92547343e-02 7.03569922e+01] [ 4.31612778e-02 9.99001198e-01 -1.15633488e-02 -8.71872355e-01] [ 8.96746404e-02 7.65359374e-03 9.95941706e-01 -3.61541809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.96864 meters Centerline goodness : 0.998918 Centerline is valid? [False, True] Translation: X:70.32, Y:-0.86, Z:-36.16 [[ 9.97068987e-01 -3.54063606e-02 -6.78220144e-02 7.03226762e+01] [ 3.43544805e-02 9.99271610e-01 -1.66138361e-02 -8.64364323e-01] [ 6.83608489e-02 1.42351506e-02 9.97559098e-01 -3.61566031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.99864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:70.35, Y:-0.81, Z:-36.15 [[ 9.98314332e-01 -4.09211477e-02 -4.11576866e-02 7.03486436e+01] [ 3.78295383e-02 9.96593763e-01 -7.32789092e-02 -8.08653264e-01] [ 4.40161508e-02 7.15984090e-02 9.96461864e-01 -3.61488394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.02864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:70.38, Y:-0.87, Z:-36.15 [[ 9.98206230e-01 -3.96485179e-02 -4.48588702e-02 7.03798126e+01] [ 3.95798689e-02 9.99213485e-01 -2.41785118e-03 -8.68342132e-01] [ 4.49194522e-02 6.38005911e-04 9.98990408e-01 -3.61541612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.05864 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:70.41, Y:-0.91, Z:-36.15 [[ 9.95804387e-01 -3.81424092e-02 -8.31791949e-02 7.04101126e+01] [ 4.20239637e-02 9.98083483e-01 4.54240856e-02 -9.10561588e-01] [ 8.12871965e-02 -4.87290232e-02 9.95498807e-01 -3.61516862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.08864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:70.43, Y:-0.86, Z:-36.15 [[ 9.96055338e-01 -4.35693748e-02 -7.73011883e-02 7.04345036e+01] [ 4.31207425e-02 9.99041985e-01 -7.46416674e-03 -8.60084847e-01] [ 7.75523417e-02 4.10143849e-03 9.96979846e-01 -3.61460980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.11864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:70.46, Y:-0.87, Z:-36.15 [[ 9.95713766e-01 -4.60734214e-02 -8.01956118e-02 7.04631558e+01] [ 4.65883728e-02 9.98903760e-01 4.56097589e-03 -8.67683404e-01] [ 7.98975584e-02 -8.27760954e-03 9.96768710e-01 -3.61455792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.14864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:70.49, Y:-0.85, Z:-36.14 [[ 9.95803272e-01 -4.99936816e-02 -7.66581652e-02 7.04883181e+01] [ 4.92159925e-02 9.98716046e-01 -1.20019266e-02 -8.51454753e-01] [ 7.71597601e-02 8.17875006e-03 9.96985195e-01 -3.61431070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.17864 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:70.52, Y:-0.86, Z:-36.14 [[ 9.95652545e-01 -5.15420611e-02 -7.75849615e-02 7.05154124e+01] [ 5.12886321e-02 9.98670036e-01 -5.25688155e-03 -8.56290029e-01] [ 7.77527268e-02 1.25480094e-03 9.96971885e-01 -3.61410337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:70.54, Y:-0.87, Z:-36.14 [[ 9.95248460e-01 -5.55941755e-02 -7.99361666e-02 7.05446922e+01] [ 5.64165523e-02 9.98374745e-01 8.06475927e-03 -8.67353384e-01] [ 7.93578964e-02 -1.25361622e-02 9.96767359e-01 -3.61401672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.23863999999999 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:70.57, Y:-0.81, Z:-36.13 [[ 9.97398518e-01 -6.48765703e-02 -3.14201616e-02 7.05688512e+01] [ 6.31078989e-02 9.96526076e-01 -5.43431069e-02 -8.08098498e-01] [ 3.48366048e-02 5.22188739e-02 9.98027855e-01 -3.61325172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.26863999999999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:70.60, Y:-0.97, Z:-36.14 [[ 9.94213744e-01 -6.05853812e-02 -8.87042407e-02 7.06027885e+01] [ 7.06227582e-02 9.90877434e-01 1.14779516e-01 -9.66611861e-01] [ 8.09410696e-02 -1.20379911e-01 9.89422670e-01 -3.61356758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.29863999999999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:70.62, Y:-0.75, Z:-36.12 [[ 9.96606262e-01 -7.77270852e-02 -2.71009139e-02 7.06217793e+01] [ 7.39798433e-02 9.90112972e-01 -1.19177538e-01 -7.53834221e-01] [ 3.60962891e-02 1.16768160e-01 9.92503025e-01 -3.61197735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.32864 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:70.66, Y:-0.86, Z:-36.13 [[ 9.96628830e-01 -7.43971388e-02 -3.45838309e-02 7.06564617e+01] [ 7.43720513e-02 9.97228532e-01 -2.01305360e-03 -8.60669992e-01] [ 3.46377483e-02 -5.65803189e-04 9.99399773e-01 -3.61329662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.35864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:70.68, Y:-0.86, Z:-36.13 [[ 9.96398756e-01 -7.82952192e-02 -3.25480913e-02 7.06841391e+01] [ 7.82745873e-02 9.96930009e-01 -1.90954946e-03 -8.63698974e-01] [ 3.25976775e-02 -6.45015711e-04 9.99468346e-01 -3.61307746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.38864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:70.71, Y:-0.86, Z:-36.13 [[ 9.96305240e-01 -7.98092299e-02 -3.17230997e-02 7.07121565e+01] [ 7.97899023e-02 9.96809936e-01 -1.87672690e-03 -8.64213307e-01] [ 3.17716811e-02 -6.61390186e-04 9.99494934e-01 -3.61288163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.41864 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:70.74, Y:-0.99, Z:-36.12 [[ 0.99336626 -0.07338705 -0.08853141 70.74156052] [ 0.08473787 0.98760245 0.13213964 -0.98920743] [ 0.07773649 -0.13876502 0.98726962 -36.12315212] [ 0. 0. 0. 1. ]] SLAMing on 91.44864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:70.76, Y:-0.75, Z:-36.11 [[ 9.96186530e-01 -8.47124480e-02 -2.08853873e-02 7.07595449e+01] [ 8.11503987e-02 9.87539991e-01 -1.34830928e-01 -7.46646710e-01] [ 3.20470132e-02 1.32621897e-01 9.90648485e-01 -3.61083040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.47864 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:70.80, Y:-0.91, Z:-36.12 [[ 9.94729370e-01 -7.37476011e-02 -7.12374298e-02 7.07959709e+01] [ 7.70889829e-02 9.95992292e-01 4.53502201e-02 -9.11252172e-01] [ 6.76074610e-02 -5.06028169e-02 9.96427913e-01 -3.61203170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.50864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:70.82, Y:-0.88, Z:-36.12 [[ 9.94421093e-01 -7.40957355e-02 -7.50767123e-02 7.08215180e+01] [ 7.49674092e-02 9.97146661e-01 8.85571073e-03 -8.80394392e-01] [ 7.42063226e-02 -1.44346122e-02 9.97138438e-01 -3.61166391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.53864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:70.85, Y:-0.81, Z:-36.11 [[ 9.96588196e-01 -7.95362523e-02 -2.20443373e-02 7.08474162e+01] [ 7.80519215e-02 9.95047724e-01 -6.15461118e-02 -8.14843925e-01] [ 2.68303147e-02 5.96155256e-02 9.97860774e-01 -3.61135158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56864 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:70.88, Y:-0.87, Z:-36.12 [[ 9.96660183e-01 -7.76789920e-02 -2.51883628e-02 7.08790500e+01] [ 7.76652730e-02 9.96978326e-01 -1.52396300e-03 -8.69620024e-01] [ 2.52306317e-02 -4.37387833e-04 9.99681561e-01 -3.61161755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59864 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:70.91, Y:-0.87, Z:-36.11 [[ 9.96610514e-01 -7.78800236e-02 -2.64987939e-02 7.09068248e+01] [ 7.78643273e-02 9.96962640e-01 -1.62523302e-03 -8.70182352e-01] [ 2.65448807e-02 -4.43586444e-04 9.99647524e-01 -3.61141513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.62863999999999 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:70.93, Y:-0.87, Z:-36.11 [[ 9.96640174e-01 -7.73647217e-02 -2.68898355e-02 7.09345662e+01] [ 7.73482312e-02 9.97002765e-01 -1.65441195e-03 -8.69120059e-01] [ 2.69372335e-02 -4.31027803e-04 9.99637034e-01 -3.61129836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.65863999999999 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:70.96, Y:-0.87, Z:-36.11 [[ 9.96774000e-01 -7.56417240e-02 -2.68313719e-02 7.09622384e+01] [ 7.56245436e-02 9.97134989e-01 -1.65592610e-03 -8.68765235e-01] [ 2.68797568e-02 -3.78526165e-04 9.99638602e-01 -3.61116149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.68863999999999 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:70.99, Y:-0.89, Z:-36.11 [[ 9.95572141e-01 -7.02794651e-02 -6.24252283e-02 7.09903615e+01] [ 7.17664797e-02 9.97180919e-01 2.19040664e-02 -8.93269879e-01] [ 6.07098404e-02 -2.62871172e-02 9.97809252e-01 -3.61095258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.71864 meters Centerline goodness : 0.998372 Centerline is valid? [True, True] Translation: X:71.02, Y:-0.87, Z:-36.11 [[ 9.95801736e-01 -6.86424696e-02 -6.05567000e-02 7.10174077e+01] [ 6.87358007e-02 9.97634750e-01 -5.43017889e-04 -8.70897059e-01] [ 6.04507423e-02 -3.62167510e-03 9.98164611e-01 -3.61064658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.74864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:71.05, Y:-0.88, Z:-36.11 [[ 9.96194145e-01 -6.44831069e-02 -5.86443002e-02 7.10456408e+01] [ 6.51420260e-02 9.97831799e-01 9.39239262e-03 -8.77288099e-01] [ 5.79114969e-02 -1.31768551e-02 9.98234756e-01 -3.61071612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.77864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:71.07, Y:-0.83, Z:-36.10 [[ 9.97670221e-01 -6.43907513e-02 -2.25380159e-02 7.10722810e+01] [ 6.34171963e-02 9.97122582e-01 -4.15308950e-02 -8.28234530e-01] [ 2.51473701e-02 4.00048394e-02 9.98882987e-01 -3.61027782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.80864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:71.10, Y:-0.90, Z:-36.10 [[ 9.96073967e-01 -6.12467650e-02 -6.39178044e-02 7.11021567e+01] [ 6.33490827e-02 9.97497402e-01 3.13978724e-02 -8.95119304e-01] [ 6.18348258e-02 -3.53237376e-02 9.97461121e-01 -3.61027393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.83864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:71.13, Y:-0.87, Z:-36.10 [[ 9.96154483e-01 -6.22407482e-02 -6.16630779e-02 7.11282673e+01] [ 6.23977352e-02 9.98051169e-01 6.21639021e-04 -8.65876861e-01] [ 6.15042157e-02 -4.46688491e-03 9.98096828e-01 -3.60998109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.86864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:71.16, Y:-0.82, Z:-36.10 [[ 9.97853470e-01 -6.22465151e-02 -2.03426354e-02 7.11557836e+01] [ 6.13929406e-02 9.97304234e-01 -4.01891982e-02 -8.24342182e-01] [ 2.27894339e-02 3.88540367e-02 9.98984988e-01 -3.60990892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.89864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:71.18, Y:-0.90, Z:-36.10 [[ 9.96127203e-01 -5.97487039e-02 -6.45033902e-02 7.11847745e+01] [ 6.25284187e-02 9.97160316e-01 4.19702327e-02 -8.99191268e-01] [ 6.18125539e-02 -4.58409855e-02 9.97034509e-01 -3.60979543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.92864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:71.21, Y:-0.85, Z:-36.10 [[ 9.96770151e-01 -5.85432562e-02 -5.49722994e-02 7.12103521e+01] [ 5.81417145e-02 9.98268872e-01 -8.87692219e-03 -8.49206159e-01] [ 5.53968192e-02 5.65206734e-03 9.98448420e-01 -3.60960887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:71.24, Y:-0.82, Z:-36.09 [[ 9.98218263e-01 -5.70714283e-02 -1.74112362e-02 7.12386118e+01] [ 5.63386176e-02 9.97609415e-01 -4.00176804e-02 -8.15031175e-01] [ 1.96534793e-02 3.89654545e-02 9.99047263e-01 -3.60931877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.98863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:71.27, Y:-0.85, Z:-36.09 [[ 9.98339082e-01 -5.41862487e-02 -1.95685404e-02 7.12685668e+01] [ 5.41721633e-02 9.98530828e-01 -1.24956184e-03 -8.45761069e-01] [ 1.96074999e-02 1.87416256e-04 9.99807737e-01 -3.60942224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.01863999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:71.30, Y:-0.89, Z:-36.09 [[ 9.97149263e-01 -5.10505266e-02 -5.55625015e-02 7.12975529e+01] [ 5.36633610e-02 9.97471372e-01 4.65951306e-02 -8.85019087e-01] [ 5.30432986e-02 -4.94439707e-02 9.97367386e-01 -3.60933947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.04863999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:71.32, Y:-0.83, Z:-36.09 [[ 9.97333155e-01 -5.23634877e-02 -5.08393813e-02 7.13222535e+01] [ 5.18426493e-02 9.98588924e-01 -1.15108776e-02 -8.27824809e-01] [ 5.13703928e-02 8.84453167e-03 9.98640504e-01 -3.60890232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.07864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:71.35, Y:-0.84, Z:-36.09 [[ 9.97456064e-01 -5.00410337e-02 -5.07670664e-02 7.13504068e+01] [ 5.04621760e-02 9.98701109e-01 7.04723886e-03 -8.39018800e-01] [ 5.03484744e-02 -9.59112778e-03 9.98685657e-01 -3.60899448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.10864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:71.38, Y:-0.81, Z:-36.09 [[ 9.97486976e-01 -5.00210027e-02 -5.01760118e-02 7.13773434e+01] [ 4.94829747e-02 9.98703964e-01 -1.19090961e-02 -8.13046396e-01] [ 5.07066869e-02 9.39630991e-03 9.98669385e-01 -3.60867833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.13864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:71.40, Y:-0.78, Z:-36.08 [[ 9.98632544e-01 -5.09324533e-02 -1.17867213e-02 7.14040867e+01] [ 5.04115108e-02 9.97889617e-01 -4.09266536e-02 -7.79776231e-01] [ 1.38463417e-02 4.02765018e-02 9.99092629e-01 -3.60845136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.16864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:71.43, Y:-0.81, Z:-36.09 [[ 9.98487339e-01 -5.25930624e-02 -1.60313447e-02 7.14342850e+01] [ 5.25828585e-02 9.98616004e-01 -1.05763922e-03 -8.07570142e-01] [ 1.60647819e-02 2.13065436e-04 9.99870930e-01 -3.60860375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.19864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:71.46, Y:-0.83, Z:-36.09 [[ 9.97432865e-01 -5.19846484e-02 -4.92470867e-02 7.14625114e+01] [ 5.34067837e-02 9.98179781e-01 2.80149828e-02 -8.31008212e-01] [ 4.77010972e-02 -3.05731931e-02 9.98393652e-01 -3.60851438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.22864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:71.48, Y:-0.84, Z:-36.08 [[ 9.97275498e-01 -5.45214973e-02 -4.96889019e-02 7.14840612e+01] [ 5.68306918e-02 9.97309235e-01 4.63094100e-02 -8.44548999e-01] [ 4.70303424e-02 -4.90070946e-02 9.97690559e-01 -3.60845304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.25864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:71.51, Y:-0.78, Z:-36.08 [[ 9.96633337e-01 -5.88456519e-02 -5.70892431e-02 7.15106630e+01] [ 5.77437379e-02 9.98115475e-01 -2.07643604e-02 -7.76679184e-01] [ 5.82035493e-02 1.73979075e-02 9.98153124e-01 -3.60775296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.28864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:71.54, Y:-0.74, Z:-36.07 [[ 9.97650621e-01 -6.05006604e-02 -3.21389079e-02 7.15396622e+01] [ 5.86584887e-02 9.96736192e-01 -5.54629994e-02 -7.37995982e-01] [ 3.53895608e-02 5.34474760e-02 9.97943358e-01 -3.60731203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:71.57, Y:-0.78, Z:-36.08 [[ 9.97416564e-01 -6.15843657e-02 -3.69805866e-02 7.15702343e+01] [ 6.16708575e-02 9.98095818e-01 1.20162933e-03 -7.84138891e-01] [ 3.68361673e-02 -3.47914948e-03 9.99315262e-01 -3.60787860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:71.60, Y:-0.76, Z:-36.08 [[ 9.97954506e-01 -6.37734652e-02 -4.44408727e-03 7.15968628e+01] [ 6.37060632e-02 9.97871315e-01 -1.39418594e-02 -7.64810633e-01] [ 5.32374789e-03 1.36302261e-02 9.99892932e-01 -3.60780169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.37863999999999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:71.63, Y:-0.86, Z:-36.08 [[ 9.96868334e-01 -6.24929069e-02 -4.84578195e-02 7.16260403e+01] [ 6.69888596e-02 9.92977718e-01 9.75076642e-02 -8.63402164e-01] [ 4.20239976e-02 -1.00448437e-01 9.94054372e-01 -3.60804396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.40863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:71.65, Y:-0.69, Z:-36.06 [[ 9.97769168e-01 -6.15978790e-02 -2.57369067e-02 7.16527183e+01] [ 5.91714839e-02 9.94512807e-01 -8.62728898e-02 -6.89424873e-01] [ 3.09099104e-02 8.45575386e-02 9.95939054e-01 -3.60618135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.43863999999999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:71.69, Y:-0.77, Z:-36.07 [[ 9.97627061e-01 -5.74815763e-02 -3.78961086e-02 7.16852676e+01] [ 5.82653995e-02 9.98102503e-01 1.99132331e-02 -7.72248126e-01] [ 3.66795568e-02 -2.20740121e-02 9.99083254e-01 -3.60745225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.46864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:71.71, Y:-0.73, Z:-36.07 [[ 9.97861654e-01 -5.73408978e-02 -3.13710300e-02 7.17106192e+01] [ 5.69217214e-02 9.98279124e-01 -1.40963875e-02 -7.34505059e-01] [ 3.21253439e-02 1.22805515e-02 9.99408400e-01 -3.60702850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.49864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:71.74, Y:-0.74, Z:-36.07 [[ 9.97758346e-01 -5.83338231e-02 -3.27940102e-02 7.17390448e+01] [ 5.84111095e-02 9.98291628e-01 1.40284096e-03 -7.42634499e-01] [ 3.26561528e-02 -3.31523080e-03 9.99461147e-01 -3.60715155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.52864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:71.77, Y:-0.74, Z:-36.07 [[ 9.97751692e-01 -5.89602624e-02 -3.18629623e-02 7.17665546e+01] [ 5.89325343e-02 9.98260328e-01 -1.80947047e-03 -7.38061055e-01] [ 3.19142180e-02 -7.23628898e-05 9.99490609e-01 -3.60701569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.55864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:71.79, Y:-0.71, Z:-36.07 [[ 9.97964253e-01 -6.34857235e-02 6.07564918e-03 7.17935398e+01] [ 6.36203176e-02 9.97651500e-01 -2.53759661e-02 -7.05137183e-01] [-4.45036895e-03 2.57108418e-02 9.99659515e-01 -3.60651134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.58864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:71.83, Y:-0.72, Z:-36.07 [[ 9.97792937e-01 -6.61695784e-02 5.55350614e-03 7.18276721e+01] [ 6.61685118e-02 9.97808392e-01 3.75768906e-04 -7.21860255e-01] [-5.56619950e-03 -7.47232344e-06 9.99984509e-01 -3.60679088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.61864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:71.86, Y:-0.72, Z:-36.07 [[ 9.97538821e-01 -6.98936350e-02 5.58400749e-03 7.18603570e+01] [ 6.98925821e-02 9.97554450e-01 3.83701887e-04 -7.16187499e-01] [-5.59716984e-03 7.52317404e-06 9.99984336e-01 -3.60674658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.64864 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:71.89, Y:-0.71, Z:-36.07 [[ 9.97030167e-01 -7.69233951e-02 3.69291363e-03 7.18934350e+01] [ 7.69230228e-02 9.97037005e-01 2.42964884e-04 -7.08460307e-01] [-3.70066123e-03 4.18267610e-05 9.99993152e-01 -3.60674522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.67864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:71.93, Y:-0.70, Z:-36.07 [[ 9.96832982e-01 -7.93673310e-02 4.98324462e-03 7.19263437e+01] [ 7.93666723e-02 9.96845436e-01 3.30111581e-04 -7.03898422e-01] [-4.99372473e-03 6.64374303e-05 9.99987529e-01 -3.60671383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70864 meters Centerline goodness : 0.996999 Centerline is valid? [True, True] Translation: X:71.96, Y:-0.77, Z:-36.07 [[ 9.96139707e-01 -8.05428568e-02 -3.49074808e-02 7.19593939e+01] [ 8.31417025e-02 9.93255247e-01 8.08175224e-02 -7.72305959e-01] [ 2.81627643e-02 -8.34078105e-02 9.96117461e-01 -3.60738937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.73863999999999 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:71.98, Y:-0.62, Z:-36.05 [[ 9.96133774e-01 -8.70468699e-02 1.18468138e-02 7.19806809e+01] [ 8.77259792e-02 9.92792433e-01 -8.16537623e-02 -6.18970173e-01] [-4.65372264e-03 8.23773438e-02 9.96590345e-01 -3.60489611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.76863999999999 meters Centerline goodness : 0.996955 Centerline is valid? [True, True] Translation: X:72.02, Y:-0.75, Z:-36.07 [[ 9.96234105e-01 -8.21665043e-02 -2.76816625e-02 7.20215739e+01] [ 8.38310392e-02 9.94319070e-01 6.55892009e-02 -7.49721901e-01] [ 2.21351695e-02 -6.76627813e-02 9.97462672e-01 -3.60705534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.79863999999999 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:72.04, Y:-0.63, Z:-36.05 [[ 9.95771097e-01 -9.10869016e-02 1.19624050e-02 7.20432228e+01] [ 9.16764555e-02 9.93650623e-01 -6.52216745e-02 -6.27764874e-01] [-5.94561096e-03 6.60425292e-02 9.97799095e-01 -3.60513939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.82864 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:72.08, Y:-0.68, Z:-36.06 [[ 9.95699621e-01 -9.22942414e-02 8.00237756e-03 7.20807086e+01] [ 9.22929213e-02 9.95731756e-01 5.34881842e-04 -6.84305709e-01] [-8.01758798e-03 2.05981155e-04 9.99967837e-01 -3.60632678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.85864 meters Centerline goodness : 0.997099 Centerline is valid? [True, True] Translation: X:72.11, Y:-0.68, Z:-36.06 [[ 9.95519476e-01 -9.43453632e-02 6.31863020e-03 7.21137460e+01] [ 9.43446129e-02 9.95539512e-01 4.17385601e-04 -6.82166760e-01] [-6.32982442e-03 1.80613225e-04 9.99979950e-01 -3.60629097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.88864 meters Centerline goodness : 0.997148 Centerline is valid? [True, True] Translation: X:72.15, Y:-0.68, Z:-36.06 [[ 9.94885112e-01 -1.00799131e-01 6.56877367e-03 7.21466345e+01] [ 1.00798478e-01 9.94906770e-01 4.31200823e-04 -6.82270646e-01] [-6.57878206e-03 2.33127110e-04 9.99978332e-01 -3.60621040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.91864 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:72.18, Y:-0.68, Z:-36.06 [[ 9.94587078e-01 -1.03604772e-01 7.91172512e-03 7.21801877e+01] [ 1.03603928e-01 9.94618499e-01 5.17670048e-04 -6.81818409e-01] [-7.92278125e-03 3.04817855e-04 9.99968568e-01 -3.60605699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.94864 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:72.21, Y:-0.68, Z:-36.06 [[ 9.93992097e-01 -1.09331404e-01 5.13380720e-03 7.22131918e+01] [ 1.09331153e-01 9.94005327e-01 3.30263904e-04 -6.84607359e-01] [-5.13913992e-03 2.33005352e-04 9.99986767e-01 -3.60607625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.97864 meters Centerline goodness : 0.996110 Centerline is valid? [True, True] Translation: X:72.25, Y:-0.69, Z:-36.06 [[ 9.93942042e-01 -1.09811173e-01 4.55226461e-03 7.22467095e+01] [ 1.09810995e-01 9.93952444e-01 2.89860568e-04 -6.85425863e-01] [-4.55656447e-03 2.11784102e-04 9.99989596e-01 -3.60604063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.00864 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:72.28, Y:-0.69, Z:-36.06 [[ 9.93935082e-01 -1.09900733e-01 3.85772718e-03 7.22804021e+01] [ 1.09900618e-01 9.93942551e-01 2.42438411e-04 -6.86819105e-01] [-3.86100335e-03 1.82998560e-04 9.99992530e-01 -3.60602868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.03864 meters Centerline goodness : 0.996410 Centerline is valid? [True, True] Translation: X:72.31, Y:-0.69, Z:-36.06 [[ 9.93998548e-01 -1.09302834e-01 4.44704352e-03 7.23134201e+01] [ 1.09302678e-01 9.94008474e-01 2.78820368e-04 -6.88471817e-01] [-4.45087480e-03 2.08926723e-04 9.99990073e-01 -3.60593326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06864 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:72.35, Y:-0.69, Z:-36.06 [[ 9.94283456e-01 -1.06613131e-01 5.83514712e-03 7.23466408e+01] [ 1.06612817e-01 9.94300545e-01 3.65851546e-04 -6.93185927e-01] [-5.84089454e-03 2.58341329e-04 9.99982908e-01 -3.60585724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09864 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:72.38, Y:-0.69, Z:-36.06 [[ 9.94569162e-01 -1.03940875e-01 5.33637413e-03 7.23799329e+01] [ 1.03940591e-01 9.94583452e-01 3.31303418e-04 -6.94550059e-01] [-5.34190537e-03 2.25161720e-04 9.99985707e-01 -3.60579633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.12863999999999 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:72.41, Y:-0.70, Z:-36.06 [[ 9.95272433e-01 -9.68663980e-02 7.04875866e-03 7.24137094e+01] [ 9.68656785e-02 9.95297364e-01 4.44209562e-04 -7.01264769e-01] [-7.05863990e-03 2.40673259e-04 9.99975059e-01 -3.60580163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.15863999999999 meters Centerline goodness : 0.997143 Centerline is valid? [True, True] Translation: X:72.45, Y:-0.70, Z:-36.06 [[ 9.95708291e-01 -9.20791677e-02 9.29657157e-03 7.24466164e+01] [ 9.20777865e-02 9.95751650e-01 5.77387075e-04 -7.01989012e-01] [-9.31024180e-03 2.81098635e-04 9.99956619e-01 -3.60574792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.18863999999999 meters Centerline goodness : 0.997097 Centerline is valid? [True, True] Translation: X:72.48, Y:-0.70, Z:-36.06 [[ 9.96148391e-01 -8.71788234e-02 9.39337635e-03 7.24799126e+01] [ 8.71772387e-02 9.96192649e-01 5.78816219e-04 -7.01082199e-01] [-9.40807298e-03 2.42301766e-04 9.99955714e-01 -3.60565629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.21864 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:72.51, Y:-0.70, Z:-36.06 [[ 9.97034067e-01 -7.63706747e-02 9.51788841e-03 7.25133644e+01] [ 7.63686005e-02 9.97079485e-01 5.81706453e-04 -7.00301439e-01] [-9.53451659e-03 1.46886667e-04 9.99954535e-01 -3.60554384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.24864 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:72.55, Y:-0.81, Z:-36.06 [[ 9.96849869e-01 -6.84385538e-02 -4.00812150e-02 7.25483455e+01] [ 7.27026410e-02 9.90474712e-01 1.16936607e-01 -8.07579353e-01] [ 3.16964577e-02 -1.19482252e-01 9.92330251e-01 -3.60579136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.27864 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:72.57, Y:-0.59, Z:-36.03 [[ 9.97728754e-01 -6.38990625e-02 2.13129885e-02 7.25656422e+01] [ 6.59052490e-02 9.91429323e-01 -1.12802465e-01 -5.93965473e-01] [-1.39223500e-02 1.13950901e-01 9.93388826e-01 -3.60322693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.30864 meters Centerline goodness : 0.996857 Centerline is valid? [True, True] Translation: X:72.60, Y:-0.69, Z:-36.05 [[ 9.98167759e-01 -5.90265445e-02 1.33038258e-02 7.26046462e+01] [ 5.90209043e-02 9.98256413e-01 8.16520060e-04 -6.93312536e-01] [-1.33288258e-02 -2.98201704e-05 9.99911167e-01 -3.60503874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.33864 meters Centerline goodness : 0.997001 Centerline is valid? [True, True] Translation: X:72.64, Y:-0.69, Z:-36.05 [[ 9.98370154e-01 -5.54433551e-02 1.35303713e-02 7.26378319e+01] [ 5.54373506e-02 9.98461832e-01 8.18723685e-04 -6.90159470e-01] [-1.35549521e-02 -6.73013547e-05 9.99908125e-01 -3.60489295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.36864 meters Centerline goodness : 0.996098 Centerline is valid? [True, True] Translation: X:72.67, Y:-0.73, Z:-36.05 [[ 9.98037212e-01 -5.18948224e-02 -3.50521195e-02 7.26700361e+01] [ 5.34743172e-02 9.97521251e-01 4.57367553e-02 -7.30333228e-01] [ 3.25917333e-02 -4.75213719e-02 9.98338369e-01 -3.60494156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.39864 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:72.69, Y:-0.64, Z:-36.04 [[ 9.98521858e-01 -5.15105951e-02 1.73423767e-02 7.26947376e+01] [ 5.22521285e-02 9.97599863e-01 -4.54337860e-02 -6.42601409e-01] [-1.49604312e-02 4.62728045e-02 9.98816807e-01 -3.60406908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.42864 meters Centerline goodness : 0.995368 Centerline is valid? [True, True] Translation: X:72.73, Y:-0.71, Z:-36.05 [[ 9.98400224e-01 -4.76638091e-02 -3.04163401e-02 7.27296778e+01] [ 4.87156882e-02 9.98205107e-01 3.48331292e-02 -7.11766840e-01] [ 2.87014664e-02 -3.62591569e-02 9.98930177e-01 -3.60466664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45864 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:72.75, Y:-0.64, Z:-36.04 [[ 9.98707192e-01 -4.82688722e-02 1.59392641e-02 7.27544682e+01] [ 4.87960198e-02 9.98211716e-01 -3.45299656e-02 -6.44206114e-01] [-1.42440376e-02 3.52630976e-02 9.99276549e-01 -3.60397784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.48863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:72.78, Y:-0.77, Z:-36.06 [[ 9.93587491e-01 -1.11163629e-01 -2.06529807e-02 7.27790848e+01] [ 1.12467438e-01 9.90469405e-01 7.95074409e-02 -7.73207035e-01] [ 1.16178098e-02 -8.13203866e-02 9.96620299e-01 -3.60570774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.51863999999999 meters Centerline goodness : 0.854527 Centerline is valid? [True, False] Translation: X:72.77, Y:-0.74, Z:-36.05 [[ 9.94318473e-01 -1.04305827e-01 -2.12383709e-02 7.27748324e+01] [ 1.05156487e-01 9.93485521e-01 4.39162029e-02 -7.38524183e-01] [ 1.65192982e-02 -4.59000443e-02 9.98809441e-01 -3.60537731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.54863999999999 meters Centerline goodness : 0.872604 Centerline is valid? [False, False] Translation: X:72.77, Y:-0.71, Z:-36.05 [[ 9.95351367e-01 -9.40473005e-02 -2.07547757e-02 7.27670832e+01] [ 9.44127323e-02 9.95381248e-01 1.73898708e-02 -7.07328602e-01] [ 1.90234441e-02 -1.92685468e-02 9.99633349e-01 -3.60508815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.57864 meters Centerline goodness : 0.843541 Centerline is valid? [False, False] Translation: X:72.76, Y:-0.69, Z:-36.05 [[ 9.96323601e-01 -8.36885825e-02 -1.83167688e-02 7.27620136e+01] [ 8.38209544e-02 9.96459099e-01 6.58115968e-03 -6.93390812e-01] [ 1.77011430e-02 -8.09229376e-03 9.99810574e-01 -3.60484819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.60864 meters Centerline goodness : 0.994649 Centerline is valid? [False, True] Translation: X:72.76, Y:-0.68, Z:-36.05 [[ 9.97300377e-01 -7.16651234e-02 -1.60021112e-02 7.27568800e+01] [ 7.16123493e-02 9.97425118e-01 -3.84769175e-03 -6.75864755e-01] [ 1.62366530e-02 2.69135565e-03 9.99864555e-01 -3.60464410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.63864 meters Centerline goodness : 0.995179 Centerline is valid? [True, True] Translation: X:72.78, Y:-0.67, Z:-36.05 [[ 9.97156372e-01 -7.35737413e-02 -1.63117670e-02 7.27847533e+01] [ 7.35075523e-02 9.97283952e-01 -4.62165245e-03 -6.69450512e-01] [ 1.66074957e-02 3.40947213e-03 9.99856273e-01 -3.60470691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.66864 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:72.81, Y:-0.67, Z:-36.05 [[ 9.96985017e-01 -7.56261212e-02 -1.73656283e-02 7.28140968e+01] [ 7.57141858e-02 9.97119542e-01 4.47006441e-03 -6.72198402e-01] [ 1.69775537e-02 -5.77141165e-03 9.99839214e-01 -3.60478632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.69864 meters Centerline goodness : 0.994888 Centerline is valid? [True, True] Translation: X:72.84, Y:-0.66, Z:-36.05 [[ 9.96532418e-01 -8.15773146e-02 -1.63793295e-02 7.28413771e+01] [ 8.16095204e-02 9.96663524e-01 1.30645425e-03 -6.61170795e-01] [ 1.62181032e-02 -2.63863323e-03 9.99864996e-01 -3.60464816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.72864 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:72.87, Y:-0.65, Z:-36.05 [[ 9.96361226e-01 -8.43812173e-02 -1.20048556e-02 7.28702383e+01] [ 8.43173831e-02 9.96422482e-01 -5.72857932e-03 -6.49610527e-01] [ 1.24452925e-02 4.69551631e-03 9.99911529e-01 -3.60458890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.75864 meters Centerline goodness : 0.891099 Centerline is valid? [True, False] Translation: X:72.87, Y:-0.64, Z:-36.04 [[ 9.97298722e-01 -7.24662545e-02 -1.19959109e-02 7.28680868e+01] [ 7.22875790e-02 9.97275305e-01 -1.47130103e-02 -6.38380705e-01] [ 1.30294225e-02 1.38061110e-02 9.99819796e-01 -3.60437997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.78864 meters Centerline goodness : 0.995190 Centerline is valid? [False, True] Translation: X:72.87, Y:-0.63, Z:-36.04 [[ 9.98020545e-01 -6.15422098e-02 -1.29440626e-02 7.28682364e+01] [ 6.12029920e-02 9.97808522e-01 -2.51465078e-02 -6.25015732e-01] [ 1.44632677e-02 2.43045160e-02 9.99599972e-01 -3.60426541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81864 meters Centerline goodness : 0.994845 Centerline is valid? [True, True] Translation: X:72.90, Y:-0.63, Z:-36.04 [[ 9.97650254e-01 -6.51958350e-02 2.10588289e-02 7.28963205e+01] [ 6.54715486e-02 9.97773881e-01 -1.26790368e-02 -6.30608121e-01] [-2.01853291e-02 1.40279984e-02 9.99697838e-01 -3.60415194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84864 meters Centerline goodness : 0.995374 Centerline is valid? [True, True] Translation: X:72.93, Y:-0.66, Z:-36.05 [[ 9.97664488e-01 -6.56203879e-02 -1.89614018e-02 7.29317750e+01] [ 6.61027066e-02 9.97472976e-01 2.60402328e-02 -6.63833557e-01] [ 1.72047158e-02 -2.72328155e-02 9.99481051e-01 -3.60484155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.87863999999999 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:72.96, Y:-0.63, Z:-36.04 [[ 9.97707356e-01 -6.63193548e-02 -1.34823872e-02 7.29588460e+01] [ 6.62084775e-02 9.97769515e-01 -8.51076252e-03 -6.30918978e-01] [ 1.40167432e-02 7.59860204e-03 9.99872888e-01 -3.60430412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.90863999999999 meters Centerline goodness : 0.995683 Centerline is valid? [True, True] Translation: X:72.99, Y:-0.62, Z:-36.04 [[ 9.97311004e-01 -6.89963979e-02 2.47034090e-02 7.29876476e+01] [ 6.94154989e-02 9.97450892e-01 -1.65289844e-02 -6.19823683e-01] [-2.34999969e-02 1.81993375e-02 9.99558170e-01 -3.60391291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.93863999999999 meters Centerline goodness : 0.996560 Centerline is valid? [True, True] Translation: X:73.02, Y:-0.64, Z:-36.04 [[ 9.97297378e-01 -6.99104948e-02 2.25933982e-02 7.30215935e+01] [ 6.98956396e-02 9.97553259e-01 1.44749303e-03 -6.35263876e-01] [-2.26393129e-02 1.35599012e-04 9.99743689e-01 -3.60413208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.96864 meters Centerline goodness : 0.996562 Centerline is valid? [True, True] Translation: X:73.05, Y:-0.63, Z:-36.04 [[ 9.97369583e-01 -6.91280784e-02 2.17996313e-02 7.30548502e+01] [ 6.91143056e-02 9.97607785e-01 1.38548107e-03 -6.32561769e-01] [-2.18432575e-02 1.24829704e-04 9.99761400e-01 -3.60405676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.99864 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:73.09, Y:-0.72, Z:-36.05 [[ 9.97342901e-01 -6.93558054e-02 -2.22914582e-02 7.30883447e+01] [ 7.11323159e-02 9.93172521e-01 9.24582963e-02 -7.15248717e-01] [ 1.57267441e-02 -9.37982685e-02 9.95467003e-01 -3.60491497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.02864 meters Centerline goodness : 0.997297 Centerline is valid? [True, True] Translation: X:73.11, Y:-0.55, Z:-36.02 [[ 9.97257200e-01 -6.75399641e-02 3.02725925e-02 7.31096834e+01] [ 6.99905715e-02 9.93574314e-01 -8.89460618e-02 -5.49338091e-01] [-2.40706565e-02 9.08208966e-02 9.95576300e-01 -3.60210308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.05864 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:73.15, Y:-0.63, Z:-36.04 [[ 9.97448948e-01 -6.71137594e-02 2.43174699e-02 7.31475301e+01] [ 6.70964869e-02 9.97745324e-01 1.52645096e-03 -6.28047994e-01] [-2.43650877e-02 1.09059899e-04 9.99703121e-01 -3.60389103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.08864 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:73.18, Y:-0.71, Z:-36.05 [[ 9.97515367e-01 -6.76900665e-02 -1.95229785e-02 7.31796330e+01] [ 6.92718170e-02 9.92882265e-01 9.68825276e-02 -7.14781620e-01] [ 1.28260344e-02 -9.79942023e-02 9.95104331e-01 -3.60473066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.11864 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:73.20, Y:-0.59, Z:-36.04 [[ 9.99178113e-01 -4.04661994e-02 -2.36343504e-03 7.32033861e+01] [ 4.03852676e-02 9.98799327e-01 -2.77296630e-02 -5.87319346e-01] [ 3.48271140e-03 2.76114244e-02 9.99612665e-01 -3.60375077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.14864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:73.23, Y:-0.56, Z:-36.02 [[ 9.97253698e-01 -6.59838994e-02 3.36331290e-02 7.32344258e+01] [ 6.80326955e-02 9.95632800e-01 -6.39287154e-02 -5.64823717e-01] [-2.92679805e-02 6.60413002e-02 9.97387554e-01 -3.60240482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.17864 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:73.27, Y:-0.62, Z:-36.04 [[ 9.97370443e-01 -6.58713104e-02 3.02187105e-02 7.32714593e+01] [ 6.58450339e-02 9.97828118e-01 1.86490693e-03 -6.21339574e-01] [-3.02759229e-02 1.29748971e-04 9.99541571e-01 -3.60356512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:73.30, Y:-0.62, Z:-36.04 [[ 9.97665720e-01 -6.17537753e-02 2.91475874e-02 7.33046726e+01] [ 6.17279990e-02 9.98091414e-01 1.78417275e-03 -6.15420763e-01] [-2.92021361e-02 1.92142514e-05 9.99573526e-01 -3.60356725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.23863999999999 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:73.34, Y:-0.67, Z:-36.04 [[ 9.97930457e-01 -6.00031570e-02 -2.31176339e-02 7.33376052e+01] [ 6.13905108e-02 9.96001993e-01 6.48940364e-02 -6.70482404e-01] [ 1.91313623e-02 -6.61789388e-02 9.97624348e-01 -3.60413575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.26863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:73.36, Y:-0.59, Z:-36.03 [[ 9.98499445e-01 -5.36362087e-02 -1.10460597e-02 7.33627009e+01] [ 5.34062754e-02 9.98369473e-01 -2.01535283e-02 -5.86682399e-01] [ 1.21090077e-02 1.95333579e-02 9.99735875e-01 -3.60309280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.29863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:73.39, Y:-0.62, Z:-36.04 [[ 9.98637152e-01 -4.90747468e-02 -1.77625294e-02 7.33922806e+01] [ 4.94982219e-02 9.98479952e-01 2.42427504e-02 -6.21541277e-01] [ 1.65458227e-02 -2.50889248e-02 9.99548289e-01 -3.60371203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:73.42, Y:-0.57, Z:-36.03 [[ 9.98886596e-01 -4.70325776e-02 -3.67486881e-03 7.34180407e+01] [ 4.69116568e-02 9.98506452e-01 -2.80028905e-02 -5.69122668e-01] [ 4.98642834e-03 2.77993178e-02 9.99601087e-01 -3.60288836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:73.45, Y:-0.59, Z:-36.04 [[ 9.98998055e-01 -4.40734091e-02 -7.77309030e-03 7.34507841e+01] [ 4.41246200e-02 9.99004598e-01 6.54452593e-03 -5.91187295e-01] [ 7.47691339e-03 -6.88095333e-03 9.99948373e-01 -3.60353416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.48, Y:-0.61, Z:-36.04 [[ 9.98858468e-01 -4.48488331e-02 -1.64421269e-02 7.34803934e+01] [ 4.52922394e-02 9.98590563e-01 2.76676698e-02 -6.06274628e-01] [ 1.51780901e-02 -2.83807870e-02 9.99481944e-01 -3.60378287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.51, Y:-0.54, Z:-36.02 [[ 9.98858799e-01 -4.77605156e-02 1.80050220e-04 7.35063706e+01] [ 4.77407091e-02 9.98320896e-01 -3.28056914e-02 -5.44109712e-01] [ 1.38706884e-03 3.27768492e-02 9.99461732e-01 -3.60239111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.54, Y:-0.57, Z:-36.03 [[ 9.98846250e-01 -4.80215262e-02 -3.18173864e-04 7.35393344e+01] [ 4.80213207e-02 9.98846116e-01 -6.24611117e-04 -5.70592370e-01] [ 3.47801507e-04 6.08611343e-04 9.99999754e-01 -3.60303530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.56, Y:-0.62, Z:-36.04 [[ 9.98562029e-01 -5.35775916e-02 1.82106518e-03 7.35633189e+01] [ 5.33967517e-02 9.97059692e-01 5.49614156e-02 -6.16762749e-01] [-4.76041097e-03 -5.47851437e-02 9.98486818e-01 -3.60382193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.59, Y:-0.47, Z:-36.01 [[ 9.97146256e-01 -4.71714348e-02 5.89423513e-02 7.35904054e+01] [ 5.30460209e-02 9.93323648e-01 -1.02441442e-01 -4.70397520e-01] [-5.37165216e-02 1.05275758e-01 9.92991214e-01 -3.60051611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.53864 meters Centerline goodness : 0.865780 Centerline is valid? [True, False] Translation: X:73.62, Y:-0.50, Z:-36.01 [[ 9.98114160e-01 -4.41527061e-02 4.26457863e-02 7.36194145e+01] [ 4.70238488e-02 9.96518097e-01 -6.88508504e-02 -4.98131715e-01] [-3.94573465e-02 7.07263776e-02 9.96715053e-01 -3.60142198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:73.63, Y:-0.52, Z:-36.02 [[ 9.98654192e-01 -4.04088570e-02 3.25104443e-02 7.36293120e+01] [ 4.17515079e-02 9.98255828e-01 -4.17386311e-02 -5.20119009e-01] [-3.07671301e-02 4.30398190e-02 9.98599498e-01 -3.60206177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.66, Y:-0.56, Z:-36.03 [[ 9.98452660e-01 -4.53672958e-02 3.21573293e-02 7.36640806e+01] [ 4.53519384e-02 9.98970342e-01 1.20717399e-03 -5.56475907e-01] [-3.21789845e-02 2.53091141e-04 9.99482090e-01 -3.60286033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.62863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:73.69, Y:-0.61, Z:-36.04 [[ 9.98690290e-01 -4.90222467e-02 -1.46466410e-02 7.36940644e+01] [ 4.97408101e-02 9.97324666e-01 5.35664235e-02 -6.05499588e-01] [ 1.19815099e-02 -5.42248028e-02 9.98456866e-01 -3.60351827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.65863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.72, Y:-0.51, Z:-36.02 [[ 9.98299513e-01 -4.78179052e-02 3.33396109e-02 7.37223751e+01] [ 4.94928440e-02 9.97452654e-01 -5.13678943e-02 -5.09956464e-01] [-3.07983783e-02 5.29306161e-02 9.98123144e-01 -3.60170178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.68863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.76, Y:-0.64, Z:-36.04 [[ 9.98750577e-01 -4.97008853e-02 -5.20648901e-03 7.37558130e+01] [ 4.99676467e-02 9.94714923e-01 8.96964620e-02 -6.37538760e-01] [ 7.20978754e-04 -8.98445492e-02 9.95955540e-01 -3.60398076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.78, Y:-0.48, Z:-36.01 [[ 9.98061686e-01 -5.08622882e-02 3.58594412e-02 7.37831369e+01] [ 5.38074184e-02 9.94787780e-01 -8.66142893e-02 -4.80618462e-01] [-3.12671330e-02 8.83759075e-02 9.95596337e-01 -3.60090064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.74864 meters Centerline goodness : 0.974214 Centerline is valid? [True, True] Translation: X:73.84, Y:-0.72, Z:-36.05 [[ 9.94542974e-01 -1.03622240e-01 -1.21121623e-02 7.38441242e+01] [ 1.04290780e-01 9.84378765e-01 1.41851615e-01 -7.19922860e-01] [-2.77602670e-03 -1.42340714e-01 9.89813828e-01 -3.60533516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.85, Y:-0.44, Z:-36.00 [[ 9.97824425e-01 -5.29861683e-02 3.92286009e-02 7.38463376e+01] [ 5.79532209e-02 9.88628355e-01 -1.38763830e-01 -4.42472704e-01] [-3.14299435e-02 1.40735363e-01 9.89548238e-01 -3.59959585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:73.88, Y:-0.57, Z:-36.03 [[ 9.97960146e-01 -5.45949892e-02 3.30897897e-02 7.38841436e+01] [ 5.45833332e-02 9.98508429e-01 1.25614828e-03 -5.67116347e-01] [-3.31090133e-02 5.52565094e-04 9.99451594e-01 -3.60300608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:73.92, Y:-0.57, Z:-36.03 [[ 9.98009490e-01 -5.31821568e-02 3.38927152e-02 7.39173640e+01] [ 5.31696850e-02 9.98584685e-01 1.26980287e-03 -5.66947398e-01] [-3.39122772e-02 5.34789677e-04 9.99424670e-01 -3.60304607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:73.94, Y:-0.67, Z:-36.04 [[ 9.98258761e-01 -5.75955020e-02 -1.27359289e-02 7.39440715e+01] [ 5.86471622e-02 9.92237357e-01 1.09661009e-01 -6.67899466e-01] [ 6.32108358e-03 -1.10216989e-01 9.93887448e-01 -3.60403091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.89864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:73.97, Y:-0.47, Z:-36.00 [[ 9.98162520e-01 -4.32981563e-02 4.23893174e-02 7.39726880e+01] [ 4.75391467e-02 9.93359516e-01 -1.04770709e-01 -4.74951541e-01] [-3.75714533e-02 1.06593347e-01 9.93592595e-01 -3.60042541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.92864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.01, Y:-0.61, Z:-36.03 [[ 9.98912574e-01 -4.62170868e-02 -6.13592911e-03 7.40056667e+01] [ 4.64578392e-02 9.97779296e-01 4.77299258e-02 -6.12418740e-01] [ 3.91636491e-03 -4.79630850e-02 9.98841431e-01 -3.60315410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.04, Y:-0.53, Z:-36.02 [[ 9.98404028e-01 -3.73447992e-02 4.23646313e-02 7.40367253e+01] [ 3.92457659e-02 9.98217395e-01 -4.49644566e-02 -5.26741580e-01] [-4.06099233e-02 4.65553270e-02 9.98089894e-01 -3.60178414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.98863999999999 meters Centerline goodness : 0.846214 Centerline is valid? [True, False] Translation: X:74.04, Y:-0.54, Z:-36.02 [[ 9.98799488e-01 -2.56481012e-02 4.17343702e-02 7.40375604e+01] [ 2.69117379e-02 9.99187450e-01 -3.00033100e-02 -5.37648716e-01] [-4.09309310e-02 3.10904351e-02 9.98678148e-01 -3.60197054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.01863999999999 meters Centerline goodness : 0.998328 Centerline is valid? [False, True] Translation: X:74.07, Y:-0.55, Z:-36.02 [[ 9.99530532e-01 -2.28583671e-02 2.04012618e-02 7.40650329e+01] [ 2.31834682e-02 9.99605675e-01 -1.58436682e-02 -5.49237411e-01] [-2.00310567e-02 1.63092021e-02 9.99666328e-01 -3.60218336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.04863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.09, Y:-0.54, Z:-36.01 [[ 9.98440437e-01 -5.30264546e-02 1.74610802e-02 7.40949784e+01] [ 5.36581056e-02 9.97838052e-01 -3.79477227e-02 -5.41207147e-01] [-1.54110971e-02 3.88254693e-02 9.99127160e-01 -3.60092655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.07864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.13, Y:-0.58, Z:-36.02 [[ 9.98652075e-01 -5.06529559e-02 1.13274173e-02 7.41294573e+01] [ 5.05766432e-02 9.98696173e-01 6.92509812e-03 -5.77172021e-01] [-1.16634250e-02 -6.34286087e-03 9.99911862e-01 -3.60192004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.10864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.16, Y:-0.56, Z:-36.02 [[ 9.98828352e-01 -4.35088433e-02 2.11873299e-02 7.41602848e+01] [ 4.37255596e-02 9.98994776e-01 -9.87483918e-03 -5.56165144e-01] [-2.07363890e-02 1.07896972e-02 9.99726755e-01 -3.60157399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.13864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:74.19, Y:-0.58, Z:-36.02 [[ 9.99034527e-01 -4.21968711e-02 1.22244890e-02 7.41912988e+01] [ 4.19908479e-02 9.98979311e-01 1.66464518e-02 -5.76600359e-01] [-1.29144397e-02 -1.61170634e-02 9.99786706e-01 -3.60196925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:74.22, Y:-0.52, Z:-36.01 [[ 9.97788070e-01 -3.21095992e-02 5.82060165e-02 7.42214818e+01] [ 3.46298653e-02 9.98482449e-01 -4.28202340e-02 -5.15095428e-01] [-5.67427453e-02 4.47411852e-02 9.97385827e-01 -3.60107088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:74.25, Y:-0.59, Z:-36.02 [[ 9.99227541e-01 -3.71797882e-02 1.27273478e-02 7.42529779e+01] [ 3.66177580e-02 9.98452231e-01 4.18602701e-02 -5.88353999e-01] [-1.42640048e-02 -4.13618878e-02 9.99042408e-01 -3.60241636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.22864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:74.28, Y:-0.55, Z:-36.02 [[ 9.99307804e-01 -3.32845067e-02 1.66149155e-02 7.42843150e+01] [ 3.32194709e-02 9.99439360e-01 4.17513929e-03 -5.49132015e-01] [-1.67445680e-02 -3.62031057e-03 9.99853246e-01 -3.60187112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.25864 meters Centerline goodness : 0.980884 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.56, Z:-36.05 [[ 9.98261479e-01 5.12782191e-02 2.90613832e-02 7.43354838e+01] [-5.28899264e-02 9.96931449e-01 5.77091195e-02 -5.55910441e-01] [-2.60129860e-02 -5.91458454e-02 9.97910363e-01 -3.60485269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.28864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:74.34, Y:-0.46, Z:-36.00 [[ 9.97735367e-01 -3.05018277e-02 5.99481104e-02 7.43396814e+01] [ 3.52010514e-02 9.96255819e-01 -7.89634668e-02 -4.64586690e-01] [-5.73151237e-02 8.08948801e-02 9.95073362e-01 -3.60036074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:74.38, Y:-0.53, Z:-36.02 [[ 9.97874509e-01 -3.47479910e-02 5.51274945e-02 7.43761863e+01] [ 3.46169273e-02 9.99395104e-01 3.33087218e-03 -5.32224820e-01] [-5.52098892e-02 -1.41544797e-03 9.98473768e-01 -3.60227900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:74.41, Y:-0.52, Z:-36.02 [[ 9.97741754e-01 -3.76541067e-02 5.56197901e-02 7.44091474e+01] [ 3.75268284e-02 9.99290067e-01 3.33139058e-03 -5.24560840e-01] [-5.57057443e-02 -1.23663316e-03 9.98446464e-01 -3.60234583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.37863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:74.44, Y:-0.52, Z:-36.03 [[ 9.97672120e-01 -3.97471541e-02 5.54121358e-02 7.44424382e+01] [ 3.96256414e-02 9.99209178e-01 3.29031686e-03 -5.20576923e-01] [-5.54990954e-02 -1.08691597e-03 9.98458146e-01 -3.60251569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.40863999999999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:74.48, Y:-0.52, Z:-36.02 [[ 9.97428156e-01 -4.45760156e-02 5.61253313e-02 7.44755761e+01] [ 4.44606290e-02 9.99005675e-01 3.30348798e-03 -5.17536932e-01] [-5.62167809e-02 -7.99624391e-04 9.98418266e-01 -3.60248031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.43863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:74.51, Y:-0.54, Z:-36.03 [[ 9.98709234e-01 -4.84637570e-02 1.52029431e-02 7.45070120e+01] [ 4.80125782e-02 9.98432680e-01 2.87571729e-02 -5.39886764e-01] [-1.65727959e-02 -2.79901216e-02 9.99470808e-01 -3.60273236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.46864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:74.54, Y:-0.49, Z:-36.02 [[ 9.97181678e-01 -4.76676991e-02 5.79352368e-02 7.45375778e+01] [ 4.91094443e-02 9.98511680e-01 -2.37210341e-02 -4.88205751e-01] [-5.67182835e-02 2.64993479e-02 9.98038487e-01 -3.60190275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:74.57, Y:-0.51, Z:-36.03 [[ 9.96960465e-01 -5.42675314e-02 5.59004944e-02 7.45722440e+01] [ 5.41721554e-02 9.98526415e-01 3.22119317e-03 -5.11485239e-01] [-5.59929265e-02 -1.83151971e-04 9.98431149e-01 -3.60260480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.60, Y:-0.51, Z:-36.03 [[ 9.96767482e-01 -5.69910179e-02 5.66269460e-02 7.46049344e+01] [ 5.68991979e-02 9.98374691e-01 3.23378926e-03 -5.10999930e-01] [-5.67192067e-02 -1.30816427e-06 9.98390170e-01 -3.60276109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.64, Y:-0.51, Z:-36.03 [[ 9.96630293e-01 -5.98742196e-02 5.60636943e-02 7.46376399e+01] [ 5.97903783e-02 9.98205912e-01 3.17313542e-03 -5.11334514e-01] [-5.61531001e-02 1.89626611e-04 9.98422152e-01 -3.60284667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.67, Y:-0.51, Z:-36.03 [[ 9.96447878e-01 -6.23785439e-02 5.65733413e-02 7.46712310e+01] [ 6.22988430e-02 9.98052496e-01 3.17307597e-03 -5.11345068e-01] [-5.66610964e-02 3.62648892e-04 9.98393404e-01 -3.60294473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.70, Y:-0.52, Z:-36.03 [[ 9.96094161e-01 -6.70950148e-02 5.73993088e-02 7.47048538e+01] [ 6.70224646e-02 9.97746366e-01 3.19031007e-03 -5.15251422e-01] [-5.74840057e-02 6.69193907e-04 9.98346203e-01 -3.60309728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.74, Y:-0.52, Z:-36.03 [[ 9.96017544e-01 -6.81112748e-02 5.75317867e-02 7.47378553e+01] [ 6.80417441e-02 9.97677442e-01 3.16888424e-03 -5.16201768e-01] [-5.76140025e-02 7.58298803e-04 9.98338646e-01 -3.60326790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.67864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.77, Y:-0.52, Z:-36.03 [[ 9.95899415e-01 -6.91905328e-02 5.82840015e-02 7.47714436e+01] [ 6.91227239e-02 9.97603092e-01 3.18113246e-03 -5.19406855e-01] [-5.83644044e-02 8.60660991e-04 9.98294974e-01 -3.60333623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.81, Y:-0.63, Z:-36.05 [[ 9.97266107e-01 -7.34954520e-02 7.66360863e-03 7.48053038e+01] [ 7.19750561e-02 9.89612261e-01 1.24447436e-01 -6.32215425e-01] [-1.67303216e-02 -1.23555621e-01 9.92196606e-01 -3.60460657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.73863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.83, Y:-0.42, Z:-36.01 [[ 9.95542005e-01 -6.51911420e-02 6.81632702e-02 7.48287850e+01] [ 7.28717569e-02 9.90449106e-01 -1.17048179e-01 -4.16849719e-01] [-5.98817456e-02 1.21493556e-01 9.90784281e-01 -3.60055106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.76863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:74.87, Y:-0.53, Z:-36.03 [[ 9.95524756e-01 -7.10704901e-02 6.22852023e-02 7.48665449e+01] [ 7.10003931e-02 9.97470693e-01 3.34079253e-03 -5.30192969e-01] [-6.23650957e-02 1.09643218e-03 9.98052801e-01 -3.60345471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.79863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.90, Y:-0.65, Z:-36.05 [[ 9.97174490e-01 -7.41622101e-02 1.19583983e-02 7.49005352e+01] [ 7.20072857e-02 9.89015013e-01 1.29090103e-01 -6.48878070e-01] [-2.14006428e-02 -1.27864266e-01 9.91560761e-01 -3.60460728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.92, Y:-0.43, Z:-36.01 [[ 9.95249732e-01 -6.42665517e-02 7.31285206e-02 7.49229690e+01] [ 7.27826440e-02 9.90044693e-01 -1.20474863e-01 -4.27014808e-01] [-6.46579997e-02 1.25225062e-01 9.90019205e-01 -3.60090289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:74.96, Y:-0.66, Z:-36.04 [[ 9.97346978e-01 -7.10130370e-02 1.60048334e-02 7.49623871e+01] [ 6.82328104e-02 9.88581077e-01 1.34356753e-01 -6.60181267e-01] [-2.53631566e-02 -1.32908247e-01 9.90803769e-01 -3.60438559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.88864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:74.98, Y:-0.43, Z:-36.01 [[ 9.95214078e-01 -5.74706429e-02 7.90320401e-02 7.49844826e+01] [ 6.70609505e-02 9.89937821e-01 -1.24603124e-01 -4.28076404e-01] [-7.10757840e-02 1.29306747e-01 9.89054093e-01 -3.60065805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:75.02, Y:-0.54, Z:-36.03 [[ 9.95677251e-01 -5.68354854e-02 7.34611445e-02 7.50227230e+01] [ 5.67056301e-02 9.98383503e-01 3.85380866e-03 -5.43301682e-01] [-7.35614279e-02 3.28510878e-04 9.97290634e-01 -3.60341296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.06, Y:-0.54, Z:-36.04 [[ 9.95870899e-01 -5.26294134e-02 7.39682157e-02 7.50558856e+01] [ 5.24889733e-02 9.98614111e-01 3.84264787e-03 -5.42858394e-01] [-7.40679403e-02 5.57345118e-05 9.97253196e-01 -3.60364906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:75.09, Y:-0.54, Z:-36.04 [[ 9.96095090e-01 -4.82072795e-02 7.39637035e-02 7.50889786e+01] [ 4.80575004e-02 9.98837326e-01 3.80443347e-03 -5.41824421e-01] [-7.40611092e-02 -2.35066792e-04 9.97253677e-01 -3.60380964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:75.12, Y:-0.54, Z:-36.04 [[ 9.96156780e-01 -4.20040446e-02 7.68591506e-02 7.51218664e+01] [ 4.18269950e-02 9.99117207e-01 3.91259953e-03 -5.40740829e-01] [-7.69556449e-02 -6.82775249e-04 9.97034284e-01 -3.60398487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.03864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:75.16, Y:-0.60, Z:-36.05 [[ 9.98758668e-01 -4.12200705e-02 2.79647669e-02 7.51563343e+01] [ 3.90390962e-02 9.96456573e-01 7.44999778e-02 -6.03165160e-01] [-3.09365701e-02 -7.33157794e-02 9.96828834e-01 -3.60451090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:75.18, Y:-0.58, Z:-36.05 [[ 9.98663578e-01 -3.56004321e-02 3.74655495e-02 7.51821018e+01] [ 3.33232171e-02 9.97657352e-01 5.97442074e-02 -5.84359906e-01] [-3.95047005e-02 -5.84158913e-02 9.97510382e-01 -3.60450667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:75.21, Y:-0.48, Z:-36.03 [[ 9.98782911e-01 -2.72973126e-02 4.10798338e-02 7.52104304e+01] [ 2.95217251e-02 9.98074339e-01 -5.45534659e-02 -4.79579780e-01] [-3.95115650e-02 5.56998171e-02 9.97665458e-01 -3.60298947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.12863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:75.24, Y:-0.46, Z:-36.03 [[ 9.95726194e-01 -2.53740620e-02 8.88003599e-02 7.52381005e+01] [ 3.14213478e-02 9.97232603e-01 -6.73782995e-02 -4.61733187e-01] [-8.68449529e-02 6.98805647e-02 9.93767911e-01 -3.60318539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.15863999999999 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:75.27, Y:-0.52, Z:-36.05 [[ 9.96192926e-01 -2.62120664e-02 8.31419368e-02 7.52727721e+01] [ 2.59528986e-02 9.99654358e-01 4.19658783e-03 -5.15080084e-01] [-8.32232007e-02 -2.02283686e-03 9.96528879e-01 -3.60477613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.18863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:75.31, Y:-0.57, Z:-36.05 [[ 9.98961498e-01 -2.79279840e-02 3.59993484e-02 7.53067847e+01] [ 2.52532407e-02 9.97032206e-01 7.27258808e-02 -5.73676065e-01] [-3.79235970e-02 -7.17412546e-02 9.96702058e-01 -3.60533340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.21864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:75.34, Y:-0.49, Z:-36.04 [[ 9.98615588e-01 -2.28884233e-02 4.73606176e-02 7.53358201e+01] [ 2.35666841e-02 9.99626841e-01 -1.38126529e-02 -4.92554494e-01] [-4.70267947e-02 1.49096632e-02 9.98782350e-01 -3.60441358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.24864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:75.37, Y:-0.51, Z:-36.05 [[ 9.98633766e-01 -2.71228811e-02 4.46648728e-02 7.53654318e+01] [ 2.66130898e-02 9.99574151e-01 1.19691549e-02 -5.09053678e-01] [-4.49704903e-02 -1.07641319e-02 9.98930322e-01 -3.60494362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.27864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:75.40, Y:-0.50, Z:-36.05 [[ 9.98753716e-01 -2.79269057e-02 4.13654715e-02 7.53955041e+01] [ 2.76657141e-02 9.99593600e-01 6.87339944e-03 -5.00127392e-01] [-4.15406133e-02 -5.72042793e-03 9.99120440e-01 -3.60493358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:75.42, Y:-0.43, Z:-36.04 [[ 9.94907308e-01 -2.75786699e-02 9.69477491e-02 7.54207777e+01] [ 3.39335687e-02 9.97339033e-01 -6.45241542e-02 -4.28725890e-01] [-9.49102840e-02 6.74853356e-02 9.93195735e-01 -3.60403889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:75.46, Y:-0.49, Z:-36.06 [[ 9.95096269e-01 -3.19851405e-02 9.35968292e-02 7.54563772e+01] [ 3.16807050e-02 9.99486815e-01 4.73707150e-03 -4.88235401e-01] [-9.37003126e-02 -1.74862864e-03 9.95598912e-01 -3.60569010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:75.49, Y:-0.58, Z:-36.07 [[ 9.98097998e-01 -3.84483574e-02 4.81882718e-02 7.54907938e+01] [ 3.28581151e-02 9.93180154e-01 1.11863871e-01 -5.84178218e-01] [-5.21606173e-02 -1.10067730e-01 9.92554464e-01 -3.60689639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:75.52, Y:-0.49, Z:-36.06 [[ 9.98255897e-01 -3.36330576e-02 4.85178547e-02 7.55188227e+01] [ 3.30451826e-02 9.99371010e-01 1.28685489e-02 -4.93197903e-01] [-4.89201461e-02 -1.12428235e-02 9.98739415e-01 -3.60574023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.42864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:75.55, Y:-0.43, Z:-36.05 [[ 9.97666141e-01 -3.16619176e-02 6.04962352e-02 7.55451391e+01] [ 3.48597649e-02 9.98009281e-01 -5.25573106e-02 -4.33065585e-01] [-5.87117389e-02 5.45435338e-02 9.96783795e-01 -3.60466925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:75.57, Y:-0.43, Z:-36.05 [[ 9.93952075e-01 -3.45719374e-02 1.04230770e-01 7.55739969e+01] [ 4.03338614e-02 9.97742799e-01 -5.36887883e-02 -4.28718767e-01] [-1.02139374e-01 5.75681120e-02 9.93102946e-01 -3.60515414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.48863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:75.61, Y:-0.48, Z:-36.07 [[ 9.94038308e-01 -3.93993356e-02 1.01663827e-01 7.56092169e+01] [ 3.90780608e-02 9.99222886e-01 5.15058611e-03 -4.79950559e-01] [-1.01787752e-01 -1.14705470e-03 9.94805477e-01 -3.60657007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.51863999999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:75.64, Y:-0.48, Z:-36.07 [[ 9.93833210e-01 -4.32446530e-02 1.02105099e-01 7.56421529e+01] [ 4.29461759e-02 9.99064264e-01 5.12071950e-03 -4.80457807e-01] [-1.02230999e-01 -7.04117568e-04 9.94760437e-01 -3.60678330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.54863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:75.68, Y:-0.48, Z:-36.07 [[ 9.93720545e-01 -4.43012016e-02 1.02746692e-01 7.56752145e+01] [ 4.40100273e-02 9.99018070e-01 5.10023897e-03 -4.80136482e-01] [-1.02871749e-01 -5.46327521e-04 9.94694478e-01 -3.60700058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.57864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:75.71, Y:-0.56, Z:-36.08 [[ 9.97630878e-01 -5.07063148e-02 4.64919415e-02 7.57088183e+01] [ 4.62939267e-02 9.94727070e-01 9.15146384e-02 -5.60340623e-01] [-5.08871628e-02 -8.91455346e-02 9.94717835e-01 -3.60793455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.60864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:75.73, Y:-0.41, Z:-36.05 [[ 9.92825578e-01 -4.17067507e-02 1.12062120e-01 7.57336588e+01] [ 5.09437262e-02 9.95421942e-01 -8.08696071e-02 -4.06592490e-01] [-1.08176285e-01 8.59982763e-02 9.90405063e-01 -3.60536609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.63864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:75.77, Y:-0.48, Z:-36.07 [[ 9.93069082e-01 -4.84853258e-02 1.07065264e-01 7.57686176e+01] [ 4.82011533e-02 9.98823894e-01 5.24191403e-03 -4.82017727e-01] [-1.07193500e-01 -4.49135577e-05 9.94238176e-01 -3.60740527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.66864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:75.80, Y:-0.62, Z:-36.09 [[ 9.97118900e-01 -6.15293058e-02 4.43626399e-02 7.57995620e+01] [ 5.42847211e-02 9.87311230e-01 1.49230372e-01 -6.15966355e-01] [-5.29817738e-02 -1.46392211e-01 9.87806789e-01 -3.60878582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.69864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:75.83, Y:-0.41, Z:-36.06 [[ 9.97292802e-01 -4.10989861e-02 6.09749153e-02 7.58306079e+01] [ 4.57690433e-02 9.95958172e-01 -7.72820496e-02 -4.11837226e-01] [-5.75522513e-02 7.98635953e-02 9.95142977e-01 -3.60605207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.72864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:75.86, Y:-0.44, Z:-36.07 [[ 9.92784623e-01 -4.53658530e-02 1.10998340e-01 7.58605381e+01] [ 5.08684132e-02 9.97586870e-01 -4.72529509e-02 -4.36751822e-01] [-1.08586817e-01 5.25583125e-02 9.92696594e-01 -3.60705949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.75864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:75.90, Y:-0.48, Z:-36.08 [[ 9.93070813e-01 -4.77263471e-02 1.07389742e-01 7.58953223e+01] [ 4.74402806e-02 9.98860445e-01 5.21839665e-03 -4.81885319e-01] [-1.07516420e-01 -8.76379207e-05 9.94203305e-01 -3.60828758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.78864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:75.93, Y:-0.53, Z:-36.09 [[ 9.97346504e-01 -5.05070842e-02 5.24307583e-02 7.59274765e+01] [ 4.74668967e-02 9.97205195e-01 5.76948216e-02 -5.30807352e-01] [-5.51982218e-02 -5.50530033e-02 9.96956530e-01 -3.60890218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:75.96, Y:-0.53, Z:-36.09 [[ 9.97564783e-01 -4.98516679e-02 4.87782142e-02 7.59552655e+01] [ 4.67561960e-02 9.96938744e-01 6.26657750e-02 -5.34714432e-01] [-5.17528850e-02 -6.02324866e-02 9.96841856e-01 -3.60909363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:75.98, Y:-0.43, Z:-36.08 [[ 9.97420109e-01 -3.76110797e-02 6.11435484e-02 7.59844146e+01] [ 4.06275038e-02 9.97978889e-01 -4.88624854e-02 -4.33782529e-01] [-5.91821997e-02 5.12205352e-02 9.96932256e-01 -3.60774568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.87863999999999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:76.01, Y:-0.42, Z:-36.08 [[ 9.92773175e-01 -3.47347190e-02 1.14869157e-01 7.60142805e+01] [ 4.13178222e-02 9.97607108e-01 -5.54337055e-02 -4.22815026e-01] [-1.12668813e-01 5.97792392e-02 9.91832738e-01 -3.60801558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.90863999999999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:76.05, Y:-0.59, Z:-36.10 [[ 9.96927791e-01 -4.76950122e-02 6.21302345e-02 7.60491128e+01] [ 3.91169389e-02 9.90393958e-01 1.32626064e-01 -5.92190786e-01] [-6.78590106e-02 -1.29788265e-01 9.89216943e-01 -3.61039590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.93863999999999 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:76.08, Y:-0.36, Z:-36.07 [[ 9.92407707e-01 -2.38940847e-02 1.20648315e-01 7.60752822e+01] [ 3.84579972e-02 9.92044534e-01 -1.19869197e-01 -3.62183437e-01] [-1.16824337e-01 1.23599008e-01 9.85431560e-01 -3.60667399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.96864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:76.11, Y:-0.59, Z:-36.11 [[ 9.97399059e-01 -4.62048614e-02 5.53193315e-02 7.61104965e+01] [ 3.83119913e-02 9.89955404e-01 1.36090006e-01 -5.91204499e-01] [-6.10516910e-02 -1.33616650e-01 9.89150788e-01 -3.61058752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.99864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:76.14, Y:-0.40, Z:-36.08 [[ 9.97133022e-01 -2.66027319e-02 7.08380630e-02 7.61375872e+01] [ 3.20451559e-02 9.96528660e-01 -7.68357878e-02 -3.97657713e-01] [-6.85481181e-02 7.88855181e-02 9.94524123e-01 -3.60793326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.02864 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:76.17, Y:-0.48, Z:-36.10 [[ 9.97719285e-01 -3.40023270e-02 5.83101245e-02 7.61714952e+01] [ 3.32967947e-02 9.99360578e-01 1.30291432e-02 -4.76444724e-01] [-5.87158610e-02 -1.10578872e-02 9.98213490e-01 -3.60983674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.05864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:76.20, Y:-0.42, Z:-36.09 [[ 9.92365978e-01 -2.98128170e-02 1.19670219e-01 7.61990441e+01] [ 3.61147339e-02 9.98053526e-01 -5.08417726e-02 -4.17103423e-01] [-1.17921548e-01 5.47755035e-02 9.91511045e-01 -3.60928576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.08864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:76.23, Y:-0.47, Z:-36.11 [[ 9.92345049e-01 -3.75099971e-02 1.17661819e-01 7.62339299e+01] [ 3.71180966e-02 9.99295634e-01 5.52105200e-03 -4.67161000e-01] [-1.17786037e-01 -1.11140586e-03 9.93038375e-01 -3.61059405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.11864 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:76.27, Y:-0.53, Z:-36.11 [[ 9.97666229e-01 -4.41395566e-02 5.20941060e-02 7.62678926e+01] [ 4.00865010e-02 9.96268302e-01 7.64365316e-02 -5.32117568e-01] [-5.52735812e-02 -7.41698758e-02 9.95712640e-01 -3.61117260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.14864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:76.29, Y:-0.46, Z:-36.11 [[ 9.96743235e-01 -4.00997441e-02 6.99638082e-02 7.62934338e+01] [ 4.02391882e-02 9.99189905e-01 -5.84288339e-04 -4.62874676e-01] [-6.98837011e-02 3.39767229e-03 9.97549359e-01 -3.61054262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.17864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:76.32, Y:-0.50, Z:-36.11 [[ 9.97481609e-01 -4.54429778e-02 5.44552531e-02 7.63242983e+01] [ 4.31435647e-02 9.98156708e-01 4.26827650e-02 -5.03256113e-01] [-5.62945082e-02 -4.02258794e-02 9.97603532e-01 -3.61128642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20864 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:76.35, Y:-0.51, Z:-36.12 [[ 9.96127354e-01 -4.66660682e-02 7.45155894e-02 7.63509385e+01] [ 4.30724755e-02 9.97863392e-01 4.91264995e-02 -5.08752078e-01] [-7.66489194e-02 -4.57266791e-02 9.96009043e-01 -3.61154603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.23863999999999 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:76.38, Y:-0.47, Z:-36.11 [[ 9.95569385e-01 -4.20684840e-02 8.40942427e-02 7.63820031e+01] [ 4.12091339e-02 9.99079324e-01 1.19294781e-02 -4.74833628e-01] [-8.45186741e-02 -8.41117223e-03 9.96386394e-01 -3.61128743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.26863999999999 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:76.40, Y:-0.45, Z:-36.11 [[ 9.95221758e-01 -4.20949345e-02 8.81003295e-02 7.64042060e+01] [ 4.38411425e-02 9.98876713e-01 -1.79796053e-02 -4.49381649e-01] [-8.72445172e-02 2.17561135e-02 9.95949329e-01 -3.61097778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.29863999999999 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:76.43, Y:-0.46, Z:-36.11 [[ 9.94011646e-01 -4.60713980e-02 9.90872077e-02 7.64298354e+01] [ 4.64946591e-02 9.98916605e-01 -1.96542184e-03 -4.63385553e-01] [-9.88893074e-02 6.56067814e-03 9.95076812e-01 -3.61138155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.32864 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:76.46, Y:-0.45, Z:-36.11 [[ 9.94329524e-01 -4.53324981e-02 9.61964824e-02 7.64602607e+01] [ 4.74585903e-02 9.98674386e-01 -1.99287206e-02 -4.49252020e-01] [-9.51655442e-02 2.43810647e-02 9.95162842e-01 -3.61136011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.35864 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:76.48, Y:-0.48, Z:-36.12 [[ 9.93107129e-01 -5.45416765e-02 1.03746978e-01 7.64802736e+01] [ 5.32812871e-02 9.98468619e-01 1.48835794e-02 -4.81377523e-01] [-1.04399878e-01 -9.25321624e-03 9.94492355e-01 -3.61206158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.38864 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:76.51, Y:-0.35, Z:-36.10 [[ 9.85252295e-01 -3.26593003e-02 1.67962155e-01 7.65114799e+01] [ 5.50460383e-02 9.89931018e-01 -1.30409026e-01 -3.51963279e-01] [-1.62011880e-01 1.37731444e-01 9.77129572e-01 -3.60975971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.41864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:76.55, Y:-0.48, Z:-36.13 [[ 9.85207313e-01 -5.34572164e-02 1.62815465e-01 7.65463005e+01] [ 5.29754351e-02 9.98569116e-01 7.30237258e-03 -4.75033283e-01] [-1.62972860e-01 1.43086925e-03 9.86629515e-01 -3.61287947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.44864 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:76.58, Y:-0.48, Z:-36.13 [[ 9.85107075e-01 -5.46399826e-02 1.63029208e-01 7.65788784e+01] [ 5.41867346e-02 9.98504652e-01 7.22901857e-03 -4.75393108e-01] [-1.63180416e-01 1.71266309e-03 9.86594759e-01 -3.61331355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.47864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:76.61, Y:-0.64, Z:-36.14 [[ 9.91649825e-01 -8.35405182e-02 9.82425886e-02 7.66120449e+01] [ 6.53454360e-02 9.82274903e-01 1.75687189e-01 -6.35957422e-01] [-1.11178228e-01 -1.67800466e-01 9.79531728e-01 -3.61411087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.50864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:76.64, Y:-0.46, Z:-36.13 [[ 9.91934917e-01 -5.88700655e-02 1.12247211e-01 7.66380326e+01] [ 6.09863279e-02 9.98018073e-01 -1.55111096e-02 -4.63617819e-01] [-1.11111606e-01 2.22315564e-02 9.93559243e-01 -3.61332949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.53864 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:76.67, Y:-0.36, Z:-36.12 [[ 9.83114339e-01 -4.25975453e-02 1.77965290e-01 7.66683352e+01] [ 6.60464676e-02 9.89573834e-01 -1.27990201e-01 -3.62587401e-01] [-1.70657726e-01 1.37582980e-01 9.75677643e-01 -3.61176753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56864 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:76.70, Y:-0.49, Z:-36.15 [[ 9.82638805e-01 -6.51655659e-02 1.73707883e-01 7.67025702e+01] [ 6.48392004e-02 9.97867095e-01 7.55900963e-03 -4.88615950e-01] [-1.73829968e-01 3.83530405e-03 9.84768213e-01 -3.61468334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:76.74, Y:-0.49, Z:-36.15 [[ 9.82812043e-01 -6.53069789e-02 1.72671613e-01 7.67351984e+01] [ 6.50016801e-02 9.97857507e-01 7.42811778e-03 -4.90881911e-01] [-1.72786774e-01 3.92350137e-03 9.84951439e-01 -3.61522551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.62863999999999 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:76.77, Y:-0.49, Z:-36.16 [[ 9.83131338e-01 -6.50189342e-02 1.70954115e-01 7.67686049e+01] [ 6.47299735e-02 9.97876336e-01 7.26973077e-03 -4.94266175e-01] [-1.71063736e-01 3.91875520e-03 9.85252172e-01 -3.61559429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.65863999999999 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:76.80, Y:-0.55, Z:-36.16 [[ 9.90121946e-01 -7.33616088e-02 1.19484757e-01 7.67981447e+01] [ 6.61051060e-02 9.95783202e-01 6.36076242e-02 -5.48081478e-01] [-1.23647272e-01 -5.50807520e-02 9.90796378e-01 -3.61599993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.68863999999999 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:76.83, Y:-0.45, Z:-36.16 [[ 9.83033167e-01 -5.29556147e-02 1.75617469e-01 7.68289648e+01] [ 6.22495569e-02 9.96913489e-01 -4.78381364e-02 -4.47211136e-01] [-1.72542126e-01 5.79585844e-02 9.83295488e-01 -3.61575372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.71864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:76.85, Y:-0.57, Z:-36.16 [[ 9.88599545e-01 -8.89906104e-02 1.21456210e-01 7.68464078e+01] [ 8.03013565e-02 9.93970467e-01 7.46619219e-02 -5.74023856e-01] [-1.27368096e-01 -6.40576436e-02 9.89784818e-01 -3.61638872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.74864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:76.89, Y:-0.60, Z:-36.17 [[ 9.92535258e-01 -7.26472355e-02 9.79598986e-02 7.68925223e+01] [ 6.09987263e-02 9.91248682e-01 1.17069231e-01 -6.01792929e-01] [-1.05607376e-01 -1.10219910e-01 9.88280655e-01 -3.61704882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.77864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:76.92, Y:-0.45, Z:-36.16 [[ 9.91276157e-01 -4.35461302e-02 1.24399821e-01 7.69185426e+01] [ 5.02841831e-02 9.97403835e-01 -5.15469751e-02 -4.51603153e-01] [-1.21832187e-01 5.73526308e-02 9.90892322e-01 -3.61640525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.80864 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:76.95, Y:-0.49, Z:-36.17 [[ 9.90312751e-01 -4.70155057e-02 1.30652962e-01 7.69483121e+01] [ 4.91921185e-02 9.98698358e-01 -1.34805512e-02 -4.85147402e-01] [-1.29849104e-01 1.97770578e-02 9.91336511e-01 -3.61726605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.83864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:76.98, Y:-0.51, Z:-36.18 [[ 9.90576070e-01 -4.89032061e-02 1.27935632e-01 7.69797134e+01] [ 4.71713749e-02 9.98749969e-01 1.65336301e-02 -5.11318004e-01] [-1.28584256e-01 -1.03429186e-02 9.91644651e-01 -3.61790215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.86864 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:77.01, Y:-0.50, Z:-36.18 [[ 9.90492810e-01 -4.32160527e-02 1.30600025e-01 7.70102974e+01] [ 4.30658893e-02 9.99064326e-01 3.97521275e-03 -4.98883531e-01] [-1.30649619e-01 1.68698656e-03 9.91427169e-01 -3.61807620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.89864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:77.04, Y:-0.50, Z:-36.19 [[ 9.90220604e-01 -4.06392899e-02 1.33460121e-01 7.70416517e+01] [ 4.04371666e-02 9.99173147e-01 4.22576942e-03 -4.98145904e-01] [-1.33521501e-01 1.21230519e-03 9.91045175e-01 -3.61860338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.92864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:77.07, Y:-0.50, Z:-36.19 [[ 9.90145881e-01 -3.81847497e-02 1.34733290e-01 7.70721849e+01] [ 3.71128428e-02 9.99256343e-01 1.04593666e-02 -5.03168197e-01] [-1.35032483e-01 -5.35596334e-03 9.90826696e-01 -3.61900108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:77.10, Y:-0.50, Z:-36.19 [[ 9.90523738e-01 -3.70379621e-02 1.32253220e-01 7.71024248e+01] [ 3.55915036e-02 9.99278115e-01 1.32850887e-02 -5.04066924e-01] [-1.32649801e-01 -8.45210471e-03 9.91126930e-01 -3.61947887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.98863999999999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:77.13, Y:-0.49, Z:-36.20 [[ 9.89982822e-01 -3.38079177e-02 1.37080402e-01 7.71321512e+01] [ 3.43902949e-02 9.99406707e-01 -1.88168040e-03 -4.88352913e-01] [-1.36935457e-01 6.57706672e-03 9.90558137e-01 -3.61972281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.01863999999999 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:77.16, Y:-0.58, Z:-36.21 [[ 9.89847434e-01 -5.13568111e-02 1.32531258e-01 7.71578842e+01] [ 3.76783885e-02 9.93891725e-01 1.03728385e-01 -5.81592062e-01] [-1.37048880e-01 -9.76817115e-02 9.85736216e-01 -3.62053331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.04863999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:77.19, Y:-0.43, Z:-36.20 [[ 9.90167209e-01 -2.04130718e-02 1.38391489e-01 7.71899230e+01] [ 2.93182171e-02 9.97606888e-01 -6.26174072e-02 -4.31012301e-01] [-1.36782089e-01 6.60590950e-02 9.88396103e-01 -3.61982827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.07864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:77.22, Y:-0.41, Z:-36.20 [[ 9.79060957e-01 -1.56973106e-02 2.02961171e-01 7.72187280e+01] [ 3.32440167e-02 9.95966863e-01 -8.33357313e-02 -4.09216323e-01] [-2.00834453e-01 8.83380054e-02 9.75634111e-01 -3.62030049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.10864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:77.25, Y:-0.55, Z:-36.22 [[ 9.88721967e-01 -4.84342408e-02 1.41714486e-01 7.72483752e+01] [ 3.81540336e-02 9.96499685e-01 7.43817713e-02 -5.51392328e-01] [-1.44821066e-01 -6.81359120e-02 9.87109090e-01 -3.62187505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.13864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:77.28, Y:-0.50, Z:-36.22 [[ 9.88549862e-01 -3.76064190e-02 1.46133253e-01 7.72788244e+01] [ 3.60559360e-02 9.99261994e-01 1.32452717e-02 -4.95658239e-01] [-1.46523513e-01 -7.82464030e-03 9.89176241e-01 -3.62213351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.16864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:77.31, Y:-0.49, Z:-36.22 [[ 9.88786336e-01 -3.88566841e-02 1.44193411e-01 7.73069675e+01] [ 3.81325997e-02 9.99242378e-01 7.78296231e-03 -4.89942186e-01] [-1.44386587e-01 -2.19721718e-03 9.89518916e-01 -3.62248980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.19864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:77.34, Y:-0.48, Z:-36.23 [[ 9.88225553e-01 -3.64852369e-02 1.48590320e-01 7.73382455e+01] [ 3.73102963e-02 9.99299895e-01 -2.76797862e-03 -4.78529283e-01] [-1.48385301e-01 8.27933607e-03 9.88894967e-01 -3.62280782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.22864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:77.37, Y:-0.50, Z:-36.23 [[ 9.88588072e-01 -4.07933572e-02 1.45015606e-01 7.73675832e+01] [ 3.83542355e-02 9.99072416e-01 1.95770529e-02 -4.98022717e-01] [-1.45679705e-01 -1.37916783e-02 9.89235671e-01 -3.62343785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.25864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:77.40, Y:-0.48, Z:-36.24 [[ 9.88267857e-01 -3.77212649e-02 1.47999149e-01 7.73974837e+01] [ 3.72302090e-02 9.99288172e-01 6.08783880e-03 -4.84701006e-01] [-1.48123440e-01 -5.06376141e-04 9.88968751e-01 -3.62381605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.28864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:77.43, Y:-0.47, Z:-36.24 [[ 9.87179307e-01 -3.41408968e-02 1.55921184e-01 7.74265367e+01] [ 3.67043897e-02 9.99233747e-01 -1.35906983e-02 -4.65839725e-01] [-1.55337710e-01 1.91394480e-02 9.87675998e-01 -3.62414118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:77.46, Y:-0.43, Z:-36.25 [[ 9.76329357e-01 -2.19240596e-02 2.15175098e-01 7.74587334e+01] [ 3.43845448e-02 9.97930459e-01 -5.43369275e-02 -4.27023645e-01] [-2.13538498e-01 6.04494352e-02 9.75062652e-01 -3.62458998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:77.49, Y:-0.48, Z:-36.26 [[ 9.76776060e-01 -3.35627765e-02 2.11617744e-01 7.74916977e+01] [ 3.29795735e-02 9.99436259e-01 6.28585270e-03 -4.80146843e-01] [-2.11709417e-01 8.39192489e-04 9.77332297e-01 -3.62589265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.37863999999999 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:77.52, Y:-0.55, Z:-36.26 [[ 9.88417532e-01 -5.28427788e-02 1.42261812e-01 7.75186963e+01] [ 4.15474586e-02 9.95828932e-01 8.12314379e-02 -5.50161976e-01] [-1.45960923e-01 -7.43799606e-02 9.86490259e-01 -3.62602154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.40863999999999 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:77.55, Y:-0.48, Z:-36.26 [[ 9.87064204e-01 -3.31160201e-02 1.56868056e-01 7.75512184e+01] [ 3.18884821e-02 9.99437985e-01 1.03362613e-02 -4.82994571e-01] [-1.57122189e-01 -5.20026931e-03 9.87565479e-01 -3.62649973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.43863999999999 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:77.58, Y:-0.49, Z:-36.27 [[ 9.87000001e-01 -3.53264013e-02 1.56789806e-01 7.75794594e+01] [ 3.21788435e-02 9.99227283e-01 2.25689761e-02 -4.93252077e-01] [-1.57465933e-01 -1.72302648e-02 9.87374092e-01 -3.62693903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.46864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:77.61, Y:-0.47, Z:-36.27 [[ 9.86519494e-01 -2.83827282e-02 1.61163609e-01 7.76106562e+01] [ 2.90949821e-02 9.99574527e-01 -2.06073153e-03 -4.71519616e-01] [-1.61036549e-01 6.72200415e-03 9.86925552e-01 -3.62727543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.49864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:77.64, Y:-0.46, Z:-36.28 [[ 9.85548728e-01 -2.58319780e-02 1.67410914e-01 7.76394876e+01] [ 2.76640103e-02 9.99580110e-01 -8.62009949e-03 -4.64413693e-01] [-1.67117946e-01 1.31267853e-02 9.85849522e-01 -3.62770604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.52864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:77.67, Y:-0.47, Z:-36.28 [[ 9.85141274e-01 -2.39877164e-02 1.70062519e-01 7.76692847e+01] [ 2.44379812e-02 9.99701194e-01 -5.54591098e-04 -4.69276669e-01] [-1.69998400e-01 4.70233522e-03 9.85433119e-01 -3.62843848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.55864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:77.70, Y:-0.48, Z:-36.29 [[ 9.85175906e-01 -2.38297313e-02 1.69884013e-01 7.77005904e+01] [ 2.25345588e-02 9.99700468e-01 9.54821543e-03 -4.77310547e-01] [-1.70060658e-01 -5.57841051e-03 9.85417807e-01 -3.62898531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.58864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:77.73, Y:-0.47, Z:-36.29 [[ 9.84651017e-01 -2.09138332e-02 1.73277193e-01 7.77301946e+01] [ 2.12372549e-02 9.99774464e-01 -1.25133422e-05 -4.68482373e-01] [-1.73237851e-01 3.69225320e-03 9.84873095e-01 -3.62945959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.61864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:77.76, Y:-0.47, Z:-36.30 [[ 9.84383094e-01 -2.07068892e-02 1.74817476e-01 7.77600686e+01] [ 1.98640651e-02 9.99781105e-01 6.56974769e-03 -4.72070355e-01] [-1.74915248e-01 -2.99456283e-03 9.84578940e-01 -3.63004695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.64864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:77.79, Y:-0.46, Z:-36.31 [[ 9.83217924e-01 -1.79111747e-02 1.81553584e-01 7.77890872e+01] [ 1.96654564e-02 9.99775665e-01 -7.86694821e-03 -4.56184197e-01] [-1.81371949e-01 1.13052586e-02 9.83349586e-01 -3.63053065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.67864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:77.82, Y:-0.47, Z:-36.31 [[ 9.83138301e-01 -2.11639562e-02 1.81634711e-01 7.78186641e+01] [ 2.02547011e-02 9.99771320e-01 6.85961404e-03 -4.66734091e-01] [-1.81738351e-01 -3.06499251e-03 9.83342147e-01 -3.63124760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:77.85, Y:-0.46, Z:-36.32 [[ 9.82698252e-01 -2.06577478e-02 1.84058149e-01 7.78484742e+01] [ 2.05931472e-02 9.99785378e-01 2.26267840e-03 -4.61230423e-01] [-1.84065388e-01 1.56680645e-03 9.82912752e-01 -3.63177931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.73863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:77.88, Y:-0.45, Z:-36.32 [[ 9.81878139e-01 -1.84666513e-02 1.88611516e-01 7.78785499e+01] [ 1.93624911e-02 9.99808300e-01 -2.90807022e-03 -4.54674318e-01] [-1.88521657e-01 6.50735937e-03 9.82047473e-01 -3.63242937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.76863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:77.91, Y:-0.57, Z:-36.33 [[ 9.83002078e-01 -4.83711241e-02 1.77107733e-01 7.79075111e+01] [ 2.48895957e-02 9.90873209e-01 1.32479402e-01 -5.73107152e-01] [-1.81899486e-01 -1.25819388e-01 9.75234361e-01 -3.63335129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.79863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:77.94, Y:-0.35, Z:-36.32 [[ 9.80456994e-01 7.76168809e-03 1.96580362e-01 7.79410613e+01] [ 1.56801606e-02 9.92959570e-01 -1.17411349e-01 -3.47920040e-01] [-1.96107662e-01 1.18199190e-01 9.73432451e-01 -3.63182149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:77.97, Y:-0.41, Z:-36.34 [[ 9.68806004e-01 -9.72476619e-03 2.47629472e-01 7.79689584e+01] [ 2.17418188e-02 9.98712160e-01 -4.58401104e-02 -4.07590114e-01] [-2.46864780e-01 4.97940893e-02 9.67769771e-01 -3.63374728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.85864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:78.00, Y:-0.52, Z:-36.35 [[ 9.82140481e-01 -3.96730414e-02 1.83918803e-01 7.79996495e+01] [ 2.42570070e-02 9.96057858e-01 8.53249147e-02 -5.23382476e-01] [-1.86578868e-01 -7.93397330e-02 9.79231093e-01 -3.63508549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.03, Y:-0.43, Z:-36.35 [[ 9.79258842e-01 -1.53539668e-02 2.02030632e-01 7.80287967e+01] [ 2.01502520e-02 9.99561333e-01 -2.17050299e-02 -4.25296294e-01] [-2.01608750e-01 2.53258106e-02 9.79138660e-01 -3.63509072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.91864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:78.06, Y:-0.48, Z:-36.36 [[ 9.82361564e-01 -3.01033176e-02 1.84552289e-01 7.80589906e+01] [ 2.26522838e-02 9.98845997e-01 4.23503029e-02 -4.80901493e-01] [-1.85614200e-01 -3.74227790e-02 9.81909825e-01 -3.63616314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.94864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:78.09, Y:-0.42, Z:-36.36 [[ 9.78269472e-01 -1.47880338e-02 2.06809463e-01 7.80876399e+01] [ 2.01296160e-02 9.99515297e-01 -2.37480566e-02 -4.16685346e-01] [-2.06358034e-01 2.73949939e-02 9.78092979e-01 -3.63644501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.12, Y:-0.42, Z:-36.37 [[ 9.78046364e-01 -1.96137258e-02 2.07462314e-01 7.81168904e+01] [ 2.13778244e-02 9.99751842e-01 -6.26448664e-03 -4.23825134e-01] [-2.07287961e-01 1.05620513e-02 9.78222952e-01 -3.63711629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.00864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:78.15, Y:-0.38, Z:-36.38 [[ 9.66172256e-01 -1.14052045e-02 2.57645287e-01 7.81461474e+01] [ 2.42080700e-02 9.98621445e-01 -4.65744354e-02 -3.83194356e-01] [-2.56758918e-01 5.12360225e-02 9.65116432e-01 -3.63753060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.03864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:78.18, Y:-0.48, Z:-36.39 [[ 9.78274485e-01 -3.73868283e-02 2.03914827e-01 7.81766426e+01] [ 2.47961461e-02 9.97644693e-01 6.39548090e-02 -4.80742987e-01] [-2.05825612e-01 -5.75090560e-02 9.76897398e-01 -3.63924242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:78.21, Y:-0.37, Z:-36.39 [[ 9.66179566e-01 -1.21202746e-02 2.57585219e-01 7.82081432e+01] [ 2.63132668e-02 9.98314669e-01 -5.17246017e-02 -3.73848990e-01] [-2.56524186e-01 5.67531618e-02 9.64870157e-01 -3.63880218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:78.24, Y:-0.42, Z:-36.40 [[ 9.65467181e-01 -2.88909107e-02 2.58917821e-01 7.82396143e+01] [ 2.82292205e-02 9.99581787e-01 6.27396821e-03 -4.19060899e-01] [-2.58990799e-01 1.25173788e-03 9.65878977e-01 -3.64038327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.12863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:78.27, Y:-0.42, Z:-36.41 [[ 9.65299132e-01 -3.06369507e-02 2.59343330e-01 7.82719412e+01] [ 3.00716565e-02 9.99528839e-01 6.14772647e-03 -4.16606730e-01] [-2.59409485e-01 1.86448852e-03 9.65765625e-01 -3.64122578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.15863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:78.30, Y:-0.42, Z:-36.42 [[ 9.64526037e-01 -3.56833055e-02 2.61564955e-01 7.83044278e+01] [ 3.53277725e-02 9.99357389e-01 6.06280989e-03 -4.16909404e-01] [-2.61613211e-01 3.39276923e-03 9.65166834e-01 -3.64196623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.18863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:78.34, Y:-0.42, Z:-36.43 [[ 9.64319024e-01 -3.78954867e-02 2.62016704e-01 7.83364417e+01] [ 3.76558581e-02 9.99273128e-01 5.93733593e-03 -4.15837720e-01] [-2.62051249e-01 4.14097783e-03 9.65045074e-01 -3.64281728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.21864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:78.37, Y:-0.41, Z:-36.44 [[ 9.64792039e-01 -3.89409395e-02 2.60115216e-01 7.83690350e+01] [ 3.87776085e-02 9.99231255e-01 5.76158486e-03 -4.14524567e-01] [-2.60139615e-01 4.52791478e-03 9.65560396e-01 -3.64356010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.40, Y:-0.41, Z:-36.44 [[ 9.64797439e-01 -3.90274039e-02 2.60082223e-01 7.84008441e+01] [ 3.89029176e-02 9.99227144e-01 5.62824347e-03 -4.12214577e-01] [-2.60100872e-01 4.68784237e-03 9.65570070e-01 -3.64439506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.43, Y:-0.51, Z:-36.46 [[ 9.72206573e-01 -6.11545733e-02 2.25996678e-01 7.84298249e+01] [ 3.70644985e-02 9.93312751e-01 1.09343503e-01 -5.05540478e-01] [-2.31172237e-01 -9.79280190e-02 9.67971849e-01 -3.64556127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.30864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:78.46, Y:-0.32, Z:-36.44 [[ 9.63845627e-01 -9.71097811e-03 2.66284253e-01 7.84646448e+01] [ 3.64772129e-02 9.94736165e-01 -9.57568491e-02 -3.18078460e-01] [-2.63952684e-01 1.02008128e-01 9.59126333e-01 -3.64387855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.33864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:78.49, Y:-0.45, Z:-36.47 [[ 9.74288490e-01 -4.20104243e-02 2.21352803e-01 7.84926451e+01] [ 3.05918916e-02 9.98030533e-01 5.47648740e-02 -4.50814664e-01] [-2.23217551e-01 -4.65851854e-02 9.73654839e-01 -3.64663723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.36864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:78.52, Y:-0.36, Z:-36.46 [[ 9.63197193e-01 -1.58094680e-02 2.68330444e-01 7.85243589e+01] [ 2.87366273e-02 9.98604124e-01 -4.43171436e-02 -3.57871316e-01] [-2.67255258e-01 5.03970603e-02 9.62307001e-01 -3.64615098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:78.56, Y:-0.40, Z:-36.48 [[ 9.62908523e-01 -2.68840623e-02 2.68485427e-01 7.85557303e+01] [ 2.64123887e-02 9.99636712e-01 5.36930960e-03 -3.99555444e-01] [-2.68532238e-01 1.92118749e-03 9.63268782e-01 -3.64769994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.42864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:78.59, Y:-0.40, Z:-36.48 [[ 9.63147513e-01 -2.49925796e-02 2.67810081e-01 7.85878931e+01] [ 2.44904565e-02 9.99686458e-01 5.21571515e-03 -3.96618495e-01] [-2.67856465e-01 1.53528805e-03 9.63457605e-01 -3.64846278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:78.62, Y:-0.39, Z:-36.49 [[ 9.63457293e-01 -2.30312043e-02 2.66870022e-01 7.86197606e+01] [ 2.24976948e-02 9.99734106e-01 5.05681469e-03 -3.92917252e-01] [-2.66915528e-01 1.13193533e-03 9.63719264e-01 -3.64926296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.48863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:78.65, Y:-0.39, Z:-36.50 [[ 9.63175056e-01 -2.03308889e-02 2.68105326e-01 7.86518950e+01] [ 1.97287493e-02 9.99793165e-01 4.94001567e-03 -3.86453823e-01] [-2.68150307e-01 5.31282898e-04 9.63376941e-01 -3.64985261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.51863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:78.68, Y:-0.48, Z:-36.51 [[ 9.74583018e-01 -4.58945510e-02 2.19275240e-01 7.86785325e+01] [ 2.22238239e-02 9.93768946e-01 1.09221717e-01 -4.77359595e-01] [-2.22921606e-01 -1.01572496e-01 9.69530291e-01 -3.65125931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.54863999999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:78.72, Y:-0.29, Z:-36.49 [[ 9.61842195e-01 8.30905857e-03 2.73478612e-01 7.87165160e+01] [ 1.84163759e-02 9.95305777e-01 -9.50118227e-02 -2.85895541e-01] [-2.72984301e-01 9.64228650e-02 9.57174071e-01 -3.64935645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.57864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:78.74, Y:-0.37, Z:-36.52 [[ 9.61613748e-01 -1.54465310e-02 2.73971540e-01 7.87447541e+01] [ 1.47429228e-02 9.99880611e-01 4.62708479e-03 -3.69638011e-01] [-2.74010303e-01 -4.10327081e-04 9.61726669e-01 -3.65210257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.60864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:78.78, Y:-0.37, Z:-36.53 [[ 9.61853579e-01 -1.51698390e-02 2.73143861e-01 7.87763863e+01] [ 1.45002485e-02 9.99884874e-01 4.47008633e-03 -3.65517051e-01] [-2.73180226e-01 -3.38914679e-04 9.61962811e-01 -3.65290490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.63864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:78.81, Y:-0.36, Z:-36.54 [[ 9.61693838e-01 -1.59082149e-02 2.73663827e-01 7.88086034e+01] [ 1.53068614e-02 9.99873456e-01 4.33264251e-03 -3.58610808e-01] [-2.73698121e-01 2.22586620e-05 9.61815647e-01 -3.65378509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.66864 meters Centerline goodness : 0.990068 Centerline is valid? [True, True] Translation: X:78.85, Y:-0.40, Z:-36.56 [[ 9.71923527e-01 9.26865217e-03 2.35114331e-01 7.88539118e+01] [-2.85122623e-02 9.96499911e-01 7.85810348e-02 -4.02192732e-01] [-2.33563070e-01 -8.30783980e-02 9.68785978e-01 -3.65630531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.69864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:78.88, Y:-0.27, Z:-36.53 [[ 9.61681098e-01 2.35995792e-03 2.74160348e-01 7.88752059e+01] [ 2.33845540e-02 9.95613056e-01 -9.05969394e-02 -2.68367336e-01] [-2.73171427e-01 9.35364816e-02 9.57407070e-01 -3.65330189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.72864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:78.90, Y:-0.35, Z:-36.56 [[ 9.61786682e-01 -2.26421665e-02 2.72862071e-01 7.89033770e+01] [ 2.22516867e-02 9.99742156e-01 4.52592213e-03 -3.49795778e-01] [-2.72894192e-01 1.71866968e-03 9.62042518e-01 -3.65617762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.75864 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:78.93, Y:-0.41, Z:-36.58 [[ 9.70060529e-01 -4.23113691e-02 2.39149155e-01 7.89298907e+01] [ 2.46129931e-02 9.96764630e-01 7.65145214e-02 -4.13097527e-01] [-2.41612854e-01 -6.83375406e-02 9.67963434e-01 -3.65773715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.78864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:78.97, Y:-0.28, Z:-36.56 [[ 9.61432047e-01 -1.16018652e-02 2.74797771e-01 7.89675465e+01] [ 3.12478341e-02 9.97248536e-01 -6.72229836e-02 -2.82088528e-01] [-2.73261763e-01 7.32171659e-02 9.59149235e-01 -3.65628697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81864 meters Centerline goodness : 0.997787 Centerline is valid? [True, True] Translation: X:78.99, Y:-0.42, Z:-36.59 [[ 9.72419746e-01 -5.20307339e-02 2.27360156e-01 7.89913972e+01] [ 3.32587036e-02 9.95771570e-01 8.56320027e-02 -4.19134469e-01] [-2.30854276e-01 -7.57085463e-02 9.70038411e-01 -3.65917749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:79.03, Y:-0.28, Z:-36.58 [[ 9.61075203e-01 -1.35611152e-02 2.75953892e-01 7.90302621e+01] [ 3.54244634e-02 9.96599197e-01 -7.43985770e-02 -2.75936255e-01] [-2.74006500e-01 8.12781461e-02 9.58287170e-01 -3.65760825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.87863999999999 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:79.05, Y:-0.41, Z:-36.60 [[ 9.72342399e-01 -5.61232530e-02 2.26716650e-01 7.90521080e+01] [ 4.04061495e-02 9.96484892e-01 7.33839415e-02 -4.11866017e-01] [-2.30038262e-01 -6.21935708e-02 9.71192235e-01 -3.66048250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.90863999999999 meters Centerline goodness : 0.902541 Centerline is valid? [True, False] Translation: X:79.11, Y:-0.38, Z:-36.61 [[ 9.77237282e-01 -4.70659994e-02 2.06862482e-01 7.91074223e+01] [ 4.01633278e-02 9.98491265e-01 3.74446251e-02 -3.79338275e-01] [-2.08312750e-01 -2.82839980e-02 9.77653217e-01 -3.66106668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.93863999999999 meters Centerline goodness : 0.997976 Centerline is valid? [False, True] Translation: X:79.17, Y:-0.36, Z:-36.62 [[ 9.83027774e-01 -4.03153922e-02 1.78972245e-01 7.91713407e+01] [ 3.79135489e-02 9.99139425e-01 1.68217495e-02 -3.63411161e-01] [-1.79496401e-01 -9.75077404e-03 9.83710305e-01 -3.66185830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.96864 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:79.21, Y:-0.37, Z:-36.64 [[ 9.82242661e-01 -8.35164862e-03 1.87428933e-01 7.92088102e+01] [ 1.13902452e-03 9.99255766e-01 3.85566649e-02 -3.69910692e-01] [-1.87611454e-01 -3.76585150e-02 9.81521156e-01 -3.66365896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.99864 meters Centerline goodness : 0.997980 Centerline is valid? [True, True] Translation: X:79.23, Y:-0.33, Z:-36.62 [[ 9.84090065e-01 -2.95748950e-02 1.75191523e-01 7.92330102e+01] [ 3.52639031e-02 9.98944053e-01 -2.94488630e-02 -3.26287400e-01] [-1.74135583e-01 3.51582704e-02 9.84093844e-01 -3.66213074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.02864 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:79.26, Y:-0.35, Z:-36.63 [[ 9.82731875e-01 -3.41299795e-02 1.81860406e-01 7.92611375e+01] [ 3.52555482e-02 9.99373949e-01 -2.95907528e-03 -3.53486863e-01] [-1.81645559e-01 9.31956592e-03 9.83319906e-01 -3.66320428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.05864 meters Centerline goodness : 0.997931 Centerline is valid? [True, True] Translation: X:79.30, Y:-0.31, Z:-36.63 [[ 9.73817955e-01 -2.21013045e-02 2.26252342e-01 7.92950819e+01] [ 3.55738283e-02 9.97816791e-01 -5.56430927e-02 -3.07504478e-01] [-2.24528601e-01 6.22349048e-02 9.72478135e-01 -3.66324377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.08864 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:79.32, Y:-0.49, Z:-36.65 [[ 9.82018526e-01 -6.10721237e-02 1.78633173e-01 7.93198693e+01] [ 3.54606505e-02 9.89057824e-01 1.43203223e-01 -4.91382965e-01] [-1.85424262e-01 -1.34293770e-01 9.73438764e-01 -3.66544737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.11864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:79.35, Y:-0.36, Z:-36.65 [[ 9.80397459e-01 -2.70128069e-02 1.95169494e-01 7.93523904e+01] [ 2.85046414e-02 9.99581949e-01 -4.83868528e-03 -3.58166584e-01] [-1.94957197e-01 1.03070712e-02 9.80757593e-01 -3.66481511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.14864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:79.38, Y:-0.36, Z:-36.65 [[ 9.79629096e-01 -2.79952790e-02 1.98854468e-01 7.93811957e+01] [ 2.85464248e-02 9.99592463e-01 9.53540786e-05 -3.62209245e-01] [-1.98776097e-01 5.58317247e-03 9.80029026e-01 -3.66537059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.17864 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:79.42, Y:-0.26, Z:-36.64 [[ 9.70677861e-01 -1.16580398e-04 2.40384020e-01 7.94164702e+01] [ 2.98107299e-02 9.92338865e-01 -1.19895358e-01 -2.55905088e-01] [-2.38528428e-01 1.23545793e-01 9.63244842e-01 -3.66368349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:79.44, Y:-0.36, Z:-36.67 [[ 9.69930286e-01 -2.34792294e-02 2.42247736e-01 7.94449657e+01] [ 2.35738654e-02 9.99718951e-01 2.50827765e-03 -3.63890920e-01] [-2.42238545e-01 3.27786107e-03 9.70211185e-01 -3.66670418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.23863999999999 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:79.47, Y:-0.41, Z:-36.68 [[ 9.79612209e-01 -3.44073392e-02 1.97929421e-01 7.94740921e+01] [ 2.34577693e-02 9.98075502e-01 5.74023061e-02 -4.13499662e-01] [-1.99523567e-01 -5.15890172e-02 9.78534067e-01 -3.66778546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.26863999999999 meters Centerline goodness : 0.997836 Centerline is valid? [True, True] Translation: X:79.51, Y:-0.31, Z:-36.67 [[ 9.69701635e-01 -8.35879207e-03 2.44149278e-01 7.95085997e+01] [ 2.13983559e-02 9.98479338e-01 -5.08047357e-02 -3.14931729e-01] [-2.43353343e-01 5.44898284e-02 9.68405911e-01 -3.66710493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.29863999999999 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:79.54, Y:-0.36, Z:-36.69 [[ 9.69350005e-01 -1.66656205e-02 2.45117980e-01 7.95392135e+01] [ 1.66254813e-02 9.99859293e-01 2.23306840e-03 -3.60585309e-01] [-2.45120706e-01 1.91057952e-03 9.69490685e-01 -3.66859164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.32864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:79.57, Y:-0.36, Z:-36.69 [[ 9.69269974e-01 -1.44586694e-02 2.45574154e-01 7.95718532e+01] [ 1.43805535e-02 9.99894365e-01 2.11139223e-03 -3.59532519e-01] [-2.45578741e-01 1.48498317e-03 9.69375509e-01 -3.66931680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.35864 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:79.60, Y:-0.47, Z:-36.71 [[ 9.79668415e-01 -3.80138124e-02 1.96989206e-01 7.95996769e+01] [ 1.26435037e-02 9.91631449e-01 1.28480393e-01 -4.72459619e-01] [-2.00224722e-01 -1.23377549e-01 9.71950637e-01 -3.67072958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.38864 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:79.64, Y:-0.25, Z:-36.68 [[ 9.68170943e-01 1.82487263e-02 2.49623736e-01 7.96383651e+01] [ 1.22871574e-02 9.92670613e-01 -1.20225118e-01 -2.48265399e-01] [-2.49988103e-01 1.19465632e-01 9.60850619e-01 -3.66791890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.41864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:79.66, Y:-0.48, Z:-36.72 [[ 9.78283677e-01 -3.94669262e-02 2.03478274e-01 7.96595145e+01] [ 9.94206573e-03 9.89509243e-01 1.44127071e-01 -4.82523606e-01] [-2.07031886e-01 -1.38974167e-01 9.68413124e-01 -3.67190537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.44864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:79.70, Y:-0.23, Z:-36.69 [[ 9.67106016e-01 2.84443425e-02 2.52778309e-01 7.97018811e+01] [ 6.04773437e-03 9.90876364e-01 -1.34638241e-01 -2.29187601e-01] [-2.54301748e-01 1.31738189e-01 9.58110469e-01 -3.66863420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.47864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:79.72, Y:-0.46, Z:-36.73 [[ 9.78635355e-01 -2.94117293e-02 2.03489044e-01 7.97225672e+01] [ 4.64525730e-03 9.92625665e-01 1.21130965e-01 -4.55466520e-01] [-2.05551119e-01 -1.17597786e-01 9.71555196e-01 -3.67302674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.50864 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:79.76, Y:-0.29, Z:-36.72 [[ 9.76695006e-01 1.72107475e-02 2.13940775e-01 7.97621701e+01] [-4.14616123e-03 9.98106737e-01 -6.13657123e-02 -2.87859397e-01] [-2.14591878e-01 5.90485518e-02 9.74917224e-01 -3.67155172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.53864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:79.79, Y:-0.30, Z:-36.73 [[ 9.65896146e-01 1.34640463e-02 2.58579496e-01 7.97903315e+01] [-8.96780980e-04 9.98815108e-01 -4.86577465e-02 -2.95860739e-01] [-2.58928237e-01 4.67664406e-02 9.64763737e-01 -3.67255031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:79.82, Y:-0.38, Z:-36.75 [[ 9.76674179e-01 -7.31926215e-03 2.14601904e-01 7.98183559e+01] [-3.47822151e-03 9.98748499e-01 4.98932722e-02 -3.80167874e-01] [-2.14698512e-01 -4.94759036e-02 9.75426411e-01 -3.67474498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.59863999999999 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:79.85, Y:-0.33, Z:-36.75 [[ 9.76174502e-01 6.29898672e-03 2.16895515e-01 7.98506367e+01] [-5.50614916e-03 9.99975769e-01 -4.25952409e-03 -3.25635674e-01] [-2.16917090e-01 2.96377975e-03 9.76185532e-01 -3.67475842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.62863999999999 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:79.88, Y:-0.34, Z:-36.76 [[ 9.76235910e-01 2.62883835e-03 2.16694573e-01 7.98798706e+01] [-5.27770985e-03 9.99918253e-01 1.16461912e-02 -3.36941999e-01] [-2.16646243e-01 -1.25130812e-02 9.76169979e-01 -3.67557773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.65863999999999 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:79.91, Y:-0.31, Z:-36.76 [[ 9.75273930e-01 8.16045619e-03 2.20848745e-01 7.99112907e+01] [-6.36267579e-03 9.99940591e-01 -8.85048975e-03 -3.11953981e-01] [-2.20907849e-01 7.22646296e-03 9.75267912e-01 -3.67593800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.68863999999999 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:79.94, Y:-0.27, Z:-36.76 [[ 9.64112469e-01 1.66910881e-02 2.64968971e-01 7.99426855e+01] [-3.96971877e-03 9.98816561e-01 -4.84739016e-02 -2.73008362e-01] [-2.65464478e-01 4.56824406e-02 9.63037759e-01 -3.67600186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.71864 meters Centerline goodness : 0.858121 Centerline is valid? [True, False] Translation: X:79.98, Y:-0.27, Z:-36.77 [[ 9.67445101e-01 1.42865731e-02 2.52677402e-01 7.99778853e+01] [-3.20159353e-03 9.99016379e-01 -4.42269649e-02 -2.74680089e-01] [-2.53060715e-01 4.19781902e-02 9.66539242e-01 -3.67716241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.74864 meters Centerline goodness : 0.998574 Centerline is valid? [False, True] Translation: X:80.01, Y:-0.26, Z:-36.78 [[ 9.69765485e-01 1.99432480e-02 2.43222474e-01 8.00127778e+01] [-7.42195728e-03 9.98604414e-01 -5.22889899e-02 -2.61874026e-01] [-2.43925848e-01 4.89028709e-02 9.68560112e-01 -3.67789271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.77864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:80.04, Y:-0.30, Z:-36.80 [[ 9.68832776e-01 7.96172675e-03 2.47587686e-01 8.00374680e+01] [-5.43518900e-03 9.99925969e-01 -1.08864384e-02 -2.95519542e-01] [-2.47656032e-01 9.20145249e-03 9.68804327e-01 -3.67957922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.80864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:80.07, Y:-0.23, Z:-36.79 [[ 9.52641897e-01 2.63890102e-02 3.02947250e-01 8.00715202e+01] [-1.63077345e-03 9.96656594e-01 -8.16882738e-02 -2.29829755e-01] [-3.04090047e-01 7.73256338e-02 9.49499863e-01 -3.67895883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.83864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:80.08, Y:-0.45, Z:-36.83 [[ 9.74252283e-01 -5.32861889e-02 2.19073208e-01 8.00834030e+01] [ 1.68060489e-02 9.86129974e-01 1.65121865e-01 -4.50416640e-01] [-2.24833372e-01 -1.57188599e-01 9.61634910e-01 -3.68319070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.86864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:80.12, Y:-0.33, Z:-36.82 [[ 9.67877531e-01 -1.36768757e-02 2.51049851e-01 8.01183807e+01] [ 5.87392356e-03 9.99476853e-01 3.18043688e-02 -3.25169921e-01] [-2.51353499e-01 -2.93080864e-02 9.67451526e-01 -3.68248115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.89864 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:80.15, Y:-0.29, Z:-36.82 [[ 9.66596586e-01 -7.10107298e-03 2.56204244e-01 8.01476934e+01] [ 9.36209315e-03 9.99927244e-01 -7.60647409e-03 -2.88299896e-01] [-2.56131590e-01 9.75099989e-03 9.66592741e-01 -3.68236554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.92864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:80.19, Y:-0.16, Z:-36.80 [[ 9.46818865e-01 3.85817816e-02 3.19445587e-01 8.01926679e+01] [ 1.12118606e-02 9.88226493e-01 -1.52586675e-01 -1.60043249e-01] [-3.21571658e-01 1.48053522e-01 9.35238913e-01 -3.67965066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:80.20, Y:-0.44, Z:-36.86 [[ 9.65156269e-01 -6.06570397e-02 2.54546852e-01 8.02005043e+01] [ 2.04122643e-02 9.87250564e-01 1.57859629e-01 -4.38279806e-01] [-2.60876822e-01 -1.47163333e-01 9.54089219e-01 -3.68606129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.98863999999999 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:80.24, Y:-0.30, Z:-36.85 [[ 9.62328690e-01 -1.72342547e-02 2.71341985e-01 8.02389335e+01] [ 1.60162194e-02 9.99849264e-01 6.70294145e-03 -2.99341109e-01] [-2.71416604e-01 -2.10456010e-03 9.62459660e-01 -3.68510903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.01863999999999 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:80.28, Y:-0.17, Z:-36.82 [[ 9.44716068e-01 2.93469453e-02 3.26573587e-01 8.02839813e+01] [ 1.86372309e-02 9.89570311e-01 -1.42839957e-01 -1.67618701e-01] [-3.27359443e-01 1.41029630e-01 9.34316027e-01 -3.68243156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.04863999999999 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:80.30, Y:-0.30, Z:-36.87 [[ 9.43534907e-01 -1.93572183e-02 3.30707086e-01 8.03038231e+01] [ 2.04878724e-02 9.99790099e-01 6.69243458e-05 -2.96621604e-01] [-3.30638965e-01 6.71233913e-03 9.43733447e-01 -3.68717566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.07864 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:80.33, Y:-0.39, Z:-36.89 [[ 9.60859056e-01 -5.50984141e-02 2.71503297e-01 8.03279802e+01] [ 2.93454845e-02 9.94751826e-01 9.80186020e-02 -3.87587814e-01] [-2.75479070e-01 -8.62146656e-02 9.57433190e-01 -3.68899514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.10864 meters Centerline goodness : 0.997053 Centerline is valid? [True, True] Translation: X:80.36, Y:-0.30, Z:-36.89 [[ 9.61287610e-01 -2.68461707e-02 2.74236054e-01 8.03634481e+01] [ 2.80860631e-02 9.99605332e-01 -5.95141157e-04 -3.01409594e-01] [-2.74111845e-01 8.27431295e-03 9.61662224e-01 -3.68858552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.13864 meters Centerline goodness : 0.996361 Centerline is valid? [True, True] Translation: X:80.39, Y:-0.32, Z:-36.90 [[ 9.58218854e-01 -3.56265069e-02 2.83808702e-01 8.03930047e+01] [ 3.25034062e-02 9.99348190e-01 1.57074412e-02 -3.22689744e-01] [-2.84183314e-01 -5.82641674e-03 9.58752260e-01 -3.68980318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.16864 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:80.42, Y:-0.29, Z:-36.90 [[ 9.57451836e-01 -2.63725961e-02 2.87385575e-01 8.04237163e+01] [ 3.43346786e-02 9.99152569e-01 -2.26996569e-02 -2.92392180e-01] [-2.86543387e-01 3.16011195e-02 9.57545955e-01 -3.68991416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.19864 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:80.45, Y:-0.38, Z:-36.92 [[ 9.55227902e-01 -5.27507060e-02 2.91130585e-01 8.04489241e+01] [ 3.48924315e-02 9.97196169e-01 6.61990833e-02 -3.78656295e-01] [-2.93806353e-01 -5.30769575e-02 9.54390205e-01 -3.69211055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.22864 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:80.49, Y:-0.30, Z:-36.92 [[ 9.56925365e-01 -2.14244867e-02 2.89542462e-01 8.04875054e+01] [ 2.88539180e-02 9.99354228e-01 -2.14144572e-02 -3.03528480e-01] [-2.88896690e-01 2.88464718e-02 9.56925589e-01 -3.69177194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.25864 meters Centerline goodness : 0.995919 Centerline is valid? [True, True] Translation: X:80.51, Y:-0.32, Z:-36.93 [[ 9.57954967e-01 -2.42203890e-02 2.85894481e-01 8.05141745e+01] [ 2.76310781e-02 9.99586961e-01 -7.90131915e-03 -3.19748306e-01] [-2.85585022e-01 1.54686807e-02 9.58228530e-01 -3.69280431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.28864 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:80.54, Y:-0.31, Z:-36.93 [[ 9.54953798e-01 -1.42538565e-02 2.96411995e-01 8.05436907e+01] [ 2.48160342e-02 9.99182899e-01 -3.19013961e-02 -3.06533158e-01] [-2.95715079e-01 3.78201295e-02 9.54527229e-01 -3.69328495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31864 meters Centerline goodness : 0.994541 Centerline is valid? [True, True] Translation: X:80.57, Y:-0.34, Z:-36.95 [[ 9.54170350e-01 -2.35558359e-02 2.98335493e-01 8.05716453e+01] [ 2.34616048e-02 9.99717141e-01 3.89764299e-03 -3.41746659e-01] [-2.98342919e-01 3.28041407e-03 9.54453111e-01 -3.69475660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.34863999999999 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:80.61, Y:-0.27, Z:-36.95 [[ 9.35565387e-01 1.30046218e-02 3.52913994e-01 8.06111792e+01] [ 1.72994921e-02 9.96434414e-01 -8.25783597e-02 -2.70114719e-01] [-3.52729550e-01 8.33626879e-02 9.32004575e-01 -3.69465696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.37863999999999 meters Centerline goodness : 0.985786 Centerline is valid? [True, True] Translation: X:80.66, Y:-0.40, Z:-37.00 [[ 9.49289321e-01 1.39153845e-02 3.14095761e-01 8.06619561e+01] [-4.49009155e-02 9.94780122e-01 9.16319645e-02 -4.03806433e-01] [-3.11181126e-01 -1.01088433e-01 9.44958960e-01 -3.69966213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.40863999999999 meters Centerline goodness : 0.996559 Centerline is valid? [True, True] Translation: X:81.34, Y:0.07, Z:-35.51 [[ 9.24713342e-01 2.92773963e-01 -2.43287160e-01 8.13440050e+01] [-9.06891398e-04 -6.37416068e-01 -7.70519263e-01 6.51054280e-02] [-3.80663123e-01 7.12730077e-01 -5.89161628e-01 -3.55137736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.43863999999999 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:81.60, Y:-0.77, Z:-35.40 [[ 9.27081420e-01 7.46350001e-02 -3.67354948e-01 8.15980267e+01] [ 1.01199667e-01 -9.93423255e-01 5.35617833e-02 -7.65078786e-01] [-3.60941364e-01 -8.68323325e-02 -9.28537279e-01 -3.53958023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.46864 meters Centerline goodness : 0.967474 Centerline is valid? [True, True] Translation: X:80.94, Y:-0.61, Z:-37.08 [[ 9.02554370e-01 -2.32737806e-01 3.62255053e-01 8.09448697e+01] [ 1.84604763e-01 9.69240931e-01 1.62767011e-01 -6.06931936e-01] [-3.88994462e-01 -8.00320688e-02 9.17757145e-01 -3.70752657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.49864 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:81.64, Y:0.06, Z:-35.63 [[ 8.94029051e-01 4.31839686e-01 -1.19275069e-01 8.16395445e+01] [ 1.69725413e-01 -5.72862009e-01 -8.01886777e-01 5.86476838e-02] [-4.14614689e-01 6.96666063e-01 -5.85449448e-01 -3.56333345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.52864 meters Centerline goodness : 0.906937 Centerline is valid? [True, False] Translation: X:81.48, Y:0.21, Z:-36.78 [[-9.11953900e-01 -3.81400896e-01 1.51239680e-01 8.14820308e+01] [ 9.51755680e-03 -3.88179877e-01 -9.21534481e-01 2.08980606e-01] [ 4.10182277e-01 -8.38957531e-01 3.57632157e-01 -3.67781018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.55864 meters Centerline goodness : 0.915907 Centerline is valid? [False, False] Translation: X:80.95, Y:0.18, Z:-36.30 [[ 0.79985043 0.37195695 0.47104917 80.94549813] [ 0.2404741 0.52047547 -0.81931526 0.17934926] [ -0.54991954 0.76860479 0.32685651 -36.29540775] [ 0. 0. 0. 1. ]] SLAMing on 101.58864 meters Centerline goodness : 0.983637 Centerline is valid? [False, True] Translation: X:80.89, Y:0.14, Z:-36.32 [[ 0.79610126 0.34413223 0.49779091 80.89012423] [ 0.23404186 0.58348463 -0.77766965 0.14032982] [ -0.55807454 0.7356077 0.38397151 -36.32305114] [ 0. 0. 0. 1. ]] SLAMing on 101.61864 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:81.98, Y:-1.16, Z:-35.66 [[ 7.99626168e-01 -5.04484027e-02 -5.98375258e-01 8.19755051e+01] [ 2.65287655e-01 -8.64274713e-01 4.27377680e-01 -1.16381095e+00] [-5.38721126e-01 -5.00483946e-01 -6.77713338e-01 -3.56629752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.64864 meters Centerline goodness : 0.994835 Centerline is valid? [True, True] Translation: X:80.96, Y:-0.68, Z:-36.96 [[ 7.70866942e-01 -3.53852319e-01 5.29672252e-01 8.09630391e+01] [ 2.96875634e-01 9.35261173e-01 1.92746973e-01 -6.75014796e-01] [-5.63585855e-01 8.66451541e-03 8.26012052e-01 -3.69571051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.67864 meters Centerline goodness : 0.994839 Centerline is valid? [True, True] Translation: X:81.00, Y:-0.66, Z:-36.98 [[ 7.70944661e-01 -3.53358064e-01 5.29889053e-01 8.09987272e+01] [ 2.97537864e-01 9.35429355e-01 1.90900866e-01 -6.60917796e-01] [-5.63130135e-01 1.04880537e-02 8.26301671e-01 -3.69815327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70864 meters Centerline goodness : 0.994792 Centerline is valid? [True, True] Translation: X:81.05, Y:-0.72, Z:-37.01 [[ 7.99130726e-01 -3.91381243e-01 4.56301222e-01 8.10535109e+01] [ 3.10455282e-01 9.18670136e-01 2.44259494e-01 -7.17099420e-01] [-5.14788890e-01 -5.35341422e-02 8.55643906e-01 -3.70115251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.73863999999999 meters Centerline goodness : 0.994444 Centerline is valid? [True, True] Translation: X:81.47, Y:0.30, Z:-36.19 [[ 7.58983164e-01 5.48103785e-01 3.51463791e-01 8.14734458e+01] [ 2.90507610e-01 1.98020072e-01 -9.36158843e-01 3.04697991e-01] [-5.82709091e-01 8.12631707e-01 -8.93441977e-03 -3.61943484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.76863999999999 meters Centerline goodness : 0.995334 Centerline is valid? [True, True] Translation: X:82.02, Y:-1.40, Z:-36.56 [[ 7.77625149e-01 -5.40831381e-01 -3.20625241e-01 8.20179916e+01] [ 2.55101981e-01 -1.94689071e-01 9.47110946e-01 -1.39609940e+00] [-5.74649551e-01 -8.18289425e-01 -1.34279607e-02 -3.65603660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.79863999999999 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:82.14, Y:-1.35, Z:-36.67 [[ 7.95405017e-01 -4.78194639e-01 -3.72371785e-01 8.21373548e+01] [ 3.10714093e-01 -2.05779997e-01 9.27960853e-01 -1.35157379e+00] [-5.20372570e-01 -8.53805880e-01 -1.50966284e-02 -3.66719209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.82864 meters Centerline goodness : 0.994489 Centerline is valid? [True, True] Translation: X:81.52, Y:-0.63, Z:-37.39 [[ 0.81993006 -0.41744571 0.39173177 81.51881129] [ 0.31770228 0.90105872 0.2952261 -0.62617051] [ -0.47621419 -0.11761067 0.87142858 -37.39474441] [ 0. 0. 0. 1. ]] SLAMing on 101.85864 meters Centerline goodness : 0.994388 Centerline is valid? [True, True] Translation: X:81.76, Y:0.42, Z:-36.72 [[ 0.81636522 0.4114885 0.40524689 81.76399138] [ 0.25312386 0.37577063 -0.89147336 0.42155825] [ -0.51911091 0.8303455 0.20260851 -36.71807545] [ 0. 0. 0. 1. ]] SLAMing on 101.88864 meters Centerline goodness : 0.994528 Centerline is valid? [True, True] Translation: X:82.40, Y:0.29, Z:-36.16 [[ 0.76790001 0.63117466 -0.10930746 82.39991854] [ 0.26290046 -0.46614378 -0.84474453 0.28857288] [ -0.58413434 0.61994235 -0.52388792 -36.15518708] [ 0. 0. 0. 1. ]] SLAMing on 101.91864 meters Centerline goodness : 0.994836 Centerline is valid? [True, True] Translation: X:82.95, Y:-0.88, Z:-36.36 [[ 7.62308723e-01 -5.18978106e-02 -6.45129466e-01 8.29549297e+01] [ 3.25000401e-01 -8.31298887e-01 4.50906752e-01 -8.82500287e-01] [-5.59696481e-01 -5.53397485e-01 -6.16839584e-01 -3.63565879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.94864 meters Centerline goodness : 0.994774 Centerline is valid? [True, True] Translation: X:81.94, Y:-0.54, Z:-37.61 [[ 7.41698919e-01 -4.94060338e-01 4.53637627e-01 8.19379636e+01] [ 4.10070481e-01 8.69223414e-01 2.76211615e-01 -5.35227134e-01] [-5.30777651e-01 -1.88424565e-02 8.47301627e-01 -3.76068883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.97864 meters Centerline goodness : 0.968938 Centerline is valid? [True, True] Translation: X:81.99, Y:-0.51, Z:-37.67 [[ 0.78062006 -0.44175701 0.44213468 81.98884931] [ 0.33157571 0.89236275 0.30618012 -0.50883753] [ -0.52980173 -0.09240923 0.84307216 -37.66504591] [ 0. 0. 0. 1. ]] SLAMing on 102.00864 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:82.63, Y:0.44, Z:-36.47 [[ 7.32608617e-01 6.79395380e-01 4.13101788e-02 8.26347126e+01] [ 3.53848442e-01 -3.28311778e-01 -8.75786879e-01 4.39504592e-01] [-5.81442941e-01 6.56226557e-01 -4.80927034e-01 -3.64680527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.03864 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:83.35, Y:-0.34, Z:-36.42 [[ 6.75148069e-01 3.36310695e-01 -6.56559366e-01 8.33534309e+01] [ 4.15992861e-01 -9.08588659e-01 -3.76375814e-02 -3.37864757e-01] [-6.09200316e-01 -2.47713069e-01 -7.53334727e-01 -3.64182461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06864 meters Centerline goodness : 0.995808 Centerline is valid? [True, True] Translation: X:83.30, Y:-0.99, Z:-37.29 [[ 6.78109673e-01 -4.61047681e-01 -5.72365536e-01 8.32965468e+01] [ 4.85186128e-01 -3.04140347e-01 8.19812827e-01 -9.88085137e-01] [-5.52052256e-01 -8.33626826e-01 1.74534276e-02 -3.72898399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.09863999999999 meters Centerline goodness : 0.996507 Centerline is valid? [True, True] Translation: X:82.52, Y:-0.48, Z:-38.01 [[ 0.70257601 -0.63153007 0.32795841 82.5244497 ] [ 0.51533017 0.76935609 0.37752618 -0.47999605] [ -0.49073593 -0.09623397 0.86597764 -38.01347123] [ 0. 0. 0. 1. ]] SLAMing on 102.12863999999999 meters Centerline goodness : 0.996997 Centerline is valid? [True, True] Translation: X:82.48, Y:0.62, Z:-37.39 [[ 0.6988054 0.33195348 0.63362283 82.48349522] [ 0.46621622 0.4604443 -0.75540286 0.62119562] [ -0.54250663 0.82328484 0.16699887 -37.39235749] [ 0. 0. 0. 1. ]] SLAMing on 102.15863999999999 meters Centerline goodness : 0.997392 Centerline is valid? [True, True] Translation: X:83.65, Y:-0.76, Z:-37.33 [[ 0.71511071 -0.34693005 -0.60684118 83.64614027] [ 0.4351208 -0.4585078 0.77488095 -0.75942895] [ -0.5470709 -0.81817488 -0.17692736 -37.32919551] [ 0. 0. 0. 1. ]] SLAMing on 102.18863999999999 meters Centerline goodness : 0.997046 Centerline is valid? [True, True] Translation: X:83.75, Y:-0.70, Z:-37.45 [[ 0.74086564 -0.28595991 -0.60773763 83.753353 ] [ 0.46746444 -0.43018529 0.77228079 -0.69819619] [ -0.48228113 -0.85625203 -0.18503341 -37.44767868] [ 0. 0. 0. 1. ]] SLAMing on 102.21864 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:83.86, Y:-0.63, Z:-37.54 [[ 0.73457228 -0.21249906 -0.64439717 83.86114765] [ 0.52877247 -0.41586268 0.73990398 -0.62634676] [ -0.42520963 -0.88425244 -0.19311755 -37.5426132 ] [ 0. 0. 0. 1. ]] SLAMing on 102.24864 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:83.12, Y:-0.20, Z:-38.51 [[ 0.75091873 -0.62987198 0.19844987 83.12390754] [ 0.54459029 0.76059954 0.35342574 -0.20388236] [ -0.37355385 -0.15732013 0.9141706 -38.50716972] [ 0. 0. 0. 1. ]] SLAMing on 102.27864 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:83.05, Y:0.02, Z:-38.53 [[ 7.63563390e-01 -5.36867534e-01 3.58809420e-01 8.30486343e+01] [ 5.21480021e-01 8.40384747e-01 1.47689083e-01 2.38826577e-02] [-3.80827437e-01 7.43419669e-02 9.21652719e-01 -3.85327715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.30864 meters Centerline goodness : 0.997735 Centerline is valid? [True, True] Translation: X:83.17, Y:0.02, Z:-38.58 [[ 7.73301712e-01 -5.50769353e-01 3.14098046e-01 8.31745871e+01] [ 4.96934630e-01 8.34156157e-01 2.39247736e-01 1.88180768e-02] [-3.93777140e-01 -2.89244878e-02 9.18750749e-01 -3.85802180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.33864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:83.19, Y:0.11, Z:-38.60 [[ 7.81226172e-01 -5.10898903e-01 3.58703189e-01 8.31857438e+01] [ 4.82434325e-01 8.58786337e-01 1.72462021e-01 1.14024006e-01] [-3.96160056e-01 3.83188860e-02 9.17381531e-01 -3.85995294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.36864 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:83.12, Y:1.01, Z:-38.04 [[ 0.76032189 0.23106167 0.60705942 83.12464283] [ 0.42849861 0.52395592 -0.73611082 1.00630264] [ -0.48815937 0.81980528 0.29936554 -38.04101326] [ 0. 0. 0. 1. ]] SLAMing on 102.39864 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:83.92, Y:0.92, Z:-37.18 [[ 0.69247644 0.71201905 -0.11621207 83.92437514] [ 0.48262022 -0.57692656 -0.65896393 0.92417991] [ -0.5362407 0.40023071 -0.74314285 -37.18022717] [ 0. 0. 0. 1. ]] SLAMing on 102.42864 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:84.51, Y:-0.19, Z:-37.75 [[ 0.72959261 -0.13440314 -0.67054487 84.50843278] [ 0.52384362 -0.52048885 0.67429906 -0.19418303] [ -0.43963904 -0.84322426 -0.30933859 -37.7523588 ] [ 0. 0. 0. 1. ]] SLAMing on 102.45864 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:84.61, Y:-0.12, Z:-37.84 [[ 7.07628808e-01 -6.29017132e-02 -7.03778974e-01 8.46070362e+01] [ 5.86725397e-01 -5.02693499e-01 6.34864201e-01 -1.24512630e-01] [-3.93719161e-01 -8.62173196e-01 -3.18814369e-01 -3.78371857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.48863999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:83.76, Y:0.29, Z:-38.93 [[ 7.29624507e-01 -6.13565230e-01 3.01969847e-01 8.37572399e+01] [ 5.39881912e-01 7.87850513e-01 2.96342858e-01 2.93864386e-01] [-4.19732773e-01 -5.31909536e-02 9.06087811e-01 -3.89341760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.51863999999999 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:83.79, Y:0.31, Z:-38.95 [[ 7.44502613e-01 -6.14570395e-01 2.60804697e-01 8.37915092e+01] [ 5.52390824e-01 7.86447693e-01 2.76341102e-01 3.12057213e-01] [-3.74940312e-01 -6.16705506e-02 9.24995408e-01 -3.89455945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.54863999999999 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:83.60, Y:1.30, Z:-38.27 [[ 0.71765372 0.2492167 0.65028007 83.60358221] [ 0.51315999 0.44201164 -0.73572585 1.29643938] [ -0.47078653 0.86169411 0.18932326 -38.26615723] [ 0. 0. 0. 1. ]] SLAMing on 102.57864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:84.53, Y:1.05, Z:-37.43 [[ 0.6480208 0.73166407 -0.21151059 84.52903138] [ 0.58537784 -0.65613478 -0.47625616 1.05296233] [ -0.48723898 0.18481029 -0.85348892 -37.42628138] [ 0. 0. 0. 1. ]] SLAMing on 102.60864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:85.05, Y:0.16, Z:-38.11 [[ 6.57851588e-01 -7.70446181e-02 -7.49196513e-01 8.50508102e+01] [ 6.35273165e-01 -4.77561823e-01 6.06928917e-01 1.55020549e-01] [-4.04548259e-01 -8.75213592e-01 -2.65220425e-01 -3.81123166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.63864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:84.18, Y:0.51, Z:-39.15 [[ 6.89798049e-01 -6.84341942e-01 2.36336114e-01 8.41840828e+01] [ 6.06146927e-01 7.24390612e-01 3.28396321e-01 5.08917034e-01] [-3.95935038e-01 -8.32727324e-02 9.14494996e-01 -3.91458734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.66864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:83.93, Y:1.51, Z:-38.42 [[ 0.66714163 0.25902358 0.69844744 83.93436222] [ 0.56820175 0.42939074 -0.70197604 1.51237756] [ -0.48173521 0.8651765 0.13928679 -38.42279167] [ 0. 0. 0. 1. ]] SLAMing on 102.69864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:84.87, Y:1.33, Z:-37.65 [[ 0.59189175 0.78509056 -0.18247457 84.87156413] [ 0.62988354 -0.59179289 -0.50301879 1.33151494] [ -0.50290246 0.18279494 -0.84479295 -37.64620102] [ 0. 0. 0. 1. ]] SLAMing on 102.72864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:85.43, Y:0.42, Z:-38.47 [[ 0.64558089 -0.17661488 -0.7429889 85.42605223] [ 0.65093826 -0.3815262 0.65629044 0.41580525] [ -0.39938039 -0.90732847 -0.13134064 -38.47406557] [ 0. 0. 0. 1. ]] SLAMing on 102.75864 meters Centerline goodness : 0.964400 Centerline is valid? [True, True] Translation: X:85.52, Y:0.50, Z:-38.55 [[ 0.62505563 -0.18051132 -0.75942157 85.5232922 ] [ 0.65961788 -0.39807005 0.63752999 0.50201337] [ -0.41738436 -0.89941976 -0.12974743 -38.54522138] [ 0. 0. 0. 1. ]] SLAMing on 102.78864 meters Centerline goodness : 0.863874 Centerline is valid? [True, False] Translation: X:83.97, Y:2.52, Z:-39.04 [[ 0.81977569 0.18415824 0.54226706 83.96508592] [ 0.435484 0.41447192 -0.7991037 2.52297037] [ -0.371916 0.89123441 0.25957603 -39.0378773 ] [ 0. 0. 0. 1. ]] SLAMing on 102.81864 meters Centerline goodness : 0.918605 Centerline is valid? [False, False] Translation: X:83.90, Y:2.48, Z:-39.07 [[ 0.81562689 0.15335511 0.55788439 83.90487407] [ 0.43300998 0.47772723 -0.76438148 2.47671519] [ -0.38373837 0.8650196 0.32324288 -39.07297123] [ 0. 0. 0. 1. ]] SLAMing on 102.84863999999999 meters Centerline goodness : 0.911259 Centerline is valid? [False, False] Translation: X:83.85, Y:2.43, Z:-39.10 [[ 0.81261672 0.12423059 0.56940393 83.85161173] [ 0.42910647 0.53357938 -0.72880771 2.43086875] [ -0.39436241 0.83657624 0.38028738 -39.10272157] [ 0. 0. 0. 1. ]] SLAMing on 102.87863999999999 meters Centerline goodness : 0.941538 Centerline is valid? [False, False] Translation: X:83.79, Y:2.38, Z:-39.13 [[ 0.80800118 0.09135626 0.58205509 83.7924577 ] [ 0.42858046 0.58676102 -0.68704461 2.37536056] [ -0.40429306 0.8045903 0.43495008 -39.13141899] [ 0. 0. 0. 1. ]] SLAMing on 102.90863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [False, True] Translation: X:83.75, Y:2.32, Z:-39.16 [[ 8.04600325e-01 6.21178337e-02 5.90558797e-01 8.37452403e+01] [ 4.24376402e-01 6.35484533e-01 -6.45030292e-01 2.32380908e+00] [-4.15358866e-01 7.69610799e-01 4.84949719e-01 -3.91567363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.93863999999999 meters Centerline goodness : 0.798808 Centerline is valid? [True, False] Translation: X:83.70, Y:2.27, Z:-39.18 [[ 8.00773201e-01 3.13342597e-02 5.98147511e-01 8.36981922e+01] [ 4.20504484e-01 6.81743961e-01 -5.98666143e-01 2.26775401e+00] [-4.26542214e-01 7.30919514e-01 5.32746097e-01 -3.91796289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.96864 meters Centerline goodness : 0.815589 Centerline is valid? [False, False] Translation: X:83.65, Y:2.21, Z:-39.20 [[ 7.97290073e-01 7.74926207e-04 6.03595841e-01 8.36538363e+01] [ 4.15708560e-01 7.24322338e-01 -5.50039583e-01 2.21063391e+00] [-4.37624191e-01 6.89461057e-01 5.77172867e-01 -3.92001953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.99864 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:83.60, Y:2.10, Z:-39.23 [[ 7.95462114e-01 -6.23779132e-02 6.02784390e-01 8.36048553e+01] [ 4.10617893e-01 7.87019516e-01 -4.60427222e-01 2.10141125e+00] [-4.45682589e-01 6.13766468e-01 6.51657696e-01 -3.92336788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.02864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:84.04, Y:2.49, Z:-38.40 [[ 7.37494936e-01 6.01114225e-01 3.07835846e-01 8.40402050e+01] [ 4.32189546e-01 -6.98200621e-02 -8.99075834e-01 2.49498250e+00] [-5.18954155e-01 7.96107309e-01 -3.11287226e-01 -3.83960944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.05864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:84.87, Y:1.86, Z:-38.04 [[ 0.68511765 0.53973216 -0.48918605 84.86959802] [ 0.51645379 -0.83350628 -0.19632314 1.85515716] [ -0.51370156 -0.11813754 -0.84979658 -38.04422699] [ 0. 0. 0. 1. ]] SLAMing on 103.08864 meters Centerline goodness : 0.819220 Centerline is valid? [True, False] Translation: X:84.31, Y:1.90, Z:-40.57 [[ 8.28733021e-01 -5.43849595e-01 1.32019689e-01 8.43133674e+01] [ 5.53966514e-01 8.30690831e-01 -5.54422628e-02 1.90068062e+00] [-7.95152929e-02 1.19081321e-01 9.89695386e-01 -4.05674613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.11864 meters Centerline goodness : 0.994737 Centerline is valid? [False, True] Translation: X:84.35, Y:1.90, Z:-40.57 [[ 8.39401007e-01 -5.32551519e-01 1.08604004e-01 8.43493265e+01] [ 5.38587212e-01 8.41859220e-01 -3.45958003e-02 1.89531112e+00] [-7.30052359e-02 8.75324772e-02 9.93482914e-01 -4.05723828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.40, Y:1.89, Z:-40.57 [[ 8.73296876e-01 -4.82343706e-01 6.85355122e-02 8.44015782e+01] [ 4.82245561e-01 8.75828537e-01 1.90680782e-02 1.89008899e+00] [-6.92227249e-02 1.63988535e-02 9.97466437e-01 -4.05697504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.17864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:84.44, Y:1.89, Z:-40.57 [[ 8.73776373e-01 -4.82656608e-01 5.96443514e-02 8.44354536e+01] [ 4.81320282e-01 8.75805382e-01 3.59961084e-02 1.89083357e+00] [-6.96106036e-02 -2.74451304e-03 9.97570464e-01 -4.05725879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:84.43, Y:1.96, Z:-40.57 [[ 8.69601866e-01 -4.74080628e-01 1.37986059e-01 8.44311486e+01] [ 4.78823534e-01 8.77910139e-01 -1.34541399e-03 1.96208802e+00] [-1.20501525e-01 6.72409468e-02 9.90433257e-01 -4.05701153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.23863999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:84.51, Y:1.87, Z:-40.58 [[ 8.74311089e-01 -4.84141611e-01 3.44531470e-02 8.45140320e+01] [ 4.79582074e-01 8.72638889e-01 9.22084787e-02 1.87452306e+00] [-7.47071173e-02 -6.40957838e-02 9.95143496e-01 -4.05784110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.26863999999999 meters Centerline goodness : 0.822997 Centerline is valid? [True, False] Translation: X:84.52, Y:1.91, Z:-40.58 [[ 8.83266140e-01 -4.67364283e-01 3.75706440e-02 8.45186924e+01] [ 4.64645256e-01 8.83224226e-01 6.34015272e-02 1.90808974e+00] [-6.28149123e-02 -3.85434007e-02 9.97280649e-01 -4.05791147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.29863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:84.52, Y:1.93, Z:-40.58 [[ 8.92211672e-01 -4.49675329e-01 4.18381587e-02 8.45165086e+01] [ 4.47978115e-01 8.92953117e-01 4.41626516e-02 1.92992210e+00] [-5.72183691e-02 -2.06598538e-02 9.98147899e-01 -4.05794277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:84.51, Y:2.01, Z:-40.61 [[ 8.93988744e-01 -4.36927194e-01 9.93919155e-02 8.45094934e+01] [ 4.39549296e-01 8.98204253e-01 -5.05332408e-03 2.00533076e+00] [-8.70663065e-02 4.82052614e-02 9.95035533e-01 -4.06136725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.35864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:84.56, Y:1.98, Z:-40.59 [[ 8.88780925e-01 -4.50115082e-01 8.63995402e-02 8.45640469e+01] [ 4.47825592e-01 8.92969063e-01 4.53706097e-02 1.97704701e+00] [-9.75741122e-02 -1.63260716e-03 9.95226922e-01 -4.05869234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.38864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:84.63, Y:1.92, Z:-40.59 [[ 8.90593336e-01 -4.54593271e-01 1.37283409e-02 8.46277317e+01] [ 4.50359764e-01 8.85703478e-01 1.12718372e-01 1.91820803e+00] [-6.34002526e-02 -9.42035383e-02 9.93532134e-01 -4.05878139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.41864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:84.58, Y:2.08, Z:-40.58 [[ 8.87177930e-01 -4.42008038e-01 1.32454572e-01 8.45812627e+01] [ 4.49759790e-01 8.92495443e-01 -3.41762465e-02 2.08060226e+00] [-1.03108927e-01 8.98931523e-02 9.90599702e-01 -4.05810646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.44864 meters Centerline goodness : 0.863182 Centerline is valid? [True, False] Translation: X:84.61, Y:2.09, Z:-40.58 [[ 8.97073328e-01 -4.24904456e-01 1.21308068e-01 8.46084902e+01] [ 4.30604389e-01 9.02218149e-01 -2.41302978e-02 2.08603990e+00] [-9.91932694e-02 7.38824329e-02 9.92321562e-01 -4.05840009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.47864 meters Centerline goodness : 0.943500 Centerline is valid? [False, False] Translation: X:84.63, Y:2.09, Z:-40.59 [[ 9.04388145e-01 -4.12891271e-01 1.07716673e-01 8.46347129e+01] [ 4.17103393e-01 9.08660676e-01 -1.89877952e-02 2.09251066e+00] [-9.00380101e-02 6.21013267e-02 9.94000293e-01 -4.05857305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.50864 meters Centerline goodness : 0.999310 Centerline is valid? [False, True] Translation: X:84.66, Y:2.11, Z:-40.59 [[ 9.13459635e-01 -3.97469063e-01 8.72343968e-02 8.46649778e+01] [ 4.00633012e-01 9.15983201e-01 -2.16325258e-02 2.10560412e+00] [-7.13069822e-02 5.47094183e-02 9.95952907e-01 -4.05877050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.53864 meters Centerline goodness : 0.997636 Centerline is valid? [True, True] Translation: X:84.72, Y:2.02, Z:-40.60 [[ 8.85670321e-01 -4.59923352e-01 6.37070852e-02 8.47200414e+01] [ 4.55990049e-01 8.87430102e-01 6.73861229e-02 2.01646888e+00] [-8.75280366e-02 -3.06320922e-02 9.95690975e-01 -4.06048142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:84.73, Y:2.10, Z:-40.60 [[ 9.13900811e-01 -3.98842912e-01 7.55621546e-02 8.47322871e+01] [ 3.98758985e-01 9.16900935e-01 1.68507528e-02 2.10033404e+00] [-7.60038135e-02 1.47311714e-02 9.96998703e-01 -4.05967182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.59863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:84.77, Y:2.10, Z:-40.60 [[ 9.14219721e-01 -4.00046185e-01 6.45395383e-02 8.47670800e+01] [ 3.98531265e-01 9.16470826e-01 3.54126489e-02 2.09715461e+00] [-7.33152991e-02 -6.65391814e-03 9.97286615e-01 -4.06012611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.62863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:84.79, Y:2.11, Z:-40.60 [[ 9.15282841e-01 -3.98302601e-01 6.01029051e-02 8.47941680e+01] [ 3.96829769e-01 9.17215596e-01 3.52375450e-02 2.11216382e+00] [-6.91625277e-02 -8.40169837e-03 9.97570026e-01 -4.06036495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.65863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:84.81, Y:2.14, Z:-40.61 [[ 9.14997482e-01 -3.95876075e-01 7.78571853e-02 8.48132993e+01] [ 3.95638087e-01 9.18207484e-01 1.91186026e-02 2.14338447e+00] [-7.90576475e-02 1.33097947e-02 9.96781188e-01 -4.06054349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.68863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:84.86, Y:2.10, Z:-40.61 [[ 9.13702464e-01 -4.01630120e-01 6.19762343e-02 8.48603507e+01] [ 3.96245117e-01 9.14338743e-01 8.35133019e-02 2.10094699e+00] [-9.02087296e-02 -5.17485295e-02 9.94577536e-01 -4.06095468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.71864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:84.87, Y:2.14, Z:-40.61 [[ 9.13388299e-01 -4.00561493e-01 7.26106475e-02 8.48740164e+01] [ 3.97974453e-01 9.16151169e-01 4.77846166e-02 2.14493006e+00] [-8.56630070e-02 -1.47487269e-02 9.96214999e-01 -4.06079356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.74864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:84.89, Y:2.17, Z:-40.61 [[ 9.12355405e-01 -4.00080396e-01 8.68521253e-02 8.48934985e+01] [ 3.98539615e-01 9.16476563e-01 3.51693698e-02 2.17217917e+00] [-9.36685127e-02 2.52704792e-03 9.95600233e-01 -4.06086980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.77864 meters Centerline goodness : 0.935274 Centerline is valid? [True, False] Translation: X:84.89, Y:2.20, Z:-40.61 [[ 9.19281694e-01 -3.83406063e-01 8.89997636e-02 8.48905572e+01] [ 3.83939079e-01 9.23283847e-01 1.17355019e-02 2.19563503e+00] [-8.66715066e-02 2.33822552e-02 9.95962509e-01 -4.06076975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.80864 meters Centerline goodness : 0.998869 Centerline is valid? [False, True] Translation: X:84.89, Y:2.20, Z:-40.61 [[ 9.25871570e-01 -3.67751710e-01 8.67209107e-02 8.48946527e+01] [ 3.68543609e-01 9.29581956e-01 7.27971850e-03 2.20317546e+00] [-8.32913228e-02 2.52203530e-02 9.96206048e-01 -4.06111882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.83864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:84.89, Y:2.31, Z:-40.60 [[ 9.18630279e-01 -3.54762529e-01 1.73959647e-01 8.48863514e+01] [ 3.71984772e-01 9.24951200e-01 -7.80551586e-02 2.30738950e+00] [-1.33213139e-01 1.36414172e-01 9.81654437e-01 -4.05979620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.86864 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:84.98, Y:2.15, Z:-40.62 [[ 9.24302178e-01 -3.78928317e-01 4.55940036e-02 8.49829547e+01] [ 3.73406800e-01 9.22546380e-01 9.73423742e-02 2.14592707e+00] [-7.89483651e-02 -7.29486575e-02 9.94206040e-01 -4.06188044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.89864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:84.97, Y:2.27, Z:-40.61 [[ 9.17871865e-01 -3.66878251e-01 1.51365742e-01 8.49653171e+01] [ 3.73099723e-01 9.27686548e-01 -1.39378969e-02 2.27472247e+00] [-1.35306452e-01 6.92677199e-02 9.88379556e-01 -4.06136480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.92864 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:85.04, Y:2.16, Z:-40.62 [[ 9.22545814e-01 -3.83385260e-01 4.38743961e-02 8.50410089e+01] [ 3.77493738e-01 9.20211644e-01 1.03484334e-01 2.16152251e+00] [-8.00480987e-02 -7.89067298e-02 9.93662936e-01 -4.06233784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95864 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:85.04, Y:2.24, Z:-40.62 [[ 9.23406754e-01 -3.76253822e-01 7.58487159e-02 8.50441642e+01] [ 3.74833082e-01 9.26514921e-01 3.27148664e-02 2.23769267e+00] [-8.25840605e-02 -1.77852066e-03 9.96582515e-01 -4.06232963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.98863999999999 meters Centerline goodness : 0.996802 Centerline is valid? [True, True] Translation: X:85.07, Y:2.25, Z:-40.62 [[ 9.23314627e-01 -3.77220200e-01 7.20764925e-02 8.50689581e+01] [ 3.76099379e-01 9.26123557e-01 2.90587917e-02 2.24936334e+00] [-7.77133008e-02 2.77516684e-04 9.96975710e-01 -4.06245277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.01863999999999 meters Centerline goodness : 0.996552 Centerline is valid? [True, True] Translation: X:85.10, Y:2.27, Z:-40.63 [[ 9.23490689e-01 -3.75856246e-01 7.67921197e-02 8.50965452e+01] [ 3.75069293e-01 9.26660227e-01 2.49769759e-02 2.26524577e+00] [-8.05479555e-02 5.73636130e-03 9.96734228e-01 -4.06260737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.04863999999999 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:85.10, Y:2.33, Z:-40.63 [[ 9.15613292e-01 -3.66841520e-01 1.64558798e-01 8.51030682e+01] [ 3.73828375e-01 9.27412693e-01 -1.25714767e-02 2.33263563e+00] [-1.48002179e-01 7.30273594e-02 9.86287159e-01 -4.06262478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.07864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:85.16, Y:2.28, Z:-40.64 [[ 9.16511885e-01 -3.76119950e-01 1.36160742e-01 8.51568678e+01] [ 3.72021136e-01 9.26570976e-01 5.53760000e-02 2.28351518e+00] [-1.46990610e-01 -9.80883721e-05 9.89137883e-01 -4.06385647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.10864 meters Centerline goodness : 0.995817 Centerline is valid? [True, True] Translation: X:85.21, Y:2.24, Z:-40.64 [[ 9.21590479e-01 -3.83711278e-01 5.86228939e-02 8.52073076e+01] [ 3.77084116e-01 9.20842070e-01 9.92846955e-02 2.23575431e+00] [-9.20790843e-02 -6.93940680e-02 9.93330713e-01 -4.06408872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.13864 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:85.21, Y:2.31, Z:-40.64 [[ 9.22357263e-01 -3.76021259e-01 8.86853551e-02 8.52127343e+01] [ 3.74585907e-01 9.26606707e-01 3.29455603e-02 2.30634129e+00] [-9.45646759e-02 2.83270735e-03 9.95514690e-01 -4.06416735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.16864 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:85.24, Y:2.33, Z:-40.64 [[ 9.21448524e-01 -3.75598980e-01 9.92875873e-02 8.52367525e+01] [ 3.75213964e-01 9.26646892e-01 2.32382929e-02 2.32507142e+00] [-1.00732813e-01 1.58411985e-02 9.94787393e-01 -4.06442283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.19864 meters Centerline goodness : 0.996745 Centerline is valid? [True, True] Translation: X:85.27, Y:2.33, Z:-40.65 [[ 9.21305205e-01 -3.76554534e-01 9.69711412e-02 8.52682310e+01] [ 3.75142398e-01 9.26375812e-01 3.31064289e-02 2.32738093e+00] [-1.02298096e-01 5.87686125e-03 9.94736428e-01 -4.06484404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.22864 meters Centerline goodness : 0.997886 Centerline is valid? [True, True] Translation: X:85.29, Y:2.37, Z:-40.65 [[ 9.15056122e-01 -3.70611523e-01 1.59120685e-01 8.52857668e+01] [ 3.72857464e-01 9.27739670e-01 1.66257847e-02 2.37060510e+00] [-1.53784279e-01 4.41158091e-02 9.87119137e-01 -4.06521579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.25864 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:85.32, Y:2.26, Z:-40.65 [[ 8.94595202e-01 -4.38629787e-01 8.54595462e-02 8.53203009e+01] [ 4.31872710e-01 8.97740627e-01 8.68776641e-02 2.25769880e+00] [-1.14827638e-01 -4.08126956e-02 9.92546693e-01 -4.06545524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.28864 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:85.37, Y:2.31, Z:-40.66 [[ 9.22017309e-01 -3.78696352e-01 8.04559206e-02 8.53681016e+01] [ 3.72352019e-01 9.24322626e-01 8.35563099e-02 2.31199267e+00] [-1.06009698e-01 -4.70824395e-02 9.93249811e-01 -4.06615542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31864 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:85.37, Y:2.40, Z:-40.66 [[ 9.17343812e-01 -3.65015693e-01 1.58883207e-01 8.53669539e+01] [ 3.67512916e-01 9.29906269e-01 1.44425682e-02 2.40232819e+00] [-1.53018254e-01 4.51428302e-02 9.87191744e-01 -4.06629473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.34863999999999 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:85.41, Y:2.38, Z:-40.67 [[ 9.18757045e-01 -3.68279623e-01 1.42322209e-01 8.54116658e+01] [ 3.63708251e-01 9.29714022e-01 5.78631551e-02 2.37644203e+00] [-1.53628774e-01 -1.39841989e-03 9.88127646e-01 -4.06719838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.37863999999999 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:85.46, Y:2.34, Z:-40.67 [[ 9.24829900e-01 -3.73344600e-01 7.28249010e-02 8.54596470e+01] [ 3.65935779e-01 9.25510553e-01 9.75767532e-02 2.33500252e+00] [-1.03829968e-01 -6.35926620e-02 9.92559979e-01 -4.06744412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.40863999999999 meters Centerline goodness : 0.996600 Centerline is valid? [True, True] Translation: X:85.47, Y:2.40, Z:-40.68 [[ 9.25511455e-01 -3.65074167e-01 1.00744226e-01 8.54657480e+01] [ 3.63346143e-01 9.30971476e-01 3.56607869e-02 2.40386718e+00] [-1.06808833e-01 3.60055925e-03 9.94273056e-01 -4.06767790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.43863999999999 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:85.48, Y:2.46, Z:-40.68 [[ 9.19545503e-01 -3.56427682e-01 1.65515482e-01 8.54788053e+01] [ 3.60289265e-01 9.32813474e-01 7.11818947e-03 2.45966875e+00] [-1.56932192e-01 5.30879523e-02 9.86181503e-01 -4.06758876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.46864 meters Centerline goodness : 0.876383 Centerline is valid? [True, False] Translation: X:85.49, Y:2.47, Z:-40.68 [[ 9.27416184e-01 -3.38445319e-01 1.59229353e-01 8.54862503e+01] [ 3.42101043e-01 9.39651349e-01 4.71368316e-03 2.46634120e+00] [-1.51215400e-01 5.01009817e-02 9.87230365e-01 -4.06794002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.49864 meters Centerline goodness : 0.997486 Centerline is valid? [False, True] Translation: X:85.49, Y:2.48, Z:-40.68 [[ 9.33928030e-01 -3.22189415e-01 1.54830282e-01 8.54943377e+01] [ 3.26398248e-01 9.45230498e-01 -1.86792600e-03 2.47739535e+00] [-1.45748479e-01 5.22808412e-02 9.87939317e-01 -4.06827244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.52864 meters Centerline goodness : 0.996456 Centerline is valid? [True, True] Translation: X:85.54, Y:2.45, Z:-40.69 [[ 9.35825183e-01 -3.24867865e-01 1.36719043e-01 8.55398365e+01] [ 3.21026779e-01 9.45755283e-01 4.98873861e-02 2.44808239e+00] [-1.45509566e-01 -2.79539832e-03 9.89352896e-01 -4.06903533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.55864 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:85.57, Y:2.46, Z:-40.70 [[ 9.36868046e-01 -3.22244891e-01 1.35781055e-01 8.55692318e+01] [ 3.18441014e-01 9.46651256e-01 4.94643354e-02 2.46294758e+00] [-1.44476936e-01 -3.10329826e-03 9.89503302e-01 -4.06952298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.58864 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:85.61, Y:2.43, Z:-40.70 [[ 9.42325396e-01 -3.25678856e-01 7.71759800e-02 8.56120356e+01] [ 3.18771508e-01 9.43582766e-01 8.96453541e-02 2.43030655e+00] [-1.02017521e-01 -5.98735903e-02 9.92979143e-01 -4.07028738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.61864 meters Centerline goodness : 0.995122 Centerline is valid? [True, True] Translation: X:85.62, Y:2.50, Z:-40.70 [[ 9.43815672e-01 -3.14594667e-01 1.01203618e-01 8.56211777e+01] [ 3.13415914e-01 9.49210071e-01 2.77616023e-02 2.50128368e+00] [-1.04797145e-01 5.51698894e-03 9.94478316e-01 -4.06989570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.64864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:85.66, Y:2.45, Z:-40.71 [[ 9.27074018e-01 -3.65147294e-01 8.48599970e-02 8.56623777e+01] [ 3.58561075e-01 9.29762448e-01 8.35209302e-02 2.44538120e+00] [-1.09397080e-01 -4.70025926e-02 9.92886215e-01 -4.07137658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.67864 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:85.67, Y:2.52, Z:-40.71 [[ 9.44335235e-01 -3.12576012e-01 1.02602148e-01 8.56744450e+01] [ 3.08959009e-01 9.49768422e-01 4.98425004e-02 2.51792988e+00] [-1.13027850e-01 -1.53681715e-02 9.93472961e-01 -4.07053334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70864 meters Centerline goodness : 0.880943 Centerline is valid? [True, False] Translation: X:85.69, Y:2.54, Z:-40.71 [[ 9.49470287e-01 -2.98582991e-01 9.67180012e-02 8.56926127e+01] [ 2.96823308e-01 9.54381388e-01 3.24359296e-02 2.54461357e+00] [-1.01990677e-01 -2.08879439e-03 9.94783162e-01 -4.07073610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.73863999999999 meters Centerline goodness : 0.995133 Centerline is valid? [False, True] Translation: X:85.70, Y:2.57, Z:-40.71 [[ 9.54129692e-01 -2.84710144e-01 9.26102820e-02 8.56995298e+01] [ 2.84082607e-01 9.58587625e-01 2.01702252e-02 2.56587474e+00] [-9.45177380e-02 7.06395950e-03 9.95498115e-01 -4.07089579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.76863999999999 meters Centerline goodness : 0.995319 Centerline is valid? [True, True] Translation: X:85.73, Y:2.57, Z:-40.71 [[ 9.53614821e-01 -2.87351684e-01 8.97094315e-02 8.57324870e+01] [ 2.85833454e-01 9.57821622e-01 2.96138077e-02 2.57176793e+00] [-9.44352107e-02 -2.59820928e-03 9.95527619e-01 -4.07121561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.79863999999999 meters Centerline goodness : 0.995136 Centerline is valid? [True, True] Translation: X:85.76, Y:2.59, Z:-40.71 [[ 9.52706906e-01 -2.90844117e-01 8.80866160e-02 8.57616351e+01] [ 2.89399988e-01 9.56768008e-01 2.90280097e-02 2.58971582e+00] [-9.27210820e-02 -2.16291972e-03 9.95689772e-01 -4.07144636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.82864 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:85.79, Y:2.60, Z:-40.72 [[ 9.52218541e-01 -2.92376503e-01 8.82940014e-02 8.57915988e+01] [ 2.90936872e-01 9.56301261e-01 2.90454021e-02 2.60351792e+00] [-9.29278580e-02 -1.96958979e-03 9.95670896e-01 -4.07171457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.85864 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:85.82, Y:2.62, Z:-40.72 [[ 9.51719983e-01 -2.94163512e-01 8.77319879e-02 8.58215752e+01] [ 2.92754410e-01 9.55753533e-01 2.88104002e-02 2.61639164e+00] [-9.23251259e-02 -1.73550725e-03 9.95727402e-01 -4.07198241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.88864 meters Centerline goodness : 0.994986 Centerline is valid? [True, True] Translation: X:85.87, Y:2.56, Z:-40.73 [[ 9.53858165e-01 -3.00197074e-01 6.02644906e-03 8.58719601e+01] [ 2.98310101e-01 9.49762837e-01 9.46659247e-02 2.55694531e+00] [-3.41421310e-02 -8.85001146e-02 9.95490856e-01 -4.07275634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.91864 meters Centerline goodness : 0.995286 Centerline is valid? [True, True] Translation: X:85.85, Y:2.72, Z:-40.71 [[ 9.48704245e-01 -2.93195619e-01 1.18307159e-01 8.58538969e+01] [ 3.00650268e-01 9.52388691e-01 -5.06477712e-02 2.71591803e+00] [-9.78246953e-02 8.36188345e-02 9.91684536e-01 -4.07070594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.94864 meters Centerline goodness : 0.995323 Centerline is valid? [True, True] Translation: X:85.92, Y:2.63, Z:-40.73 [[ 9.52595896e-01 -3.01638899e-01 3.96866991e-02 8.59150033e+01] [ 2.99752275e-01 9.52848521e-01 4.72045402e-02 2.63029793e+00] [-5.20541382e-02 -3.30706729e-02 9.98096537e-01 -4.07273211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.97864 meters Centerline goodness : 0.994644 Centerline is valid? [True, True] Translation: X:85.94, Y:2.67, Z:-40.72 [[ 9.52526816e-01 -3.00562856e-01 4.85245744e-02 8.59376379e+01] [ 2.99855357e-01 9.53744008e-01 2.14273841e-02 2.66531646e+00] [-5.27202978e-02 -5.85980433e-03 9.98592125e-01 -4.07241403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.00864 meters Centerline goodness : 0.995185 Centerline is valid? [True, True] Translation: X:85.96, Y:2.68, Z:-40.72 [[ 9.51894696e-01 -3.02002693e-01 5.18735003e-02 8.59637878e+01] [ 3.01478397e-01 9.53306128e-01 1.78382175e-02 2.68448333e+00] [-5.48385155e-02 -1.34136489e-03 9.98494335e-01 -4.07238218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.03864 meters Centerline goodness : 0.995132 Centerline is valid? [True, True] Translation: X:85.98, Y:2.73, Z:-40.72 [[ 9.47181269e-01 -3.02172964e-01 1.07420403e-01 8.59807396e+01] [ 3.04629755e-01 9.52446195e-01 -6.85259462e-03 2.73075003e+00] [-1.00241485e-01 3.92141003e-02 9.94190072e-01 -4.07199665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06864 meters Centerline goodness : 0.995718 Centerline is valid? [True, True] Translation: X:86.05, Y:2.60, Z:-40.74 [[ 9.50246757e-01 -3.11201078e-01 1.36011185e-02 8.60536814e+01] [ 3.06175239e-01 9.41155501e-01 1.43118993e-01 2.59708528e+00] [-5.73395524e-02 -1.31834033e-01 9.89612027e-01 -4.07386291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.09863999999999 meters Centerline goodness : 0.995874 Centerline is valid? [True, True] Translation: X:86.03, Y:2.79, Z:-40.71 [[ 9.50861733e-01 -2.99149589e-01 7.98216050e-02 8.60274046e+01] [ 3.04034008e-01 9.50888890e-01 -5.80830612e-02 2.78922072e+00] [-5.85259535e-02 7.94974427e-02 9.95115506e-01 -4.07129334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.12863999999999 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:86.08, Y:2.72, Z:-40.73 [[ 9.50401784e-01 -3.08253709e-01 4.14258495e-02 8.60798772e+01] [ 3.07147919e-01 9.51157086e-01 3.09895782e-02 2.71861099e+00] [-4.89551427e-02 -1.67286869e-02 9.98660876e-01 -4.07311152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.15863999999999 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:86.10, Y:2.76, Z:-40.73 [[ 9.47931907e-01 -3.11731862e-01 6.51793384e-02 8.60974484e+01] [ 3.12516271e-01 9.49910414e-01 -1.94544260e-03 2.76200638e+00] [-6.13080759e-02 2.22137509e-02 9.97871670e-01 -4.07265893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.18863999999999 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:86.12, Y:2.79, Z:-40.73 [[ 9.42432298e-01 -3.13203127e-01 1.17154450e-01 8.61200229e+01] [ 3.16291834e-01 9.48625726e-01 -8.28902951e-03 2.79029109e+00] [-1.08539575e-01 4.48668450e-02 9.93079114e-01 -4.07264609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.21864 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:86.16, Y:2.76, Z:-40.74 [[ 9.42630333e-01 -3.18140739e-01 1.01165834e-01 8.61625443e+01] [ 3.16408782e-01 9.48043198e-01 3.31598844e-02 2.76407049e+00] [-1.06459091e-01 7.52245441e-04 9.94316799e-01 -4.07384875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.24864 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:86.19, Y:2.78, Z:-40.74 [[ 9.42556946e-01 -3.18062353e-01 1.02091834e-01 8.61936850e+01] [ 3.16301581e-01 9.48069474e-01 3.34302525e-02 2.77570656e+00] [-1.07423056e-01 7.81891829e-04 9.94213094e-01 -4.07411542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.27864 meters Centerline goodness : 0.877265 Centerline is valid? [True, False] Translation: X:86.21, Y:2.79, Z:-40.74 [[ 9.47939055e-01 -3.03284435e-01 9.71087027e-02 8.62082489e+01] [ 3.02619793e-01 9.52860667e-01 2.18588932e-02 2.79220503e+00] [-9.91605253e-02 8.66611693e-03 9.95033712e-01 -4.07440319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.30864 meters Centerline goodness : 0.999165 Centerline is valid? [False, True] Translation: X:86.22, Y:2.80, Z:-40.75 [[ 9.53037848e-01 -2.87962618e-01 9.37890749e-02 8.62172821e+01] [ 2.87845248e-01 9.57558327e-01 1.50719713e-02 2.79998445e+00] [-9.41486739e-02 1.26325804e-02 9.95477998e-01 -4.07468691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.33864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:86.27, Y:2.75, Z:-40.76 [[ 9.57142521e-01 -2.88579026e-01 2.45018354e-02 8.62657007e+01] [ 2.86579599e-01 9.55928929e-01 6.38123507e-02 2.74977772e+00] [-4.18369193e-02 -5.40557880e-02 9.97661087e-01 -4.07557371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.36864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:86.27, Y:2.85, Z:-40.74 [[ 9.53175270e-01 -2.83855660e-01 1.04320987e-01 8.62686856e+01] [ 2.87828228e-01 9.57357867e-01 -2.49163640e-02 2.85000548e+00] [-9.27998670e-02 5.37761870e-02 9.94231515e-01 -4.07431740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.39864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:86.31, Y:2.81, Z:-40.75 [[ 9.53799570e-01 -2.87136407e-01 8.84254762e-02 8.63129478e+01] [ 2.85965492e-01 9.57889532e-01 2.59110269e-02 2.81301850e+00] [-9.21418372e-02 5.72708482e-04 9.95745728e-01 -4.07547937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.42864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:86.34, Y:2.82, Z:-40.76 [[ 9.54641596e-01 -2.83288897e-01 9.16887307e-02 8.63449734e+01] [ 2.82017038e-01 9.59034584e-01 2.68152190e-02 2.82067955e+00] [-9.55291175e-02 2.58860831e-04 9.95426602e-01 -4.07567415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45864 meters Centerline goodness : 0.600059 Centerline is valid? [True, False] Translation: X:86.36, Y:2.84, Z:-40.76 [[ 9.59324900e-01 -2.68755525e-01 8.64072046e-02 8.63582231e+01] [ 2.68400572e-01 9.63175857e-01 1.59185893e-02 2.83559582e+00] [-8.75035422e-02 7.92064410e-03 9.96132719e-01 -4.07589984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.48863999999999 meters Centerline goodness : 0.855168 Centerline is valid? [False, False] Translation: X:86.37, Y:2.85, Z:-40.76 [[ 9.64253769e-01 -2.51902331e-01 8.22185141e-02 8.63671108e+01] [ 2.51939627e-01 9.67690335e-01 1.00915900e-02 2.84671080e+00] [-8.21041564e-02 1.09832481e-02 9.96563232e-01 -4.07618753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.51863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:86.37, Y:2.85, Z:-40.76 [[ 9.67909105e-01 -2.37940361e-01 8.08476880e-02 8.63687803e+01] [ 2.38453567e-01 9.71147989e-01 3.38815742e-03 2.85435983e+00] [-7.93212490e-02 1.59989912e-02 9.96720709e-01 -4.07624953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.54863999999999 meters Centerline goodness : 0.862208 Centerline is valid? [True, False] Translation: X:86.38, Y:2.87, Z:-40.76 [[ 9.71944416e-01 -2.22505676e-01 7.62579544e-02 8.63793299e+01] [ 2.23550306e-01 9.74677771e-01 -5.33892608e-03 2.86644218e+00] [-7.31389916e-02 2.22366284e-02 9.97073829e-01 -4.07633371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.57864 meters Centerline goodness : 0.999754 Centerline is valid? [False, True] Translation: X:86.38, Y:2.87, Z:-40.76 [[ 9.76360840e-01 -2.03005177e-01 7.42186466e-02 8.63798002e+01] [ 2.03904555e-01 9.78979641e-01 -4.66848000e-03 2.86908920e+00] [-7.17108184e-02 1.96916412e-02 9.97231065e-01 -4.07633166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.60864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:86.43, Y:2.76, Z:-40.78 [[ 9.79297522e-01 -2.02334653e-01 -6.08708036e-03 8.64332006e+01] [ 2.01674245e-01 9.72629032e-01 1.15413448e-01 2.75936235e+00] [-1.74316689e-02 -1.14251711e-01 9.93298889e-01 -4.07794266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.63864 meters Centerline goodness : 0.880270 Centerline is valid? [True, False] Translation: X:86.42, Y:2.80, Z:-40.77 [[ 9.81454535e-01 -1.91688193e-01 -1.62235098e-03 8.64208163e+01] [ 1.91358919e-01 9.79197490e-01 6.74836309e-02 2.80459833e+00] [-1.13472132e-02 -6.65425669e-02 9.97719062e-01 -4.07749908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.66864 meters Centerline goodness : 0.999509 Centerline is valid? [False, True] Translation: X:86.42, Y:2.83, Z:-40.77 [[ 9.83964556e-01 -1.78352809e-01 -2.00706764e-03 8.64192967e+01] [ 1.78286818e-01 9.83144722e-01 4.05001913e-02 2.83124128e+00] [-5.25008495e-03 -4.02085865e-02 9.99177515e-01 -4.07732800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.69864 meters Centerline goodness : 0.991643 Centerline is valid? [True, True] Translation: X:86.42, Y:2.74, Z:-40.80 [[ 9.75722887e-01 -2.12783175e-01 -5.18475436e-02 8.64192954e+01] [ 2.17677418e-01 9.68287688e-01 1.22619313e-01 2.73605512e+00] [ 2.41120114e-02 -1.30928509e-01 9.91098550e-01 -4.08026432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.72864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:86.46, Y:2.90, Z:-40.76 [[ 9.83850970e-01 -1.75870862e-01 -3.32672465e-02 8.64588918e+01] [ 1.74583990e-01 9.83897050e-01 -3.83017650e-02 2.90455945e+00] [ 3.94677101e-02 3.18753000e-02 9.98712303e-01 -4.07602569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.75864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:86.49, Y:2.88, Z:-40.77 [[ 9.84202060e-01 -1.71410530e-01 -4.43253306e-02 8.64948907e+01] [ 1.71649518e-01 9.85156757e-01 1.61458370e-03 2.87648772e+00] [ 4.33906423e-02 -9.19749824e-03 9.99015845e-01 -4.07659743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.78864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:86.51, Y:2.94, Z:-40.75 [[ 9.84694235e-01 -1.73456330e-01 1.70342470e-02 8.65108052e+01] [ 1.74127739e-01 9.83289460e-01 -5.31165466e-02 2.93936450e+00] [-7.53619433e-03 5.52696921e-02 9.98443021e-01 -4.07546874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:86.55, Y:2.90, Z:-40.77 [[ 9.85427832e-01 -1.70020051e-01 5.01690283e-03 8.65527300e+01] [ 1.70017273e-01 9.85440597e-01 9.78348074e-04 2.90092339e+00] [-5.11019851e-03 -1.11131285e-04 9.99986937e-01 -4.07653872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.84863999999999 meters Centerline goodness : 0.923183 Centerline is valid? [True, False] Translation: X:86.55, Y:2.91, Z:-40.76 [[ 9.88123808e-01 -1.53466702e-01 7.70144887e-03 8.65495192e+01] [ 1.53485287e-01 9.88149145e-01 -1.87961336e-03 2.90699619e+00] [-7.32172205e-03 3.03934980e-03 9.99968577e-01 -4.07647584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.87863999999999 meters Centerline goodness : 0.923183 Centerline is valid? [False, False] Translation: X:86.55, Y:2.91, Z:-40.76 [[ 9.90331116e-01 -1.38476025e-01 8.28675240e-03 8.65478170e+01] [ 1.38530197e-01 9.90337771e-01 -6.36270685e-03 2.91293037e+00] [-7.32560155e-03 7.44915201e-03 9.99945421e-01 -4.07640162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.90863999999999 meters Centerline goodness : 0.998969 Centerline is valid? [False, True] Translation: X:86.55, Y:2.92, Z:-40.76 [[ 9.92448640e-01 -1.22241058e-01 1.01400810e-02 8.65450213e+01] [ 1.22341502e-01 9.92438107e-01 -9.95789170e-03 2.91956378e+00] [-8.84613963e-03 1.11232488e-02 9.99899004e-01 -4.07627576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.93863999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:86.58, Y:2.90, Z:-40.77 [[ 9.91728350e-01 -1.27717877e-01 1.27680550e-02 8.65776220e+01] [ 1.27525022e-01 9.91723032e-01 1.49263377e-02 2.90367088e+00] [-1.45687344e-02 -1.31746257e-02 9.99807072e-01 -4.07687482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.96864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:86.60, Y:2.94, Z:-40.76 [[ 9.91783410e-01 -1.26628287e-01 1.81918911e-02 8.66025915e+01] [ 1.27000328e-01 9.91680343e-01 -2.10003499e-02 2.94103445e+00] [-1.53813024e-02 2.31381748e-02 9.99613946e-01 -4.07623553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.99864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:86.64, Y:2.93, Z:-40.77 [[ 9.91438836e-01 -1.29133925e-01 1.93252224e-02 8.66352388e+01] [ 1.29151821e-01 9.91624779e-01 3.24357890e-04 2.92894032e+00] [-1.92052549e-02 2.17430665e-03 9.99813198e-01 -4.07666348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.02864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:86.67, Y:2.90, Z:-40.77 [[ 9.91524612e-01 -1.29904957e-01 1.90920557e-03 8.66709023e+01] [ 1.29733842e-01 9.90788963e-01 3.88118684e-02 2.90037060e+00] [-6.93347391e-03 -3.82352342e-02 9.99244712e-01 -4.07719178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.05864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:86.69, Y:3.01, Z:-40.75 [[ 9.89048494e-01 -1.28131405e-01 7.32490258e-02 8.66859488e+01] [ 1.33046797e-01 9.88863184e-01 -6.66944792e-02 3.01026044e+00] [-6.38876075e-02 7.57096225e-02 9.95081116e-01 -4.07487554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.08864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:86.73, Y:2.95, Z:-40.77 [[ 9.89404838e-01 -1.31765540e-01 6.09582607e-02 8.67281464e+01] [ 1.31458479e-01 9.91280475e-01 9.03818098e-03 2.94942632e+00] [-6.16176544e-02 -9.28939754e-04 9.98099395e-01 -4.07671210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.11864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:86.77, Y:2.91, Z:-40.77 [[ 9.91245279e-01 -1.31710532e-01 9.22671041e-03 8.67656059e+01] [ 1.31042605e-01 9.89946992e-01 5.32239574e-02 2.90902761e+00] [-1.61441100e-02 -5.15489044e-02 9.98539973e-01 -4.07732322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.14864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:86.79, Y:2.96, Z:-40.77 [[ 9.90940044e-01 -1.33056990e-01 1.82665735e-02 8.67887934e+01] [ 1.33041274e-01 9.91108319e-01 2.07830637e-03 2.95992164e+00] [-1.83806861e-02 3.70731199e-04 9.99830992e-01 -4.07674859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.17864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:86.82, Y:2.95, Z:-40.77 [[ 9.90870121e-01 -1.33955814e-01 1.52395277e-02 8.68210199e+01] [ 1.33739707e-01 9.90911634e-01 1.44161052e-02 2.95432539e+00] [-1.70321464e-02 -1.22463579e-02 9.99779942e-01 -4.07671063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:86.85, Y:2.98, Z:-40.76 [[ 9.90887278e-01 -1.33090426e-01 2.07205514e-02 8.68471010e+01] [ 1.33325667e-01 9.91017580e-01 -1.04126563e-02 2.98281757e+00] [-1.91486059e-02 1.30803500e-02 9.99731082e-01 -4.07637554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.23863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:86.88, Y:2.97, Z:-40.77 [[ 9.90830429e-01 -1.33722824e-01 1.93201197e-02 8.68795482e+01] [ 1.33568141e-01 9.90997923e-01 9.09221979e-03 2.97142902e+00] [-2.03620358e-02 -6.42829557e-03 9.99772006e-01 -4.07669180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.26863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:86.91, Y:2.96, Z:-40.77 [[ 9.90881625e-01 -1.33196693e-01 2.03038234e-02 8.69115159e+01] [ 1.32675088e-01 9.90839674e-01 2.51805594e-02 2.96445106e+00] [-2.34718010e-02 -2.22571421e-02 9.99476710e-01 -4.07728279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.29863999999999 meters Centerline goodness : 0.954577 Centerline is valid? [True, True] Translation: X:86.93, Y:2.95, Z:-40.79 [[ 9.76040251e-01 -2.12776901e-01 4.55128506e-02 8.69329045e+01] [ 2.12396036e-01 9.77095821e-01 1.31026872e-02 2.94682245e+00] [-4.72583653e-02 -3.12200104e-03 9.98877820e-01 -4.07863059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.32864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:86.96, Y:3.03, Z:-40.76 [[ 9.91545047e-01 -1.25234124e-01 3.39828435e-02 8.69636808e+01] [ 1.26217583e-01 9.91592516e-01 -2.85202372e-02 3.02517304e+00] [-3.01254263e-02 3.25683323e-02 9.99015396e-01 -4.07592822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.00, Y:3.00, Z:-40.77 [[ 9.91190439e-01 -1.27623155e-01 3.54096647e-02 8.69977840e+01] [ 1.27222101e-01 9.91784189e-01 1.33663247e-02 2.99842883e+00] [-3.68245981e-02 -8.74368132e-03 9.99283492e-01 -4.07732604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.38864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:87.03, Y:2.96, Z:-40.78 [[ 9.91180059e-01 -1.29138090e-01 2.97563991e-02 8.70271989e+01] [ 1.26835033e-01 9.89493431e-01 6.93947076e-02 2.95568641e+00] [-3.84052615e-02 -6.50084965e-02 9.97145391e-01 -4.07790668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.41864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.05, Y:3.08, Z:-40.76 [[ 9.91957187e-01 -1.19059797e-01 4.29616540e-02 8.70478583e+01] [ 1.21415643e-01 9.90953650e-01 -5.71760924e-02 3.07946665e+00] [-3.57656339e-02 6.19324526e-02 9.97439317e-01 -4.07554838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.08, Y:2.98, Z:-40.78 [[ 9.91005037e-01 -1.29914371e-01 3.21134498e-02 8.70803089e+01] [ 1.27638730e-01 9.89693743e-01 6.49203344e-02 2.97804865e+00] [-4.02165647e-02 -6.02374584e-02 9.97373589e-01 -4.07801933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.47864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:87.10, Y:3.11, Z:-40.75 [[ 9.91218349e-01 -1.17526993e-01 6.06101461e-02 8.70997896e+01] [ 1.21912556e-01 9.89733300e-01 -7.46010949e-02 3.11106693e+00] [-5.12202376e-02 8.13351119e-02 9.95369824e-01 -4.07487999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.50864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:87.14, Y:3.00, Z:-40.78 [[ 9.91345022e-01 -1.27416751e-01 3.16230643e-02 8.71385301e+01] [ 1.25254866e-01 9.90130119e-01 6.28773861e-02 2.99976656e+00] [-3.93225807e-02 -5.83722410e-02 9.97520133e-01 -4.07832744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.53864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.16, Y:3.09, Z:-40.77 [[ 9.90985134e-01 -1.22460211e-01 5.43319453e-02 8.71606378e+01] [ 1.23895206e-01 9.92008224e-01 -2.38675720e-02 3.08655074e+00] [-5.09749087e-02 3.03838766e-02 9.98237636e-01 -4.07653827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.19, Y:3.07, Z:-40.77 [[ 9.90760520e-01 -1.25050787e-01 5.24965909e-02 8.71930371e+01] [ 1.24788963e-01 9.92149016e-01 8.24886153e-03 3.06540568e+00] [-5.31159676e-02 -1.62165118e-03 9.98587034e-01 -4.07749621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.59863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:87.21, Y:3.14, Z:-40.76 [[ 9.86378231e-01 -1.22589646e-01 1.09680277e-01 8.72143031e+01] [ 1.29614499e-01 9.89785620e-01 -5.93675666e-02 3.13621255e+00] [-1.01282112e-01 7.27750295e-02 9.92192385e-01 -4.07583538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.62863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:87.26, Y:3.01, Z:-40.79 [[ 9.90513265e-01 -1.31793536e-01 3.89093347e-02 8.72596589e+01] [ 1.28178062e-01 9.88176799e-01 8.41248955e-02 3.01063772e+00] [-4.95364193e-02 -7.83395018e-02 9.95695267e-01 -4.07938912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.65863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.28, Y:3.10, Z:-40.78 [[ 9.90580952e-01 -1.25090620e-01 5.56930386e-02 8.72797737e+01] [ 1.25499273e-01 9.92086094e-01 -3.88783716e-03 3.09608894e+00] [-5.47659571e-02 1.08406533e-02 9.98440369e-01 -4.07769468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.68863999999999 meters Centerline goodness : 0.861798 Centerline is valid? [True, False] Translation: X:87.28, Y:3.11, Z:-40.78 [[ 9.92434857e-01 -1.10958897e-01 5.25469062e-02 8.72828751e+01] [ 1.11706134e-01 9.93674804e-01 -1.14945051e-02 3.10711871e+00] [-5.09391191e-02 1.72773593e-02 9.98552302e-01 -4.07762169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.71864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:87.28, Y:3.11, Z:-40.77 [[ 9.94155267e-01 -9.43699087e-02 5.24368667e-02 8.72816010e+01] [ 9.52794984e-02 9.95335715e-01 -1.51205584e-02 3.11344829e+00] [-5.07653605e-02 2.00283412e-02 9.98509761e-01 -4.07746809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.74864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:87.31, Y:3.16, Z:-40.76 [[ 9.90069090e-01 -9.09692735e-02 1.07181103e-01 8.73079752e+01] [ 9.75717619e-02 9.93534156e-01 -5.80485270e-02 3.16062029e+00] [-1.01207454e-01 6.79299013e-02 9.92543490e-01 -4.07637930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.77864 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:87.35, Y:3.01, Z:-40.82 [[ 9.97154847e-01 -5.94946846e-02 4.62881674e-02 8.73542437e+01] [ 5.23673007e-02 9.88432999e-01 1.42330152e-01 3.00524073e+00] [-5.42206396e-02 -1.39501214e-01 9.88736332e-01 -4.08164100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.37, Y:3.18, Z:-40.76 [[ 9.94025400e-01 -9.10728412e-02 6.01601264e-02 8.73692083e+01] [ 9.51137874e-02 9.93132971e-01 -6.81195262e-02 3.17788080e+00] [-5.35431663e-02 7.34345968e-02 9.95861682e-01 -4.07617324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.40, Y:3.11, Z:-40.79 [[ 9.93793446e-01 -9.53938250e-02 5.72241708e-02 8.74036213e+01] [ 9.40541356e-02 9.95236067e-01 2.56708251e-02 3.10784887e+00] [-5.94003969e-02 -2.01293278e-02 9.98031264e-01 -4.07909880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.86864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:87.43, Y:3.11, Z:-40.79 [[ 9.93255152e-01 -9.74461641e-02 6.28366852e-02 8.74324943e+01] [ 9.59543844e-02 9.95037064e-01 2.63438211e-02 3.11289412e+00] [-6.50919351e-02 -2.01366806e-02 9.97676077e-01 -4.07894904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.89864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:87.46, Y:3.17, Z:-40.77 [[ 9.93252911e-01 -9.69943626e-02 6.35668812e-02 8.74559985e+01] [ 9.94282204e-02 9.94382144e-01 -3.63067551e-02 3.17318213e+00] [-5.96882211e-02 4.23821320e-02 9.97316936e-01 -4.07742550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.92864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.49, Y:3.19, Z:-40.78 [[ 9.88252178e-01 -9.80464249e-02 1.17237076e-01 8.74854049e+01] [ 1.03807214e-01 9.93620554e-01 -4.40710572e-02 3.19044588e+00] [-1.12168158e-01 5.57233724e-02 9.92125602e-01 -4.07752778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:87.52, Y:3.15, Z:-40.80 [[ 9.88368840e-01 -1.05042723e-01 1.09968463e-01 8.75223867e+01] [ 1.04294437e-01 9.94467270e-01 1.25506765e-02 3.14580055e+00] [-1.10678395e-01 -9.35598589e-04 9.93855833e-01 -4.07950008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.98863999999999 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:87.56, Y:3.15, Z:-40.80 [[ 9.87930610e-01 -1.08967588e-01 1.10087120e-01 8.75554821e+01] [ 1.08248242e-01 9.94045206e-01 1.25078799e-02 3.15049278e+00] [-1.10794527e-01 -4.40180278e-04 9.93843237e-01 -4.07990112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.01863999999999 meters Centerline goodness : 0.716525 Centerline is valid? [True, False] Translation: X:87.57, Y:3.17, Z:-40.80 [[ 9.89681636e-01 -9.89693663e-02 1.03611412e-01 8.75665707e+01] [ 9.97994621e-02 9.95003503e-01 -2.84552373e-03 3.16690832e+00] [-1.02812098e-01 1.31565258e-02 9.94613783e-01 -4.07982314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.04863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:87.58, Y:3.18, Z:-40.80 [[ 9.91546547e-01 -8.60720814e-02 9.70929517e-02 8.75757599e+01] [ 8.76637921e-02 9.96074909e-01 -1.22407418e-02 3.17810387e+00] [-9.56582668e-02 2.06488016e-02 9.95200042e-01 -4.07996142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.07864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:87.61, Y:3.16, Z:-40.81 [[ 9.91730490e-01 -8.90048072e-02 9.24596150e-02 8.76097448e+01] [ 8.86524606e-02 9.96031137e-01 7.91925439e-03 3.16347821e+00] [-9.27975072e-02 3.43006335e-04 9.95684943e-01 -4.08076564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.10864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:87.64, Y:3.03, Z:-40.84 [[ 9.94327834e-01 -1.05079281e-01 1.64469802e-02 8.76426624e+01] [ 1.01329237e-01 9.82903941e-01 1.53727776e-01 3.02797001e+00] [-3.23194058e-02 -1.51189246e-01 9.87976350e-01 -4.08383565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.13864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:87.66, Y:3.16, Z:-40.81 [[ 9.94593988e-01 -1.00570054e-01 2.58546580e-02 8.76619523e+01] [ 1.00339057e-01 9.94902189e-01 1.00850079e-02 3.16225968e+00] [-2.67371057e-02 -7.43625627e-03 9.99614840e-01 -4.08106861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.16864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:87.69, Y:3.31, Z:-40.76 [[ 9.90483396e-01 -7.87213812e-02 1.12896351e-01 8.76923171e+01] [ 9.47904455e-02 9.84899135e-01 -1.44873967e-01 3.31026559e+00] [-9.97868394e-02 1.54196754e-01 9.82988274e-01 -4.07599062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.19864 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:87.74, Y:3.12, Z:-40.84 [[ 9.96648034e-01 -6.16041628e-02 5.38295861e-02 8.77366991e+01] [ 5.60882054e-02 9.93547353e-01 9.85787491e-02 3.11578630e+00] [-5.95551041e-02 -9.52291115e-02 9.93672283e-01 -4.08420766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.76, Y:3.26, Z:-40.79 [[ 9.90117261e-01 -8.87345522e-02 1.08600130e-01 8.77556287e+01] [ 9.81476063e-02 9.91566365e-01 -8.46356425e-02 3.26323164e+00] [-1.00174131e-01 9.44580534e-02 9.90476057e-01 -4.07870340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.25864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:87.79, Y:3.12, Z:-40.83 [[ 9.93028188e-01 -1.11159318e-01 3.92252924e-02 8.77900020e+01] [ 1.08247920e-01 9.91667112e-01 6.98478833e-02 3.12152355e+00] [-4.66626755e-02 -6.51148607e-02 9.96786160e-01 -4.08304407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.82, Y:3.24, Z:-40.80 [[ 9.89267968e-01 -9.99818256e-02 1.06548219e-01 8.78192110e+01] [ 1.06327560e-01 9.92773857e-01 -5.56283948e-02 3.23966058e+00] [-1.00216457e-01 6.63604011e-02 9.92750200e-01 -4.08019780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:87.85, Y:3.18, Z:-40.82 [[ 9.88532923e-01 -1.11293434e-01 1.02060923e-01 8.78549574e+01] [ 1.11019163e-01 9.93782922e-01 8.38143251e-03 3.18186149e+00] [-1.02359200e-01 3.04539625e-03 9.94742841e-01 -4.08236279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.34863999999999 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:87.88, Y:3.13, Z:-40.84 [[ 9.91316006e-01 -1.22178414e-01 4.86313782e-02 8.78824349e+01] [ 1.18932714e-01 9.90783927e-01 6.48245244e-02 3.12549187e+00] [-5.61033455e-02 -5.84777268e-02 9.96710976e-01 -4.08350139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.37863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.91, Y:3.13, Z:-40.84 [[ 9.90755930e-01 -1.23439542e-01 5.62615962e-02 8.79136822e+01] [ 1.20082689e-01 9.90973765e-01 5.95914795e-02 3.13037977e+00] [-6.31097108e-02 -5.22845679e-02 9.96636086e-01 -4.08372013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:87.94, Y:3.27, Z:-40.80 [[ 0.98730344 -0.10846429 0.11604916 87.94318083] [ 0.12010989 0.98785603 -0.09855998 3.26975093] [ -0.10394962 0.11124726 0.9883413 -40.79706557] [ 0. 0. 0. 1. ]] SLAMing on 107.43863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:87.98, Y:3.10, Z:-40.84 [[ 9.90451732e-01 -1.25964976e-01 5.60195553e-02 8.79810948e+01] [ 1.20822442e-01 9.88830045e-01 8.72758864e-02 3.10042814e+00] [-6.63875243e-02 -7.96741334e-02 9.94607827e-01 -4.08444217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.46864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.01, Y:3.15, Z:-40.83 [[ 9.89753839e-01 -1.23808699e-01 7.11248537e-02 8.80075243e+01] [ 1.22414666e-01 9.92197171e-01 2.36521472e-02 3.15008607e+00] [-7.34982202e-02 -1.47030782e-02 9.97186959e-01 -4.08349223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:88.03, Y:3.20, Z:-40.82 [[ 9.90374639e-01 -1.19237791e-01 7.02881476e-02 8.80349897e+01] [ 1.21923407e-01 9.91914098e-01 -3.52293217e-02 3.19760733e+00] [-6.55191380e-02 4.34599971e-02 9.96904444e-01 -4.08193599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:88.07, Y:3.11, Z:-40.84 [[ 9.89427729e-01 -1.27600089e-01 6.89273932e-02 8.80704088e+01] [ 1.23482569e-01 9.90468172e-01 6.10315901e-02 3.11049252e+00] [-7.60580255e-02 -5.18750160e-02 9.95753061e-01 -4.08441768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:88.10, Y:3.16, Z:-40.83 [[ 9.90622030e-01 -1.17441909e-01 6.98240075e-02 8.81002400e+01] [ 1.18186403e-01 9.92969398e-01 -6.61423733e-03 3.16280673e+00] [-6.85563140e-02 1.48044575e-02 9.97537398e-01 -4.08316967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.13, Y:3.13, Z:-40.84 [[ 9.90009329e-01 -1.21598513e-01 7.13815852e-02 8.81289402e+01] [ 1.20182608e-01 9.92465937e-01 2.38223709e-02 3.13321787e+00] [-7.37405567e-02 -1.50055443e-02 9.97164562e-01 -4.08404902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.61864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:88.16, Y:3.24, Z:-40.81 [[ 0.9861123 -0.10142364 0.1315134 88.15769453] [ 0.11551664 0.98780765 -0.10436449 3.24060566] [ -0.11932492 0.1181071 0.9858054 -40.81326401] [ 0. 0. 0. 1. ]] SLAMing on 107.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:88.20, Y:3.14, Z:-40.85 [[ 9.85961090e-01 -1.11254998e-01 1.24511264e-01 8.81952749e+01] [ 1.10923802e-01 9.93782438e-01 9.61125914e-03 3.13783848e+00] [-1.24806408e-01 4.33493522e-03 9.92171643e-01 -4.08459524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.67864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:88.23, Y:3.06, Z:-40.86 [[ 9.90801696e-01 -1.18832345e-01 6.47369545e-02 8.82269912e+01] [ 1.12594459e-01 9.89305178e-01 9.27240687e-02 3.05560406e+00] [-7.50632229e-02 -8.45821421e-02 9.93585112e-01 -4.08555264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.25, Y:3.20, Z:-40.83 [[ 9.86437496e-01 -9.34868939e-02 1.34912075e-01 8.82533938e+01] [ 1.04016280e-01 9.91876831e-01 -7.32186131e-02 3.19942644e+00] [-1.26971180e-01 8.62586375e-02 9.88148656e-01 -4.08326112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.73863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.29, Y:3.12, Z:-40.85 [[ 9.86694253e-01 -9.88478068e-02 1.29087420e-01 8.82897197e+01] [ 9.84076208e-02 9.95097938e-01 9.79967554e-03 3.12406321e+00] [-1.29423302e-01 3.03390234e-03 9.91584794e-01 -4.08535722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.76863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.32, Y:3.13, Z:-40.86 [[ 9.86715153e-01 -9.86332024e-02 1.29091818e-01 8.83229530e+01] [ 9.81988058e-02 9.95119138e-01 9.74141981e-03 3.12670493e+00] [-1.29422566e-01 3.06465579e-03 9.91584796e-01 -4.08572764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.79863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:88.36, Y:3.05, Z:-40.86 [[ 9.93036698e-01 -9.76246447e-02 6.59359145e-02 8.83585819e+01] [ 9.15092262e-02 9.91715563e-01 9.01460112e-02 3.04631293e+00] [-7.41901449e-02 -8.34845528e-02 9.93743504e-01 -4.08646896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:88.38, Y:3.19, Z:-40.84 [[ 9.87062638e-01 -7.82026980e-02 1.39970304e-01 8.83797735e+01] [ 8.88788082e-02 9.93457390e-01 -7.17145164e-02 3.19389828e+00] [-1.33446265e-01 8.32271136e-02 9.87555235e-01 -4.08446270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.85864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:88.42, Y:3.08, Z:-40.87 [[ 9.92437870e-01 -8.72848718e-02 8.63042658e-02 8.84174255e+01] [ 8.27833722e-02 9.95079717e-01 5.44359184e-02 3.07913785e+00] [-9.06310565e-02 -4.68797087e-02 9.94780531e-01 -4.08685408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.88864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:88.45, Y:3.06, Z:-40.87 [[ 9.94247307e-01 -8.41790661e-02 6.62282241e-02 8.84488565e+01] [ 7.90496032e-02 9.93923760e-01 7.65945155e-02 3.05608773e+00] [-7.22734603e-02 -7.09185760e-02 9.94860343e-01 -4.08734513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:88.47, Y:3.19, Z:-40.85 [[ 9.92469524e-01 -6.46697425e-02 1.04029171e-01 8.84729004e+01] [ 7.20173373e-02 9.95048718e-01 -6.84949038e-02 3.18810585e+00] [-9.90845455e-02 7.54710085e-02 9.92212870e-01 -4.08547508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:88.51, Y:3.10, Z:-40.88 [[ 9.91804879e-01 -6.79554475e-02 1.08190288e-01 8.85056873e+01] [ 6.40715530e-02 9.97183616e-01 3.89829807e-02 3.09889002e+00] [-1.10534689e-01 -3.17315907e-02 9.93365587e-01 -4.08776993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.97864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:88.54, Y:3.14, Z:-40.87 [[ 9.92666251e-01 -6.70352344e-02 1.00598164e-01 8.85360880e+01] [ 6.83939461e-02 9.97607116e-01 -1.01148488e-02 3.14154413e+00] [-9.96793927e-02 1.69209744e-02 9.94875721e-01 -4.08687163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.00864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:88.57, Y:3.13, Z:-40.88 [[ 9.92458177e-01 -6.73652465e-02 1.02414305e-01 8.85674219e+01] [ 6.70759480e-02 9.97728172e-01 6.26993620e-03 3.12953390e+00] [-1.02604013e-01 6.46887164e-04 9.94722071e-01 -4.08752606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.03864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:88.60, Y:3.14, Z:-40.88 [[ 9.92293275e-01 -6.52747751e-02 1.05324543e-01 8.85994119e+01] [ 6.54592678e-02 9.97853780e-01 1.70795789e-03 3.13722745e+00] [-1.05209980e-01 5.19967231e-03 9.94436435e-01 -4.08785320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:88.63, Y:3.14, Z:-40.88 [[ 9.91969232e-01 -6.57320802e-02 1.08057101e-01 8.86299728e+01] [ 6.59047321e-02 9.97823962e-01 1.97653098e-03 3.14050300e+00] [-1.07951886e-01 5.16081637e-03 9.94142724e-01 -4.08822357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.09863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:88.66, Y:3.14, Z:-40.89 [[ 9.91957057e-01 -6.91511976e-02 1.06015607e-01 8.86617910e+01] [ 6.89004175e-02 9.97605314e-01 6.03068673e-03 3.13885722e+00] [-1.06178762e-01 1.32233729e-03 9.94346178e-01 -4.08861172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.12863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:88.69, Y:3.14, Z:-40.89 [[ 9.91466874e-01 -7.35374936e-02 1.07636768e-01 8.86925043e+01] [ 7.29056902e-02 9.97290704e-01 9.79852978e-03 3.13724577e+00] [-1.08065708e-01 -1.86758481e-03 9.94141999e-01 -4.08901567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.15863999999999 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:88.72, Y:3.15, Z:-40.89 [[ 9.90704467e-01 -7.91760365e-02 1.10615619e-01 8.87216215e+01] [ 7.97821829e-02 9.96811760e-01 -1.05736032e-03 3.14837241e+00] [-1.10179232e-01 9.87268710e-03 9.93862700e-01 -4.08915934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.18863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:88.75, Y:3.13, Z:-40.90 [[ 9.90795426e-01 -8.41470113e-02 1.06036332e-01 8.87531010e+01] [ 8.29927862e-02 9.96433319e-01 1.52590406e-02 3.13488433e+00] [-1.06942137e-01 -6.31833696e-03 9.94245170e-01 -4.08986453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.21864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:88.78, Y:3.14, Z:-40.90 [[ 9.90716902e-01 -8.69753311e-02 1.04476367e-01 8.87824662e+01] [ 8.65300739e-02 9.96210412e-01 8.79551685e-03 3.14039788e+00] [-1.04845437e-01 3.26480521e-04 9.94488475e-01 -4.09011567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.24864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:88.82, Y:3.06, Z:-40.91 [[ 9.89538122e-01 -1.01429602e-01 1.02597959e-01 8.88178312e+01] [ 9.20710701e-02 9.91476758e-01 9.21778538e-02 3.06338166e+00] [-1.11073054e-01 -8.17671965e-02 9.90442781e-01 -4.09127989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.27864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:88.84, Y:3.22, Z:-40.89 [[ 9.89085724e-01 -8.11601879e-02 1.22973391e-01 8.88409157e+01] [ 9.22378068e-02 9.91908351e-01 -8.72353736e-02 3.22172094e+00] [-1.14898294e-01 9.76260585e-02 9.88568427e-01 -4.08886412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.30864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:88.88, Y:3.11, Z:-40.91 [[ 9.88988926e-01 -9.89207124e-02 1.10070873e-01 8.88770781e+01] [ 9.57112693e-02 9.94825490e-01 3.40822294e-02 3.11196004e+00] [-1.12872749e-01 -2.31719245e-02 9.93339219e-01 -4.09122094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:88.91, Y:3.08, Z:-40.92 [[ 9.88322094e-01 -1.08152881e-01 1.07342408e-01 8.89054978e+01] [ 1.01067302e-01 9.92455838e-01 6.94032371e-02 3.07893093e+00] [-1.14038759e-01 -5.77439451e-02 9.91796752e-01 -4.09201143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.36864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:88.93, Y:3.21, Z:-40.90 [[ 9.88668439e-01 -8.72802738e-02 1.22134647e-01 8.89309758e+01] [ 9.67692379e-02 9.92549215e-01 -7.40389752e-02 3.20504926e+00] [-1.14762506e-01 8.50188746e-02 9.89748129e-01 -4.09035478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.39864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:88.97, Y:3.12, Z:-40.92 [[ 9.87947142e-01 -1.01481709e-01 1.16884166e-01 8.89653055e+01] [ 1.00559482e-01 9.94835674e-01 1.37757878e-02 3.12113880e+00] [-1.17678529e-01 -1.85593896e-03 9.93050008e-01 -4.09225819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.42864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:89.00, Y:3.13, Z:-40.93 [[ 9.87638894e-01 -9.89081455e-02 1.21600138e-01 8.89967099e+01] [ 9.90991402e-02 9.95067430e-01 4.49102268e-03 3.12735033e+00] [-1.21444536e-01 7.61496045e-03 9.92569009e-01 -4.09250613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45864 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:89.03, Y:3.11, Z:-40.93 [[ 9.87643968e-01 -1.01231246e-01 1.19631213e-01 8.90290734e+01] [ 9.96322823e-02 9.94837371e-01 1.92876407e-02 3.10770674e+00] [-1.20966113e-01 -7.13019121e-03 9.92631029e-01 -4.09304486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.48863999999999 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:89.06, Y:3.12, Z:-40.93 [[ 9.87533868e-01 -9.86675279e-02 1.22644114e-01 8.90595300e+01] [ 9.90420795e-02 9.95078560e-01 3.05382549e-03 3.12182630e+00] [-1.22341842e-01 9.13117196e-03 9.92446016e-01 -4.09325707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.51863999999999 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:89.09, Y:3.11, Z:-40.94 [[ 9.87251829e-01 -1.00296675e-01 1.23589653e-01 8.90908467e+01] [ 9.95740644e-02 9.94957481e-01 1.20256792e-02 3.11379499e+00] [-1.24172586e-01 4.33950313e-04 9.92260541e-01 -4.09390490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.54863999999999 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:89.12, Y:3.12, Z:-40.94 [[ 9.87676288e-01 -9.45570212e-02 1.24717761e-01 8.91215443e+01] [ 9.51374224e-02 9.95463290e-01 1.30748957e-03 3.12148883e+00] [-1.24275585e-01 1.05739499e-02 9.92191398e-01 -4.09417460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.57864 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:89.15, Y:3.08, Z:-40.95 [[ 9.86840557e-01 -9.74779615e-02 1.29010702e-01 8.91506092e+01] [ 9.25958512e-02 9.94760581e-01 4.33289037e-02 3.08491553e+00] [-1.32558374e-01 -3.08128637e-02 9.90696142e-01 -4.09520324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.60864 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:89.18, Y:3.16, Z:-40.95 [[ 9.87301680e-01 -8.64864666e-02 1.33249706e-01 8.91780869e+01] [ 9.27571227e-02 9.94820112e-01 -4.15819804e-02 3.15649670e+00] [-1.28963209e-01 5.34138184e-02 9.90209803e-01 -4.09457376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.63864 meters Centerline goodness : 0.996899 Centerline is valid? [True, True] Translation: X:89.21, Y:3.02, Z:-40.96 [[ 0.9858304 -0.10980616 0.12681103 89.21295587] [ 0.09610783 0.98932747 0.10951911 3.02212369] [ -0.13748351 -0.09577973 0.98586233 -40.95981954] [ 0. 0. 0. 1. ]] SLAMing on 108.66864 meters Centerline goodness : 0.889676 Centerline is valid? [True, False] Translation: X:89.20, Y:3.06, Z:-40.96 [[ 9.87493540e-01 -9.40728554e-02 1.26518011e-01 8.92042373e+01] [ 8.69060017e-02 9.94345171e-01 6.10330038e-02 3.06410157e+00] [-1.31544122e-01 -4.92745225e-02 9.90084928e-01 -4.09580389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.69864 meters Centerline goodness : 0.996653 Centerline is valid? [False, True] Translation: X:89.22, Y:3.09, Z:-40.96 [[ 9.90074349e-01 -7.76598101e-02 1.17139823e-01 8.92182900e+01] [ 7.45451259e-02 9.96743521e-01 3.07469782e-02 3.08681966e+00] [-1.19146165e-01 -2.17095915e-02 9.92639353e-01 -4.09583468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.72864 meters Centerline goodness : 0.790982 Centerline is valid? [True, False] Translation: X:89.24, Y:3.10, Z:-40.96 [[ 9.91985765e-01 -6.74074453e-02 1.06866637e-01 8.92412679e+01] [ 6.63621493e-02 9.97706805e-01 1.33115393e-02 3.10051282e+00] [-1.07518868e-01 -6.11295772e-03 9.94184251e-01 -4.09615959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.75864 meters Centerline goodness : 0.996801 Centerline is valid? [False, True] Translation: X:89.25, Y:3.11, Z:-40.96 [[ 9.93085047e-01 -5.71454346e-02 1.02549929e-01 8.92452726e+01] [ 5.71950674e-02 9.98359994e-01 2.45879787e-03 3.10705024e+00] [-1.02522256e-01 3.42355473e-03 9.94724819e-01 -4.09625241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.78864 meters Centerline goodness : 0.984722 Centerline is valid? [True, True] Translation: X:89.31, Y:3.00, Z:-40.99 [[ 9.87246457e-01 -1.17127988e-01 1.07821460e-01 8.93051539e+01] [ 1.07387688e-01 9.89941011e-01 9.21123173e-02 3.00113681e+00] [-1.17525815e-01 -7.93588616e-02 9.89893860e-01 -4.09850160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81864 meters Centerline goodness : 0.996064 Centerline is valid? [True, True] Translation: X:89.30, Y:3.18, Z:-40.96 [[ 9.93175778e-01 -4.71746592e-02 1.06660325e-01 8.93033931e+01] [ 5.64831014e-02 9.94692267e-01 -8.60055463e-02 3.17516174e+00] [-1.02036918e-01 9.14431313e-02 9.90568837e-01 -4.09579398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.84863999999999 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:89.33, Y:3.17, Z:-40.96 [[ 9.87085481e-01 -5.35437143e-02 1.50981205e-01 8.93312619e+01] [ 6.71479450e-02 9.93986866e-01 -8.64942944e-02 3.16838885e+00] [-1.45442109e-01 9.55153398e-02 9.84745354e-01 -4.09608352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.87863999999999 meters Centerline goodness : 0.939954 Centerline is valid? [True, False] Translation: X:89.35, Y:3.14, Z:-40.97 [[ 9.89208418e-01 -5.25909799e-02 1.36751215e-01 8.93524649e+01] [ 6.03436514e-02 9.96760243e-01 -5.31757614e-02 3.13639164e+00] [-1.33511609e-01 6.08539784e-02 9.89177155e-01 -4.09670936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.90863999999999 meters Centerline goodness : 0.766813 Centerline is valid? [False, False] Translation: X:89.37, Y:3.12, Z:-40.97 [[ 9.90656113e-01 -4.59138995e-02 1.28422660e-01 8.93740174e+01] [ 5.08536198e-02 9.98076678e-01 -3.54521312e-02 3.11895262e+00] [-1.26547917e-01 4.16516276e-02 9.91085651e-01 -4.09704442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.93863999999999 meters Centerline goodness : 0.787852 Centerline is valid? [False, False] Translation: X:89.40, Y:3.11, Z:-40.97 [[ 9.91995346e-01 -3.25780910e-02 1.21999600e-01 8.93985483e+01] [ 3.61725263e-02 9.98970846e-01 -2.73641441e-02 3.11038383e+00] [-1.20982572e-01 3.15581373e-02 9.92152862e-01 -4.09712438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.96864 meters Centerline goodness : 0.985982 Centerline is valid? [False, True] Translation: X:89.42, Y:3.10, Z:-40.97 [[ 9.92913357e-01 -2.18570579e-02 1.16813245e-01 8.94219436e+01] [ 2.47625173e-02 9.99417598e-01 -2.34794081e-02 3.10475849e+00] [-1.16232022e-01 2.62056079e-02 9.92876318e-01 -4.09711846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.99864 meters Centerline goodness : 0.825911 Centerline is valid? [True, False] Translation: X:89.43, Y:3.10, Z:-40.97 [[ 9.93146343e-01 -1.74019345e-02 1.15574710e-01 8.94258622e+01] [ 1.94591540e-02 9.99671247e-01 -1.66954701e-02 3.09725845e+00] [-1.15246181e-01 1.88300311e-02 9.93158471e-01 -4.09747701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.02864 meters Centerline goodness : 0.994138 Centerline is valid? [False, True] Translation: X:89.43, Y:3.09, Z:-40.98 [[ 9.93224920e-01 -1.39136275e-02 1.15371875e-01 8.94262656e+01] [ 1.53134439e-02 9.99819389e-01 -1.12555993e-02 3.09179374e+00] [-1.15194431e-01 1.29460824e-02 9.93258598e-01 -4.09753361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.05864 meters Centerline goodness : 0.995471 Centerline is valid? [True, True] Translation: X:89.45, Y:3.13, Z:-40.98 [[ 9.85709745e-01 -4.25794099e-03 1.68398838e-01 8.94549607e+01] [ 1.43974064e-02 9.98152026e-01 -5.90359857e-02 3.13333062e+00] [-1.67836270e-01 6.06168529e-02 9.83949482e-01 -4.09788891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.08864 meters Centerline goodness : 0.995520 Centerline is valid? [True, True] Translation: X:89.49, Y:3.08, Z:-40.99 [[ 9.85708335e-01 -1.08631376e-02 1.68110291e-01 8.94885227e+01] [ 1.04165779e-02 9.99939487e-01 3.53799033e-03 3.07791292e+00] [-1.68138552e-01 -1.73629262e-03 9.85761844e-01 -4.09871956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.11864 meters Centerline goodness : 0.818477 Centerline is valid? [True, False] Translation: X:89.52, Y:3.09, Z:-40.99 [[ 9.88936352e-01 -6.59188302e-03 1.48193921e-01 8.95177645e+01] [ 8.08711003e-03 9.99922272e-01 -9.48936662e-03 3.08736453e+00] [-1.48119850e-01 1.05828402e-02 9.88912794e-01 -4.09908420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.14864 meters Centerline goodness : 0.995372 Centerline is valid? [False, True] Translation: X:89.54, Y:3.09, Z:-40.99 [[ 9.90327047e-01 -3.49139823e-03 1.38708869e-01 8.95447712e+01] [ 5.32982709e-03 9.99902785e-01 -1.28846347e-02 3.09041213e+00] [-1.38650399e-01 1.34992965e-02 9.90249381e-01 -4.09948469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.17864 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:89.57, Y:3.12, Z:-41.00 [[ 9.87816152e-01 -1.54514770e-02 1.54856393e-01 8.95666103e+01] [ 2.39449540e-02 9.98300313e-01 -5.31330855e-02 3.12089066e+00] [-1.53772201e-01 5.61937493e-02 9.86507158e-01 -4.10042615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20864 meters Centerline goodness : 0.988542 Centerline is valid? [True, True] Translation: X:89.57, Y:3.12, Z:-41.02 [[ 9.89773919e-01 -2.30055556e-02 1.40777600e-01 8.95665002e+01] [ 3.20481296e-02 9.97542377e-01 -6.23066894e-02 3.12166215e+00] [-1.38998222e-01 6.61811950e-02 9.88078713e-01 -4.10189456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.23863999999999 meters Centerline goodness : 0.982227 Centerline is valid? [True, True] Translation: X:89.59, Y:3.07, Z:-41.03 [[ 9.89820836e-01 -2.80576016e-02 1.39525925e-01 8.95945396e+01] [ 2.80688445e-02 9.99604210e-01 1.88760327e-03 3.06635572e+00] [-1.39523664e-01 2.04794245e-03 9.90216619e-01 -4.10292203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.26863999999999 meters Centerline goodness : 0.890899 Centerline is valid? [True, False] Translation: X:89.62, Y:3.07, Z:-41.03 [[ 9.92527749e-01 -2.28873775e-02 1.19853394e-01 8.96212945e+01] [ 2.34908516e-02 9.99717481e-01 -3.62451695e-03 3.07197272e+00] [-1.19736577e-01 6.41289193e-03 9.92784985e-01 -4.10319426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.29863999999999 meters Centerline goodness : 0.949677 Centerline is valid? [False, False] Translation: X:89.65, Y:3.08, Z:-41.03 [[ 9.94721295e-01 -1.77514843e-02 1.01066468e-01 8.96510915e+01] [ 1.84073801e-02 9.99815106e-01 -5.56080402e-03 3.07624918e+00] [-1.00949069e-01 7.39181908e-03 9.94864135e-01 -4.10347150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.32864 meters Centerline goodness : 0.990939 Centerline is valid? [False, True] Translation: X:89.68, Y:3.08, Z:-41.04 [[ 9.96658458e-01 -1.10584437e-02 8.09297743e-02 8.96792239e+01] [ 1.19608102e-02 9.99871497e-01 -1.06736986e-02 3.08191449e+00] [-8.08013401e-02 1.16060177e-02 9.96662653e-01 -4.10368353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.35864 meters Centerline goodness : 0.993797 Centerline is valid? [True, True] Translation: X:89.71, Y:3.15, Z:-41.04 [[ 9.89256923e-01 9.29199860e-03 1.45891740e-01 8.97125538e+01] [ 2.69813804e-03 9.96647333e-01 -8.17729458e-02 3.15269391e+00] [-1.46162448e-01 8.12880888e-02 9.85915202e-01 -4.10400239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.38864 meters Centerline goodness : 0.993397 Centerline is valid? [True, True] Translation: X:89.75, Y:2.99, Z:-41.04 [[ 9.96750519e-01 -1.13422646e-02 7.97480817e-02 8.97467065e+01] [ 3.03534350e-03 9.94622390e-01 1.03523369e-01 2.98912711e+00] [-8.04934170e-02 -1.02944909e-01 9.91424811e-01 -4.10447834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.41864 meters Centerline goodness : 0.992500 Centerline is valid? [True, True] Translation: X:89.77, Y:3.17, Z:-41.04 [[ 9.88794994e-01 1.18836980e-02 1.48806038e-01 8.97742840e+01] [ 2.27565368e-03 9.95510559e-01 -9.46231890e-02 3.16981528e+00] [-1.49262455e-01 9.39015667e-02 9.84328815e-01 -4.10432901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.44864 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:89.81, Y:3.09, Z:-41.06 [[ 9.89132801e-01 -2.79565071e-04 1.47024570e-01 8.98081052e+01] [-2.78028077e-04 9.99992848e-01 3.77195295e-03 3.08630937e+00] [-1.47024573e-01 -3.77183935e-03 9.89125648e-01 -4.10551336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.47864 meters Centerline goodness : 0.990747 Centerline is valid? [True, True] Translation: X:89.82, Y:3.00, Z:-41.05 [[ 9.95562182e-01 -3.52546508e-02 8.72527997e-02 8.98239556e+01] [ 2.71969677e-02 9.95399251e-01 9.18730460e-02 3.00099880e+00] [-9.00903236e-02 -8.90923186e-02 9.91940670e-01 -4.10525237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.50864 meters Centerline goodness : 0.993653 Centerline is valid? [True, True] Translation: X:89.86, Y:3.01, Z:-41.06 [[ 9.95110906e-01 -1.86020362e-02 9.69961309e-02 8.98649542e+01] [ 8.95104915e-03 9.95047174e-01 9.89999994e-02 3.00593665e+00] [-9.83573276e-02 -9.76477620e-02 9.90348803e-01 -4.10566858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.53864 meters Centerline goodness : 0.992462 Centerline is valid? [True, True] Translation: X:89.90, Y:3.15, Z:-41.06 [[ 9.95037738e-01 7.29365458e-04 9.94955690e-02 8.98953298e+01] [ 5.51859811e-03 9.98029286e-01 -6.25067179e-02 3.15190867e+00] [-9.93450819e-02 6.27456193e-02 9.93072778e-01 -4.10566003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56864 meters Centerline goodness : 0.993748 Centerline is valid? [True, True] Translation: X:89.92, Y:3.16, Z:-41.06 [[ 9.87641734e-01 -3.20522376e-03 1.56695668e-01 8.99248289e+01] [ 1.39339436e-02 9.97627508e-01 -6.74181038e-02 3.15713705e+00] [-1.56107819e-01 6.87683216e-02 9.85343223e-01 -4.10610974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.59863999999999 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:89.96, Y:3.04, Z:-41.07 [[ 9.94338397e-01 -2.19344379e-02 1.03971310e-01 8.99569198e+01] [ 1.57416879e-02 9.98073472e-01 6.00128625e-02 3.04132080e+00] [-1.05087355e-01 -5.80364096e-02 9.92768061e-01 -4.10699170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.62863999999999 meters Centerline goodness : 0.929305 Centerline is valid? [True, False] Translation: X:89.98, Y:3.07, Z:-41.07 [[ 9.95560377e-01 -2.02442944e-02 9.19222756e-02 8.99792042e+01] [ 1.74556098e-02 9.99365684e-01 3.10407865e-02 3.06720838e+00] [-9.24923667e-02 -2.92984177e-02 9.95282254e-01 -4.10712273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.65863999999999 meters Centerline goodness : 0.987680 Centerline is valid? [False, True] Translation: X:89.99, Y:3.08, Z:-41.07 [[ 9.96414080e-01 -1.45534963e-02 8.33497291e-02 8.99872253e+01] [ 1.34473785e-02 9.99814114e-01 1.38168867e-02 3.08369273e+00] [-8.35353195e-02 -1.26465051e-02 9.96424566e-01 -4.10725826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.68863999999999 meters Centerline goodness : 0.987680 Centerline is valid? [True, True] Translation: X:90.02, Y:3.10, Z:-41.07 [[ 9.96232474e-01 -1.18869429e-02 8.59043508e-02 9.00166556e+01] [ 1.19125675e-02 9.99929020e-01 2.14338273e-04 3.09533143e+00] [-8.59008011e-02 8.09810630e-04 9.96303366e-01 -4.10740802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.71864 meters Centerline goodness : 0.925480 Centerline is valid? [True, False] Translation: X:90.05, Y:3.10, Z:-41.08 [[ 9.97873276e-01 -7.63194068e-03 6.47354489e-02 9.00481356e+01] [ 7.87975915e-03 9.99962568e-01 -3.57371551e-03 3.09886387e+00] [-6.47057514e-02 4.07621495e-03 9.97896062e-01 -4.10763280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.74864 meters Centerline goodness : 0.994541 Centerline is valid? [False, True] Translation: X:90.08, Y:3.11, Z:-41.08 [[ 9.99030819e-01 -4.10147977e-03 4.38246586e-02 9.00771513e+01] [ 4.65133659e-03 9.99911651e-01 -1.24521494e-02 3.10581596e+00] [-4.37697145e-02 1.26439243e-02 9.98961633e-01 -4.10782960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.77864 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:90.09, Y:3.16, Z:-41.09 [[ 9.96276174e-01 -6.05898461e-02 6.13404870e-02 9.00880551e+01] [ 6.63111063e-02 9.93171026e-01 -9.59903644e-02 3.15797554e+00] [-5.51055530e-02 9.97004685e-02 9.93490410e-01 -4.10857714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.80864 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:90.13, Y:3.11, Z:-41.08 [[ 9.98603503e-01 -1.14969172e-03 5.28178121e-02 9.01321575e+01] [ 2.04889809e-03 9.99853837e-01 -1.69736894e-02 3.11199441e+00] [-5.27905776e-02 1.70582040e-02 9.98459900e-01 -4.10833266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.83864 meters Centerline goodness : 0.995129 Centerline is valid? [True, True] Translation: X:90.16, Y:3.09, Z:-41.09 [[ 9.98624050e-01 -1.85987461e-03 5.24075091e-02 9.01613407e+01] [ 1.51293063e-03 9.99976684e-01 6.65901380e-03 3.09121458e+00] [-5.24186721e-02 -6.57056240e-03 9.98603580e-01 -4.10853360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.86864 meters Centerline goodness : 0.969414 Centerline is valid? [True, True] Translation: X:90.17, Y:3.06, Z:-41.09 [[ 9.94291493e-01 -7.81865070e-02 7.26036923e-02 9.01664795e+01] [ 7.83914201e-02 9.96922657e-01 2.72463820e-05 3.06485549e+00] [-7.23823962e-02 5.66441570e-03 9.97360869e-01 -4.10948840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.89864 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:90.22, Y:3.09, Z:-41.09 [[ 9.97997980e-01 5.74653580e-03 6.29842050e-02 9.02186934e+01] [-6.55178965e-03 9.99899329e-01 1.25859418e-02 3.09052071e+00] [-6.29055387e-02 -1.29734037e-02 9.97935160e-01 -4.10858553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.92864 meters Centerline goodness : 0.996402 Centerline is valid? [True, True] Translation: X:90.25, Y:3.18, Z:-41.08 [[ 9.93643197e-01 1.90114628e-02 1.10958376e-01 9.02506940e+01] [-1.09822027e-02 9.97305740e-01 -7.25303516e-02 3.17518207e+00] [-1.12038333e-01 7.08507230e-02 9.91174852e-01 -4.10814365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95864 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:90.28, Y:3.11, Z:-41.09 [[ 9.93741958e-01 1.64036634e-02 1.10489094e-01 9.02833288e+01] [-1.66431781e-02 9.99860717e-01 1.24578562e-03 3.11366457e+00] [-1.10453269e-01 -3.07687910e-03 9.93876556e-01 -4.10908014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.98863999999999 meters Centerline goodness : 0.997000 Centerline is valid? [True, True] Translation: X:90.32, Y:3.12, Z:-41.09 [[ 9.93546738e-01 1.97063870e-02 1.11698425e-01 9.03165766e+01] [-1.99654470e-02 9.99799949e-01 1.20109122e-03 3.11812250e+00] [-1.11652411e-01 -3.42344924e-03 9.93741425e-01 -4.10930995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.01863999999999 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:90.35, Y:3.13, Z:-41.10 [[ 9.93475469e-01 2.47502130e-02 1.11327984e-01 9.03499105e+01] [-2.50326530e-02 9.99685984e-01 1.13974592e-03 3.12938275e+00] [-1.11264816e-01 -3.91914441e-03 9.93783065e-01 -4.10954621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.04863999999999 meters Centerline goodness : 0.867688 Centerline is valid? [True, False] Translation: X:90.35, Y:3.14, Z:-41.10 [[ 9.93478011e-01 2.50318343e-02 1.11242299e-01 9.03502022e+01] [-2.51507293e-02 9.99683614e-01 -3.34567427e-04 3.13580623e+00] [-1.11215479e-01 -2.46543958e-03 9.93793258e-01 -4.10958527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.07864 meters Centerline goodness : 0.972996 Centerline is valid? [False, True] Translation: X:90.35, Y:3.15, Z:-41.10 [[ 9.93569860e-01 2.51495420e-02 1.10392186e-01 9.03524891e+01] [-2.49783134e-02 9.99683688e-01 -2.93397120e-03 3.14632092e+00] [-1.10431055e-01 1.57694732e-04 9.93883774e-01 -4.10975523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.10864 meters Centerline goodness : 0.997044 Centerline is valid? [True, True] Translation: X:90.39, Y:3.25, Z:-41.07 [[ 9.86593471e-01 -2.54272852e-02 1.61204144e-01 9.03889861e+01] [ 4.87316655e-02 9.88622350e-01 -1.42306271e-01 3.25116116e+00] [-1.55751557e-01 1.48254184e-01 9.76607469e-01 -4.10674849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.13864 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:90.43, Y:2.98, Z:-41.09 [[ 9.93804550e-01 -6.75347572e-02 8.82698823e-02 9.04333720e+01] [ 5.18881748e-02 9.84272089e-01 1.68867023e-01 2.97669227e+00] [-9.82859749e-02 -1.63240653e-01 9.81678336e-01 -4.10942253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.16864 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:90.45, Y:3.27, Z:-41.07 [[ 9.85444431e-01 -3.09050947e-02 1.67165036e-01 9.04479346e+01] [ 5.48320592e-02 9.88564943e-01 -1.40473479e-01 3.26981817e+00] [-1.60912148e-01 1.47594811e-01 9.75870408e-01 -4.10699017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.19864 meters Centerline goodness : 0.997590 Centerline is valid? [True, True] Translation: X:90.49, Y:3.05, Z:-41.11 [[ 9.92838534e-01 -7.11503979e-02 9.59649260e-02 9.04897615e+01] [ 6.10622376e-02 9.92674919e-01 1.04249265e-01 3.05147523e+00] [-1.02679352e-01 -9.76428542e-02 9.89910513e-01 -4.11071443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.22864 meters Centerline goodness : 0.742941 Centerline is valid? [True, False] Translation: X:90.46, Y:3.11, Z:-41.10 [[ 9.92678274e-01 -6.48782796e-02 1.01885491e-01 9.04581692e+01] [ 5.99655816e-02 9.96918902e-01 5.05651307e-02 3.10523780e+00] [-1.04852150e-01 -4.40852839e-02 9.93510198e-01 -4.11016980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.25864 meters Centerline goodness : 0.996652 Centerline is valid? [False, True] Translation: X:90.45, Y:3.14, Z:-41.10 [[ 9.93592030e-01 -5.76307767e-02 9.72294799e-02 9.04536058e+01] [ 5.65508293e-02 9.98303944e-01 1.38289170e-02 3.13979875e+00] [-9.78615445e-02 -8.24189396e-03 9.95165910e-01 -4.10965466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.28864 meters Centerline goodness : 0.997043 Centerline is valid? [True, True] Translation: X:90.49, Y:3.11, Z:-41.10 [[ 9.97155156e-01 -6.44154252e-02 3.91439429e-02 9.04858101e+01] [ 6.21715532e-02 9.96489535e-01 5.60651819e-02 3.10578667e+00] [-4.26179920e-02 -5.34720455e-02 9.97659485e-01 -4.11034254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31864 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:90.51, Y:3.15, Z:-41.10 [[ 9.97141359e-01 -6.26989511e-02 4.21657647e-02 9.05128689e+01] [ 6.23259599e-02 9.98004698e-01 1.01042965e-02 3.15152672e+00] [-4.27151600e-02 -7.44739017e-03 9.99059534e-01 -4.11002772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.34863999999999 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:90.54, Y:3.17, Z:-41.10 [[ 9.96877500e-01 -6.13844254e-02 4.96709350e-02 9.05426159e+01] [ 6.16487835e-02 9.98090647e-01 -3.80633816e-03 3.16934475e+00] [-4.93424458e-02 6.85660559e-03 9.98758384e-01 -4.11000603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.37863999999999 meters Centerline goodness : 0.996363 Centerline is valid? [True, True] Translation: X:90.57, Y:3.17, Z:-41.10 [[ 9.96817736e-01 -6.16802043e-02 5.04970580e-02 9.05727341e+01] [ 6.16775266e-02 9.98094826e-01 1.61277283e-03 3.17195744e+00] [-5.05003285e-02 1.50689308e-03 9.98722908e-01 -4.11024426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.40863999999999 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:90.65, Y:3.18, Z:-41.13 [[ 9.97519164e-01 -6.19956864e-02 3.33474621e-02 9.06513359e+01] [ 6.16852982e-02 9.98042930e-01 1.02583353e-02 3.18331952e+00] [-3.39181713e-02 -8.17583788e-03 9.99391171e-01 -4.11263915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.43863999999999 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:90.63, Y:3.20, Z:-41.11 [[ 9.97192167e-01 -5.47235683e-02 5.11186169e-02 9.06328021e+01] [ 5.53120238e-02 9.98417347e-01 -1.01676664e-02 3.19830218e+00] [-5.04813029e-02 1.29665915e-02 9.98640829e-01 -4.11064401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.46864 meters Centerline goodness : 0.974002 Centerline is valid? [True, True] Translation: X:90.71, Y:3.18, Z:-41.14 [[ 9.96997442e-01 -7.13257713e-02 3.01452183e-02 9.07147887e+01] [ 7.06828010e-02 9.97258772e-01 2.18833809e-02 3.18080456e+00] [-3.16234325e-02 -1.96869263e-02 9.99305951e-01 -4.11396500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.49864 meters Centerline goodness : 0.840527 Centerline is valid? [True, False] Translation: X:90.71, Y:3.20, Z:-41.14 [[ 9.97471338e-01 -6.34229183e-02 3.20696672e-02 9.07094097e+01] [ 6.32512022e-02 9.97977487e-01 6.34192256e-03 3.19623040e+00] [-3.24070291e-02 -4.29744097e-03 9.99465515e-01 -4.11368886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.52864 meters Centerline goodness : 0.999016 Centerline is valid? [False, True] Translation: X:90.71, Y:3.21, Z:-41.14 [[ 9.98099781e-01 -5.56678421e-02 2.64181484e-02 9.07148960e+01] [ 5.59304917e-02 9.98391268e-01 -9.30890778e-03 3.21464125e+00] [-2.58574418e-02 1.07687988e-02 9.99607636e-01 -4.11350059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.55864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:90.74, Y:3.15, Z:-41.14 [[ 9.97666619e-01 -6.03588964e-02 3.19080043e-02 9.07441325e+01] [ 5.79762316e-02 9.95793230e-01 7.09549067e-02 3.14734881e+00] [-3.60565345e-02 -6.89394361e-02 9.96969047e-01 -4.11439130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.58864 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:90.82, Y:3.26, Z:-41.15 [[ 9.98302622e-01 -5.56940424e-02 1.70308357e-02 9.08190853e+01] [ 5.62894451e-02 9.97738008e-01 -3.67473260e-02 3.26229404e+00] [-1.49457050e-02 3.76436082e-02 9.99179456e-01 -4.11548849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.61864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.80, Y:3.21, Z:-41.14 [[ 9.94761109e-01 -6.76946387e-02 7.66013777e-02 9.08041566e+01] [ 6.81663074e-02 9.97667633e-01 -3.55661546e-03 3.21344358e+00] [-7.61819514e-02 8.75961580e-03 9.97055455e-01 -4.11448467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:90.84, Y:3.18, Z:-41.15 [[ 9.97149949e-01 -6.97942786e-02 2.86485355e-02 9.08374990e+01] [ 6.87339371e-02 9.96968405e-01 3.64643004e-02 3.17694408e+00] [-3.11066843e-02 -3.43912487e-02 9.98924229e-01 -4.11523048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.67864 meters Centerline goodness : 0.943447 Centerline is valid? [True, False] Translation: X:90.83, Y:3.20, Z:-41.15 [[ 9.97907015e-01 -5.81535797e-02 2.82798543e-02 9.08306686e+01] [ 5.78330967e-02 9.98253876e-01 1.20221082e-02 3.20100935e+00] [-2.89296028e-02 -1.03614346e-02 9.99527748e-01 -4.11502854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70864 meters Centerline goodness : 0.999754 Centerline is valid? [False, True] Translation: X:90.81, Y:3.21, Z:-41.15 [[ 9.98239341e-01 -4.79752943e-02 3.48796335e-02 9.08143365e+01] [ 4.81121994e-02 9.98837140e-01 -3.09591830e-03 3.21497247e+00] [-3.46905458e-02 4.76860332e-03 9.99386725e-01 -4.11465756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.73863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:90.85, Y:3.13, Z:-41.16 [[ 9.98074758e-01 -5.24554862e-02 3.30938080e-02 9.08457314e+01] [ 4.94959087e-02 9.95179119e-01 8.46680294e-02 3.13481502e+00] [-3.73755694e-02 -8.28670148e-02 9.95859490e-01 -4.11588767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.76863999999999 meters Centerline goodness : 0.987318 Centerline is valid? [True, True] Translation: X:90.89, Y:3.25, Z:-41.16 [[ 9.97420374e-01 2.89939752e-02 6.56654095e-02 9.08919509e+01] [-2.89983943e-02 9.99579065e-01 -8.86027553e-04 3.25000716e+00] [-6.56634581e-02 -1.02044950e-03 9.97841304e-01 -4.11620521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.79863999999999 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:90.90, Y:3.25, Z:-41.15 [[ 9.98261345e-01 -4.59491412e-02 3.69183412e-02 9.09003580e+01] [ 4.76175921e-02 9.97821400e-01 -4.56619945e-02 3.24993626e+00] [-3.47397815e-02 4.73405665e-02 9.98274521e-01 -4.11451204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.82864 meters Centerline goodness : 0.994348 Centerline is valid? [True, True] Translation: X:90.94, Y:3.18, Z:-41.17 [[ 9.98523181e-01 -1.00891318e-03 5.43179387e-02 9.09414330e+01] [-2.43132512e-03 9.97995900e-01 6.32318862e-02 3.17687175e+00] [-5.42728756e-02 -6.32705688e-02 9.96519588e-01 -4.11697353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.96, Y:3.26, Z:-41.15 [[ 9.98259474e-01 -4.31353610e-02 4.02164514e-02 9.09601645e+01] [ 4.54619760e-02 9.97230818e-01 -5.88549433e-02 3.26094543e+00] [-3.75663555e-02 6.05808241e-02 9.97456131e-01 -4.11461312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:90.99, Y:3.21, Z:-41.16 [[ 9.98126630e-01 -4.43745453e-02 4.21204204e-02 9.09914403e+01] [ 4.46124833e-02 9.98993191e-01 -4.72547573e-03 3.21363137e+00] [-4.18683223e-02 6.59571972e-03 9.99101366e-01 -4.11570162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.02, Y:3.19, Z:-41.16 [[ 9.98496148e-01 -4.35125881e-02 3.33481310e-02 9.10233421e+01] [ 4.27819235e-02 9.98835095e-01 2.23195184e-02 3.19016512e+00] [-3.42804636e-02 -2.08592559e-02 9.99194546e-01 -4.11617244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.94864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.05, Y:3.21, Z:-41.16 [[ 9.98504227e-01 -3.82001750e-02 3.91159174e-02 9.10528437e+01] [ 3.83479876e-02 9.99259836e-01 -3.03526197e-03 3.21409046e+00] [-3.89710176e-02 4.53073862e-03 9.99230070e-01 -4.11603058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:91.08, Y:3.27, Z:-41.16 [[ 9.94585731e-01 -3.01165394e-02 9.94596306e-02 9.10825140e+01] [ 3.64159152e-02 9.97402875e-01 -6.21400529e-02 3.27127562e+00] [-9.73298782e-02 6.54255235e-02 9.93099389e-01 -4.11552390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.00864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:91.12, Y:3.15, Z:-41.17 [[ 9.98633251e-01 -3.57646687e-02 3.81119089e-02 9.11175820e+01] [ 3.28075332e-02 9.96600120e-01 7.55768907e-02 3.14820099e+00] [-4.06853155e-02 -7.42232384e-02 9.96411369e-01 -4.11728876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.03864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:91.15, Y:3.21, Z:-41.17 [[ 9.98713635e-01 -2.75236593e-02 4.25854904e-02 9.11466833e+01] [ 2.70614329e-02 9.99568848e-01 1.13928582e-02 3.20979242e+00] [-4.28807027e-02 -1.02257785e-02 9.99027867e-01 -4.11669722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:91.18, Y:3.23, Z:-41.17 [[ 9.98418660e-01 -2.23311330e-02 5.15897330e-02 9.11756752e+01] [ 2.28404080e-02 9.99695837e-01 -9.30318564e-03 3.23338561e+00] [-5.13662907e-02 1.04668047e-02 9.98625030e-01 -4.11660296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.09863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.21, Y:3.24, Z:-41.17 [[ 9.98024271e-01 -2.02934505e-02 5.94620113e-02 9.12052124e+01] [ 2.13714537e-02 9.99617561e-01 -1.75496934e-02 3.24284159e+00] [-5.90831269e-02 1.87858095e-02 9.98076288e-01 -4.11669201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.12863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:91.23, Y:3.27, Z:-41.17 [[ 9.93894271e-01 -1.89430814e-02 1.08698381e-01 9.12340197e+01] [ 2.41452865e-02 9.98615035e-01 -4.67441744e-02 3.27332240e+00] [-1.07662359e-01 4.90833207e-02 9.92975148e-01 -4.11665519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.15863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.27, Y:3.23, Z:-41.18 [[ 9.93964985e-01 -2.31527123e-02 1.07226682e-01 9.12681676e+01] [ 2.27961425e-02 9.99729780e-01 4.55006742e-03 3.23082919e+00] [-1.07303054e-01 -2.07825298e-03 9.94224188e-01 -4.11779700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.18863999999999 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:91.30, Y:3.18, Z:-41.19 [[ 9.98137088e-01 -2.56257377e-02 5.53685313e-02 9.13016734e+01] [ 2.23479497e-02 9.98006111e-01 5.90285728e-02 3.18387191e+00] [-5.67707833e-02 -5.76812347e-02 9.96719596e-01 -4.11853933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.21864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:91.33, Y:3.24, Z:-41.18 [[ 9.97871142e-01 -1.98285186e-02 6.21290154e-02 9.13317948e+01] [ 2.00210026e-02 9.99796491e-01 -2.47706101e-03 3.24422608e+00] [-6.20672552e-02 3.71567288e-03 9.98065053e-01 -4.11783932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.24864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:91.36, Y:3.23, Z:-41.18 [[ 9.97925266e-01 -2.20596558e-02 6.04858278e-02 9.13633682e+01] [ 2.11893166e-02 9.99663054e-01 1.49930744e-02 3.23147035e+00] [-6.07961893e-02 -1.36803144e-02 9.98056447e-01 -4.11827460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.27864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:91.39, Y:3.26, Z:-41.18 [[ 9.97511108e-01 -1.85824525e-02 6.80167774e-02 9.13923711e+01] [ 1.94626874e-02 9.99734901e-01 -1.23016790e-02 3.26089017e+00] [-6.77701508e-02 1.35948507e-02 9.97608333e-01 -4.11808957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.30864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:91.42, Y:3.25, Z:-41.19 [[ 9.97487080e-01 -2.00748790e-02 6.79450137e-02 9.14234717e+01] [ 1.96440510e-02 9.99782510e-01 7.00310235e-03 3.24588663e+00] [-6.80708228e-02 -5.65078880e-03 9.97664489e-01 -4.11863211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.33864 meters Centerline goodness : 0.883003 Centerline is valid? [True, False] Translation: X:91.42, Y:3.26, Z:-41.18 [[ 9.97977944e-01 -1.58979624e-02 6.15408612e-02 9.14246778e+01] [ 1.66191920e-02 9.99798876e-01 -1.12254223e-02 3.26246261e+00] [-6.13500225e-02 1.22254833e-02 9.98041438e-01 -4.11821052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.36864 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:91.45, Y:3.28, Z:-41.18 [[ 9.99098754e-01 -1.15849985e-02 4.08346436e-02 9.14540081e+01] [ 1.24725103e-02 9.99690035e-01 -2.15469501e-02 3.27562802e+00] [-4.05723649e-02 2.20368415e-02 9.98933562e-01 -4.11800816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.39864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:91.49, Y:3.24, Z:-41.19 [[ 9.99112757e-01 -1.36190495e-02 3.98524785e-02 9.14878500e+01] [ 1.24844950e-02 9.99513526e-01 2.85805555e-02 3.23524068e+00] [-4.02223313e-02 -2.80576595e-02 9.98796742e-01 -4.11892215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.42864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:91.52, Y:3.32, Z:-41.18 [[ 9.98037526e-01 -4.19693393e-03 6.24778549e-02 9.15155891e+01] [ 7.67943971e-03 9.98423338e-01 -5.56045376e-02 3.31573088e+00] [-6.21459798e-02 5.59752100e-02 9.96496188e-01 -4.11759939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:91.55, Y:3.27, Z:-41.19 [[ 9.97976022e-01 -7.09456828e-03 6.31943561e-02 9.15475021e+01] [ 7.00950804e-03 9.99974204e-01 1.56761347e-03 3.26824027e+00] [-6.32038475e-02 -1.12147930e-03 9.98000008e-01 -4.11890745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.48863999999999 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:91.58, Y:3.27, Z:-41.19 [[ 9.97832815e-01 -4.57895275e-03 6.56407365e-02 9.15779585e+01] [ 4.64151490e-03 9.99988908e-01 -8.00629533e-04 3.27379455e+00] [-6.56363423e-02 1.10356688e-03 9.97843000e-01 -4.11914008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.51863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.61, Y:3.27, Z:-41.20 [[ 9.97893832e-01 -1.60805248e-03 6.48483870e-02 9.16086353e+01] [ 9.06149071e-04 9.99940708e-01 1.08517204e-02 3.26772045e+00] [-6.48619921e-02 -1.07701026e-02 9.97836122e-01 -4.11953624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.54863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:91.64, Y:3.28, Z:-41.20 [[ 9.97786251e-01 -5.58180555e-04 6.65002614e-02 9.16392345e+01] [ 5.39535819e-04 9.99999810e-01 2.98330050e-04 3.27942935e+00] [-6.65004153e-02 -2.61790350e-04 9.97786363e-01 -4.11954366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.57864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:91.67, Y:3.28, Z:-41.20 [[ 9.97652240e-01 -7.50755951e-04 6.84795130e-02 9.16700226e+01] [ 6.75326247e-04 9.99999140e-01 1.12463654e-03 3.27981021e+00] [-6.84802984e-02 -1.07575015e-03 9.97651889e-01 -4.11977075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.60864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:91.70, Y:3.25, Z:-41.20 [[ 9.98295344e-01 -3.73330228e-03 5.82449050e-02 9.16976679e+01] [ 1.53616801e-03 9.99287106e-01 3.77216076e-02 3.24997821e+00] [-5.83442087e-02 -3.75678313e-02 9.97589400e-01 -4.12035214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.63864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:91.72, Y:3.28, Z:-41.20 [[ 9.97289370e-01 -1.25898985e-03 7.35685268e-02 9.17234072e+01] [ 1.12184178e-03 9.99997555e-01 1.90551441e-03 3.28384789e+00] [-7.35707459e-02 -1.81781702e-03 9.97288344e-01 -4.12029345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:91.75, Y:3.38, Z:-41.18 [[ 9.91809153e-01 8.17360051e-03 1.27466842e-01 9.17533130e+01] [ 4.63694832e-03 9.94988514e-01 -9.98817121e-02 3.37590780e+00] [-1.27644437e-01 9.96546535e-02 9.86800815e-01 -4.11827967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.69864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.78, Y:3.14, Z:-41.22 [[ 9.97146475e-01 -2.13230804e-02 7.24170796e-02 9.17839064e+01] [ 9.75600213e-03 9.87634220e-01 1.56471937e-01 3.14242789e+00] [-7.48580496e-02 -1.55318940e-01 9.85024010e-01 -4.12227185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.72864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:91.81, Y:3.31, Z:-41.20 [[ 9.96915829e-01 -2.20611893e-03 7.84471925e-02 9.18144901e+01] [ 4.29603157e-03 9.99640053e-01 -2.64822357e-02 3.30882488e+00] [-7.83605327e-02 2.67375716e-02 9.96566470e-01 -4.12039489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.75864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:91.84, Y:3.33, Z:-41.20 [[ 9.96458111e-01 -6.28139340e-04 8.40882805e-02 9.18445859e+01] [ 4.78652068e-03 9.98774515e-01 -4.92601081e-02 3.33007280e+00] [-8.39542894e-02 4.94881245e-02 9.95239972e-01 -4.11984467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.78864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:91.87, Y:3.34, Z:-41.20 [[ 9.91231514e-01 7.34886357e-04 1.32134571e-01 9.18743250e+01] [ 6.32816757e-03 9.98573101e-01 -5.30256147e-02 3.33701193e+00] [-1.31984996e-01 5.33968301e-02 9.89812477e-01 -4.12032622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:91.91, Y:3.24, Z:-41.22 [[ 9.96305260e-01 -1.05269174e-02 8.52350418e-02 9.19080981e+01] [ 5.38574336e-03 9.98164298e-01 6.03243517e-02 3.23674990e+00] [-8.57136051e-02 -5.96424148e-02 9.94533036e-01 -4.12243105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.84863999999999 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:91.94, Y:3.23, Z:-41.23 [[ 9.96207875e-01 -1.05813834e-02 8.63591621e-02 9.19363055e+01] [ 4.33430382e-03 9.97380201e-01 7.22076800e-02 3.22842218e+00] [-8.68969756e-02 -7.15595525e-02 9.93643873e-01 -4.12277787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.87863999999999 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:91.97, Y:3.40, Z:-41.19 [[ 9.90305005e-01 1.24932830e-02 1.38347083e-01 9.19663982e+01] [ 4.51299980e-03 9.92527981e-01 -1.21933754e-01 3.40451203e+00] [-1.38836704e-01 1.21375967e-01 9.82849044e-01 -4.11916136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.90863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:92.00, Y:3.21, Z:-41.24 [[ 9.96665650e-01 -1.23296875e-02 8.06570589e-02 9.19977096e+01] [ 4.41288222e-03 9.95215455e-01 9.76049404e-02 3.21034938e+00] [-8.14745900e-02 -9.69235612e-02 9.91951468e-01 -4.12350165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.93863999999999 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:92.03, Y:3.32, Z:-41.22 [[ 9.95666125e-01 -4.27017942e-04 9.29988464e-02 9.20289213e+01] [ 2.00679237e-03 9.99855269e-01 -1.68941778e-02 3.31839021e+00] [-9.29781725e-02 1.70075899e-02 9.95522878e-01 -4.12180908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.96864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:92.06, Y:3.31, Z:-41.22 [[ 9.95596450e-01 -4.07572578e-03 9.36541316e-02 9.20577811e+01] [ 4.43768531e-03 9.99983467e-01 -3.65691656e-03 3.30840230e+00] [-9.36376786e-02 4.05642071e-03 9.95598077e-01 -4.12243786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.99864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:92.09, Y:3.36, Z:-41.22 [[ 9.91287286e-01 -1.25983211e-03 1.31711536e-01 9.20883340e+01] [ 9.64171028e-03 9.97965701e-01 -6.30198072e-02 3.36302421e+00] [-1.31364201e-01 6.37406581e-02 9.89282859e-01 -4.12207098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.02864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:92.12, Y:3.30, Z:-41.24 [[ 9.89448389e-01 -1.53008369e-02 1.44075567e-01 9.21196471e+01] [ 1.40578391e-02 9.99854699e-01 9.64151923e-03 3.30003764e+00] [-1.44202156e-01 -7.51439452e-03 9.89519718e-01 -4.12384187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.05864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:92.15, Y:3.23, Z:-41.25 [[ 9.96207634e-01 -2.65188916e-02 8.28679625e-02 9.21519501e+01] [ 1.94278365e-02 9.96171495e-01 8.52344461e-02 3.23172583e+00] [-8.48110252e-02 -8.33012606e-02 9.92908853e-01 -4.12504445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.08864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:92.18, Y:3.34, Z:-41.23 [[ 9.94921346e-01 -1.62468849e-02 9.93355605e-02 9.21820274e+01] [ 1.93437626e-02 9.99353879e-01 -3.02926252e-02 3.33765145e+00] [-9.87792169e-02 3.20603030e-02 9.94592783e-01 -4.12329059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.11864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:92.21, Y:3.35, Z:-41.24 [[ 9.90513254e-01 -1.51163601e-02 1.36583272e-01 9.22129008e+01] [ 2.15201860e-02 9.98731074e-01 -4.55315705e-02 3.35368776e+00] [-1.35721686e-01 4.80389215e-02 9.89581672e-01 -4.12386210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.14864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:92.24, Y:3.26, Z:-41.26 [[ 9.95311172e-01 -3.10915147e-02 9.15914244e-02 9.22432375e+01] [ 2.58060554e-02 9.97963367e-01 5.83366563e-02 3.26370111e+00] [-9.32186613e-02 -5.56995123e-02 9.94086438e-01 -4.12573786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.17864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:92.27, Y:3.32, Z:-41.25 [[ 9.95111486e-01 -2.55399471e-02 9.53983279e-02 9.22735054e+01] [ 2.54505235e-02 9.99673762e-01 2.15419624e-03 3.31632187e+00] [-9.54222233e-02 2.84271963e-04 9.95436848e-01 -4.12507446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:92.30, Y:3.31, Z:-41.26 [[ 9.94866148e-01 -2.84900183e-02 9.71064687e-02 9.23031257e+01] [ 2.78450373e-02 9.99580311e-01 7.99098500e-03 3.31208255e+00] [-9.72933775e-02 -5.24602722e-03 9.95241919e-01 -4.12554880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.23863999999999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:92.33, Y:3.32, Z:-41.25 [[ 9.94615507e-01 -3.07837390e-02 9.89563276e-02 9.23339990e+01] [ 3.10549309e-02 9.99516958e-01 -1.20100077e-03 3.32071708e+00] [-9.88715562e-02 4.26761590e-03 9.95091053e-01 -4.12548929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.26863999999999 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:92.36, Y:3.32, Z:-41.26 [[ 9.94377991e-01 -3.29889383e-02 1.00618792e-01 9.23644141e+01] [ 3.35149129e-02 9.99431945e-01 -3.54101791e-03 3.32352300e+00] [-1.00444821e-01 6.89334033e-03 9.94918750e-01 -4.12579130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.29863999999999 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:92.40, Y:3.31, Z:-41.26 [[ 9.94250603e-01 -3.73627910e-02 1.00348192e-01 9.23961806e+01] [ 3.70659518e-02 9.99301190e-01 4.82157718e-03 3.31495263e+00] [-1.00458215e-01 -1.07435478e-03 9.94940698e-01 -4.12638416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.32864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:92.43, Y:3.30, Z:-41.27 [[ 9.94340942e-01 -4.05468594e-02 9.81939082e-02 9.24280536e+01] [ 3.82888626e-02 9.98959606e-01 2.47723207e-02 3.29645298e+00] [-9.90961877e-02 -2.08723996e-02 9.94858929e-01 -4.12718112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.35864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:92.46, Y:3.38, Z:-41.26 [[ 9.86955406e-01 -3.33838092e-02 1.57494598e-01 9.24570872e+01] [ 4.41364727e-02 9.96890630e-01 -6.52766752e-02 3.37530114e+00] [-1.54825705e-01 7.13764235e-02 9.85360039e-01 -4.12590752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.38864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:92.49, Y:3.25, Z:-41.28 [[ 9.93874152e-01 -5.12732284e-02 9.79041693e-02 9.24873206e+01] [ 4.46567355e-02 9.96643077e-01 6.86174355e-02 3.25315192e+00] [-1.01093750e-01 -6.38250149e-02 9.92827488e-01 -4.12845598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.41864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:92.52, Y:3.30, Z:-41.28 [[ 9.94196257e-01 -4.44010270e-02 9.79915893e-02 9.25183134e+01] [ 4.32106727e-02 9.98964529e-01 1.42375681e-02 3.30051736e+00] [-9.85222845e-02 -9.92065443e-03 9.95085393e-01 -4.12797234e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.44864 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:92.55, Y:3.32, Z:-41.28 [[ 9.93626361e-01 -3.98222189e-02 1.05455422e-01 9.25496646e+01] [ 4.11434788e-02 9.99099303e-01 -1.03825292e-02 3.31769510e+00] [-1.04946983e-01 1.46551576e-02 9.94369829e-01 -4.12799434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.47864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:92.58, Y:3.29, Z:-41.29 [[ 9.93837731e-01 -4.31522025e-02 1.02100209e-01 9.25805867e+01] [ 4.18536436e-02 9.99013719e-01 1.48277087e-02 3.29301603e+00] [-1.02639358e-01 -1.04630706e-02 9.94663605e-01 -4.12872849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.50864 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:92.61, Y:3.30, Z:-41.29 [[ 9.93710866e-01 -3.84026199e-02 1.05185326e-01 9.26109394e+01] [ 3.86179362e-02 9.99254049e-01 -1.03568629e-05 3.30285753e+00] [-1.05106465e-01 4.07233192e-03 9.94452637e-01 -4.12898022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.53864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:92.64, Y:3.31, Z:-41.29 [[ 9.92951083e-01 -3.44940218e-02 1.13394484e-01 9.26393326e+01] [ 3.56331471e-02 9.99332647e-01 -8.03363587e-03 3.30930525e+00] [-1.13041697e-01 1.20176098e-02 9.93517565e-01 -4.12915157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:92.67, Y:3.30, Z:-41.30 [[ 9.93102481e-01 -3.41889425e-02 1.12154265e-01 9.26701575e+01] [ 3.36888486e-02 9.99412186e-01 6.35166817e-03 3.29638927e+00] [-1.12305496e-01 -2.52950934e-03 9.93670507e-01 -4.12983886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.59863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:92.70, Y:3.18, Z:-41.31 [[ 9.93832643e-01 -5.33936745e-02 9.71894664e-02 9.26978621e+01] [ 4.05209241e-02 9.90697358e-01 1.29910736e-01 3.18387173e+00] [-1.03221759e-01 -1.25171323e-01 9.86750935e-01 -4.13124523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.62863999999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:92.73, Y:3.42, Z:-41.27 [[ 9.91587825e-01 -6.43319444e-03 1.29275672e-01 9.27324947e+01] [ 2.35468181e-02 9.91063879e-01 -1.31293314e-01 3.41549517e+00] [-1.27275814e-01 1.33232883e-01 9.82878358e-01 -4.12737334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.65863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:92.76, Y:3.15, Z:-41.32 [[ 9.93029488e-01 -5.65598466e-02 1.03408994e-01 9.27587773e+01] [ 3.93309563e-02 9.86065862e-01 1.61639079e-01 3.15154314e+00] [-1.11110360e-01 -1.56445198e-01 9.81417031e-01 -4.13179722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.68863999999999 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:92.79, Y:3.41, Z:-41.28 [[ 9.92090292e-01 -1.24687244e-02 1.24905497e-01 9.27920814e+01] [ 2.84976370e-02 9.91444805e-01 -1.27377716e-01 3.40837817e+00] [-1.22248669e-01 1.29929707e-01 9.83958096e-01 -4.12798391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.71864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:92.82, Y:3.29, Z:-41.31 [[ 9.91438331e-01 -3.69353239e-02 1.25243035e-01 9.28185686e+01] [ 3.70529735e-02 9.99312335e-01 1.39078856e-03 3.29385221e+00] [-1.25208279e-01 3.26174578e-03 9.92125117e-01 -4.13112071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.74864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:92.84, Y:3.23, Z:-41.33 [[ 9.92312886e-01 -3.52571788e-02 1.18625744e-01 9.28442591e+01] [ 2.58803030e-02 9.96484623e-01 7.96781383e-02 3.22960200e+00] [-1.21017956e-01 -7.59955732e-02 9.89736999e-01 -4.13253892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.77864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:92.88, Y:3.35, Z:-41.31 [[ 9.90352621e-01 -2.76368631e-02 1.35786194e-01 9.28781346e+01] [ 3.76800841e-02 9.96695602e-01 -7.19589365e-02 3.35289388e+00] [-1.33348783e-01 7.63811566e-02 9.88121461e-01 -4.13051473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:92.91, Y:3.34, Z:-41.32 [[ 9.81538872e-01 -3.08462857e-02 1.88758970e-01 9.29098663e+01] [ 4.16156595e-02 9.97707903e-01 -5.33580178e-02 3.33710993e+00] [-1.86680420e-01 6.02282976e-02 9.80572778e-01 -4.13174192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:92.94, Y:3.23, Z:-41.34 [[ 9.88318393e-01 -5.17763573e-02 1.43338631e-01 9.29366727e+01] [ 4.22326327e-02 9.96733157e-01 6.88434390e-02 3.22523839e+00] [-1.46434829e-01 -6.19856692e-02 9.87276363e-01 -4.13375602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.86864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:92.97, Y:3.28, Z:-41.34 [[ 9.88380319e-01 -4.18032563e-02 1.46139771e-01 9.29666538e+01] [ 4.15524486e-02 9.99124939e-01 4.76977286e-03 3.27772079e+00] [-1.46211281e-01 1.35811568e-03 9.89252453e-01 -4.13357569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.89864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:93.00, Y:3.26, Z:-41.34 [[ 9.88807978e-01 -4.46409812e-02 1.42358584e-01 9.29969022e+01] [ 4.17726291e-02 9.98860633e-01 2.30756006e-02 3.25873058e+00] [-1.43226503e-01 -1.68706457e-02 9.89546133e-01 -4.13424140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.92864 meters Centerline goodness : 0.984860 Centerline is valid? [True, True] Translation: X:93.00, Y:3.26, Z:-41.35 [[ 9.86075684e-01 -1.92623368e-02 1.65177805e-01 9.29969376e+01] [ 1.32542896e-02 9.99212520e-01 3.73987020e-02 3.25853018e+00] [-1.65768117e-01 -3.46886362e-02 9.85554478e-01 -4.13516880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95864 meters Centerline goodness : 0.963353 Centerline is valid? [True, True] Translation: X:93.05, Y:3.29, Z:-41.36 [[ 9.84013196e-01 3.35500832e-02 1.74906894e-01 9.30471382e+01] [-3.78442143e-02 9.99057198e-01 2.12727701e-02 3.28812427e+00] [-1.74028288e-01 -2.75519005e-02 9.84355143e-01 -4.13616258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.98863999999999 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:93.09, Y:3.35, Z:-41.34 [[ 9.78249105e-01 -2.11112151e-02 2.06356502e-01 9.30878976e+01] [ 4.07185792e-02 9.94996393e-01 -9.12369155e-02 3.35055927e+00] [-2.03397853e-01 9.76549745e-02 9.74213949e-01 -4.13404981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.01863999999999 meters Centerline goodness : 0.990354 Centerline is valid? [True, True] Translation: X:93.11, Y:3.19, Z:-41.37 [[ 9.85085590e-01 -1.25743675e-02 1.71604970e-01 9.31105240e+01] [-5.29406277e-03 9.94639019e-01 1.03272426e-01 3.19151038e+00] [-1.71983585e-01 -1.02640666e-01 9.79737996e-01 -4.13712071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.04863999999999 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:93.15, Y:3.34, Z:-41.35 [[ 9.78287857e-01 -2.26004087e-02 2.06014781e-01 9.31511117e+01] [ 4.22192597e-02 9.94924613e-01 -9.13375547e-02 3.34369383e+00] [-2.02904910e-01 9.80522122e-02 9.74276840e-01 -4.13517515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.07864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:93.18, Y:3.12, Z:-41.37 [[ 9.87510713e-01 -6.66116530e-02 1.42777728e-01 9.31778722e+01] [ 4.50816581e-02 9.87802014e-01 1.49046388e-01 3.12048860e+00] [-1.50964353e-01 -1.40748248e-01 9.78468035e-01 -4.13706233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.10864 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:93.21, Y:3.29, Z:-41.38 [[ 9.83115551e-01 2.12779719e-02 1.81744492e-01 9.32146805e+01] [-1.91580773e-02 9.99726506e-01 -1.34119541e-02 3.29005186e+00] [-1.81980165e-01 9.70362566e-03 9.83254321e-01 -4.13767011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.13864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:93.24, Y:3.26, Z:-41.37 [[ 9.87020558e-01 -3.30652686e-02 1.57153129e-01 9.32369138e+01] [ 3.57215628e-02 9.99262201e-01 -1.41075381e-02 3.26246250e+00] [-1.56570712e-01 1.95381855e-02 9.87473479e-01 -4.13710538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.16864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:93.27, Y:3.33, Z:-41.37 [[ 9.76284148e-01 -1.58477549e-02 2.15912276e-01 9.32687339e+01] [ 3.76150876e-02 9.94565241e-01 -9.70828897e-02 3.33418854e+00] [-2.13200299e-01 1.02902045e-01 9.71574393e-01 -4.13683668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.19864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:93.30, Y:3.24, Z:-41.39 [[ 9.75892356e-01 -3.48272790e-02 2.15455729e-01 9.33003547e+01] [ 3.48288766e-02 9.99386103e-01 3.79040368e-03 3.24295727e+00] [-2.15455471e-01 3.80505502e-03 9.76506253e-01 -4.13890998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.22864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:93.33, Y:3.09, Z:-41.39 [[ 9.85271595e-01 -6.81917179e-02 1.56811265e-01 9.33288791e+01] [ 4.16534898e-02 9.85130372e-01 1.66682745e-01 3.09249236e+00] [-1.65845923e-01 -1.57696037e-01 9.73461396e-01 -4.13919465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.25864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:93.36, Y:3.38, Z:-41.37 [[ 9.75197753e-01 -8.59033141e-04 2.21333695e-01 9.33649612e+01] [ 3.51900781e-02 9.87874537e-01 -1.51213615e-01 3.37592364e+00] [-2.18520024e-01 1.55251927e-01 9.63403258e-01 -4.13743525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.28864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:93.39, Y:3.08, Z:-41.40 [[ 9.84652705e-01 -6.63551928e-02 1.61418832e-01 9.33903477e+01] [ 3.82447124e-02 9.84459920e-01 1.71394303e-01 3.08255878e+00] [-1.70283273e-01 -1.62590448e-01 9.71888859e-01 -4.13986263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:93.42, Y:3.22, Z:-41.41 [[ 9.84555990e-01 -3.22312658e-02 1.72077451e-01 9.34207471e+01] [ 3.00668806e-02 9.99432762e-01 1.51702365e-02 3.22178315e+00] [-1.72468798e-01 -9.76211502e-03 9.84966606e-01 -4.14058480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.34863999999999 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:93.45, Y:3.23, Z:-41.41 [[ 9.85338429e-01 -2.51074438e-02 1.68753659e-01 9.34532031e+01] [ 2.57228644e-02 9.99668044e-01 -1.46140579e-03 3.23202841e+00] [-1.68660948e-01 5.78080676e-03 9.85657175e-01 -4.14070980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.37863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:93.49, Y:3.36, Z:-41.39 [[ 9.72837928e-01 7.53255670e-03 2.31364704e-01 9.34852914e+01] [ 2.70445971e-02 9.88927666e-01 -1.45913197e-01 3.35991988e+00] [-2.29902056e-01 1.48207057e-01 9.61862627e-01 -4.13946872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.40863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:93.51, Y:3.16, Z:-41.42 [[ 9.83128919e-01 -3.94104865e-02 1.78617864e-01 9.35116462e+01] [ 2.58530758e-02 9.96648981e-01 7.76043024e-02 3.15998112e+00] [-1.81077736e-01 -7.16772128e-02 9.80853318e-01 -4.14192944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.43863999999999 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:93.54, Y:3.15, Z:-41.42 [[ 9.83056267e-01 -4.14912984e-02 1.78546487e-01 9.35370512e+01] [ 2.57451366e-02 9.95643095e-01 8.96215160e-02 3.14801812e+00] [-1.81487090e-01 -8.35062892e-02 9.79841383e-01 -4.14215914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.46864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.57, Y:3.36, Z:-41.41 [[ 9.69327603e-01 1.79548467e-02 2.45115528e-01 9.35732483e+01] [ 1.99752142e-02 9.88273024e-01 -1.51385011e-01 3.36258270e+00] [-2.44959159e-01 1.51637905e-01 9.57601669e-01 -4.14071354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.49864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:93.60, Y:3.23, Z:-41.43 [[ 9.69133119e-01 -1.71136953e-02 2.45943326e-01 9.36029077e+01] [ 1.68866053e-02 9.99852813e-01 3.03243812e-03 3.22640562e+00] [-2.45959022e-01 1.21431165e-03 9.69279467e-01 -4.14347248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:93.64, Y:3.23, Z:-41.44 [[ 9.69042870e-01 -1.62709289e-02 2.46355783e-01 9.36352595e+01] [ 1.60365947e-02 9.99867031e-01 2.95758293e-03 3.22589498e+00] [-2.46371148e-01 1.08468318e-03 9.69174948e-01 -4.14421574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:93.67, Y:3.22, Z:-41.45 [[ 9.69144648e-01 -1.41483084e-02 2.46086318e-01 9.36671621e+01] [ 1.38804320e-02 9.99899677e-01 2.82316622e-03 3.22411883e+00] [-2.46101572e-01 6.79727971e-04 9.69243805e-01 -4.14495072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:93.70, Y:3.22, Z:-41.46 [[ 9.69315839e-01 -1.25430124e-02 2.45498426e-01 9.36998294e+01] [ 1.22587123e-02 9.99921251e-01 2.68621118e-03 3.22429873e+00] [-2.45512787e-01 4.05707544e-04 9.69393267e-01 -4.14561734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.61864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:93.73, Y:3.22, Z:-41.46 [[ 9.69647804e-01 -1.05789209e-02 2.44276937e-01 9.37324096e+01] [ 1.02688299e-02 9.99944041e-01 2.54293592e-03 3.22368353e+00] [-2.44290169e-01 4.26860704e-05 9.69702177e-01 -4.14635002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.64864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:93.76, Y:3.12, Z:-41.47 [[ 9.81711296e-01 -3.74016239e-02 1.86665611e-01 9.37596600e+01] [ 1.56223575e-02 9.93031444e-01 1.16809645e-01 3.11983915e+00] [-1.89733691e-01 -1.11757191e-01 9.75454487e-01 -4.14669358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.67864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:93.79, Y:3.21, Z:-41.47 [[ 9.81512863e-01 -1.03270481e-02 1.91117378e-01 9.37916775e+01] [ 8.46185170e-03 9.99908300e-01 1.05730039e-02 3.21356141e+00] [-1.91209041e-01 -8.76033238e-03 9.81510244e-01 -4.14748995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:93.82, Y:3.25, Z:-41.48 [[ 9.80251376e-01 2.24108885e-03 1.97742806e-01 9.38203553e+01] [ 5.60900553e-03 9.99218406e-01 -3.91294773e-02 3.25465540e+00] [-1.97675944e-01 3.94658644e-02 9.79472647e-01 -4.14795745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.73863999999999 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:93.85, Y:3.23, Z:-41.49 [[ 9.78907631e-01 -7.29019256e-04 2.04302026e-01 9.38502946e+01] [ 4.23201146e-03 9.99851426e-01 -1.67097578e-02 3.23444346e+00] [-2.04259490e-01 1.72219179e-02 9.78765276e-01 -4.14860226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.76863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:93.88, Y:3.23, Z:-41.49 [[ 9.77156730e-01 2.87389716e-03 2.12500509e-01 9.38806403e+01] [-6.71316660e-04 9.99945313e-01 -1.04364851e-02 3.23056303e+00] [-2.12518881e-01 1.00554266e-02 9.77105221e-01 -4.14943084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.79863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:93.91, Y:3.22, Z:-41.50 [[ 9.76507567e-01 2.39963857e-03 2.15469751e-01 9.39116724e+01] [-3.46602749e-03 9.99983544e-01 4.57142117e-03 3.21916011e+00] [-2.15455236e-01 -5.21085145e-03 9.76499815e-01 -4.15025106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.82864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:93.94, Y:3.22, Z:-41.51 [[ 9.77035723e-01 3.51145570e-03 2.13046629e-01 9.39409125e+01] [-6.01939699e-03 9.99920005e-01 1.11242835e-02 3.21559064e+00] [-2.12990524e-01 -1.21512346e-02 9.76978702e-01 -4.15088023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.85864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:93.97, Y:3.25, Z:-41.51 [[ 9.74407361e-01 1.57726730e-02 2.24235405e-01 9.39727146e+01] [-1.23625027e-02 9.99785717e-01 -1.66038878e-02 3.24512139e+00] [-2.24449243e-01 1.34068397e-02 9.74393552e-01 -4.15127288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.88864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:94.00, Y:3.24, Z:-41.52 [[ 9.73825048e-01 1.40313366e-02 2.26865373e-01 9.40042003e+01] [-1.38727255e-02 9.99901139e-01 -2.29361526e-03 3.23541227e+00] [-2.26875128e-01 -9.13661056e-04 9.73923427e-01 -4.15198462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.91864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:94.03, Y:3.21, Z:-41.53 [[ 9.75950663e-01 7.20757758e-03 2.17872333e-01 9.40343842e+01] [-1.32681130e-02 9.99564281e-01 2.63667558e-02 3.21278345e+00] [-2.17587362e-01 -2.86234075e-02 9.75621054e-01 -4.15270555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.94864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:94.06, Y:3.25, Z:-41.53 [[ 9.73600277e-01 1.51816238e-02 2.27754294e-01 9.40647705e+01] [-1.28700141e-02 9.99849526e-01 -1.16313506e-02 3.24899574e+00] [-2.27896605e-01 8.39308517e-03 9.73649163e-01 -4.15323620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.97864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:94.10, Y:3.24, Z:-41.54 [[ 9.74400597e-01 8.32883082e-03 2.24664431e-01 9.40956749e+01] [-9.23063018e-03 9.99953004e-01 2.96394120e-03 3.23785042e+00] [-2.24629186e-01 -4.96186035e-03 9.74431685e-01 -4.15421444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.00864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:94.13, Y:3.28, Z:-41.55 [[ 9.64564902e-01 1.72919090e-02 2.63278446e-01 9.41272812e+01] [-6.91033238e-03 9.99163444e-01 -4.03070569e-02 3.27798887e+00] [-2.63755185e-01 3.70594309e-02 9.63877482e-01 -4.15479703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.03864 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:94.16, Y:3.20, Z:-41.56 [[ 9.74704243e-01 -5.12771266e-03 2.23439800e-01 9.41556528e+01] [-6.18835193e-03 9.98734289e-01 4.99151688e-02 3.20007186e+00] [-2.23412941e-01 -5.00352510e-02 9.73438818e-01 -4.15578293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:94.19, Y:3.25, Z:-41.56 [[ 9.73904805e-01 9.07932085e-03 2.26775210e-01 9.41878368e+01] [-8.54227848e-03 9.99957904e-01 -3.34945160e-03 3.24935959e+00] [-2.26796074e-01 1.32487001e-03 9.73941367e-01 -4.15622094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.09863999999999 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:94.22, Y:3.29, Z:-41.57 [[ 9.63333425e-01 1.95344164e-02 2.67595067e-01 9.42196900e+01] [-8.69239670e-03 9.99094805e-01 -4.16414913e-02 3.28520643e+00] [-2.68166283e-01 3.77885980e-02 9.62631220e-01 -4.15685964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.12863999999999 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:94.25, Y:3.21, Z:-41.58 [[ 9.73044118e-01 8.70968032e-04 2.30617401e-01 9.42482535e+01] [-1.07912165e-02 9.99069467e-01 4.17582198e-02 3.21257734e+00] [-2.30366434e-01 -4.31212324e-02 9.72148068e-01 -4.15806705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.15863999999999 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:94.28, Y:3.21, Z:-41.59 [[ 9.74784294e-01 3.91891196e-04 2.23148887e-01 9.42788770e+01] [-1.10665203e-02 9.98852894e-01 4.65878574e-02 3.20979836e+00] [-2.22874654e-01 -4.78825934e-02 9.73670450e-01 -4.15856918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.18863999999999 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:94.31, Y:3.29, Z:-41.59 [[ 9.71889692e-01 2.41175780e-02 2.34198140e-01 9.43119468e+01] [-1.44975478e-02 9.98982245e-01 -4.27117613e-02 3.29005718e+00] [-2.34989888e-01 3.81158218e-02 9.71250193e-01 -4.15876481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.21864 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:94.34, Y:3.26, Z:-41.60 [[ 9.71051276e-01 1.60505154e-02 2.38331284e-01 9.43411384e+01] [-1.48434466e-02 9.99866307e-01 -6.85861199e-03 3.25987939e+00] [-2.38409505e-01 3.12240622e-03 9.71159698e-01 -4.15990739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.24864 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:94.37, Y:3.24, Z:-41.61 [[ 9.71635538e-01 1.09878948e-02 2.36227957e-01 9.43709827e+01] [-1.48393884e-02 9.99784278e-01 1.45323722e-02 3.24259732e+00] [-2.36017318e-01 -1.76256477e-02 9.71588988e-01 -4.16075451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.27864 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:94.40, Y:3.27, Z:-41.61 [[ 9.70861040e-01 1.76684036e-02 2.38990938e-01 9.44019248e+01] [-1.51717954e-02 9.99809464e-01 -1.22821899e-02 3.26717588e+00] [-2.39162409e-01 8.29837807e-03 9.70944117e-01 -4.16138859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.30864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:94.43, Y:3.30, Z:-41.62 [[ 9.59702876e-01 2.24445610e-02 2.80118959e-01 9.44315666e+01] [-1.00509151e-02 9.98909091e-01 -4.56027109e-02 3.29761673e+00] [-2.80836907e-01 4.09496010e-02 9.58881516e-01 -4.16193248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.33864 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:94.46, Y:3.21, Z:-41.63 [[ 9.72223272e-01 -3.02883725e-03 2.34035757e-01 9.44623276e+01] [-1.09085881e-02 9.98243294e-01 5.82351169e-02 3.20773768e+00] [-2.33801010e-01 -5.91705356e-02 9.70482321e-01 -4.16330010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.36864 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:94.50, Y:3.28, Z:-41.64 [[ 9.70028199e-01 1.79196207e-02 2.42330727e-01 9.44954893e+01] [-1.19953150e-02 9.99592551e-01 -2.59006592e-02 3.28269358e+00] [-2.42696119e-01 2.22175364e-02 9.69847913e-01 -4.16362718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.39864 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:94.52, Y:3.24, Z:-41.65 [[ 9.71482249e-01 3.48332131e-03 2.37086708e-01 9.45234858e+01] [-8.91078878e-03 9.99722104e-01 2.18245884e-02 3.24016525e+00] [-2.36944800e-01 -2.33148298e-02 9.71243317e-01 -4.16460942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.42864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:94.55, Y:3.28, Z:-41.65 [[ 9.69433777e-01 1.48018167e-02 2.44906224e-01 9.45546213e+01] [-9.13882076e-03 9.99664313e-01 -2.42434281e-02 3.28060604e+00] [-2.45182858e-01 2.12642439e-02 9.69243622e-01 -4.16510460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45864 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:94.59, Y:3.26, Z:-41.66 [[ 9.69051490e-01 9.82635802e-03 2.46663034e-01 9.45858817e+01] [-8.83333178e-03 9.99947816e-01 -5.13206986e-03 3.26289872e+00] [-2.46700591e-01 2.79438354e-03 9.69087720e-01 -4.16611408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.48863999999999 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:94.62, Y:3.25, Z:-41.67 [[ 9.68720225e-01 6.55328731e-03 2.48068900e-01 9.46161883e+01] [-7.95978683e-03 9.99957428e-01 4.66724431e-03 3.25236777e+00] [-2.48027754e-01 -6.49582952e-03 9.68731148e-01 -4.16691253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.51863999999999 meters Centerline goodness : 0.997688 Centerline is valid? [True, True] Translation: X:94.65, Y:3.26, Z:-41.68 [[ 9.67618318e-01 9.76781697e-03 2.52228826e-01 9.46463892e+01] [-7.62413716e-03 9.99926047e-01 -9.47488785e-03 3.26491950e+00] [-2.52302722e-01 7.24504787e-03 9.67621230e-01 -4.16762411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.54863999999999 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:94.68, Y:3.25, Z:-41.69 [[ 9.67367680e-01 7.67778938e-03 2.53260387e-01 9.46771037e+01] [-8.83251870e-03 9.99955135e-01 3.42275482e-03 3.25403077e+00] [-2.53222745e-01 -5.54798949e-03 9.67392093e-01 -4.16851470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.57864 meters Centerline goodness : 0.904137 Centerline is valid? [True, False] Translation: X:94.72, Y:3.26, Z:-41.69 [[ 9.70849042e-01 1.00288360e-02 2.39481857e-01 9.47197603e+01] [-8.63424910e-03 9.99939112e-01 -6.87180608e-03 3.26289677e+00] [-2.39536192e-01 4.60374034e-03 9.70876521e-01 -4.16937648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.60864 meters Centerline goodness : 0.997983 Centerline is valid? [False, True] Translation: X:94.76, Y:3.26, Z:-41.70 [[ 9.74356617e-01 1.19611144e-02 2.24691153e-01 9.47606878e+01] [-1.04952729e-02 9.99915144e-01 -7.71708553e-03 3.26315591e+00] [-2.24764391e-01 5.16099840e-03 9.74399473e-01 -4.17041943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.63864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:94.78, Y:3.21, Z:-41.71 [[ 9.76412670e-01 -1.53026068e-02 2.15369747e-01 9.47789003e+01] [ 4.23262173e-03 9.98650191e-01 5.17675571e-02 3.20520179e+00] [-2.15871218e-01 -4.96349200e-02 9.75159470e-01 -4.17130355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.66864 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:94.82, Y:3.33, Z:-41.71 [[ 9.63509949e-01 2.87130637e-02 2.66128047e-01 9.48193901e+01] [-7.93210220e-03 9.96856141e-01 -7.88347367e-02 3.32630017e+00] [-2.67554965e-01 7.38470983e-02 9.60708565e-01 -4.17093403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.69864 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:94.85, Y:3.26, Z:-41.73 [[ 9.63852044e-01 9.98875473e-03 2.66250749e-01 9.48492565e+01] [-1.07201013e-02 9.99941701e-01 1.29358939e-03 3.25692425e+00] [-2.66222306e-01 -4.10106377e-03 9.63902933e-01 -4.17266746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.72864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:94.88, Y:3.14, Z:-41.73 [[ 9.75435739e-01 -2.12970221e-02 2.19252267e-01 9.48778807e+01] [-8.17049147e-03 9.91132833e-01 1.32623337e-01 3.14079079e+00] [-2.20132603e-01 -1.31156941e-01 9.66612380e-01 -4.17322611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.75864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:94.91, Y:3.29, Z:-41.74 [[ 9.74546403e-01 1.27051698e-02 2.23825571e-01 9.49101568e+01] [-5.95459117e-03 9.99507547e-01 -3.08092042e-02 3.28524142e+00] [-2.24106784e-01 2.86922094e-02 9.74142139e-01 -4.17377480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.78864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:94.94, Y:3.29, Z:-41.74 [[ 9.73470701e-01 2.01901438e-02 2.27919179e-01 9.49416991e+01] [-1.33995839e-02 9.99420149e-01 -3.13020354e-02 3.28828303e+00] [-2.28419012e-01 2.74175922e-02 9.73176772e-01 -4.17424050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81864 meters Centerline goodness : 0.997880 Centerline is valid? [True, True] Translation: X:94.97, Y:3.27, Z:-41.75 [[ 9.73610200e-01 1.56252817e-02 2.27681859e-01 9.49711551e+01] [-1.52171215e-02 9.99877918e-01 -3.54806263e-03 3.26608934e+00] [-2.27709502e-01 -1.02325285e-05 9.73729111e-01 -4.17504815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.84863999999999 meters Centerline goodness : 0.971362 Centerline is valid? [True, True] Translation: X:94.97, Y:3.22, Z:-41.77 [[ 9.66623022e-01 -6.93473500e-02 2.46639167e-01 9.49700025e+01] [ 6.92236730e-02 9.97558899e-01 9.18292973e-03 3.22054683e+00] [-2.46673908e-01 8.19683776e-03 9.69063876e-01 -4.17660828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.87863999999999 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:95.03, Y:3.25, Z:-41.77 [[ 9.72069608e-01 1.82835070e-02 2.33979467e-01 9.50302013e+01] [-2.23693174e-02 9.99639924e-01 1.48201468e-02 3.25347382e+00] [-2.33624252e-01 -1.96401753e-02 9.72128578e-01 -4.17659910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.90863999999999 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:95.06, Y:3.28, Z:-41.77 [[ 9.70934102e-01 2.59787591e-02 2.37932916e-01 9.50605685e+01] [-2.44893571e-02 9.99657628e-01 -9.21399541e-03 3.27699109e+00] [-2.38090823e-01 3.11935821e-03 9.71237885e-01 -4.17716355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.93863999999999 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:95.09, Y:3.27, Z:-41.78 [[ 9.70509554e-01 2.56661883e-02 2.39692412e-01 9.50900073e+01] [-2.56877701e-02 9.99665409e-01 -3.03461585e-03 3.27318821e+00] [-2.39690100e-01 -3.21203989e-03 9.70844137e-01 -4.17795411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.96864 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:95.12, Y:3.28, Z:-41.79 [[ 9.69935583e-01 2.74880356e-02 2.41804411e-01 9.51207541e+01] [-2.70207783e-02 9.99621092e-01 -5.24889418e-03 3.27676191e+00] [-2.41857071e-01 -1.44265415e-03 9.70310814e-01 -4.17886849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.99864 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:95.15, Y:3.29, Z:-41.79 [[ 9.69444244e-01 3.35837824e-02 2.43002030e-01 9.51517066e+01] [-3.06931983e-02 9.99405971e-01 -1.56726598e-02 3.28971417e+00] [-2.43384027e-01 7.73526033e-03 9.69899160e-01 -4.17945067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.02864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:95.18, Y:3.27, Z:-41.80 [[ 9.69622757e-01 2.91461909e-02 2.42862530e-01 9.51813888e+01] [-3.11126598e-02 9.99506786e-01 4.26466530e-03 3.27347946e+00] [-2.42618448e-01 -1.16912158e-02 9.70051341e-01 -4.18038981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.05864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:95.21, Y:3.28, Z:-41.81 [[ 9.69076375e-01 2.89984330e-02 2.45051157e-01 9.52110383e+01] [-3.09916535e-02 9.99510476e-01 4.28090895e-03 3.27516080e+00] [-2.44807059e-01 -1.17430683e-02 9.69500698e-01 -4.18114179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.08864 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:95.24, Y:3.22, Z:-41.82 [[ 9.69947428e-01 9.97828603e-03 2.43109896e-01 9.52374159e+01] [-2.75152421e-02 9.97247677e-01 6.88475298e-02 3.22040412e+00] [-2.41753798e-01 -7.34677120e-02 9.67552374e-01 -4.18177046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.11864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:95.27, Y:3.35, Z:-41.81 [[ 9.66603361e-01 4.68384319e-02 2.51960518e-01 9.52741004e+01] [-2.90834782e-02 9.96853537e-01 -7.37372222e-02 3.34744307e+00] [-2.54621470e-01 6.39467586e-02 9.64924204e-01 -4.18146853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.14864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:95.30, Y:3.33, Z:-41.83 [[ 9.55143087e-01 3.65625242e-02 2.93878997e-01 9.53014140e+01] [-2.14145864e-02 9.98278683e-01 -5.45993232e-02 3.33030707e+00] [-2.95369427e-01 4.58568689e-02 9.54281955e-01 -4.18262670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.17864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:95.33, Y:3.28, Z:-41.84 [[ 9.55484670e-01 2.10352650e-02 2.94289931e-01 9.53312247e+01] [-2.18969365e-02 9.99760166e-01 -3.67096828e-04 3.28262566e+00] [-2.94227072e-01 -6.09329253e-03 9.55716120e-01 -4.18415599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.20863999999999 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:95.36, Y:3.23, Z:-41.85 [[ 9.67103804e-01 5.33554994e-03 2.54326096e-01 9.53617135e+01] [-2.05630404e-02 9.98147914e-01 5.72529785e-02 3.23215755e+00] [-2.53549586e-01 -6.05992911e-02 9.65422360e-01 -4.18548145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.23863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:95.40, Y:3.30, Z:-41.86 [[ 9.66022208e-01 2.48083273e-02 2.57265699e-01 9.53959016e+01] [-2.16325631e-02 9.99650926e-01 -1.51677076e-02 3.29974130e+00] [-2.57552180e-01 9.08702589e-03 9.66221662e-01 -4.18559237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.26863999999999 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:95.43, Y:3.33, Z:-41.86 [[ 9.54793365e-01 3.21366644e-02 2.95528112e-01 9.54267372e+01] [-1.90990883e-02 9.98717066e-01 -4.68982542e-02 3.32958742e+00] [-2.96656122e-01 3.91338245e-02 9.54182210e-01 -4.18601756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.29863999999999 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:95.46, Y:3.29, Z:-41.87 [[ 9.55186227e-01 2.07716563e-02 2.95275821e-01 9.54568383e+01] [-2.15155675e-02 9.99768247e-01 -7.29719723e-04 3.29076583e+00] [-2.95222547e-01 -5.65600863e-03 9.55411774e-01 -4.18748346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.32864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:95.49, Y:3.26, Z:-41.89 [[ 9.66422071e-01 1.18983228e-02 2.56684263e-01 9.54877344e+01] [-2.37672167e-02 9.98784282e-01 4.31865392e-02 3.25630298e+00] [-2.55858360e-01 -4.78370952e-02 9.65529964e-01 -4.18852323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.35864 meters Centerline goodness : 0.839711 Centerline is valid? [True, False] Translation: X:95.54, Y:3.28, Z:-41.89 [[ 9.72904889e-01 1.68274248e-02 2.30592528e-01 9.55422634e+01] [-2.11311327e-02 9.99645347e-01 1.62066194e-02 3.28151820e+00] [-2.30238032e-01 -2.06401806e-02 9.72915429e-01 -4.18942312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.38864 meters Centerline goodness : 0.839711 Centerline is valid? [False, False] Translation: X:95.57, Y:3.29, Z:-41.90 [[ 9.75956369e-01 3.00137902e-02 2.15889644e-01 9.55658530e+01] [-3.25917491e-02 9.99433532e-01 8.39010482e-03 3.28991836e+00] [-2.15515531e-01 -1.52245974e-02 9.76381722e-01 -4.18994609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.41864 meters Centerline goodness : 0.908559 Centerline is valid? [False, False] Translation: X:95.58, Y:3.30, Z:-41.90 [[ 9.77786181e-01 4.24953542e-02 2.05251869e-01 9.55774270e+01] [-4.32107300e-02 9.99065482e-01 -9.97734289e-04 3.30207000e+00] [-2.05102457e-01 -7.89351230e-03 9.78708677e-01 -4.18996107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.44864 meters Centerline goodness : 0.997541 Centerline is valid? [False, True] Translation: X:95.61, Y:3.31, Z:-41.90 [[ 9.79881578e-01 4.33050249e-02 1.94824970e-01 9.56055241e+01] [-4.38232100e-02 9.99037936e-01 -1.65177265e-03 3.30520857e+00] [-1.94709066e-01 -6.91931396e-03 9.80836634e-01 -4.19049079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.47864 meters Centerline goodness : 0.722873 Centerline is valid? [True, False] Translation: X:95.64, Y:3.31, Z:-41.91 [[ 9.82021647e-01 4.43153962e-02 1.83492863e-01 9.56364075e+01] [-4.47132230e-02 9.98997920e-01 -1.97084329e-03 3.30772594e+00] [-1.83396327e-01 -6.26914651e-03 9.83019067e-01 -4.19110998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.50864 meters Centerline goodness : 0.999852 Centerline is valid? [False, True] Translation: X:95.67, Y:3.31, Z:-41.92 [[ 9.84087350e-01 4.52385509e-02 1.71830033e-01 9.56684056e+01] [-4.53522754e-02 9.98965718e-01 -3.26579041e-03 3.31161431e+00] [-1.71800052e-01 -4.57905995e-03 9.85121198e-01 -4.19152968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.53864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:95.70, Y:3.27, Z:-41.92 [[ 9.90458560e-01 3.80517211e-02 1.32453418e-01 9.56955770e+01] [-4.34389479e-02 9.98332281e-01 3.80225469e-02 3.27438516e+00] [-1.30785699e-01 -4.34133942e-02 9.90459680e-01 -4.19216756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56864 meters Centerline goodness : 0.861748 Centerline is valid? [True, False] Translation: X:95.70, Y:3.29, Z:-41.92 [[ 9.91380494e-01 4.50104736e-02 1.23039725e-01 9.57023157e+01] [-4.81585635e-02 9.98581013e-01 2.27313258e-02 3.28702431e+00] [-1.21841986e-01 -2.84608095e-02 9.92141377e-01 -4.19220263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.59863999999999 meters Centerline goodness : 0.999901 Centerline is valid? [False, True] Translation: X:95.71, Y:3.30, Z:-41.92 [[ 9.92223473e-01 5.21757680e-02 1.13005612e-01 9.57087328e+01] [-5.35236724e-02 9.98526697e-01 8.92475017e-03 3.29841725e+00] [-1.12373465e-01 -1.49038220e-02 9.93554266e-01 -4.19215519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.62863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:95.74, Y:3.29, Z:-41.92 [[ 9.92656785e-01 4.99879225e-02 1.10153144e-01 9.57389307e+01] [-5.15280197e-02 9.98608995e-01 1.11776144e-02 3.29102654e+00] [-1.09441174e-01 -1.67715081e-02 9.93851773e-01 -4.19243562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.65863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.77, Y:3.31, Z:-41.93 [[ 9.92195084e-01 5.33721229e-02 1.12695751e-01 9.57709434e+01] [-5.23006180e-02 9.98553835e-01 -1.24452072e-02 3.30786694e+00] [-1.13197001e-01 6.45401600e-03 9.93551601e-01 -4.19251043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.68863999999999 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:95.80, Y:3.27, Z:-41.94 [[ 9.88082000e-01 8.09092543e-02 1.30949051e-01 9.57987686e+01] [-8.64194114e-02 9.95573453e-01 3.69484096e-02 3.27316042e+00] [-1.27379930e-01 -4.78245983e-02 9.90700339e-01 -4.19393022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.83, Y:3.34, Z:-41.93 [[ 9.91478050e-01 5.97898301e-02 1.15743047e-01 9.58348843e+01] [-5.32507463e-02 9.96849104e-01 -5.87896435e-02 3.33838289e+00] [-1.18893376e-01 5.21252374e-02 9.91537858e-01 -4.19262742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.86, Y:3.29, Z:-41.94 [[ 9.91394018e-01 5.37039239e-02 1.19389235e-01 9.58615305e+01] [-5.34380394e-02 9.98556405e-01 -5.42967448e-03 3.28759650e+00] [-1.19508480e-01 -9.96979829e-04 9.92832679e-01 -4.19365979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:95.89, Y:3.28, Z:-41.94 [[ 9.91505545e-01 5.47838673e-02 1.17963901e-01 9.58918859e+01] [-5.50894709e-02 9.98481197e-01 -6.70930211e-04 3.28020374e+00] [-1.17821493e-01 -5.83333784e-03 9.93017657e-01 -4.19403240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:95.93, Y:3.29, Z:-41.94 [[ 9.90495901e-01 6.22583063e-02 1.22644909e-01 9.59250304e+01] [-6.09089183e-02 9.98034711e-01 -1.47247601e-02 3.28865252e+00] [-1.23320615e-01 7.11464580e-03 9.92341377e-01 -4.19426805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:95.96, Y:3.28, Z:-41.95 [[ 9.90345599e-01 6.32342057e-02 1.23357327e-01 9.59553436e+01] [-6.26509844e-02 9.97998399e-01 -8.60515882e-03 3.28139203e+00] [-1.23654555e-01 7.93623183e-04 9.92325008e-01 -4.19471099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:95.99, Y:3.29, Z:-41.95 [[ 9.89379830e-01 6.91118378e-02 1.27871445e-01 9.59874325e+01] [-6.72690904e-02 9.97560003e-01 -1.86791035e-02 3.28848044e+00] [-1.28850386e-01 9.87893244e-03 9.91614837e-01 -4.19506506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.02, Y:3.30, Z:-41.95 [[ 9.84323618e-01 7.01366376e-02 1.61826656e-01 9.60191697e+01] [-6.45235707e-02 9.97126546e-01 -3.96907951e-02 3.30420630e+00] [-1.64145434e-01 2.86269533e-02 9.86020676e-01 -4.19540857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.05, Y:3.26, Z:-41.96 [[ 9.89002369e-01 6.61357008e-02 1.32289011e-01 9.60479979e+01] [-6.89853645e-02 9.97471617e-01 1.70702355e-02 3.25600120e+00] [-1.30825582e-01 -2.60085090e-02 9.91064188e-01 -4.19623640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.95863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.08, Y:3.30, Z:-41.96 [[ 9.83850055e-01 7.03054644e-02 1.64609266e-01 9.60810801e+01] [-6.54986122e-02 9.97257583e-01 -3.44564095e-02 3.29800178e+00] [-1.66580313e-01 2.31182619e-02 9.85756839e-01 -4.19633939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.98863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.11, Y:3.28, Z:-41.97 [[ 9.83668638e-01 6.66398855e-02 1.67197895e-01 9.61123587e+01] [-6.59639910e-02 9.97775831e-01 -9.59915170e-03 3.27516000e+00] [-1.67465705e-01 -1.58665594e-03 9.85876625e-01 -4.19706288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.01863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.15, Y:3.28, Z:-41.98 [[ 9.83834925e-01 6.66518811e-02 1.66211812e-01 9.61454699e+01] [-6.59694576e-02 9.97775177e-01 -9.62949628e-03 3.27679502e+00] [-1.66483844e-01 -1.49106832e-03 9.86043055e-01 -4.19750213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.04863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.18, Y:3.24, Z:-41.98 [[ 9.89444239e-01 6.42566817e-02 1.29889092e-01 9.61752709e+01] [-6.86836120e-02 9.97190615e-01 2.98904568e-02 3.24388537e+00] [-1.27603522e-01 -3.84961923e-02 9.91077890e-01 -4.19809837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.20, Y:3.18, Z:-41.99 [[ 9.90708257e-01 5.27974510e-02 1.25337855e-01 9.61967273e+01] [-6.51141941e-02 9.93220536e-01 9.62969816e-02 3.18448216e+00] [-1.19403897e-01 -1.03563488e-01 9.87429650e-01 -4.19852948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.25, Y:3.36, Z:-41.97 [[ 9.88409497e-01 8.46923307e-02 1.25991567e-01 9.62455456e+01] [-7.12674158e-02 9.91647910e-01 -1.07495942e-01 3.36392393e+00] [-1.34043356e-01 9.72709166e-02 9.86190016e-01 -4.19675353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.27, Y:3.28, Z:-41.99 [[ 9.88209803e-01 7.27419836e-02 1.34721894e-01 9.62694828e+01] [-7.26434526e-02 9.97341950e-01 -5.65357164e-03 3.27973556e+00] [-1.34775049e-01 -4.19974862e-03 9.90867321e-01 -4.19860864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.30, Y:3.29, Z:-41.99 [[ 9.87659439e-01 7.44147178e-02 1.37808865e-01 9.63007561e+01] [-7.33611328e-02 9.97224374e-01 -1.27158371e-02 3.28722463e+00] [-1.38372604e-01 2.44910211e-03 9.90377213e-01 -4.19898583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.19864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:96.33, Y:3.27, Z:-42.00 [[ 9.88010236e-01 6.96315376e-02 1.37794135e-01 9.63284320e+01] [-7.11524267e-02 9.97446577e-01 6.13659661e-03 3.27251370e+00] [-1.37014987e-01 -1.58674073e-02 9.90441881e-01 -4.19958878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.36, Y:3.29, Z:-42.00 [[ 9.87876223e-01 7.18554989e-02 1.37613067e-01 9.63604420e+01] [-7.07388703e-02 9.97410229e-01 -1.29941264e-02 3.29002536e+00] [-1.38190380e-01 3.10199559e-03 9.90400826e-01 -4.19973350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.39, Y:3.30, Z:-42.00 [[ 9.87369434e-01 7.12840092e-02 1.41492723e-01 9.63924298e+01] [-6.88635171e-02 9.97384883e-01 -2.19365435e-02 3.30149905e+00] [-1.42686428e-01 1.19157860e-02 9.89696215e-01 -4.20008398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:96.42, Y:3.29, Z:-42.01 [[ 9.87293903e-01 6.83277046e-02 1.43464536e-01 9.64228087e+01] [-6.72269009e-02 9.97659255e-01 -1.25122036e-02 3.29394523e+00] [-1.43983653e-01 2.70854616e-03 9.89576360e-01 -4.20065376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.45, Y:3.29, Z:-42.01 [[ 9.87536838e-01 6.54643375e-02 1.43127268e-01 9.64529050e+01] [-6.55141047e-02 9.97842074e-01 -4.37008656e-03 3.28751993e+00] [-1.43104495e-01 -5.06123339e-03 9.89694644e-01 -4.20120450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.34863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:96.48, Y:3.29, Z:-42.02 [[ 9.88053855e-01 6.31896843e-02 1.40558324e-01 9.64831637e+01] [-6.26915543e-02 9.98001098e-01 -7.97350460e-03 3.29464648e+00] [-1.40781205e-01 -9.33567845e-04 9.90040292e-01 -4.20167784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.37863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:96.51, Y:3.28, Z:-42.02 [[ 9.88995815e-01 5.90809054e-02 1.35634524e-01 9.65124179e+01] [-6.09494271e-02 9.98094096e-01 9.66144516e-03 3.28060953e+00] [-1.34805211e-01 -1.78219754e-02 9.90711831e-01 -4.20229395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.55, Y:3.30, Z:-42.02 [[ 9.88630515e-01 6.13015266e-02 1.37301959e-01 9.65457720e+01] [-6.03561102e-02 9.98115829e-01 -1.10423168e-02 3.30117286e+00] [-1.37720169e-01 2.62975918e-03 9.90467687e-01 -4.20231864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.43863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.58, Y:3.31, Z:-42.03 [[ 9.87473073e-01 6.22842326e-02 1.44974497e-01 9.65765996e+01] [-5.99721449e-02 9.97994252e-01 -2.02685844e-02 3.30882382e+00] [-1.45946128e-01 1.13202498e-02 9.89227769e-01 -4.20267379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.61, Y:3.30, Z:-42.03 [[ 9.87829202e-01 6.02557039e-02 1.43397061e-01 9.66054459e+01] [-5.99927403e-02 9.98179801e-01 -6.16083537e-03 3.29655364e+00] [-1.43507275e-01 -2.51692954e-03 9.89646062e-01 -4.20331276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.49864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:96.64, Y:3.31, Z:-42.04 [[ 9.86535456e-01 6.31781723e-02 1.50851958e-01 9.66371613e+01] [-6.02455985e-02 9.97896545e-01 -2.39364535e-02 3.31123238e+00] [-1.52046909e-01 1.45259936e-02 9.88266529e-01 -4.20367149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.67, Y:3.29, Z:-42.04 [[ 9.87258301e-01 5.82981086e-02 1.48062072e-01 9.66659644e+01] [-5.88280842e-02 9.98267807e-01 -8.01086947e-04 3.29022624e+00] [-1.47852302e-01 -7.91932828e-03 9.88977746e-01 -4.20444647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.55864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:96.67, Y:3.26, Z:-42.05 [[ 9.87604113e-01 2.28735686e-02 1.55289782e-01 9.66742273e+01] [-2.61129600e-02 9.99481218e-01 1.88522670e-02 3.25662992e+00] [-1.54778002e-01 -2.26736523e-02 9.87689058e-01 -4.20510588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:96.73, Y:3.32, Z:-42.05 [[ 9.85550128e-01 6.79168375e-02 1.55171675e-01 9.67294101e+01] [-6.19584792e-02 9.97155331e-01 -4.29231012e-02 3.32292144e+00] [-1.57645464e-01 3.26886668e-02 9.86954588e-01 -4.20460073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.76, Y:3.32, Z:-42.05 [[ 9.79062166e-01 6.68075753e-02 1.92286307e-01 9.67599449e+01] [-5.91205485e-02 9.97215780e-01 -4.54472095e-02 3.32081221e+00] [-1.94787158e-01 3.31275714e-02 9.80285942e-01 -4.20525812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.64864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:96.78, Y:3.25, Z:-42.07 [[ 9.86179667e-01 5.38563992e-02 1.56681693e-01 9.67832113e+01] [-6.03452388e-02 9.97493325e-01 3.69529373e-02 3.24764213e+00] [-1.54298791e-01 -4.58972295e-02 9.86957612e-01 -4.20685410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.67864 meters Centerline goodness : 0.992524 Centerline is valid? [True, True] Translation: X:96.81, Y:3.27, Z:-42.08 [[ 9.79341808e-01 9.84582187e-02 1.76622771e-01 9.68091411e+01] [-1.06488496e-01 9.93641754e-01 3.65549645e-02 3.26672981e+00] [-1.71900623e-01 -5.46080982e-02 9.83599579e-01 -4.20800933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.70863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:96.85, Y:3.32, Z:-42.06 [[ 9.86124401e-01 6.99708866e-02 1.50541489e-01 9.68492491e+01] [-6.29039252e-02 9.96704887e-01 -5.12099959e-02 3.32203347e+00] [-1.53628647e-01 4.10297760e-02 9.87276454e-01 -4.20642618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.73863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:96.88, Y:3.29, Z:-42.07 [[ 9.85258003e-01 6.59277452e-02 1.57861330e-01 9.68771799e+01] [-6.34605168e-02 9.97771211e-01 -2.06245830e-02 3.29359341e+00] [-1.58869222e-01 1.03025739e-02 9.87245880e-01 -4.20742937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.76863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:96.87, Y:3.23, Z:-42.09 [[ 9.84607190e-01 1.31453489e-02 1.74286778e-01 9.68741885e+01] [-1.67804677e-02 9.99670976e-01 1.93998959e-02 3.23453139e+00] [-1.73974415e-01 -2.20258907e-02 9.84503816e-01 -4.20866558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.79863999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:96.94, Y:3.29, Z:-42.09 [[ 9.84622240e-01 6.96726259e-02 1.60202277e-01 9.69354720e+01] [-6.78794617e-02 9.97554665e-01 -1.66453650e-02 3.28600810e+00] [-1.60970255e-01 5.51495220e-03 9.86943850e-01 -4.20856495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.82864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:96.92, Y:3.25, Z:-42.09 [[ 9.85627823e-01 1.47964411e-02 1.68282085e-01 9.69246512e+01] [-1.41538580e-02 9.99887241e-01 -5.01738722e-03 3.25194239e+00] [-1.68337349e-01 2.56343570e-03 9.85726111e-01 -4.20892699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.85864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:96.98, Y:3.15, Z:-42.11 [[ 9.87772347e-01 4.68980165e-02 1.48682097e-01 9.69757257e+01] [-6.85809477e-02 9.87162879e-01 1.44243209e-01 3.14560512e+00] [-1.40008726e-01 -1.52676212e-01 9.78308505e-01 -4.21120782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.03, Y:3.35, Z:-42.09 [[ 9.83549588e-01 8.91580359e-02 1.57102046e-01 9.70314770e+01] [-7.60228416e-02 9.93238890e-01 -8.77327467e-02 3.34912440e+00] [-1.63861941e-01 7.43461629e-02 9.83677748e-01 -4.20876136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.06, Y:3.33, Z:-42.10 [[ 9.75316889e-01 8.27756472e-02 2.04707493e-01 9.70587828e+01] [-7.11821912e-02 9.95447895e-01 -6.33765292e-02 3.32508879e+00] [-2.09021676e-01 4.72406714e-02 9.76769296e-01 -4.21014643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.09, Y:3.28, Z:-42.12 [[ 9.75270972e-01 7.32882893e-02 2.08507453e-01 9.70862491e+01] [-7.16375474e-02 9.97310786e-01 -1.54679407e-02 3.28171032e+00] [-2.09080350e-01 1.48471049e-04 9.77898453e-01 -4.21167683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.12, Y:3.28, Z:-42.12 [[ 9.75447048e-01 7.28313316e-02 2.07842858e-01 9.71191407e+01] [-7.11579091e-02 9.97344209e-01 -1.55267998e-02 3.28058847e+00] [-2.08421708e-01 3.55907830e-04 9.78038990e-01 -4.21230635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.00864 meters Centerline goodness : 0.946148 Centerline is valid? [True, False] Translation: X:97.16, Y:3.28, Z:-42.13 [[ 9.78149522e-01 7.32473576e-02 1.94572188e-01 9.71560843e+01] [-7.18196518e-02 9.97313799e-01 -1.43917917e-02 3.27956665e+00] [-1.95103689e-01 1.03217443e-04 9.80782616e-01 -4.21316852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.03864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:97.19, Y:3.28, Z:-42.14 [[ 9.80480376e-01 7.32693794e-02 1.82455009e-01 9.71894325e+01] [-7.19665109e-02 9.97312121e-01 -1.37605898e-02 3.27801139e+00] [-1.82972822e-01 3.61337868e-04 9.83117905e-01 -4.21369491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.22, Y:3.28, Z:-42.14 [[ 9.80866663e-01 6.97271672e-02 1.81765538e-01 9.72221239e+01] [-6.82251366e-02 9.97564416e-01 -1.45108843e-02 3.27532202e+00] [-1.82334636e-01 1.83226404e-03 9.83234826e-01 -4.21423540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.09863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:97.25, Y:3.27, Z:-42.15 [[ 9.80767466e-01 6.81952101e-02 1.82878624e-01 9.72548337e+01] [-6.66306375e-02 9.97669515e-01 -1.46934652e-02 3.27203079e+00] [-1.83454452e-01 2.22555329e-03 9.83025692e-01 -4.21475556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.12863999999999 meters Centerline goodness : 0.961285 Centerline is valid? [True, True] Translation: X:97.27, Y:3.22, Z:-42.18 [[ 9.76308062e-01 1.36181145e-01 1.68158449e-01 9.72707426e+01] [-1.52681614e-01 9.84224561e-01 8.93886891e-02 3.21704734e+00] [-1.53332622e-01 -1.12945601e-01 9.81698731e-01 -4.21790959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.15863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:97.33, Y:3.35, Z:-42.14 [[ 9.80997477e-01 7.92043902e-02 1.77117519e-01 9.73254581e+01] [-5.97848113e-02 9.91860991e-01 -1.12416863e-01 3.34761348e+00] [-1.84579867e-01 9.96917216e-02 9.77748349e-01 -4.21360170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.18863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:97.35, Y:3.25, Z:-42.16 [[ 9.80805679e-01 6.00141592e-02 1.85522289e-01 9.73467021e+01] [-5.82155912e-02 9.98189345e-01 -1.51319383e-02 3.25395867e+00] [-1.86094503e-01 4.04120132e-03 9.82523539e-01 -4.21622293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.21864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:97.38, Y:3.25, Z:-42.17 [[ 9.81432593e-01 5.94097633e-02 1.82374738e-01 9.73786095e+01] [-5.76454372e-02 9.98224954e-01 -1.49647769e-02 3.24846168e+00] [-1.82940069e-01 4.17384827e-03 9.83115207e-01 -4.21680595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.24864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:97.41, Y:3.24, Z:-42.17 [[ 9.80941531e-01 6.19890079e-02 1.84149599e-01 9.74104087e+01] [-6.02174279e-02 9.98069507e-01 -1.52026535e-02 3.23869382e+00] [-1.84736497e-01 3.82389902e-03 9.82780649e-01 -4.21748260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.27864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:97.43, Y:3.13, Z:-42.18 [[ 9.88749633e-01 4.62133679e-02 1.42262041e-01 9.74295102e+01] [-6.08008737e-02 9.93131785e-01 9.99625539e-02 3.13327278e+00] [-1.36665349e-01 -1.07487595e-01 9.84768500e-01 -4.21840646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.30864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:97.47, Y:3.23, Z:-42.18 [[ 9.88329597e-01 6.52038871e-02 1.37670119e-01 9.74706341e+01] [-6.47941462e-02 9.97870763e-01 -7.46044395e-03 3.22650614e+00] [-1.37863436e-01 -1.54684025e-03 9.90450039e-01 -4.21787958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.33864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:97.50, Y:3.26, Z:-42.18 [[ 9.87767796e-01 7.17942190e-02 1.38420995e-01 9.75012269e+01] [-6.56275252e-02 9.96659129e-01 -4.86169595e-02 3.25631229e+00] [-1.41448965e-01 3.89380396e-02 9.89179468e-01 -4.21765239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.54, Y:3.28, Z:-42.18 [[ 9.78744983e-01 8.25778760e-02 1.87720943e-01 9.75360465e+01] [-6.65128750e-02 9.93688021e-01 -9.03335727e-02 3.27984365e+00] [-1.93995607e-01 7.59276714e-02 9.78059657e-01 -4.21789860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.56, Y:3.21, Z:-42.20 [[ 9.78194772e-01 7.18715265e-02 1.94857569e-01 9.75609655e+01] [-7.00261907e-02 9.97411130e-01 -1.63514655e-02 3.20880457e+00] [-1.95528313e-01 2.34978480e-03 9.80695242e-01 -4.21971963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.59, Y:3.20, Z:-42.20 [[ 9.78393139e-01 7.27747019e-02 1.93521857e-01 9.75932102e+01] [-7.09527538e-02 9.97345858e-01 -1.63385158e-02 3.20290703e+00] [-1.94197253e-01 2.25458306e-03 9.80959909e-01 -4.22036807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.45863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:97.62, Y:3.13, Z:-42.21 [[ 9.86627321e-01 6.19363534e-02 1.50766100e-01 9.76150469e+01] [-7.18274287e-02 9.95546074e-01 6.10641922e-02 3.12855564e+00] [-1.46312505e-01 -7.10767416e-02 9.86681685e-01 -4.22115010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.48863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.64, Y:3.11, Z:-42.22 [[ 9.86480676e-01 5.80736289e-02 1.53242714e-01 9.76382671e+01] [-7.05082184e-02 9.94535352e-01 7.69936639e-02 3.10856676e+00] [-1.47933995e-01 -8.67576323e-02 9.85184575e-01 -4.22151376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.51863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.69, Y:3.27, Z:-42.20 [[ 9.83896265e-01 9.71137541e-02 1.50056851e-01 9.76892036e+01] [-8.09424131e-02 9.90589725e-01 -1.10364499e-01 3.26697436e+00] [-1.59362685e-01 9.64412545e-02 9.82498152e-01 -4.21990155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.54863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.71, Y:3.18, Z:-42.22 [[ 9.83230263e-01 8.23857842e-02 1.62698594e-01 9.77095101e+01] [-8.06946770e-02 9.96594108e-01 -1.69868628e-02 3.18004162e+00] [-1.63543936e-01 3.57308708e-03 9.86529581e-01 -4.22189616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.74, Y:3.16, Z:-42.22 [[ 9.83909766e-01 7.90065488e-02 1.60248360e-01 9.77365741e+01] [-8.08873476e-02 9.96709490e-01 5.23733534e-03 3.15630215e+00] [-1.59307277e-01 -1.81151302e-02 9.87062832e-01 -4.22242159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.77, Y:3.18, Z:-42.23 [[ 9.82172527e-01 8.90448515e-02 1.65554046e-01 9.77692378e+01] [-8.58918506e-02 9.95961952e-01 -2.61223952e-02 3.17846137e+00] [-1.67211596e-01 1.14369555e-02 9.85854694e-01 -4.22276241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.63864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.80, Y:3.16, Z:-42.23 [[ 9.82377925e-01 8.78510081e-02 1.64972159e-01 9.77978408e+01] [-8.72784647e-02 9.96126159e-01 -1.07305994e-02 3.16242218e+00] [-1.65275777e-01 -3.85701276e-03 9.86239850e-01 -4.22325188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:97.83, Y:3.17, Z:-42.24 [[ 9.81699825e-01 9.16237199e-02 1.66944745e-01 9.78296635e+01] [-9.01622757e-02 9.95793220e-01 -1.63286897e-02 3.16615081e+00] [-1.67738540e-01 9.77753745e-04 9.85831033e-01 -4.22380103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.69864 meters Centerline goodness : 0.848980 Centerline is valid? [True, False] Translation: X:97.83, Y:3.16, Z:-42.24 [[ 9.81289020e-01 9.49920700e-02 1.67476466e-01 9.78291430e+01] [-9.43992928e-02 9.95467814e-01 -1.15154017e-02 3.16375928e+00] [-1.67811304e-01 -4.50972268e-03 9.85808820e-01 -4.22379103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.72864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:97.83, Y:3.17, Z:-42.24 [[ 9.81580242e-01 9.20071674e-02 1.67436287e-01 9.78284017e+01] [-9.04866995e-02 9.95757566e-01 -1.67041252e-02 3.16801224e+00] [-1.68262849e-01 1.24568233e-03 9.85741377e-01 -4.22377022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.86, Y:3.17, Z:-42.24 [[ 9.80190070e-01 9.71770168e-02 1.72580574e-01 9.78600234e+01] [-9.52286151e-02 9.95263365e-01 -1.95536597e-02 3.17410412e+00] [-1.73663289e-01 2.73169408e-03 9.84801300e-01 -4.22422480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.90, Y:3.23, Z:-42.24 [[ 9.71444319e-01 1.07077097e-01 2.11731979e-01 9.78951308e+01] [-9.16052725e-02 9.92445858e-01 -8.16069425e-02 3.22651872e+00] [-2.18870760e-01 5.98808350e-02 9.73914717e-01 -4.22424534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.91, Y:3.10, Z:-42.26 [[ 9.80769394e-01 8.06455553e-02 1.77729263e-01 9.79126006e+01] [-9.27617633e-02 9.93821780e-01 6.09386932e-02 3.10376817e+00] [-1.71716777e-01 -7.62532850e-02 9.82190809e-01 -4.22600422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.84863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:97.96, Y:3.24, Z:-42.25 [[ 9.71322846e-01 1.05820430e-01 2.12917745e-01 9.79570033e+01] [-8.82005953e-02 9.91970036e-01 -9.06427157e-02 3.23676113e+00] [-2.20799875e-01 6.92638686e-02 9.72856583e-01 -4.22519922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:97.98, Y:3.17, Z:-42.27 [[ 9.70861560e-01 9.07337263e-02 2.21799958e-01 9.79824192e+01] [-8.89575806e-02 9.95872648e-01 -1.80060483e-02 3.17269492e+00] [-2.22518268e-01 -2.24940755e-03 9.74925926e-01 -4.22700602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.90863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.02, Y:3.18, Z:-42.28 [[ 9.71730003e-01 8.64761322e-02 2.19687689e-01 9.80151125e+01] [-8.46000519e-02 9.96253269e-01 -1.79514874e-02 3.17564635e+00] [-2.20416953e-01 -1.14159096e-03 9.75405077e-01 -4.22769682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:98.05, Y:3.17, Z:-42.28 [[ 9.71678568e-01 8.47963404e-02 2.20568222e-01 9.80476712e+01] [-8.28355546e-02 9.96398096e-01 -1.81412308e-02 3.17454692e+00] [-2.21312066e-01 -6.43445783e-04 9.75202828e-01 -4.22837243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.96864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:98.07, Y:3.12, Z:-42.29 [[ 9.80416928e-01 7.32572410e-02 1.82800501e-01 9.80730516e+01] [-8.23665818e-02 9.95685319e-01 4.27374746e-02 3.12173144e+00] [-1.78880946e-01 -5.69571960e-02 9.82220691e-01 -4.22928806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.11, Y:3.22, Z:-42.29 [[ 9.72377293e-01 8.85776357e-02 2.15954630e-01 9.81146167e+01] [-7.38031350e-02 9.94406203e-01 -7.55605828e-02 3.22473860e+00] [-2.21439601e-01 5.75352663e-02 9.73475319e-01 -4.22867526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.14, Y:3.17, Z:-42.30 [[ 9.72466004e-01 7.56352249e-02 2.20429544e-01 9.81410019e+01] [-7.34018817e-02 9.97134217e-01 -1.83171280e-02 3.17357375e+00] [-2.21183261e-01 1.63284101e-03 9.75230895e-01 -4.23032182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.17, Y:3.17, Z:-42.31 [[ 9.72874608e-01 7.10170660e-02 2.20162608e-01 9.81730544e+01] [-6.86461103e-02 9.97471175e-01 -1.84110221e-02 3.17162305e+00] [-2.20913352e-01 2.79830922e-03 9.75289424e-01 -4.23103214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.20, Y:3.13, Z:-42.32 [[ 9.81154961e-01 6.17333158e-02 1.83095442e-01 9.82004090e+01] [-6.87496593e-02 9.97113582e-01 3.22178510e-02 3.12686921e+00] [-1.80578037e-01 -4.41984536e-02 9.82567081e-01 -4.23189187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.24, Y:3.21, Z:-42.31 [[ 9.73607208e-01 7.47081102e-02 2.15656448e-01 9.82404445e+01] [-6.18674980e-02 9.95919636e-01 -6.57000155e-02 3.20882837e+00] [-2.19684815e-01 5.06238838e-02 9.74256539e-01 -4.23149699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:98.27, Y:3.16, Z:-42.33 [[ 9.73627419e-01 6.04029170e-02 2.20002583e-01 9.82678528e+01] [-5.77253941e-02 9.98159497e-01 -1.85848670e-02 3.16361204e+00] [-2.20720247e-01 5.39500035e-03 9.75322237e-01 -4.23289534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.17864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:98.29, Y:3.10, Z:-42.34 [[ 9.81282507e-01 4.84827660e-02 1.86370769e-01 9.82917508e+01] [-5.80798006e-02 9.97233952e-01 4.63808356e-02 3.10463231e+00] [-1.83606588e-01 -5.63370797e-02 9.81384101e-01 -4.23369091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.20863999999999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:98.33, Y:3.18, Z:-42.33 [[ 9.80694614e-01 6.47773713e-02 1.84504651e-01 9.83326755e+01] [-5.76176900e-02 9.97372554e-01 -4.39111644e-02 3.17986362e+00] [-1.86864324e-01 3.24327107e-02 9.81850214e-01 -4.23329100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.23863999999999 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:98.36, Y:3.18, Z:-42.34 [[ 9.73444113e-01 6.26741786e-02 2.20178353e-01 9.83629095e+01] [-5.23712656e-02 9.97255705e-01 -5.23288589e-02 3.18106745e+00] [-2.22853787e-01 3.94082006e-02 9.74055021e-01 -4.23417150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.26863999999999 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:98.38, Y:3.10, Z:-42.36 [[ 9.81458375e-01 4.41724655e-02 1.86516088e-01 9.83821477e+01] [-5.20670698e-02 9.97933993e-01 3.76399537e-02 3.09841295e+00] [-1.84468095e-01 -4.66533940e-02 9.81730606e-01 -4.23554340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.29863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:98.42, Y:3.11, Z:-42.36 [[ 9.79841685e-01 5.09380445e-02 1.93172430e-01 9.84185248e+01] [-5.53434998e-02 9.98314441e-01 1.74749713e-02 3.10737004e+00] [-1.91956686e-01 -2.78135437e-02 9.81009193e-01 -4.23608824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.32864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:98.45, Y:3.17, Z:-42.36 [[ 9.81178278e-01 6.23732599e-02 1.82753285e-01 9.84528316e+01] [-5.17609883e-02 9.96715684e-01 -6.22787658e-02 3.17253514e+00] [-1.86037596e-01 5.16470815e-02 9.81184280e-01 -4.23553556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.35864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:98.48, Y:3.11, Z:-42.37 [[ 9.81226397e-01 4.92889992e-02 1.86454691e-01 9.84772451e+01] [-4.97114608e-02 9.98760709e-01 -2.41194332e-03 3.11416342e+00] [-1.86342502e-01 -6.90227263e-03 9.82460600e-01 -4.23694636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.38864 meters Centerline goodness : 0.868297 Centerline is valid? [True, False] Translation: X:98.52, Y:3.11, Z:-42.38 [[ 9.83520260e-01 5.00333919e-02 1.73737037e-01 9.85155255e+01] [-4.99380597e-02 9.98740185e-01 -4.92275910e-03 3.10710709e+00] [-1.73764463e-01 -3.83445721e-03 9.84779777e-01 -4.23750704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.41864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:98.55, Y:3.10, Z:-42.38 [[ 9.85820148e-01 4.93899553e-02 1.60372279e-01 9.85532648e+01] [-4.87709554e-02 9.98779562e-01 -7.79615686e-03 3.10297645e+00] [-1.60561607e-01 -1.35900769e-04 9.87025811e-01 -4.23807656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:98.59, Y:3.10, Z:-42.39 [[ 9.85747257e-01 4.92970864e-02 1.60848199e-01 9.85855002e+01] [-4.76818770e-02 9.98766010e-01 -1.38887154e-02 3.09740994e+00] [-1.61334387e-01 6.02121905e-03 9.86881432e-01 -4.23851728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.47864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:98.62, Y:3.09, Z:-42.39 [[ 9.85645084e-01 5.08878392e-02 1.60978866e-01 9.86178928e+01] [-4.92781558e-02 9.98687269e-01 -1.39786370e-02 3.09238440e+00] [-1.61478887e-01 5.84523323e-03 9.86858856e-01 -4.23893581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.50864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:98.65, Y:3.09, Z:-42.39 [[ 9.85676581e-01 5.28058584e-02 1.60166222e-01 9.86503308e+01] [-5.12251113e-02 9.98589205e-01 -1.39852682e-02 3.08720322e+00] [-1.60678764e-01 5.58041881e-03 9.86990980e-01 -4.23933145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.53864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:98.67, Y:2.97, Z:-42.40 [[ 9.90183993e-01 4.25503378e-02 1.33135757e-01 9.86682500e+01] [-5.77250564e-02 9.91998433e-01 1.12280568e-01 2.96925288e+00] [-1.27292886e-01 -1.18863690e-01 9.84717190e-01 -4.23963225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:98.72, Y:3.18, Z:-42.38 [[ 9.84358194e-01 7.95162348e-02 1.57213593e-01 9.87229555e+01] [-5.87515950e-02 9.89429754e-01 -1.32578324e-01 3.18004933e+00] [-1.66093936e-01 1.21268011e-01 9.78624992e-01 -4.23813276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.59863999999999 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:98.74, Y:3.07, Z:-42.40 [[ 9.83200857e-01 7.11558079e-02 1.68086066e-01 9.87441987e+01] [-6.96507214e-02 9.97461044e-01 -1.48405961e-02 3.07213601e+00] [-1.68715298e-01 2.88397105e-03 9.85660606e-01 -4.24027740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.62863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:98.76, Y:2.97, Z:-42.41 [[ 9.90555567e-01 5.67093912e-02 1.24834747e-01 9.87619664e+01] [-6.97624287e-02 9.92252231e-01 1.02804247e-01 2.96723196e+00] [-1.18037590e-01 -1.10542094e-01 9.86837156e-01 -4.24067244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.65863999999999 meters Centerline goodness : 0.994186 Centerline is valid? [True, True] Translation: X:98.83, Y:3.06, Z:-42.42 [[ 9.80909293e-01 1.34300913e-01 1.40642180e-01 9.88292686e+01] [-1.37786323e-01 9.90343800e-01 1.52998781e-02 3.06448945e+00] [-1.37229323e-01 -3.43863615e-02 9.89942266e-01 -4.24238555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.68863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:98.85, Y:3.15, Z:-42.40 [[ 9.82333461e-01 9.34157473e-02 1.62155698e-01 9.88475382e+01] [-7.47389331e-02 9.90233354e-01 -1.17694501e-01 3.15011489e+00] [-1.71566500e-01 1.03495903e-01 9.79721151e-01 -4.24024962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.71864 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:98.86, Y:3.00, Z:-42.42 [[ 9.89246893e-01 7.01526859e-02 1.28332323e-01 9.88608974e+01] [-7.80489272e-02 9.95286111e-01 5.75666728e-02 2.99572710e+00] [-1.23688922e-01 -6.69638523e-02 9.90059035e-01 -4.24189638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.74864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:98.90, Y:3.05, Z:-42.42 [[ 9.88601806e-01 8.28823936e-02 1.25686033e-01 9.88970167e+01] [-8.25735733e-02 9.96555425e-01 -7.67400554e-03 3.05238024e+00] [-1.25889138e-01 -2.79180914e-03 9.92040388e-01 -4.24193334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.77864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:98.93, Y:3.06, Z:-42.42 [[ 9.87616629e-01 8.74777389e-02 1.30234559e-01 9.89291740e+01] [-8.55911524e-02 9.96129096e-01 -2.00244517e-02 3.06180402e+00] [-1.31482127e-01 8.62955551e-03 9.91280980e-01 -4.24247542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.80864 meters Centerline goodness : 0.967045 Centerline is valid? [True, True] Translation: X:98.94, Y:3.00, Z:-42.44 [[ 9.87850641e-01 4.08605836e-03 1.55352554e-01 9.89373429e+01] [-6.04405147e-03 9.99908122e-01 1.21332873e-02 2.99580661e+00] [-1.55288703e-01 -1.29248345e-02 9.87784575e-01 -4.24411993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.83864 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:98.99, Y:3.08, Z:-42.43 [[ 9.86314851e-01 9.51937122e-02 1.34614904e-01 9.89908106e+01] [-9.03481372e-02 9.95038024e-01 -4.16718628e-02 3.08357485e+00] [-1.37913848e-01 2.89393713e-02 9.90021355e-01 -4.24297747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.86864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:99.02, Y:3.10, Z:-42.43 [[ 9.79096809e-01 9.91497579e-02 1.77591566e-01 9.90241244e+01] [-8.87933619e-02 9.93903109e-01 -6.53632129e-02 3.10097944e+00] [-1.82989557e-01 4.82279609e-02 9.81931202e-01 -4.24326562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.89864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:99.05, Y:3.01, Z:-42.45 [[ 9.85785250e-01 8.44467987e-02 1.45245238e-01 9.90454476e+01] [-9.03678839e-02 9.95305439e-01 3.46515242e-02 3.01441953e+00] [-1.41637165e-01 -4.72844662e-02 9.88788700e-01 -4.24456855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.92864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:99.08, Y:3.06, Z:-42.44 [[ 9.85197435e-01 9.40958695e-02 1.43289852e-01 9.90817265e+01] [-9.27279519e-02 9.95559526e-01 -1.62097934e-02 3.06291219e+00] [-1.44178852e-01 2.68287243e-03 9.89548008e-01 -4.24449329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.95863999999999 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:99.12, Y:3.10, Z:-42.45 [[ 9.77794541e-01 1.02883595e-01 1.82572728e-01 9.91181214e+01] [-9.35265940e-02 9.93857304e-01 -5.91644745e-02 3.09898468e+00] [-1.87538293e-01 4.07752948e-02 9.81410599e-01 -4.24469587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.98863999999999 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:99.15, Y:3.06, Z:-42.46 [[ 9.78041095e-01 9.60337756e-02 1.84967917e-01 9.91463644e+01] [-9.45633444e-02 9.95377486e-01 -1.67759970e-02 3.06482450e+00] [-1.85723963e-01 -1.08357041e-03 9.82601361e-01 -4.24590244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.01863999999999 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:99.17, Y:3.02, Z:-42.47 [[ 9.85808557e-01 8.46980576e-02 1.44940430e-01 9.91705749e+01] [-9.11544760e-02 9.95092734e-01 3.84878167e-02 3.01785311e+00] [-1.40969326e-01 -5.11535880e-02 9.88691539e-01 -4.24670041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.04863999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:99.21, Y:3.08, Z:-42.47 [[ 9.85303786e-01 9.36180676e-02 1.42870947e-01 9.92076979e+01] [-9.03666403e-02 9.95483513e-01 -2.90937385e-02 3.07711306e+00] [-1.44949372e-01 1.57554032e-02 9.89313624e-01 -4.24659059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.07864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:99.24, Y:3.06, Z:-42.47 [[ 9.85529239e-01 8.59970829e-02 1.46070604e-01 9.92366237e+01] [-8.59482939e-02 9.96277359e-01 -6.65698527e-03 3.05663361e+00] [-1.46099316e-01 -5.99386555e-03 9.89251769e-01 -4.24718094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.10864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:99.27, Y:3.06, Z:-42.48 [[ 9.85710776e-01 8.44726250e-02 1.45734835e-01 9.92674247e+01] [-8.37114001e-02 9.96425296e-01 -1.13592005e-02 3.05869077e+00] [-1.46173417e-01 -1.00278069e-03 9.89258473e-01 -4.24753758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.13864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:99.30, Y:3.03, Z:-42.48 [[ 9.86682105e-01 7.77629966e-02 1.42868261e-01 9.92951489e+01] [-8.07316822e-02 9.96621601e-01 1.50923934e-02 3.03255167e+00] [-1.41211965e-01 -2.64253896e-02 9.89626637e-01 -4.24813338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.16864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:99.34, Y:3.11, Z:-42.48 [[ 9.78635844e-01 9.43399637e-02 1.82679654e-01 9.93383769e+01] [-8.02047626e-02 9.93292256e-01 -8.32928000e-02 3.11446984e+00] [-1.89312126e-01 6.68615413e-02 9.79637920e-01 -4.24765357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.19864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:99.36, Y:3.05, Z:-42.49 [[ 9.78334347e-01 8.39890946e-02 1.89229326e-01 9.93641682e+01] [-8.20794211e-02 9.96464666e-01 -1.79203106e-02 3.05324975e+00] [-1.90065448e-01 2.00022182e-03 9.81769385e-01 -4.24918210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.22864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:99.39, Y:3.01, Z:-42.50 [[ 9.85843594e-01 7.30895460e-02 1.50898399e-01 9.93870194e+01] [-7.92414262e-02 9.96235273e-01 3.51578851e-02 3.00713883e+00] [-1.47760634e-01 -4.66175802e-02 9.87923882e-01 -4.24979157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.25864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:99.42, Y:3.04, Z:-42.50 [[ 9.85832297e-01 8.08671222e-02 1.46953022e-01 9.94226313e+01] [-8.09294006e-02 9.96704301e-01 -5.56498641e-03 3.04176045e+00] [-1.46918733e-01 -6.40667663e-03 9.89127818e-01 -4.24987838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.28864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:99.46, Y:3.09, Z:-42.50 [[ 9.77709882e-01 9.27498456e-02 1.88363619e-01 9.94621915e+01] [-8.06425919e-02 9.94213308e-01 -7.09694997e-02 3.09405432e+00] [-1.93856027e-01 5.41974507e-02 9.79531764e-01 -4.24983602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:99.48, Y:2.99, Z:-42.51 [[ 9.85854797e-01 6.98383531e-02 1.52357882e-01 9.94780354e+01] [-7.72653544e-02 9.96066530e-01 4.33766483e-02 2.99432852e+00] [-1.48729233e-01 -5.45350625e-02 9.87373051e-01 -4.25104112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.34863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:99.51, Y:3.05, Z:-42.51 [[ 9.85562380e-01 7.91293721e-02 1.49684124e-01 9.95149744e+01] [-7.73806583e-02 9.96848370e-01 -1.74802763e-02 3.04528327e+00] [-1.50595579e-01 5.64524663e-03 9.88579336e-01 -4.25090696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.37863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:99.55, Y:3.04, Z:-42.51 [[ 9.85180029e-01 7.73802714e-02 1.53077120e-01 9.95453094e+01] [-7.53800694e-02 9.96976950e-01 -1.88363098e-02 3.04227464e+00] [-1.54071919e-01 7.01819228e-03 9.88034710e-01 -4.25137549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.58, Y:3.07, Z:-42.52 [[ 9.78245542e-01 8.10347636e-02 1.90968652e-01 9.95834997e+01] [-6.97521082e-02 9.95438468e-01 -6.50914788e-02 3.07474329e+00] [-1.95372215e-01 5.03549829e-02 9.79435589e-01 -4.25165050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.43863999999999 meters Centerline goodness : 0.901160 Centerline is valid? [True, False] Translation: X:99.61, Y:3.06, Z:-42.52 [[ 9.82054560e-01 7.93655466e-02 1.71084629e-01 9.96118832e+01] [-7.18754996e-02 9.96182172e-01 -4.95478787e-02 3.06047019e+00] [-1.74363852e-01 3.63619271e-02 9.84009684e-01 -4.25227612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.46864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:99.64, Y:3.05, Z:-42.53 [[ 9.85462850e-01 7.79043616e-02 1.50976430e-01 9.96396112e+01] [-7.31891366e-02 9.96648137e-01 -3.65491602e-02 3.04742921e+00] [-1.53317717e-01 2.49680050e-02 9.87861466e-01 -4.25261784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.67, Y:3.02, Z:-42.53 [[ 9.85604116e-01 7.14508195e-02 1.53229591e-01 9.96689767e+01] [-6.97625628e-02 9.97429246e-01 -1.63732602e-02 3.02013198e+00] [-1.54005558e-01 5.44786369e-03 9.88054962e-01 -4.25330289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:99.70, Y:3.01, Z:-42.54 [[ 9.85863673e-01 7.09707757e-02 1.51776044e-01 9.97009323e+01] [-6.92976797e-02 9.97462991e-01 -1.62914856e-02 3.01171825e+00] [-1.52547207e-01 5.54345611e-03 9.88280638e-01 -4.25370551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.55864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:99.72, Y:2.95, Z:-42.54 [[ 9.91394096e-01 6.18400743e-02 1.15384364e-01 9.97207496e+01] [-6.83874162e-02 9.96214063e-01 5.36721678e-02 2.94799625e+00] [-1.11628436e-01 -6.11011088e-02 9.91869824e-01 -4.25408572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.75, Y:2.95, Z:-42.54 [[ 9.91081663e-01 6.20660461e-02 1.17919223e-01 9.97523125e+01] [-6.80288827e-02 9.96564792e-01 4.72301445e-02 2.94748591e+00] [-1.14582757e-01 -5.48308432e-02 9.91899375e-01 -4.25443631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.61864 meters Centerline goodness : 0.946396 Centerline is valid? [True, False] Translation: X:99.78, Y:2.96, Z:-42.54 [[ 9.92748788e-01 5.26391952e-02 1.08069229e-01 9.97807483e+01] [-5.57953345e-02 9.98093414e-01 2.63897191e-02 2.95904149e+00] [-1.06474053e-01 -3.22281204e-02 9.93793049e-01 -4.25444610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.64864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:99.82, Y:2.96, Z:-42.55 [[ 9.94445541e-01 4.42526103e-02 9.54975001e-02 9.98152247e+01] [-4.56439489e-02 9.98880394e-01 1.24333795e-02 2.96121848e+00] [-9.48403710e-02 -1.67232018e-02 9.95352017e-01 -4.25450469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:99.85, Y:2.95, Z:-42.55 [[ 9.93628039e-01 5.07577934e-02 1.00632835e-01 9.98517079e+01] [-5.22401892e-02 9.98560647e-01 1.21489347e-02 2.95369794e+00] [-9.98713358e-02 -1.73286005e-02 9.94849454e-01 -4.25457032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.70863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:99.89, Y:3.04, Z:-42.54 [[ 9.90127702e-01 5.82276798e-02 1.27501654e-01 9.98888543e+01] [-4.72200643e-02 9.95025573e-01 -8.77175814e-02 3.03575517e+00] [-1.31974998e-01 8.08309710e-02 9.87951899e-01 -4.25416358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.73863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:99.91, Y:2.93, Z:-42.55 [[ 9.93182438e-01 4.81457662e-02 1.06163226e-01 9.99095403e+01] [-5.07865076e-02 9.98460284e-01 2.23112291e-02 2.93420812e+00] [-1.04925573e-01 -2.75507803e-02 9.94098375e-01 -4.25545079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.76863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:99.95, Y:2.98, Z:-42.55 [[ 9.89362653e-01 5.74074550e-02 1.33663473e-01 9.99480829e+01] [-5.22529425e-02 9.97760362e-01 -4.17599000e-02 2.98447268e+00] [-1.35761445e-01 3.43313757e-02 9.90146548e-01 -4.25544472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.79863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:99.98, Y:2.95, Z:-42.56 [[ 9.88696131e-01 5.74846724e-02 1.38475535e-01 9.99773425e+01] [-5.63818460e-02 9.98338634e-01 -1.18768725e-02 2.95027522e+00] [-1.38928215e-01 3.93511161e-03 9.90294636e-01 -4.25608549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.01, Y:2.95, Z:-42.56 [[ 9.88724301e-01 5.87867684e-02 1.37725713e-01 1.00009627e+02] [-5.76990490e-02 9.98263331e-01 -1.18803039e-02 2.94548190e+00] [-1.38184933e-01 3.79970257e-03 9.90399155e-01 -4.25643969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.85864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.04, Y:2.94, Z:-42.57 [[ 9.88718850e-01 5.99947028e-02 1.37243107e-01 1.00041603e+02] [-5.89167172e-02 9.98191887e-01 -1.19070218e-02 2.93876872e+00] [-1.37709314e-01 3.68678354e-03 9.90465826e-01 -4.25682681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.07, Y:2.93, Z:-42.57 [[ 9.88605995e-01 6.12131107e-02 1.37517785e-01 1.00074281e+02] [-6.01329591e-02 9.98118251e-01 -1.19993143e-02 2.93453229e+00] [-1.37993526e-01 3.59324278e-03 9.90426613e-01 -4.25723490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.09, Y:2.83, Z:-42.57 [[ 9.93817031e-01 5.01936438e-02 9.90369011e-02 1.00092347e+02] [-6.00487165e-02 9.93256190e-01 9.91780808e-02 2.83468872e+00] [-9.33909058e-02 -1.04511905e-01 9.90128982e-01 -4.25736065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.14, Y:3.02, Z:-42.57 [[ 9.88468874e-01 7.73409452e-02 1.30183190e-01 1.00142406e+02] [-6.22767610e-02 9.91288360e-01 -1.16055989e-01 3.01894361e+00] [-1.38024961e-01 1.06610346e-01 9.84674233e-01 -4.25666173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.97864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:100.17, Y:2.92, Z:-42.58 [[ 9.87998541e-01 6.59260746e-02 1.39687634e-01 1.00165543e+02] [-6.48379825e-02 9.97819613e-01 -1.23310707e-02 2.92225963e+00] [-1.40196000e-01 3.12601555e-03 9.90118836e-01 -4.25821546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.00864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:100.20, Y:2.92, Z:-42.59 [[ 9.88124350e-01 6.57547352e-02 1.38876145e-01 1.00198158e+02] [-6.46677670e-02 9.97830677e-01 -1.23296669e-02 2.91615735e+00] [-1.39385612e-01 3.20243390e-03 9.90233001e-01 -4.25873031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.03864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:100.23, Y:2.91, Z:-42.59 [[ 9.88024904e-01 6.61389014e-02 1.39400269e-01 1.00230260e+02] [-6.50374043e-02 9.97805191e-01 -1.24473501e-02 2.91113874e+00] [-1.39917566e-01 3.23206024e-03 9.90157881e-01 -4.25923134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:100.26, Y:2.91, Z:-42.60 [[ 9.88087456e-01 6.67019882e-02 1.38686780e-01 1.00262714e+02] [-6.56074793e-02 9.97767790e-01 -1.24537322e-02 2.90592537e+00] [-1.39207891e-01 3.20648650e-03 9.90257987e-01 -4.25959711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.09863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:100.28, Y:2.80, Z:-42.59 [[ 9.93237662e-01 5.51197777e-02 1.02180019e-01 1.00281294e+02] [-6.56808088e-02 9.92504922e-01 1.03053439e-01 2.79911046e+00] [-9.57338889e-02 -1.09067823e-01 9.89413580e-01 -4.25929702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.12863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:100.33, Y:2.93, Z:-42.59 [[ 9.93355267e-01 7.71280990e-02 8.54199639e-02 1.00326195e+02] [-7.31484704e-02 9.96127293e-01 -4.87823450e-02 2.93071607e+00] [-8.88516470e-02 4.22098597e-02 9.95150096e-01 -4.25925408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.15863999999999 meters Centerline goodness : 0.996704 Centerline is valid? [True, True] Translation: X:100.36, Y:2.88, Z:-42.61 [[ 9.86277466e-01 1.14039418e-01 1.19380784e-01 1.00358975e+02] [-1.16971140e-01 9.92975383e-01 1.78225016e-02 2.88487600e+00] [-1.16509712e-01 -3.15420381e-02 9.92688565e-01 -4.26100900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.18863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.39, Y:2.93, Z:-42.60 [[ 9.91670430e-01 8.17243578e-02 9.95534446e-02 1.00385279e+02] [-7.60424475e-02 9.95321980e-01 -5.95961601e-02 2.92960611e+00] [-1.03958190e-01 5.15294621e-02 9.93245896e-01 -4.26001866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.21864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:100.42, Y:2.92, Z:-42.61 [[ 9.85998330e-01 8.28696125e-02 1.44706328e-01 1.00415623e+02] [-7.49230356e-02 9.95410447e-01 -5.95363741e-02 2.92261545e+00] [-1.48975947e-01 4.78609281e-02 9.87681881e-01 -4.26066167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.44, Y:2.82, Z:-42.61 [[ 9.90188952e-01 7.57173829e-02 1.17442402e-01 1.00437865e+02] [-8.19126911e-02 9.95441714e-01 4.88477774e-02 2.82269131e+00] [-1.13208440e-01 -5.79885527e-02 9.91877602e-01 -4.26127522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:100.48, Y:2.92, Z:-42.61 [[ 9.84552154e-01 9.11761886e-02 1.49478960e-01 1.00478574e+02] [-8.12327434e-02 9.94138709e-01 -7.13405144e-02 2.92327688e+00] [-1.55107377e-01 5.80958711e-02 9.86187899e-01 -4.26116126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.50, Y:2.82, Z:-42.62 [[ 9.89999609e-01 7.97687506e-02 1.16351710e-01 1.00501124e+02] [-8.50117325e-02 9.95543853e-01 4.08098230e-02 2.82288935e+00] [-1.12577881e-01 -5.02929693e-02 9.92369305e-01 -4.26164497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.54, Y:2.91, Z:-42.62 [[ 9.83732669e-01 9.53832814e-02 1.52223738e-01 1.00539859e+02] [-8.65009725e-02 9.94196647e-01 -6.39578701e-02 2.91239023e+00] [-1.57440841e-01 4.97499448e-02 9.86274467e-01 -4.26171755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.56, Y:2.81, Z:-42.63 [[ 9.88479035e-01 8.14414853e-02 1.27579316e-01 1.00561893e+02] [-8.84149700e-02 9.94829199e-01 4.99765698e-02 2.80997118e+00] [-1.22849463e-01 -6.06807129e-02 9.90568453e-01 -4.26274438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.60, Y:2.88, Z:-42.63 [[ 9.88739007e-01 9.71925448e-02 1.13792731e-01 1.00601054e+02] [-9.50835087e-02 9.95184029e-01 -2.38301199e-02 2.87710122e+00] [-1.15560819e-01 1.27419569e-02 9.93218677e-01 -4.26252366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.63, Y:2.87, Z:-42.63 [[ 9.87347382e-01 9.91049799e-02 1.23787523e-01 1.00632402e+02] [-9.70061172e-02 9.95020668e-01 -2.28841122e-02 2.87458981e+00] [-1.25439074e-01 1.05864213e-02 9.92044841e-01 -4.26313798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.45863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:100.67, Y:2.90, Z:-42.63 [[ 9.82297622e-01 1.01979110e-01 1.57135747e-01 1.00665302e+02] [-9.51051622e-02 9.94176315e-01 -5.06800085e-02 2.89568163e+00] [-1.61388941e-01 3.48384311e-02 9.86275770e-01 -4.26346027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.48863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.68, Y:2.74, Z:-42.63 [[ 9.90323356e-01 7.45590030e-02 1.17049583e-01 1.00678423e+02] [-8.99677464e-02 9.87102073e-01 1.32420926e-01 2.73552487e+00] [-1.05666714e-01 -1.41670223e-01 9.84258144e-01 -4.26331546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.51863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.73, Y:2.94, Z:-42.63 [[ 9.87161224e-01 1.09852361e-01 1.15953335e-01 1.00732057e+02] [-9.88576600e-02 9.90395246e-01 -9.66665383e-02 2.93775787e+00] [-1.25458680e-01 8.39625829e-02 9.88539531e-01 -4.26329006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.54863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:100.76, Y:2.90, Z:-42.64 [[ 9.81520974e-01 1.04959221e-01 1.60000439e-01 1.00759218e+02] [-9.67486739e-02 9.93600417e-01 -5.82915484e-02 2.90203662e+00] [-1.65094738e-01 4.17345471e-02 9.85394315e-01 -4.26410253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.78, Y:2.81, Z:-42.65 [[ 9.88443332e-01 9.01930643e-02 1.21840021e-01 1.00780069e+02] [-9.69642500e-02 9.93989223e-01 5.08267519e-02 2.80811953e+00] [-1.16523447e-01 -6.20534903e-02 9.91247522e-01 -4.26480513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.60864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:100.82, Y:2.91, Z:-42.65 [[ 9.80894930e-01 1.09074463e-01 1.61083513e-01 1.00823600e+02] [-9.80484180e-02 9.92358754e-01 -7.49040151e-02 2.91404797e+00] [-1.68022750e-01 5.76789850e-02 9.84094249e-01 -4.26473585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.63864 meters Centerline goodness : 0.894636 Centerline is valid? [True, False] Translation: X:100.84, Y:2.89, Z:-42.65 [[ 9.82915443e-01 1.01199876e-01 1.53739444e-01 1.00835383e+02] [-9.38548348e-02 9.94102711e-01 -5.43237573e-02 2.89449242e+00] [-1.58330355e-01 3.89664699e-02 9.86617004e-01 -4.26499393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.66864 meters Centerline goodness : 0.906339 Centerline is valid? [False, False] Translation: X:100.85, Y:2.88, Z:-42.65 [[ 9.85386339e-01 8.76183610e-02 1.46071164e-01 1.00849629e+02] [-8.24178898e-02 9.95741996e-01 -4.12937003e-02 2.88043982e+00] [-1.49067279e-01 2.86513710e-02 9.88411880e-01 -4.26529001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.69864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:100.87, Y:2.86, Z:-42.66 [[ 9.87750974e-01 7.49323635e-02 1.36869116e-01 1.00866455e+02] [-7.19239640e-02 9.97049951e-01 -2.68018379e-02 2.86430608e+00] [-1.38473671e-01 1.66293721e-02 9.90226493e-01 -4.26568235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.89, Y:2.78, Z:-42.66 [[ 9.91975149e-01 6.85861354e-02 1.06213207e-01 1.00890236e+02] [-7.56695251e-02 9.95066720e-01 6.41587608e-02 2.78333429e+00] [-1.01288826e-01 -7.16809993e-02 9.92271338e-01 -4.26629315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.93, Y:2.84, Z:-42.66 [[ 9.93468091e-01 7.23697540e-02 8.82256871e-02 1.00927097e+02] [-7.19629133e-02 9.97376906e-01 -7.78756457e-03 2.84402321e+00] [-8.85578470e-02 1.38771943e-03 9.96070069e-01 -4.26620444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.96, Y:2.90, Z:-42.66 [[ 9.87177156e-01 8.17526291e-02 1.37104962e-01 1.00964230e+02] [-7.18202648e-02 9.94525809e-01 -7.58964129e-02 2.90106218e+00] [-1.42559154e-01 6.50762903e-02 9.87644655e-01 -4.26616515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:100.99, Y:2.84, Z:-42.67 [[ 9.86997317e-01 7.54031223e-02 1.41953037e-01 1.00992482e+02] [-7.47914446e-02 9.97152531e-01 -9.64726806e-03 2.84149914e+00] [-1.42276264e-01 -1.09504501e-03 9.89826382e-01 -4.26711963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.84863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.02, Y:2.78, Z:-42.67 [[ 9.92647603e-01 7.08460643e-02 9.81405686e-02 1.01017989e+02] [-7.74639420e-02 9.94851365e-01 6.53459889e-02 2.77733169e+00] [-9.30057725e-02 -7.24678946e-02 9.93024839e-01 -4.26740535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.87863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.06, Y:2.90, Z:-42.67 [[ 9.86131159e-01 8.92284590e-02 1.39941486e-01 1.01059548e+02] [-7.86016358e-02 9.93713565e-01 -7.97190903e-02 2.90205637e+00] [-1.46174964e-01 6.76138492e-02 9.86945412e-01 -4.26705904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.90863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.08, Y:2.80, Z:-42.68 [[ 9.91291285e-01 7.84521038e-02 1.05767934e-01 1.01081589e+02] [-8.33052734e-02 9.95627206e-01 4.22693569e-02 2.79742472e+00] [-1.01989313e-01 -5.07122717e-02 9.93492046e-01 -4.26806626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.93863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.12, Y:2.84, Z:-42.68 [[ 9.90943479e-01 8.51755271e-02 1.03808240e-01 1.01115872e+02] [-8.49434197e-02 9.96363499e-01 -6.66284641e-03 2.84067849e+00] [-1.03998253e-01 -2.21532268e-03 9.94575013e-01 -4.26824893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.15, Y:2.88, Z:-42.68 [[ 9.87612368e-01 9.13397506e-02 1.27588639e-01 1.01150877e+02] [-8.44551368e-02 9.94715806e-01 -5.83763257e-02 2.88454075e+00] [-1.32246515e-01 4.68776653e-02 9.90107744e-01 -4.26849061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.18, Y:2.81, Z:-42.69 [[ 9.90669573e-01 8.16249816e-02 1.09138260e-01 1.01177447e+02] [-8.56664137e-02 9.95781800e-01 3.28614226e-02 2.80549235e+00] [-1.05995579e-01 -4.19042947e-02 9.93483250e-01 -4.26922975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:101.21, Y:2.83, Z:-42.69 [[ 9.91170811e-01 8.50696147e-02 1.01703409e-01 1.01209892e+02] [-8.60284698e-02 9.96279772e-01 5.07133322e-03 2.83005167e+00] [-1.00893632e-01 -1.37759461e-02 9.94801839e-01 -4.26934118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.25, Y:2.89, Z:-42.69 [[ 9.85359942e-01 9.21008970e-02 1.43468497e-01 1.01245189e+02] [-8.37112281e-02 9.94466841e-01 -6.34675720e-02 2.88805572e+00] [-1.48520083e-01 5.05284789e-02 9.87617668e-01 -4.26933126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.27, Y:2.84, Z:-42.70 [[ 9.85200052e-01 8.65092537e-02 1.47976370e-01 1.01273779e+02] [-8.59174158e-02 9.96247989e-01 -1.03991437e-02 2.84071072e+00] [-1.48320783e-01 -2.46851039e-03 9.88936222e-01 -4.27019451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.31, Y:2.84, Z:-42.71 [[ 9.85179814e-01 8.67481062e-02 1.47971284e-01 1.01306966e+02] [-8.61481513e-02 9.96227310e-01 -1.04710380e-02 2.83849734e+00] [-1.48321377e-01 -2.43159730e-03 9.88936225e-01 -4.27061274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.33, Y:2.71, Z:-42.71 [[ 9.94251205e-01 6.85907720e-02 8.22182950e-02 1.01326805e+02] [-7.98617780e-02 9.86533478e-01 1.42736797e-01 2.70629516e+00] [-7.13206734e-02 -1.48482332e-01 9.86339880e-01 -4.27052039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.17864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:101.37, Y:2.82, Z:-42.71 [[ 9.92095775e-01 8.63343148e-02 9.10623875e-02 1.01367337e+02] [-8.80501669e-02 9.96003261e-01 1.49890588e-02 2.81965379e+00] [-8.94043647e-02 -2.28886403e-02 9.95732379e-01 -4.27082559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.20863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.41, Y:2.98, Z:-42.69 [[ 9.83431580e-01 1.08844022e-01 1.44966572e-01 1.01410198e+02] [-8.42364782e-02 9.82483777e-01 -1.66222271e-01 2.97723258e+00] [-1.60519605e-01 1.51256757e-01 9.75374210e-01 -4.26911964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.23863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.43, Y:2.81, Z:-42.72 [[ 9.88749417e-01 8.62590474e-02 1.22204614e-01 1.01428157e+02] [-9.00772897e-02 9.95593718e-01 2.60620433e-02 2.80940541e+00] [-1.19418059e-01 -3.67766905e-02 9.92162689e-01 -4.27171019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.26863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.46, Y:2.87, Z:-42.72 [[ 9.83565054e-01 9.20551698e-02 1.55324273e-01 1.01463572e+02] [-8.58446015e-02 9.95234763e-01 -4.62436088e-02 2.87270525e+00] [-1.58841079e-01 3.21498473e-02 9.86780573e-01 -4.27181898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.29863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.49, Y:2.79, Z:-42.73 [[ 9.90029497e-01 8.20037177e-02 1.14529408e-01 1.01490775e+02] [-8.74457478e-02 9.95226860e-01 4.33213386e-02 2.79497088e+00] [-1.10430232e-01 -5.29045128e-02 9.92474824e-01 -4.27269035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.53, Y:2.84, Z:-42.73 [[ 9.89542863e-01 8.80140636e-02 1.14273565e-01 1.01526305e+02] [-8.71785326e-02 9.96116786e-01 -1.22984828e-02 2.84340861e+00] [-1.14912256e-01 2.20767422e-03 9.93373193e-01 -4.27250054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.56, Y:2.88, Z:-42.73 [[ 9.83113938e-01 9.18190030e-02 1.58291681e-01 1.01558502e+02] [-8.32571141e-02 9.94725528e-01 -5.99114046e-02 2.88197570e+00] [-1.62957781e-01 4.57208284e-02 9.85573116e-01 -4.27268430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.59, Y:2.81, Z:-42.74 [[ 9.88894473e-01 8.33879321e-02 1.23021034e-01 1.01586050e+02] [-8.69754429e-02 9.95919481e-01 2.40761160e-02 2.80906875e+00] [-1.20511387e-01 -3.45085469e-02 9.92111972e-01 -4.27360396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.62, Y:2.83, Z:-42.74 [[ 9.88409983e-01 8.82830635e-02 1.23498203e-01 1.01619111e+02] [-8.83157924e-02 9.96078848e-01 -5.22016759e-03 2.83433443e+00] [-1.23474800e-01 -5.74717589e-03 9.92331066e-01 -4.27379192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.65, Y:2.84, Z:-42.74 [[ 9.88164047e-01 8.90588779e-02 1.24901290e-01 1.01649967e+02] [-8.85241327e-02 9.96025466e-01 -9.83612841e-03 2.83687662e+00] [-1.25280861e-01 -1.33706995e-03 9.92120415e-01 -4.27408227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.68, Y:2.84, Z:-42.74 [[ 9.88087394e-01 8.95334418e-02 1.25168148e-01 1.01681170e+02] [-8.85950465e-02 9.95982172e-01 -1.30549447e-02 2.83911642e+00] [-1.25834098e-01 1.81014834e-03 9.92049647e-01 -4.27440895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.71, Y:2.84, Z:-42.75 [[ 9.87970524e-01 8.93060497e-02 1.26248459e-01 1.01712991e+02] [-8.84409954e-02 9.96003583e-01 -1.24520242e-02 2.83778047e+00] [-1.26855959e-01 1.13669344e-03 9.91920498e-01 -4.27484032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.74, Y:2.83, Z:-42.75 [[ 9.87845064e-01 8.85127849e-02 1.27779565e-01 1.01743485e+02] [-8.85616243e-02 9.96056543e-01 -5.31051394e-03 2.82996819e+00] [-1.27745720e-01 -6.07040082e-03 9.91788375e-01 -4.27537837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.78, Y:2.84, Z:-42.76 [[ 9.87276522e-01 9.06551979e-02 1.30639594e-01 1.01775475e+02] [-8.87605031e-02 9.95846809e-01 -2.02658983e-02 2.84348063e+00] [-1.31934231e-01 8.41240950e-03 9.91222775e-01 -4.27566655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.59863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.81, Y:2.83, Z:-42.76 [[ 9.87557865e-01 8.92745712e-02 1.29458545e-01 1.01805095e+02] [-8.92354791e-02 9.95991790e-01 -6.11424106e-03 2.83134649e+00] [-1.29485494e-01 -5.51412842e-03 9.91565984e-01 -4.27616885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.62863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.83, Y:2.81, Z:-42.77 [[ 9.88618341e-01 8.60656308e-02 1.23395634e-01 1.01831946e+02] [-8.93146556e-02 9.95781324e-01 2.10344471e-02 2.81173640e+00] [-1.21064725e-01 -3.18160787e-02 9.92134603e-01 -4.27665525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.65863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:101.87, Y:2.85, Z:-42.77 [[ 9.87028521e-01 9.42188747e-02 1.29990391e-01 1.01867152e+02] [-9.12876780e-02 9.95421220e-01 -2.83399823e-02 2.85459348e+00] [-1.32065354e-01 1.61058499e-02 9.91110157e-01 -4.27665315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.68863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:101.90, Y:2.84, Z:-42.77 [[ 9.87311475e-01 9.04597568e-02 1.30510857e-01 1.01897287e+02] [-9.03381020e-02 9.95887496e-01 -6.86453213e-03 2.83567803e+00] [-1.30595094e-01 -5.01267174e-03 9.91423116e-01 -4.27706193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.93, Y:2.85, Z:-42.78 [[ 9.86886248e-01 9.24368409e-02 1.32329000e-01 1.01929303e+02] [-9.01363869e-02 9.95657231e-01 -2.32832440e-02 2.85327268e+00] [-1.33906556e-01 1.10502553e-02 9.90932352e-01 -4.27759925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:101.96, Y:2.84, Z:-42.78 [[ 9.87395894e-01 8.83760376e-02 1.31297464e-01 1.01957167e+02] [-8.81931535e-02 9.96077235e-01 -7.21873377e-03 2.83917107e+00] [-1.31420378e-01 -4.45178931e-03 9.91316733e-01 -4.27817929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:101.99, Y:2.84, Z:-42.79 [[ 9.87124611e-01 8.61224083e-02 1.34788473e-01 1.01986789e+02] [-8.55715690e-02 9.96282981e-01 -9.88577016e-03 2.84117749e+00] [-1.35138848e-01 -1.77557412e-03 9.90825080e-01 -4.27854963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.80864 meters Centerline goodness : 0.895071 Centerline is valid? [True, False] Translation: X:101.99, Y:2.85, Z:-42.79 [[ 9.87423374e-01 8.28629450e-02 1.34643279e-01 1.01986458e+02] [-8.15457805e-02 9.96552493e-01 -1.52778863e-02 2.84594409e+00] [-1.35445066e-01 4.10615076e-03 9.90776349e-01 -4.27854743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.83864 meters Centerline goodness : 0.999902 Centerline is valid? [False, True] Translation: X:102.01, Y:2.84, Z:-42.79 [[ 9.90123253e-01 7.76193207e-02 1.16752662e-01 1.02011448e+02] [-7.67501000e-02 9.96978994e-01 -1.19292661e-02 2.84318560e+00] [-1.17325893e-01 2.85066532e-03 9.93089376e-01 -4.27884544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:102.04, Y:2.84, Z:-42.79 [[ 9.89943431e-01 7.45417025e-02 1.20231186e-01 1.02041174e+02] [-7.35625352e-02 9.97211409e-01 -1.25681847e-02 2.84350892e+00] [-1.20832765e-01 3.59728097e-03 9.92666360e-01 -4.27912408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:102.08, Y:2.88, Z:-42.79 [[ 9.83502016e-01 7.97484000e-02 1.62369876e-01 1.02076257e+02] [-7.11994871e-02 9.95785140e-01 -5.78151116e-02 2.87903404e+00] [-1.66296173e-01 4.53006269e-02 9.85034739e-01 -4.27916797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.92864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:102.11, Y:2.84, Z:-42.80 [[ 9.83940969e-01 7.05690115e-02 1.63951774e-01 1.02105191e+02] [-6.97095417e-02 9.97506714e-01 -1.09970674e-02 2.83554979e+00] [-1.64319047e-01 -6.08537906e-04 9.86407056e-01 -4.28022159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.95863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:102.12, Y:2.74, Z:-42.81 [[ 9.93177714e-01 4.97696083e-02 1.05456224e-01 1.02123007e+02] [-6.02840735e-02 9.93261201e-01 9.89849337e-02 2.73872701e+00] [-9.98191344e-02 -1.04666961e-01 9.89485203e-01 -4.28094886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.98863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:102.16, Y:2.85, Z:-42.80 [[ 9.91468711e-01 6.99791531e-02 1.09966871e-01 1.02163395e+02] [-6.67981603e-02 9.97241813e-01 -3.23538498e-02 2.85394951e+00] [-1.11927656e-01 2.47322451e-02 9.93408534e-01 -4.28047143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.01863999999999 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:102.20, Y:2.89, Z:-42.80 [[ 9.83761689e-01 7.94356530e-02 1.60943832e-01 1.02201179e+02] [-6.67330988e-02 9.94324583e-01 -8.28572078e-02 2.89269238e+00] [-1.66612225e-01 7.07714660e-02 9.83479418e-01 -4.28025807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.04863999999999 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:102.21, Y:2.75, Z:-42.82 [[ 9.92035365e-01 4.82566672e-02 1.16349170e-01 1.02212166e+02] [-5.74170983e-02 9.95398830e-01 7.67101474e-02 2.75079315e+00] [-1.12112051e-01 -8.27796108e-02 9.90241599e-01 -4.28200480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:102.25, Y:2.82, Z:-42.82 [[ 9.91922070e-01 5.87068688e-02 1.12446036e-01 1.02250010e+02] [-5.86165704e-02 9.98272102e-01 -4.11183461e-03 2.82087101e+00] [-1.12493133e-01 -2.51258146e-03 9.93649325e-01 -4.28182280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.10864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:102.26, Y:2.71, Z:-42.83 [[ 9.92980453e-01 3.20249129e-02 1.13860548e-01 1.02258797e+02] [-4.55583432e-02 9.91929738e-01 1.18320885e-01 2.70905889e+00] [-1.09152448e-01 -1.22677624e-01 9.86425843e-01 -4.28266060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.13864 meters Centerline goodness : 0.947198 Centerline is valid? [True, False] Translation: X:102.25, Y:2.75, Z:-42.82 [[ 9.93311638e-01 3.85509570e-02 1.08838472e-01 1.02248064e+02] [-4.66934346e-02 9.96217520e-01 7.32828483e-02 2.75220309e+00] [-1.05601669e-01 -7.78747481e-02 9.91354534e-01 -4.28244743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.16864 meters Centerline goodness : 0.998819 Centerline is valid? [False, True] Translation: X:102.25, Y:2.77, Z:-42.82 [[ 9.93755734e-01 4.11045275e-02 1.03730223e-01 1.02246642e+02] [-4.64452412e-02 9.97688334e-01 4.96067307e-02 2.77215756e+00] [-1.01451372e-01 -5.41147483e-02 9.93367612e-01 -4.28229733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.19864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:102.28, Y:2.82, Z:-42.82 [[ 9.92474906e-01 4.75038001e-02 1.12858096e-01 1.02275493e+02] [-4.75612256e-02 9.98865935e-01 -2.18508775e-03 2.81640470e+00] [-1.12833908e-01 -3.19902462e-03 9.93608713e-01 -4.28215094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.22864 meters Centerline goodness : 0.919933 Centerline is valid? [True, False] Translation: X:102.28, Y:2.81, Z:-42.82 [[ 9.92496292e-01 4.73789613e-02 1.12722425e-01 1.02275908e+02] [-4.74771676e-02 9.98870675e-01 -1.81456647e-03 2.81492091e+00] [-1.12681097e-01 -3.55079098e-03 9.93624860e-01 -4.28215050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.25864 meters Centerline goodness : 0.997294 Centerline is valid? [False, True] Translation: X:102.28, Y:2.81, Z:-42.82 [[ 9.92506045e-01 4.73315477e-02 1.12656451e-01 1.02276110e+02] [-4.74574235e-02 9.98872035e-01 -1.56564173e-03 2.81390274e+00] [-1.12603483e-01 -3.79247603e-03 9.93632766e-01 -4.28218455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.28864 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:102.31, Y:2.81, Z:-42.82 [[ 9.92771714e-01 4.65350927e-02 1.10629151e-01 1.02308885e+02] [-4.61825954e-02 9.98916477e-01 -5.74800100e-03 2.81408174e+00] [-1.10776766e-01 5.97311470e-04 9.93845134e-01 -4.28248880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31864 meters Centerline goodness : 0.997096 Centerline is valid? [True, True] Translation: X:102.34, Y:2.81, Z:-42.83 [[ 9.92770976e-01 4.40916281e-02 1.11632066e-01 1.02341193e+02] [-4.37107420e-02 9.99027052e-01 -5.85829261e-03 2.80802585e+00] [-1.11781755e-01 9.36422452e-04 9.93732339e-01 -4.28283789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.34863999999999 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:102.37, Y:2.81, Z:-42.83 [[ 9.92856839e-01 4.35976196e-02 1.11060993e-01 1.02373809e+02] [-4.32111707e-02 9.99048626e-01 -5.88537480e-03 2.80511041e+00] [-1.11211921e-01 1.04425909e-03 9.93796165e-01 -4.28299524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.37863999999999 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:102.40, Y:2.70, Z:-42.84 [[ 9.96149886e-01 3.59811633e-02 7.99422330e-02 1.02398614e+02] [-4.45169168e-02 9.93186626e-01 1.07696659e-01 2.70290376e+00] [-7.55225056e-02 -1.10840796e-01 9.90964515e-01 -4.28362411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.40863999999999 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:102.44, Y:2.89, Z:-42.82 [[ 9.92394742e-01 5.73084014e-02 1.08942297e-01 1.02441769e+02] [-4.47652709e-02 9.92439121e-01 -1.14283253e-01 2.89249106e+00] [-1.14667988e-01 1.08537268e-01 9.87456791e-01 -4.28158608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.43863999999999 meters Centerline goodness : 0.997045 Centerline is valid? [True, True] Translation: X:102.47, Y:2.79, Z:-42.84 [[ 9.92063725e-01 4.87576127e-02 1.15897631e-01 1.02468247e+02] [-4.83635175e-02 9.98810485e-01 -6.21171857e-03 2.79331074e+00] [-1.16062637e-01 5.57203571e-04 9.93241740e-01 -4.28354133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.46864 meters Centerline goodness : 0.997090 Centerline is valid? [True, True] Translation: X:102.50, Y:2.79, Z:-42.84 [[ 9.91819010e-01 5.26692332e-02 1.16279851e-01 1.02500649e+02] [-5.22921985e-02 9.98612000e-01 -6.29285063e-03 2.78864541e+00] [-1.16449894e-01 1.60839849e-04 9.93196555e-01 -4.28378951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.49864 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:102.53, Y:2.79, Z:-42.84 [[ 9.91610396e-01 5.50884168e-02 1.16936256e-01 1.02533868e+02] [-5.47166292e-02 9.98481478e-01 -6.38968163e-03 2.78693345e+00] [-1.17110683e-01 -6.22830309e-05 9.93118867e-01 -4.28412453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.52864 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:102.57, Y:2.79, Z:-42.84 [[ 9.91549097e-01 5.77126810e-02 1.16187927e-01 1.02566993e+02] [-5.73564355e-02 9.98333187e-01 -6.40998524e-03 2.78516806e+00] [-1.16364200e-01 -3.08310238e-04 9.93206564e-01 -4.28435892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.55864 meters Centerline goodness : 0.996996 Centerline is valid? [True, True] Translation: X:102.60, Y:2.78, Z:-42.85 [[ 9.91141971e-01 6.29089720e-02 1.16961765e-01 1.02599634e+02] [-6.25766562e-02 9.98018897e-01 -6.51488460e-03 2.78372223e+00] [-1.17139897e-01 -8.61900617e-04 9.93115050e-01 -4.28463164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.58864 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:102.62, Y:2.69, Z:-42.85 [[ 9.94649646e-01 5.70002736e-02 8.61571300e-02 1.02624711e+02] [-6.53187625e-02 9.93135218e-01 9.70355537e-02 2.69280649e+00] [-8.00346269e-02 -1.02144056e-01 9.91544780e-01 -4.28513747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.61864 meters Centerline goodness : 0.996458 Centerline is valid? [True, True] Translation: X:102.66, Y:2.80, Z:-42.85 [[ 9.94329305e-01 7.25876759e-02 7.77191198e-02 1.02663269e+02] [-7.10655627e-02 9.97225054e-01 -2.21782942e-02 2.80087155e+00] [-7.91133243e-02 1.65293749e-02 9.96728580e-01 -4.28464265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.64864 meters Centerline goodness : 0.996358 Centerline is valid? [True, True] Translation: X:102.70, Y:2.86, Z:-42.84 [[ 9.89797778e-01 7.77306117e-02 1.19408166e-01 1.02695688e+02] [-6.74986596e-02 9.93877677e-01 -8.74705368e-02 2.85631018e+00] [-1.25476249e-01 7.85182518e-02 9.88984628e-01 -4.28427295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.67864 meters Centerline goodness : 0.995424 Centerline is valid? [True, True] Translation: X:102.72, Y:2.70, Z:-42.86 [[ 9.94015749e-01 6.12618238e-02 9.04415791e-02 1.02716450e+02] [-6.97113373e-02 9.93182288e-01 9.34305767e-02 2.69832575e+00] [-8.41012469e-02 -9.91762681e-02 9.91509480e-01 -4.28599691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.70863999999999 meters Centerline goodness : 0.996008 Centerline is valid? [True, True] Translation: X:102.76, Y:2.82, Z:-42.85 [[ 9.93708855e-01 7.90422126e-02 7.93412910e-02 1.02759596e+02] [-7.62778211e-02 9.96388959e-01 -3.72925828e-02 2.81728591e+00] [-8.20024746e-02 3.10059890e-02 9.96149699e-01 -4.28523944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.73863999999999 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:102.79, Y:2.84, Z:-42.85 [[ 9.89171409e-01 7.77120483e-02 1.24502052e-01 1.02788060e+02] [-6.97601841e-02 9.95310612e-01 -6.70097131e-02 2.84048227e+00] [-1.29125676e-01 5.75988062e-02 9.89954008e-01 -4.28533127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.76863999999999 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:102.81, Y:2.73, Z:-42.87 [[ 9.93374765e-01 6.64029242e-02 9.37935400e-02 1.02813180e+02] [-7.23160888e-02 9.95507462e-01 6.11169086e-02 2.73381824e+00] [-8.93138275e-02 -6.74947767e-02 9.93713991e-01 -4.28677430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.79863999999999 meters Centerline goodness : 0.995181 Centerline is valid? [True, True] Translation: X:102.85, Y:2.82, Z:-42.86 [[ 9.92529789e-01 7.69411926e-02 9.46819477e-02 1.02851628e+02] [-7.38273417e-02 9.96622229e-01 -3.59674366e-02 2.82045317e+00] [-9.71295112e-02 2.87086357e-02 9.94857614e-01 -4.28616264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.82864 meters Centerline goodness : 0.994880 Centerline is valid? [True, True] Translation: X:102.88, Y:2.78, Z:-42.87 [[ 9.92957971e-01 7.09915258e-02 9.48402433e-02 1.02879215e+02] [-7.22113910e-02 9.97344215e-01 9.48846782e-03 2.78213889e+00] [-9.39147672e-02 -1.62701956e-02 9.95447285e-01 -4.28697359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.85864 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:102.91, Y:2.80, Z:-42.87 [[ 9.92486476e-01 7.25716742e-02 9.85086153e-02 1.02911896e+02] [-7.12581543e-02 9.97316548e-01 -1.67922080e-02 2.80472002e+00] [-9.94629108e-02 9.64649724e-03 9.94994510e-01 -4.28687292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.88864 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:102.94, Y:2.81, Z:-42.87 [[ 9.91967742e-01 7.17385772e-02 1.04180495e-01 1.02943702e+02] [-6.95371572e-02 9.97275605e-01 -2.46160875e-02 2.81060090e+00] [-1.05662589e-01 1.71739493e-02 9.94253727e-01 -4.28714723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.91864 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:102.97, Y:2.78, Z:-42.88 [[ 9.92524729e-01 6.48911212e-02 1.03362488e-01 1.02972809e+02] [-6.58827537e-02 9.97808077e-01 6.20512656e-03 2.78052438e+00] [-1.02733268e-01 -1.29685469e-02 9.94624398e-01 -4.28786588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.94864 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:103.00, Y:2.80, Z:-42.88 [[ 9.92291268e-01 6.48887472e-02 1.05581676e-01 1.03004355e+02] [-6.31034530e-02 9.97803224e-01 -2.01663381e-02 2.80088103e+00] [-1.06658305e-01 1.33483129e-02 9.94206130e-01 -4.28796050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.97864 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:103.03, Y:2.78, Z:-42.89 [[ 9.92341765e-01 6.07086827e-02 1.07574519e-01 1.03033656e+02] [-6.06417326e-02 9.98151991e-01 -3.89654094e-03 2.78444332e+00] [-1.07612274e-01 -2.65680492e-03 9.94189388e-01 -4.28856335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.00864 meters Centerline goodness : 0.995962 Centerline is valid? [True, True] Translation: X:103.07, Y:2.79, Z:-42.89 [[ 9.92259796e-01 6.07945536e-02 1.08279817e-01 1.03065474e+02] [-6.03229683e-02 9.98149761e-01 -7.62850306e-03 2.78586617e+00] [-1.08543245e-01 1.03769694e-03 9.94091187e-01 -4.28886165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.03864 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:103.10, Y:2.78, Z:-42.89 [[ 9.92529000e-01 5.90745742e-02 1.06753819e-01 1.03095694e+02] [-5.95438083e-02 9.98224959e-01 1.21065625e-03 2.77562469e+00] [-1.06492808e-01 -7.55814040e-03 9.94284746e-01 -4.28922141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06864 meters Centerline goodness : 0.995864 Centerline is valid? [True, True] Translation: X:103.13, Y:2.78, Z:-42.90 [[ 9.92076933e-01 6.16650677e-02 1.09456745e-01 1.03127108e+02] [-6.04041728e-02 9.98064254e-01 -1.48014024e-02 2.78496891e+00] [-1.10157594e-01 8.07248572e-03 9.93881351e-01 -4.28950433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.09863999999999 meters Centerline goodness : 0.995277 Centerline is valid? [True, True] Translation: X:103.16, Y:2.80, Z:-42.89 [[ 9.87603301e-01 6.09727610e-02 1.44644536e-01 1.03158242e+02] [-5.58937206e-02 9.97677658e-01 -3.89253446e-02 2.80165430e+00] [-1.46682008e-01 3.03580776e-02 9.88717743e-01 -4.28945765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.12863999999999 meters Centerline goodness : 0.996258 Centerline is valid? [True, True] Translation: X:103.19, Y:2.74, Z:-42.91 [[ 9.91843534e-01 5.71189141e-02 1.13946622e-01 1.03189135e+02] [-6.04730772e-02 9.97825991e-01 2.61972974e-02 2.74248284e+00] [-1.12202540e-01 -3.28743229e-02 9.93141414e-01 -4.29052747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.15863999999999 meters Centerline goodness : 0.995860 Centerline is valid? [True, True] Translation: X:103.22, Y:2.76, Z:-42.91 [[ 9.92057263e-01 6.01125967e-02 1.10493723e-01 1.03222349e+02] [-6.03058266e-02 9.98178672e-01 -1.59537265e-03 2.76143338e+00] [-1.10388379e-01 -5.08071426e-03 9.93875542e-01 -4.29053718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.18863999999999 meters Centerline goodness : 0.995476 Centerline is valid? [True, True] Translation: X:103.25, Y:2.77, Z:-42.91 [[ 9.91595985e-01 6.10515210e-02 1.14061887e-01 1.03253985e+02] [-6.01098869e-02 9.98123430e-01 -1.16798970e-02 2.76645710e+00] [-1.14560917e-01 4.72549184e-03 9.93404986e-01 -4.29083134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.21864 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:103.28, Y:2.75, Z:-42.91 [[ 9.91718202e-01 5.99378175e-02 1.13589024e-01 1.03284115e+02] [-6.00694255e-02 9.98191628e-01 -2.26681152e-03 2.75430274e+00] [-1.13519480e-01 -4.57518916e-03 9.93525236e-01 -4.29127245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.24864 meters Centerline goodness : 0.995423 Centerline is valid? [True, True] Translation: X:103.32, Y:2.77, Z:-42.91 [[ 9.91034825e-01 6.29405347e-02 1.17849334e-01 1.03316136e+02] [-6.11593572e-02 9.97953322e-01 -1.86735276e-02 2.76715314e+00] [-1.18783456e-01 1.12985266e-02 9.92855898e-01 -4.29139865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.27864 meters Centerline goodness : 0.995225 Centerline is valid? [True, True] Translation: X:103.35, Y:2.75, Z:-42.92 [[ 9.91269450e-01 6.14113090e-02 1.16677027e-01 1.03346516e+02] [-6.23376533e-02 9.98045839e-01 4.30341647e-03 2.74558259e+00] [-1.16184743e-01 -1.15392173e-02 9.93160587e-01 -4.29188993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.30864 meters Centerline goodness : 0.995770 Centerline is valid? [True, True] Translation: X:103.38, Y:2.76, Z:-42.92 [[ 9.90450873e-01 6.64158657e-02 1.20813909e-01 1.03377583e+02] [-6.52225113e-02 9.97775183e-01 -1.38097451e-02 2.76205900e+00] [-1.21462307e-01 5.79808750e-03 9.92579110e-01 -4.29208143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.33864 meters Centerline goodness : 0.995428 Centerline is valid? [True, True] Translation: X:103.41, Y:2.79, Z:-42.92 [[ 9.85003698e-01 7.10743068e-02 1.57213731e-01 1.03409441e+02] [-6.46439516e-02 9.96863684e-01 -4.56503634e-02 2.78799675e+00] [-1.59965227e-01 3.48028599e-02 9.86508939e-01 -4.29220328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.36864 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:103.44, Y:2.73, Z:-42.93 [[ 9.89810335e-01 6.55220306e-02 1.26421379e-01 1.03438101e+02] [-6.96063546e-02 9.97177000e-01 2.81600094e-02 2.72639378e+00] [-1.24219390e-01 -3.66727996e-02 9.91576850e-01 -4.29322533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.39864 meters Centerline goodness : 0.995175 Centerline is valid? [True, True] Translation: X:103.47, Y:2.75, Z:-42.93 [[ 9.89745817e-01 7.04743190e-02 1.24244064e-01 1.03470850e+02] [-7.11421076e-02 9.97465747e-01 9.40763339e-04 2.75072991e+00] [-1.23862898e-01 -9.77010116e-03 9.92251242e-01 -4.29322387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.42864 meters Centerline goodness : 0.994887 Centerline is valid? [True, True] Translation: X:103.50, Y:2.76, Z:-42.93 [[ 9.89286586e-01 7.25801100e-02 1.26665620e-01 1.03502225e+02] [-7.14215797e-02 9.97352537e-01 -1.36702145e-02 2.76292011e+00] [-1.27322463e-01 4.47710109e-03 9.91851272e-01 -4.29343685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.45863999999999 meters Centerline goodness : 0.995116 Centerline is valid? [True, True] Translation: X:103.53, Y:2.73, Z:-42.94 [[ 9.91070354e-01 6.69752109e-02 1.15299066e-01 1.03528125e+02] [-7.05524534e-02 9.97136475e-01 2.72250194e-02 2.73002488e+00] [-1.13145502e-01 -3.51165416e-02 9.92957665e-01 -4.29413098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.48863999999999 meters Centerline goodness : 0.893781 Centerline is valid? [True, False] Translation: X:103.56, Y:2.75, Z:-42.94 [[ 9.92838351e-01 6.03531441e-02 1.03099502e-01 1.03562466e+02] [-6.17046140e-02 9.98044690e-01 9.96680044e-03 2.74692652e+00] [-1.02296383e-01 -1.62571367e-02 9.94621112e-01 -4.29441386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.51863999999999 meters Centerline goodness : 0.995523 Centerline is valid? [False, True] Translation: X:103.59, Y:2.76, Z:-42.95 [[ 9.94273492e-01 5.54581392e-02 9.13488755e-02 1.03594535e+02] [-5.55584095e-02 9.98454390e-01 -1.44685654e-03 2.75662882e+00] [-9.12879257e-02 -3.63662712e-03 9.95817900e-01 -4.29453620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.54863999999999 meters Centerline goodness : 0.995912 Centerline is valid? [True, True] Translation: X:103.62, Y:2.71, Z:-42.95 [[ 9.96053275e-01 4.83069775e-02 7.44601182e-02 1.03618803e+02] [-5.25555249e-02 9.97035595e-01 5.61955414e-02 2.70527666e+00] [-7.15247515e-02 -5.98870437e-02 9.95639368e-01 -4.29513690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.57864 meters Centerline goodness : 0.995622 Centerline is valid? [True, True] Translation: X:103.66, Y:2.80, Z:-42.94 [[ 9.93860138e-01 6.02755634e-02 9.27840600e-02 1.03655238e+02] [-5.53952114e-02 9.96986515e-01 -5.43070814e-02 2.80135736e+00] [-9.57778465e-02 4.88338508e-02 9.94204134e-01 -4.29412836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.60864 meters Centerline goodness : 0.996063 Centerline is valid? [True, True] Translation: X:103.69, Y:2.80, Z:-42.95 [[ 9.88929818e-01 6.07679516e-02 1.35370125e-01 1.03686806e+02] [-5.39116272e-02 9.97097776e-01 -5.37546495e-02 2.80036687e+00] [-1.38243810e-01 4.58615521e-02 9.89335821e-01 -4.29458982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.63864 meters Centerline goodness : 0.995819 Centerline is valid? [True, True] Translation: X:103.72, Y:2.76, Z:-42.96 [[ 9.88784012e-01 5.61859797e-02 1.38381041e-01 1.03717332e+02] [-5.59983344e-02 9.98417048e-01 -5.25203622e-03 2.75829030e+00] [-1.38457082e-01 -2.55597839e-03 9.90365136e-01 -4.29568791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.66864 meters Centerline goodness : 0.996145 Centerline is valid? [True, True] Translation: X:103.75, Y:2.76, Z:-42.96 [[ 9.88808739e-01 5.53997966e-02 1.38521260e-01 1.03750669e+02] [-5.51940572e-02 9.98461425e-01 -5.32910108e-03 2.75941344e+00] [-1.38603366e-01 -2.37608862e-03 9.90345122e-01 -4.29599146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.69864 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:103.78, Y:2.76, Z:-42.96 [[ 9.88895087e-01 5.55742396e-02 1.37833273e-01 1.03783109e+02] [-5.53623786e-02 9.98451869e-01 -5.37329768e-03 2.75989321e+00] [-1.37918506e-01 -2.31715015e-03 9.90440870e-01 -4.29641991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.72864 meters Centerline goodness : 0.995725 Centerline is valid? [True, True] Translation: X:103.81, Y:2.71, Z:-42.97 [[ 9.94152426e-01 4.86044106e-02 9.64290662e-02 1.03809175e+02] [-5.38109599e-02 9.97188558e-01 5.21474950e-02 2.71156485e+00] [-9.36233632e-02 -5.70314993e-02 9.93972874e-01 -4.29696007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.75864 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:103.84, Y:2.75, Z:-42.97 [[ 9.94498456e-01 5.20520137e-02 9.09032917e-02 1.03842511e+02] [-5.35773908e-02 9.98459581e-01 1.44197267e-02 2.74623814e+00] [-9.00126867e-02 -1.92107571e-02 9.95755323e-01 -4.29696809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.78864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:103.87, Y:2.78, Z:-42.97 [[ 9.93946314e-01 5.55248895e-02 9.48035462e-02 1.03874888e+02] [-5.39352884e-02 9.98358861e-01 -1.92501703e-02 2.77610008e+00] [-9.57168239e-02 1.40203792e-02 9.95309861e-01 -4.29678084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:103.91, Y:2.81, Z:-42.97 [[ 9.89030942e-01 5.83769933e-02 1.35683171e-01 1.03907844e+02] [-5.07052429e-02 9.96949900e-01 -5.93285334e-02 2.81298186e+00] [-1.38732746e-01 5.17979071e-02 9.88974318e-01 -4.29668465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.84863999999999 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:103.93, Y:2.71, Z:-42.98 [[ 9.94586868e-01 4.60808134e-02 9.31317364e-02 1.03931755e+02] [-5.13696626e-02 9.97152335e-01 5.52121257e-02 2.71448092e+00] [-9.03223087e-02 -5.96974010e-02 9.94121774e-01 -4.29838982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.87863999999999 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:103.96, Y:2.74, Z:-42.98 [[ 9.94951636e-01 4.70520427e-02 8.86416812e-02 1.03962999e+02] [-4.99683162e-02 9.98270461e-01 3.09718127e-02 2.73735384e+00] [-8.70310850e-02 -3.52447313e-02 9.95581940e-01 -4.29824894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.90863999999999 meters Centerline goodness : 0.997002 Centerline is valid? [True, True] Translation: X:104.00, Y:2.80, Z:-42.98 [[ 9.94499830e-01 5.18901973e-02 9.09807439e-02 1.03996004e+02] [-4.93098217e-02 9.98321229e-01 -3.03852892e-02 2.79534847e+00] [-9.24047067e-02 2.57319207e-02 9.95388989e-01 -4.29756194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.93863999999999 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:104.03, Y:2.78, Z:-42.98 [[ 9.94138194e-01 4.92698414e-02 9.62379075e-02 1.04025188e+02] [-4.84612957e-02 9.98767508e-01 -1.07223004e-02 2.77930335e+00] [-9.66475811e-02 5.99563462e-03 9.95300607e-01 -4.29827700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.96864 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:104.06, Y:2.83, Z:-42.98 [[ 9.88287569e-01 5.05054211e-02 1.44003064e-01 1.04059908e+02] [-4.16355670e-02 9.97083644e-01 -6.39584730e-02 2.82629946e+00] [-1.46813349e-01 5.72137146e-02 9.87508193e-01 -4.29800428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.99864 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] Translation: X:104.08, Y:2.70, Z:-43.00 [[ 9.95158459e-01 2.92944017e-02 9.38162038e-02 1.04079024e+02] [-3.66423676e-02 9.96312268e-01 7.75835086e-02 2.70265820e+00] [-9.11974723e-02 -8.06455327e-02 9.92561998e-01 -4.30030754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.02864 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:104.11, Y:2.74, Z:-43.00 [[ 9.93387571e-01 2.87141609e-02 1.11160379e-01 1.04108771e+02] [-3.33300561e-02 9.98647984e-01 3.98912330e-02 2.73685219e+00] [-1.09864646e-01 -4.33324367e-02 9.93001541e-01 -4.30002004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.05864 meters Centerline goodness : 0.996647 Centerline is valid? [True, True] Translation: X:104.15, Y:2.84, Z:-42.98 [[ 9.93837806e-01 3.96109124e-02 1.03524831e-01 1.04146935e+02] [-3.20252152e-02 9.96748612e-01 -7.39363903e-02 2.83576567e+00] [-1.06116919e-01 7.01653749e-02 9.91875002e-01 -4.29813945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.08864 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:104.17, Y:2.77, Z:-43.00 [[ 9.93699481e-01 2.87332147e-02 1.08331640e-01 1.04172711e+02] [-2.87184041e-02 9.99586101e-01 -1.69718469e-03 2.77059560e+00] [-1.08335567e-01 -1.42462027e-03 9.94113361e-01 -4.29985222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.11864 meters Centerline goodness : 0.996463 Centerline is valid? [True, True] Translation: X:104.20, Y:2.75, Z:-43.00 [[ 9.93609290e-01 2.63314052e-02 1.09759898e-01 1.04202247e+02] [-2.81300905e-02 9.99493646e-01 1.48710695e-02 2.75451114e+00] [-1.09312744e-01 -1.78635887e-02 9.93846878e-01 -4.30030050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.14864 meters Centerline goodness : 0.905265 Centerline is valid? [True, False] Translation: X:104.21, Y:2.76, Z:-43.00 [[ 9.94510154e-01 3.76387693e-02 9.76364539e-02 1.04213460e+02] [-3.87249422e-02 9.99207067e-01 9.25293713e-03 2.75981452e+00] [-9.72107655e-02 -1.29831060e-02 9.95179133e-01 -4.30031544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.17864 meters Centerline goodness : 0.996653 Centerline is valid? [False, True] Translation: X:104.25, Y:2.76, Z:-43.01 [[ 9.95806063e-01 3.59785067e-02 8.41179613e-02 1.04251665e+02] [-3.65621382e-02 9.99316751e-01 5.40757877e-03 2.76001949e+00] [-8.38659312e-02 -8.46043225e-03 9.96441131e-01 -4.30061158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.20863999999999 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:104.29, Y:2.80, Z:-43.00 [[ 9.90592511e-01 4.32705636e-02 1.29823477e-01 1.04288086e+02] [-3.71192411e-02 9.98087366e-01 -4.94345151e-02 2.80142586e+00] [-1.31714232e-01 4.41505115e-02 9.90304041e-01 -4.30013804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.23863999999999 meters Centerline goodness : 0.965594 Centerline is valid? [True, True] Translation: X:104.33, Y:2.74, Z:-43.04 [[ 9.86290087e-01 1.23222160e-01 1.09764124e-01 1.04333783e+02] [-1.31405974e-01 9.88803269e-01 7.07146789e-02 2.73540617e+00] [-9.98215086e-02 -8.41688484e-02 9.91438990e-01 -4.30396035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.26863999999999 meters Centerline goodness : 0.886867 Centerline is valid? [True, False] Translation: X:104.36, Y:2.76, Z:-43.04 [[ 9.89236341e-01 1.07782621e-01 9.89664992e-02 1.04361315e+02] [-1.12087085e-01 9.92932758e-01 3.90002998e-02 2.75780361e+00] [-9.40635245e-02 -4.96733803e-02 9.94326208e-01 -4.30390734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.29863999999999 meters Centerline goodness : 0.996956 Centerline is valid? [False, True] Translation: X:104.36, Y:2.77, Z:-43.04 [[ 9.90580774e-01 9.44929743e-02 9.90999930e-02 1.04357011e+02] [-9.68442273e-02 9.95114740e-01 1.91793967e-02 2.77054741e+00] [-9.68035456e-02 -2.85960039e-02 9.94892628e-01 -4.30383147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.32864 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:104.39, Y:2.76, Z:-43.04 [[ 9.93859827e-01 9.25974691e-02 6.05669317e-02 1.04386138e+02] [-9.43289438e-02 9.95191614e-01 2.63761590e-02 2.76186701e+00] [-5.78333370e-02 -3.19274195e-02 9.97815587e-01 -4.30393831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.35864 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:104.42, Y:2.79, Z:-43.04 [[ 9.93653916e-01 9.60008867e-02 5.86150545e-02 1.04422337e+02] [-9.54877279e-02 9.95364173e-01 -1.15002619e-02 2.78957945e+00] [-5.94473606e-02 5.83026190e-03 9.98214416e-01 -4.30365013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.38864 meters Centerline goodness : 0.996803 Centerline is valid? [True, True] Translation: X:104.45, Y:2.77, Z:-43.04 [[ 9.93651380e-01 9.80201330e-02 5.52176492e-02 1.04452898e+02] [-9.81470233e-02 9.95171839e-01 -4.15645055e-04 2.77483099e+00] [-5.49917911e-02 -5.00644162e-03 9.98474255e-01 -4.30413506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.41864 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:104.48, Y:2.77, Z:-43.04 [[ 9.93489983e-01 9.94113787e-02 5.56330150e-02 1.04483457e+02] [-9.97908406e-02 9.95000079e-01 4.07798672e-03 2.76724131e+00] [-5.49494561e-02 -9.60310429e-03 9.98442957e-01 -4.30418655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.44864 meters Centerline goodness : 0.996409 Centerline is valid? [True, True] Translation: X:104.51, Y:2.70, Z:-43.05 [[ 9.93129173e-01 9.73890335e-02 6.48831342e-02 1.04505691e+02] [-1.02087144e-01 9.92054642e-01 7.35241642e-02 2.70197860e+00] [-5.72071671e-02 -7.96427263e-02 9.95180575e-01 -4.30496323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.47864 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:104.55, Y:2.82, Z:-43.03 [[ 9.92391799e-01 1.12959794e-01 4.89755346e-02 1.04551731e+02] [-1.09961850e-01 9.92116386e-01 -6.01121343e-02 2.81693959e+00] [-5.53796847e-02 5.42693486e-02 9.96989432e-01 -4.30321924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.50864 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:104.58, Y:2.82, Z:-43.03 [[ 9.88515571e-01 1.16017366e-01 9.68345824e-02 1.04584127e+02] [-1.09218991e-01 9.91348689e-01 -7.27941508e-02 2.82003947e+00] [-1.04442222e-01 6.13819762e-02 9.92634915e-01 -4.30336202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.53864 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:104.59, Y:2.65, Z:-43.06 [[ 9.91965046e-01 1.01233696e-01 7.58754661e-02 1.04589040e+02] [-1.10219728e-01 9.85951642e-01 1.25502870e-01 2.64506380e+00] [-6.21044211e-02 -1.32857434e-01 9.89187517e-01 -4.30554724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56864 meters Centerline goodness : 0.985193 Centerline is valid? [True, True] Translation: X:104.67, Y:2.80, Z:-43.06 [[ 9.77015950e-01 1.97363318e-01 8.05453592e-02 1.04666502e+02] [-1.96613704e-01 9.80329923e-01 -1.72131776e-02 2.80222990e+00] [-8.23582756e-02 9.81227598e-04 9.96602304e-01 -4.30596145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.59863999999999 meters Centerline goodness : 0.996905 Centerline is valid? [True, True] Translation: X:104.68, Y:2.83, Z:-43.04 [[ 9.87691875e-01 1.23039096e-01 9.65719472e-02 1.04678974e+02] [-1.14687285e-01 9.89518808e-01 -8.77459708e-02 2.82585827e+00] [-1.06355943e-01 7.55904080e-02 9.91450707e-01 -4.30372266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.62863999999999 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:104.70, Y:2.73, Z:-43.06 [[ 9.90988522e-01 1.15201995e-01 6.83392186e-02 1.04696453e+02] [-1.17494832e-01 9.92604253e-01 3.05247807e-02 2.72558266e+00] [-6.43172833e-02 -3.82792123e-02 9.97195061e-01 -4.30584841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.65863999999999 meters Centerline goodness : 0.890691 Centerline is valid? [True, False] Translation: X:104.68, Y:2.74, Z:-43.06 [[ 9.91533610e-01 9.93943852e-02 8.35575020e-02 1.04677833e+02] [-1.01657520e-01 9.94547247e-01 2.32706280e-02 2.73641023e+00] [-8.07889138e-02 -3.15678582e-02 9.96231209e-01 -4.30578623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.68863999999999 meters Centerline goodness : 0.890875 Centerline is valid? [False, False] Translation: X:104.70, Y:2.74, Z:-43.06 [[ 9.93207266e-01 8.32552590e-02 8.12889180e-02 1.04700464e+02] [-8.49022304e-02 9.96244033e-01 1.70128616e-02 2.74059153e+00] [-7.95671893e-02 -2.37989082e-02 9.96545370e-01 -4.30559950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.71864 meters Centerline goodness : 0.996316 Centerline is valid? [False, True] Translation: X:104.73, Y:2.74, Z:-43.06 [[ 9.94582237e-01 6.85749791e-02 7.81258313e-02 1.04726489e+02] [-6.98170139e-02 9.97471473e-01 1.32757175e-02 2.74250817e+00] [-7.70179060e-02 -1.86583051e-02 9.96855110e-01 -4.30555708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.74864 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:104.76, Y:2.77, Z:-43.05 [[ 9.94126766e-01 6.89663285e-02 8.34003520e-02 1.04758963e+02] [-6.80541810e-02 9.97587089e-01 -1.37341877e-02 2.77080333e+00] [-8.41463109e-02 7.97778098e-03 9.96421474e-01 -4.30543099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.77864 meters Centerline goodness : 0.801914 Centerline is valid? [True, False] Translation: X:104.79, Y:2.77, Z:-43.06 [[ 9.96127844e-01 6.09536668e-02 6.33558875e-02 1.04788074e+02] [-6.04829343e-02 9.98125689e-01 -9.32329550e-03 2.76750755e+00] [-6.38054279e-02 5.45524427e-03 9.97947447e-01 -4.30557403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.80864 meters Centerline goodness : 0.996265 Centerline is valid? [False, True] Translation: X:104.78, Y:2.76, Z:-43.06 [[ 9.96736241e-01 5.34145522e-02 6.05289324e-02 1.04778408e+02] [-5.33395587e-02 9.98572350e-01 -2.85522515e-03 2.76429027e+00] [-6.05950289e-02 -3.82680161e-04 9.98162360e-01 -4.30577421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.83864 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:104.81, Y:2.72, Z:-43.07 [[ 9.98714514e-01 4.54447542e-02 2.24520332e-02 1.04805319e+02] [-4.64705644e-02 9.97789560e-01 4.75024181e-02 2.72206485e+00] [-2.02436686e-02 -4.84847131e-02 9.98618759e-01 -4.30666524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.86864 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:104.84, Y:2.81, Z:-43.05 [[ 9.97000366e-01 4.81313243e-02 6.06106115e-02 1.04844099e+02] [-4.50572554e-02 9.97676460e-01 -5.11030827e-02 2.80861603e+00] [-6.29294394e-02 4.82188443e-02 9.96852461e-01 -4.30483960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.89864 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:104.87, Y:2.72, Z:-43.07 [[ 9.98990292e-01 3.96992003e-02 2.10325749e-02 1.04868408e+02] [-4.08090439e-02 9.97637216e-01 5.52685089e-02 2.71651838e+00] [-1.87887638e-02 -5.60710231e-02 9.98249980e-01 -4.30681552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.92864 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:104.90, Y:2.76, Z:-43.06 [[ 9.98914813e-01 4.21416555e-02 1.98312374e-02 1.04903498e+02] [-4.21346091e-02 9.99111644e-01 -7.73200622e-04 2.76487253e+00] [-1.98462042e-02 -6.32198811e-05 9.99803043e-01 -4.30598337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.95863999999999 meters Centerline goodness : 0.996065 Centerline is valid? [True, True] Translation: X:104.94, Y:2.81, Z:-43.05 [[ 9.97096273e-01 4.34929308e-02 6.25091031e-02 1.04938728e+02] [-3.98398204e-02 9.97489476e-01 -5.85451431e-02 2.81196001e+00] [-6.48984723e-02 5.58847926e-02 9.96325789e-01 -4.30497428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.98863999999999 meters Centerline goodness : 0.996805 Centerline is valid? [True, True] Translation: X:104.96, Y:2.71, Z:-43.07 [[ 9.99133449e-01 3.49379153e-02 2.26206447e-02 1.04961869e+02] [-3.61849752e-02 9.97701421e-01 5.72932965e-02 2.70822258e+00] [-2.05669410e-02 -5.80621764e-02 9.98101089e-01 -4.30718603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.01863999999999 meters Centerline goodness : 0.989252 Centerline is valid? [True, True] Translation: X:105.02, Y:2.72, Z:-43.09 [[ 9.94450982e-01 1.01308873e-01 2.83505922e-02 1.05016151e+02] [-1.03279536e-01 9.91438984e-01 7.98879096e-02 2.71689925e+00] [-2.00145283e-02 -8.23726462e-02 9.96400605e-01 -4.30866892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.04863999999999 meters Centerline goodness : 0.996216 Centerline is valid? [True, True] Translation: X:105.03, Y:2.85, Z:-43.04 [[ 9.97627273e-01 3.33296036e-02 6.02408637e-02 1.05030162e+02] [-2.60342815e-02 9.92664034e-01 -1.18069183e-01 2.85472546e+00] [-6.37341378e-02 1.16220709e-01 9.91176425e-01 -4.30354502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.07864 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:105.05, Y:2.70, Z:-43.07 [[ 9.99349735e-01 2.33068257e-02 2.75118008e-02 1.05048506e+02] [-2.49440068e-02 9.97841446e-01 6.07473819e-02 2.69612451e+00] [-2.60365864e-02 -6.13941346e-02 9.97773951e-01 -4.30716692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.10864 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:105.09, Y:2.80, Z:-43.05 [[ 9.97433204e-01 2.90903101e-02 6.54275001e-02 1.05088809e+02] [-2.48909233e-02 9.97632520e-01 -6.41076909e-02 2.80328818e+00] [-6.71375145e-02 6.23145886e-02 9.95795886e-01 -4.30506713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.13864 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:105.10, Y:2.61, Z:-43.08 [[ 9.99552835e-01 1.63102719e-02 2.50620361e-02 1.05103375e+02] [-1.98012445e-02 9.89079464e-01 1.46046998e-01 2.61494353e+00] [-2.24062790e-02 -1.46477950e-01 9.88960145e-01 -4.30782692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.16864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:105.15, Y:2.82, Z:-43.04 [[ 9.99255032e-01 2.82117357e-02 2.63339744e-02 1.05148655e+02] [-2.57352001e-02 9.95603644e-01 -9.00615516e-02 2.82272248e+00] [-2.87589936e-02 8.93167486e-02 9.95587986e-01 -4.30430924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.19864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:105.18, Y:2.79, Z:-43.06 [[ 9.97014512e-01 2.52492694e-02 7.29694321e-02 1.05179501e+02] [-2.10236932e-02 9.98088921e-01 -5.81077410e-02 2.78826145e+00] [-7.42971598e-02 5.64001741e-02 9.95639971e-01 -4.30550182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.22864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:105.20, Y:2.68, Z:-43.07 [[ 9.99158784e-01 1.57421781e-02 3.78669908e-02 1.05201015e+02] [-1.79116083e-02 9.98176097e-01 5.76511317e-02 2.68363045e+00] [-3.68903708e-02 -5.82808934e-02 9.97618383e-01 -4.30738946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.25864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:105.21, Y:2.71, Z:-43.06 [[ 9.97682836e-01 -3.47673022e-02 5.84824217e-02 1.05211376e+02] [ 3.51845163e-02 9.99362099e-01 -6.11917097e-03 2.70788588e+00] [-5.82323687e-02 8.16266757e-03 9.98269684e-01 -4.30638566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.27, Y:2.78, Z:-43.05 [[ 9.96583058e-01 2.73021630e-02 7.79538326e-02 1.05270966e+02] [-2.20125877e-02 9.97447486e-01 -6.79261262e-02 2.78352543e+00] [-7.96093846e-02 6.59780610e-02 9.94640257e-01 -4.30543747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.30, Y:2.72, Z:-43.07 [[ 9.96376721e-01 2.53696663e-02 8.11776500e-02 1.05299607e+02] [-2.50796148e-02 9.99674916e-01 -4.59085309e-03 2.72390143e+00] [-8.12677288e-02 2.53831495e-03 9.96689075e-01 -4.30689783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.34863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.30, Y:2.66, Z:-43.07 [[ 9.98667796e-01 -6.38324272e-03 5.12043643e-02 1.05302107e+02] [ 3.89000928e-03 9.98808581e-01 4.86444983e-02 2.66129637e+00] [-5.14538681e-02 -4.83805084e-02 9.97502795e-01 -4.30723287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.37863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.35, Y:2.68, Z:-43.08 [[ 9.98818095e-01 2.77296322e-02 3.99184155e-02 1.05353005e+02] [-2.93707768e-02 9.98721998e-01 4.11306335e-02 2.68040319e+00] [-3.87268623e-02 -4.22544559e-02 9.98356044e-01 -4.30768099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.40863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.38, Y:2.67, Z:-43.08 [[ 9.99131724e-01 3.10194120e-02 2.78135544e-02 1.05384594e+02] [-3.24722560e-02 9.98044992e-01 5.34017443e-02 2.66708178e+00] [-2.61026879e-02 -5.42585457e-02 9.98185684e-01 -4.30774118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.43863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.42, Y:2.76, Z:-43.06 [[ 9.98334516e-01 3.88747652e-02 4.26256507e-02 1.05419605e+02] [-3.65077105e-02 9.97820376e-01 -5.49698448e-02 2.75964454e+00] [-4.46696826e-02 5.33221285e-02 9.97577751e-01 -4.30617451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.45, Y:2.77, Z:-43.06 [[ 9.95423028e-01 4.39232432e-02 8.48748703e-02 1.05452503e+02] [-3.81479847e-02 9.96920943e-01 -6.85081304e-02 2.76968598e+00] [-8.76226350e-02 6.49567654e-02 9.94033648e-01 -4.30620737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.48, Y:2.71, Z:-43.08 [[ 9.95169566e-01 4.18441096e-02 8.88065575e-02 1.05482025e+02] [-4.15441028e-02 9.99123011e-01 -5.22468122e-03 2.71410577e+00] [-8.89472972e-02 1.51005499e-03 9.96035189e-01 -4.30765250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.51, Y:2.71, Z:-43.08 [[ 9.95059574e-01 4.30261274e-02 8.94717588e-02 1.05514948e+02] [-4.27223817e-02 9.99072881e-01 -5.30806766e-03 2.71401478e+00] [-8.96171935e-02 1.45939692e-03 9.95975215e-01 -4.30792242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.54, Y:2.63, Z:-43.09 [[ 9.98073025e-01 3.84758673e-02 4.86810475e-02 1.05537883e+02] [-4.28684009e-02 9.94774157e-01 9.26643179e-02 2.62750870e+00] [-4.48613080e-02 -9.45726348e-02 9.94506651e-01 -4.30937861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.58, Y:2.74, Z:-43.07 [[ 9.97991607e-01 4.32629299e-02 4.62717214e-02 1.05576950e+02] [-4.19419286e-02 9.98694757e-01 -2.91488730e-02 2.73529687e+00] [-4.74723912e-02 2.71496054e-02 9.98503516e-01 -4.30742509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.60, Y:2.72, Z:-43.08 [[ 9.97969890e-01 3.85524068e-02 5.06932923e-02 1.05604590e+02] [-3.80189349e-02 9.99211460e-01 -1.14463729e-02 2.71857670e+00] [-5.10946038e-02 9.49583051e-03 9.98648672e-01 -4.30778386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.63, Y:2.71, Z:-43.08 [[ 9.97994481e-01 3.40564944e-02 5.33588881e-02 1.05632895e+02] [-3.40045013e-02 9.99419907e-01 -1.88223246e-03 2.70687450e+00] [-5.33920372e-02 6.40152240e-05 9.98573626e-01 -4.30809708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.66, Y:2.70, Z:-43.08 [[ 9.97962834e-01 3.21562256e-02 5.51013444e-02 1.05664505e+02] [-3.21483807e-02 9.99482578e-01 -1.02897934e-03 2.70221310e+00] [-5.51059218e-02 -7.44535857e-04 9.98480237e-01 -4.30839912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.70863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.70, Y:2.76, Z:-43.08 [[ 9.95100874e-01 3.56981953e-02 9.21948459e-02 1.05703487e+02] [-2.91466655e-02 9.97017817e-01 -7.14558860e-02 2.75950516e+00] [-9.44707502e-02 6.84186423e-02 9.93173785e-01 -4.30758066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.73863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.72, Y:2.62, Z:-43.10 [[ 9.98492030e-01 1.90018937e-02 5.15033362e-02 1.05718820e+02] [-2.31796446e-02 9.96381435e-01 8.17724939e-02 2.62224935e+00] [-4.97631358e-02 -8.28430125e-02 9.95319379e-01 -4.30970221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.76863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:105.77, Y:2.77, Z:-43.08 [[ 9.95247543e-01 3.16550658e-02 9.20884585e-02 1.05765896e+02] [-2.35486132e-02 9.95857938e-01 -8.78204419e-02 2.76614135e+00] [-9.44869842e-02 8.52345236e-02 9.91870599e-01 -4.30759423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.79863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.78, Y:2.59, Z:-43.10 [[ 9.98410508e-01 1.21481151e-02 5.50352730e-02 1.05779305e+02] [-1.79576135e-02 9.94168938e-01 1.06328015e-01 2.58645548e+00] [-5.34226740e-02 -1.07147309e-01 9.92806865e-01 -4.30986549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.83, Y:2.77, Z:-43.07 [[ 9.95070440e-01 2.95268981e-02 9.46730221e-02 1.05829914e+02] [-1.88057226e-02 9.93507829e-01 -1.12198655e-01 2.77220069e+00] [-9.73712670e-02 1.09865171e-01 9.89165548e-01 -4.30729665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.85, Y:2.67, Z:-43.10 [[ 9.94568998e-01 2.20626201e-02 1.01714059e-01 1.05854967e+02] [-2.15095976e-02 9.99747312e-01 -6.53072150e-03 2.67346289e+00] [-1.01832442e-01 4.30742466e-03 9.94792240e-01 -4.30966261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.89, Y:2.66, Z:-43.10 [[ 9.94805722e-01 2.20585352e-02 9.93730156e-02 1.05887455e+02] [-2.15262452e-02 9.99747634e-01 -6.42565185e-03 2.66201288e+00] [-9.94896777e-02 4.25314733e-03 9.95029504e-01 -4.31000518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.92, Y:2.66, Z:-43.10 [[ 9.94718390e-01 2.27653013e-02 1.00085290e-01 1.05920076e+02] [-2.22241740e-02 9.99731762e-01 -6.51844281e-03 2.65552461e+00] [-1.00206837e-01 4.25970205e-03 9.94957509e-01 -4.31035099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:105.94, Y:2.52, Z:-43.11 [[ 9.97951657e-01 1.35864152e-02 6.25131946e-02 1.05938621e+02] [-2.20768484e-02 9.90296798e-01 1.37203737e-01 2.52367611e+00] [-6.00425094e-02 -1.38302791e-01 9.88568275e-01 -4.31089149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:105.99, Y:2.76, Z:-43.08 [[ 9.94798064e-01 3.71481868e-02 9.48515945e-02 1.05990273e+02] [-2.33709862e-02 9.89528808e-01 -1.42430807e-01 2.76121875e+00] [-9.91494315e-02 1.39473116e-01 9.85249532e-01 -4.30799638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.01, Y:2.63, Z:-43.11 [[ 9.94176886e-01 2.88203972e-02 1.03834986e-01 1.06012904e+02] [-2.82599244e-02 9.99577034e-01 -6.86515758e-03 2.63482264e+00] [-1.03988924e-01 3.89081214e-03 9.94570845e-01 -4.31067857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.05, Y:2.62, Z:-43.11 [[ 9.93930336e-01 3.14783264e-02 1.05411584e-01 1.06045233e+02] [-3.09101619e-02 9.99497516e-01 -7.01973565e-03 2.62228379e+00] [-1.05579586e-01 3.71883907e-03 9.94403902e-01 -4.31096773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.08, Y:2.62, Z:-43.11 [[ 9.93939320e-01 3.26636227e-02 1.04965305e-01 1.06077983e+02] [-3.21023435e-02 9.99459844e-01 -7.03277908e-03 2.61589615e+00] [-1.05138324e-01 3.62052337e-03 9.94451017e-01 -4.31118548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.09863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.11, Y:2.61, Z:-43.11 [[ 9.93785896e-01 3.40597147e-02 1.05969475e-01 1.06110974e+02] [-3.34922769e-02 9.99413542e-01 -7.13023921e-03 2.60966876e+00] [-1.06150182e-01 3.53677216e-03 9.94343819e-01 -4.31148488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.12863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.14, Y:2.60, Z:-43.12 [[ 9.93845330e-01 3.51712678e-02 1.05044956e-01 1.06143156e+02] [-3.46145168e-02 9.99375382e-01 -7.11907920e-03 2.60295111e+00] [-1.05229730e-01 3.43918322e-03 9.94441992e-01 -4.31179709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.15863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.18, Y:2.59, Z:-43.12 [[ 9.93696543e-01 3.69387673e-02 1.05842849e-01 1.06175096e+02] [-3.63779830e-02 9.99311987e-01 -7.22464439e-03 2.59009348e+00] [-1.06036898e-01 3.32875477e-03 9.94356624e-01 -4.31205535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.18863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.21, Y:2.58, Z:-43.12 [[ 9.93687326e-01 3.84742123e-02 1.05381368e-01 1.06207937e+02] [-3.79215420e-02 9.99254463e-01 -7.24390559e-03 2.58349765e+00] [-1.05581506e-01 3.20195319e-03 9.94405497e-01 -4.31231820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.21864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:106.24, Y:2.57, Z:-43.13 [[ 9.93552989e-01 4.25151960e-02 1.05094799e-01 1.06240440e+02] [-4.19826451e-02 9.99091851e-01 -7.27536827e-03 2.57470144e+00] [-1.05308671e-01 2.81630625e-03 9.94435595e-01 -4.31252050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.27, Y:2.57, Z:-43.13 [[ 9.93486536e-01 4.49965353e-02 1.04689132e-01 1.06273007e+02] [-4.44764074e-02 9.98983773e-01 -7.29872028e-03 2.56992838e+00] [-1.04911161e-01 2.59498385e-03 9.94478212e-01 -4.31281069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.31, Y:2.56, Z:-43.13 [[ 9.93369966e-01 4.84500777e-02 1.04253058e-01 1.06305860e+02] [-4.79478054e-02 9.98823019e-01 -7.32010249e-03 2.56044617e+00] [-1.04485013e-01 2.27286464e-03 9.94523864e-01 -4.31302048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.34, Y:2.55, Z:-43.13 [[ 9.93322130e-01 5.04518074e-02 1.03758187e-01 1.06338655e+02] [-4.99598025e-02 9.98724280e-01 -7.33693944e-03 2.55469887e+00] [-1.03995983e-01 2.10420577e-03 9.94575491e-01 -4.31325656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.37, Y:2.55, Z:-43.14 [[ 9.93147726e-01 5.34130562e-02 1.03945368e-01 1.06371411e+02] [-5.29299610e-02 9.98570790e-01 -7.40242018e-03 2.54912370e+00] [-1.04192194e-01 1.84987250e-03 9.94555461e-01 -4.31355237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.40, Y:2.54, Z:-43.14 [[ 9.93001029e-01 5.52081957e-02 1.04407912e-01 1.06404325e+02] [-5.47251060e-02 9.98473380e-01 -7.48819903e-03 2.54383454e+00] [-1.04661931e-01 1.72205529e-03 9.94506367e-01 -4.31380119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.42, Y:2.41, Z:-43.13 [[ 9.96508838e-01 4.72368549e-02 6.88390604e-02 1.06422924e+02] [-5.62457535e-02 9.89188396e-01 1.35435342e-01 2.41157827e+00] [-6.16972601e-02 -1.38834420e-01 9.88391851e-01 -4.31333058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.42864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:106.47, Y:2.60, Z:-43.13 [[ 9.96002339e-01 6.98015870e-02 5.57411766e-02 1.06470789e+02] [-6.54439620e-02 9.94918983e-01 -7.65069004e-02 2.59642610e+00] [-6.07982578e-02 7.25531283e-02 9.95509726e-01 -4.31321742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.45863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.50, Y:2.58, Z:-43.14 [[ 9.91301594e-01 7.50378163e-02 1.08122504e-01 1.06499225e+02] [-6.83220054e-02 9.95573707e-01 -6.45375739e-02 2.57951872e+00] [-1.12486681e-01 5.65890536e-02 9.92040536e-01 -4.31360986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.48863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.53, Y:2.53, Z:-43.14 [[ 9.90894142e-01 7.47906629e-02 1.11960515e-01 1.06527652e+02] [-7.43467465e-02 9.97199223e-01 -8.14068602e-03 2.52761031e+00] [-1.12255786e-01 -2.57341933e-04 9.93679311e-01 -4.31426338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.51863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.55, Y:2.47, Z:-43.14 [[ 9.94618648e-01 7.47118696e-02 7.17766098e-02 1.06554739e+02] [-7.85647610e-02 9.95528668e-01 5.24428271e-02 2.47442126e+00] [-6.75375711e-02 -5.77997260e-02 9.96041098e-01 -4.31428437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.54863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:106.59, Y:2.53, Z:-43.14 [[ 9.93677997e-01 8.75799365e-02 7.02409570e-02 1.06591577e+02] [-8.67090494e-02 9.96115274e-01 -1.53590986e-02 2.53428410e+00] [-7.13132390e-02 9.17147175e-03 9.97411804e-01 -4.31435061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.57864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:106.62, Y:2.52, Z:-43.15 [[ 9.93590008e-01 8.79880460e-02 7.09718214e-02 1.06621568e+02] [-8.79141629e-02 9.96119325e-01 -4.17009540e-03 2.52377981e+00] [-7.10633214e-02 -2.09606314e-03 9.97469604e-01 -4.31467619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:106.66, Y:2.57, Z:-43.15 [[ 9.89422794e-01 9.64407924e-02 1.08359160e-01 1.06655422e+02] [-9.06173200e-02 9.94227339e-01 -5.74499693e-02 2.57159045e+00] [-1.13274160e-01 4.70230925e-02 9.92450399e-01 -4.31488939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.63864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:106.68, Y:2.48, Z:-43.15 [[ 9.93184854e-01 8.92151032e-02 7.49967467e-02 1.06679309e+02] [-9.30600953e-02 9.94432491e-01 4.94352091e-02 2.48012378e+00] [-7.01688343e-02 -5.60775053e-02 9.95957654e-01 -4.31530778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.66864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:106.72, Y:2.58, Z:-43.15 [[ 9.88966200e-01 9.92999368e-02 1.09933512e-01 1.06717020e+02] [-9.28115409e-02 9.93710395e-01 -6.26551650e-02 2.57741032e+00] [-1.15463728e-01 5.17607418e-02 9.91962173e-01 -4.31532630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.69864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:106.75, Y:2.53, Z:-43.16 [[ 9.88828895e-01 9.42070902e-02 1.15509481e-01 1.06746520e+02] [-9.38523075e-02 9.95549687e-01 -8.51848422e-03 2.53175358e+00] [-1.15797930e-01 -2.41750800e-03 9.93269850e-01 -4.31597266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.72864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:106.77, Y:2.48, Z:-43.16 [[ 9.93021543e-01 8.85854889e-02 7.78513065e-02 1.06774551e+02] [-9.29267401e-02 9.94206103e-01 5.40263393e-02 2.47946574e+00] [-7.26142944e-02 -6.08837870e-02 9.95500040e-01 -4.31607665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:106.81, Y:2.53, Z:-43.16 [[ 9.92808736e-01 9.29884543e-02 7.53920498e-02 1.06810536e+02] [-9.25726935e-02 9.95665269e-01 -8.99823799e-03 2.53485128e+00] [-7.59019777e-02 1.95428417e-03 9.97113369e-01 -4.31609108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.78864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:106.84, Y:2.58, Z:-43.16 [[ 9.89306111e-01 9.05888942e-02 1.14311291e-01 1.06843723e+02] [-8.36597062e-02 9.94434925e-01 -6.40330594e-02 2.58235221e+00] [-1.19475824e-01 5.37850480e-02 9.91379189e-01 -4.31622388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:106.87, Y:2.53, Z:-43.17 [[ 9.89241692e-01 8.57028401e-02 1.18557576e-01 1.06872899e+02] [-8.52603099e-02 9.96319768e-01 -8.80905835e-03 2.53092982e+00] [-1.18876218e-01 -1.39396790e-03 9.92908103e-01 -4.31703344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.84863999999999 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:106.90, Y:2.49, Z:-43.17 [[ 9.93269609e-01 7.88938297e-02 8.48012191e-02 1.06902132e+02] [-8.24413996e-02 9.95825679e-01 3.91743804e-02 2.48913395e+00] [-8.13566147e-02 -4.59018527e-02 9.95627501e-01 -4.31731820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.87863999999999 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:106.94, Y:2.54, Z:-43.17 [[ 9.93478336e-01 7.69571518e-02 8.41331851e-02 1.06935667e+02] [-7.59744982e-02 9.96999554e-01 -1.48244484e-02 2.53593304e+00] [-8.50215954e-02 8.33579185e-03 9.96344239e-01 -4.31725754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.90863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:106.97, Y:2.56, Z:-43.17 [[ 9.89785022e-01 7.58507734e-02 1.20715656e-01 1.06968867e+02] [-7.06179039e-02 9.96392828e-01 -4.70578809e-02 2.56068898e+00] [-1.23849590e-01 3.80524991e-02 9.91571120e-01 -4.31738091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.93863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.00, Y:2.52, Z:-43.18 [[ 9.89861756e-01 6.94991358e-02 1.23869181e-01 1.06999054e+02] [-6.88808697e-02 9.97581803e-01 -9.27215743e-03 2.52440825e+00] [-1.24214048e-01 6.45937132e-04 9.92255236e-01 -4.31806808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.96864 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:107.03, Y:2.52, Z:-43.18 [[ 9.90234330e-01 6.53690077e-02 1.23137583e-01 1.07031250e+02] [-6.47182340e-02 9.97860411e-01 -9.28171330e-03 2.52006923e+00] [-1.23480856e-01 1.22182423e-03 9.92346202e-01 -4.31843131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.06, Y:2.52, Z:-43.19 [[ 9.90384561e-01 6.37666914e-02 1.22769013e-01 1.07064181e+02] [-6.30996986e-02 9.97963735e-01 -9.31732042e-03 2.51617347e+00] [-1.23113157e-01 1.48104257e-03 9.92391534e-01 -4.31863554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.02864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:107.10, Y:2.51, Z:-43.19 [[ 9.90416603e-01 6.21650534e-02 1.23330688e-01 1.07096588e+02] [-6.14716222e-02 9.98064345e-01 -9.42351043e-03 2.51177764e+00] [-1.23677775e-01 1.75186373e-03 9.92320885e-01 -4.31897788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:107.13, Y:2.50, Z:-43.19 [[ 9.90645284e-01 5.95579026e-02 1.22779388e-01 1.07128909e+02] [-5.88430045e-02 9.98222579e-01 -9.44375288e-03 2.50410583e+00] [-1.23123607e-01 2.13070118e-03 9.92389055e-01 -4.31932742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.08864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:107.16, Y:2.50, Z:-43.20 [[ 9.90648128e-01 5.86122301e-02 1.23210769e-01 1.07161404e+02] [-5.78771987e-02 9.98278132e-01 -9.53949875e-03 2.49917336e+00] [-1.23557748e-01 2.31919240e-03 9.92334674e-01 -4.31959700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.11864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:107.19, Y:2.49, Z:-43.20 [[ 9.90615476e-01 5.79979762e-02 1.23762733e-01 1.07193649e+02] [-5.72436583e-02 9.98313645e-01 -9.64520718e-03 2.49391752e+00] [-1.24113427e-01 2.47005992e-03 9.92264963e-01 -4.31994290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.14864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:107.23, Y:2.48, Z:-43.20 [[ 9.90633299e-01 5.88347847e-02 1.23223922e-01 1.07225394e+02] [-5.80866935e-02 9.98264825e-01 -9.65789156e-03 2.48328560e+00] [-1.23578327e-01 2.40975879e-03 9.92331895e-01 -4.32018150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.25, Y:2.43, Z:-43.20 [[ 9.94702518e-01 5.44741391e-02 8.71749305e-02 1.07249613e+02] [-5.91176527e-02 9.96916467e-01 5.16009790e-02 2.42537787e+00] [-8.40952048e-02 -5.64812010e-02 9.94855703e-01 -4.32007317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.20863999999999 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:107.29, Y:2.49, Z:-43.20 [[ 9.94073092e-01 6.43882132e-02 8.75947852e-02 1.07286652e+02] [-6.20776497e-02 9.97654159e-01 -2.88538584e-02 2.49115923e+00] [-8.92471501e-02 2.32451658e-02 9.95738223e-01 -4.32020174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.23863999999999 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.31, Y:2.46, Z:-43.21 [[ 9.93827608e-01 6.73507626e-02 8.81507795e-02 1.07314967e+02] [-6.72400749e-02 9.97727867e-01 -4.22786958e-03 2.46253422e+00] [-8.82352395e-02 -1.72549150e-03 9.96098170e-01 -4.32071451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.26863999999999 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:107.35, Y:2.49, Z:-43.21 [[ 9.89489790e-01 7.42171064e-02 1.24103897e-01 1.07349379e+02] [-6.88212880e-02 9.96510862e-01 -4.72200392e-02 2.49258726e+00] [-1.27175416e-01 3.81827566e-02 9.91145040e-01 -4.32112318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.29863999999999 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:107.37, Y:2.41, Z:-43.21 [[ 9.93637715e-01 6.92915322e-02 8.87849965e-02 1.07373167e+02] [-7.27707972e-02 9.96678177e-01 3.65653064e-02 2.41372772e+00] [-8.59564024e-02 -4.27936224e-02 9.95379427e-01 -4.32129355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.41, Y:2.44, Z:-43.21 [[ 9.93441532e-01 7.60282627e-02 8.54027283e-02 1.07406403e+02] [-7.69246147e-02 9.97010556e-01 7.24949360e-03 2.43617077e+00] [-8.45962552e-02 -1.37715200e-02 9.96320139e-01 -4.32145148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.44, Y:2.49, Z:-43.22 [[ 9.88624476e-01 8.58073265e-02 1.23526303e-01 1.07443330e+02] [-7.83118949e-02 9.94852187e-01 -6.43146450e-02 2.49301005e+00] [-1.28409080e-01 5.39094534e-02 9.90254957e-01 -4.32183815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.47, Y:2.44, Z:-43.22 [[ 9.88161983e-01 8.44767512e-02 1.28060822e-01 1.07471389e+02] [-8.38271049e-02 9.96425372e-01 -1.04639349e-02 2.44088683e+00] [-1.28487012e-01 -3.94905302e-04 9.91711113e-01 -4.32246264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.50, Y:2.39, Z:-43.22 [[ 9.92649529e-01 8.08617482e-02 9.00460431e-02 1.07496987e+02] [-8.51685699e-02 9.95347363e-01 4.50548726e-02 2.39327253e+00] [-8.59838758e-02 -5.23927908e-02 9.94917971e-01 -4.32234275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.53, Y:2.44, Z:-43.23 [[ 9.91923438e-01 9.06654773e-02 8.86998542e-02 1.07532845e+02] [-9.08249617e-02 9.95864342e-01 -2.24473489e-03 2.43516476e+00] [-8.85365419e-02 -5.82955571e-03 9.96055870e-01 -4.32255995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.56, Y:2.44, Z:-43.23 [[ 9.91356789e-01 9.35451760e-02 9.19837857e-02 1.07564536e+02] [-9.26444059e-02 9.95600496e-01 -1.40238071e-02 2.44338140e+00] [-9.28909622e-02 5.38081320e-03 9.95661748e-01 -4.32284623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.60, Y:2.45, Z:-43.23 [[ 9.90568431e-01 9.56012797e-02 9.81558900e-02 1.07595757e+02] [-9.38553101e-02 9.95336869e-01 -2.22642892e-02 2.44804342e+00] [-9.98266708e-02 1.28418505e-02 9.94921968e-01 -4.32323788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.63, Y:2.47, Z:-43.24 [[ 9.86533796e-01 9.91997572e-02 1.30040295e-01 1.07629299e+02] [-9.38893464e-02 9.94502404e-01 -4.63655029e-02 2.46754551e+00] [-1.33924832e-01 3.35317373e-02 9.90424031e-01 -4.32382619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.65, Y:2.38, Z:-43.24 [[ 9.91838091e-01 8.60603923e-02 9.40787392e-02 1.07650791e+02] [-9.16609040e-02 9.94162266e-01 5.69180828e-02 2.37787393e+00] [-8.86311400e-02 -6.50768649e-02 9.93936378e-01 -4.32386021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.59863999999999 meters Centerline goodness : 0.832725 Centerline is valid? [True, False] Translation: X:107.68, Y:2.40, Z:-43.24 [[ 9.93504708e-01 7.58702664e-02 8.48062332e-02 1.07675188e+02] [-7.89825451e-02 9.96297316e-01 3.39619809e-02 2.39718538e+00] [-8.19155179e-02 -4.04396000e-02 9.95818501e-01 -4.32373753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.62863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:107.67, Y:2.41, Z:-43.24 [[ 9.94322115e-01 6.50114688e-02 8.42439405e-02 1.07674720e+02] [-6.68220009e-02 9.97586835e-01 1.88501128e-02 2.40857108e+00] [-8.28151725e-02 -2.43724327e-02 9.96266848e-01 -4.32372403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.65863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.71, Y:2.48, Z:-43.24 [[ 9.89356053e-01 7.32282971e-02 1.25746636e-01 1.07710646e+02] [-6.56491384e-02 9.95826618e-01 -6.33998271e-02 2.47829476e+00] [-1.29864508e-01 5.44698444e-02 9.90034467e-01 -4.32403389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.68863999999999 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.73, Y:2.38, Z:-43.24 [[ 9.94406542e-01 5.94451409e-02 8.73035205e-02 1.07733902e+02] [-6.35640144e-02 9.96954557e-01 4.51799388e-02 2.38328122e+00] [-8.43519148e-02 -5.04765889e-02 9.95156705e-01 -4.32437204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.71864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.77, Y:2.43, Z:-43.25 [[ 9.94106516e-01 6.48252396e-02 8.68902937e-02 1.07768352e+02] [-6.46997953e-02 9.97895671e-01 -4.26213261e-03 2.42563967e+00] [-8.69837417e-02 -1.38477041e-03 9.96208769e-01 -4.32466614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.80, Y:2.42, Z:-43.25 [[ 9.94372831e-01 6.20000061e-02 8.58991925e-02 1.07797995e+02] [-6.26847796e-02 9.98019329e-01 5.29501225e-03 2.41515321e+00] [-8.54007637e-02 -1.06497883e-02 9.96289763e-01 -4.32500158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.83, Y:2.44, Z:-43.25 [[ 9.93967062e-01 6.35614721e-02 8.93835439e-02 1.07829358e+02] [-6.14073831e-02 9.97756965e-01 -2.66490367e-02 2.43990951e+00] [-9.08769056e-02 2.09994552e-02 9.95640704e-01 -4.32513827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.86, Y:2.41, Z:-43.26 [[ 9.94022502e-01 5.93639177e-02 9.16252758e-02 1.07858312e+02] [-5.96641559e-02 9.98218362e-01 5.38724881e-04 2.41249164e+00] [-9.14300520e-02 -6.00224940e-03 9.95793412e-01 -4.32564424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:107.89, Y:2.45, Z:-43.26 [[ 9.88927609e-01 6.54435879e-02 1.33189045e-01 1.07894212e+02] [-5.86632210e-02 9.96804597e-01 -5.42145963e-02 2.45485090e+00] [-1.36311450e-01 4.58010127e-02 9.89606718e-01 -4.32612017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.86864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:107.92, Y:2.38, Z:-43.26 [[ 9.93120216e-01 5.22353834e-02 1.04803153e-01 1.07918736e+02] [-5.57672251e-02 9.97960712e-01 3.10553471e-02 2.37654278e+00] [-1.02967241e-01 -3.66862740e-02 9.94007980e-01 -4.32647220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.95, Y:2.40, Z:-43.27 [[ 9.94053617e-01 5.43598062e-02 9.43526300e-02 1.07951136e+02] [-5.53522397e-02 9.98435388e-01 7.93130893e-03 2.39552309e+00] [-9.37738604e-02 -1.31067757e-02 9.95507245e-01 -4.32661661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:107.99, Y:2.45, Z:-43.27 [[ 9.88333581e-01 6.25256691e-02 1.38878627e-01 1.07988190e+02] [-5.48634979e-02 9.96788381e-01 -5.83345570e-02 2.44844284e+00] [-1.42080009e-01 5.00346343e-02 9.88589807e-01 -4.32707048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.95863999999999 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:108.02, Y:2.40, Z:-43.28 [[ 9.88163743e-01 5.75045336e-02 1.42216897e-01 1.08017435e+02] [-5.67619435e-02 9.98344646e-01 -9.27631457e-03 2.40113046e+00] [-1.42514907e-01 1.09401028e-03 9.89792051e-01 -4.32763342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.98863999999999 meters Centerline goodness : 0.803526 Centerline is valid? [True, False] Translation: X:108.06, Y:2.39, Z:-43.28 [[ 9.91677234e-01 4.73483728e-02 1.19726338e-01 1.08060027e+02] [-4.73435329e-02 9.98874496e-01 -2.88640159e-03 2.39209178e+00] [-1.19728252e-01 -2.80588907e-03 9.92802736e-01 -4.32813709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.01864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:108.09, Y:2.39, Z:-43.28 [[ 9.93063964e-01 3.50581785e-02 1.12226949e-01 1.08091959e+02] [-3.48529005e-02 9.99385262e-01 -3.79113408e-03 2.38884786e+00] [-1.12290869e-01 -1.46596044e-04 9.93675369e-01 -4.32829865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.04864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:108.12, Y:2.39, Z:-43.29 [[ 9.92883134e-01 3.59741230e-02 1.13529491e-01 1.08124466e+02] [-3.56559580e-02 9.99352440e-01 -4.83247438e-03 2.38861639e+00] [-1.13629818e-01 7.50079557e-04 9.93522874e-01 -4.32865046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.07864 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:108.16, Y:2.39, Z:-43.29 [[ 9.92789244e-01 3.68135415e-02 1.14080146e-01 1.08156940e+02] [-3.64909324e-02 9.99321894e-01 -4.91560430e-03 2.38612663e+00] [-1.14183749e-01 7.17268174e-04 9.93459389e-01 -4.32896926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.10864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:108.18, Y:2.24, Z:-43.28 [[ 9.97489165e-01 2.10070366e-02 6.76318763e-02 1.08178793e+02] [-3.16054569e-02 9.86663304e-01 1.59676609e-01 2.23875376e+00] [-6.33755581e-02 -1.61413223e-01 9.84849892e-01 -4.32795403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.13864 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:108.23, Y:2.52, Z:-43.28 [[ 9.92489185e-01 4.94089547e-02 1.11910561e-01 1.08226818e+02] [-3.09291313e-02 9.86434259e-01 -1.61216753e-01 2.52406382e+00] [-1.18357963e-01 1.56544588e-01 9.80553509e-01 -4.32781180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.16864 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:108.24, Y:2.31, Z:-43.29 [[ 9.97201897e-01 2.75879693e-02 6.94786310e-02 1.08244277e+02] [-3.28164774e-02 9.96622837e-01 7.52728308e-02 2.31382652e+00] [-6.71673658e-02 -7.73422536e-02 9.94739524e-01 -4.32885710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.19864 meters Centerline goodness : 0.997589 Centerline is valid? [True, True] Translation: X:108.28, Y:2.45, Z:-43.29 [[ 9.91881349e-01 4.39967148e-02 1.19313366e-01 1.08284292e+02] [-3.44553643e-02 9.96127690e-01 -8.08854282e-02 2.45032687e+00] [-1.22410040e-01 7.61177621e-02 9.89556400e-01 -4.32917713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.22864 meters Centerline goodness : 0.996703 Centerline is valid? [True, True] Translation: X:108.31, Y:2.31, Z:-43.29 [[ 9.96904014e-01 2.84545797e-02 7.32988638e-02 1.08306131e+02] [-3.39551595e-02 9.96610931e-01 7.49246214e-02 2.31213351e+00] [-7.09185003e-02 -7.71815305e-02 9.94491618e-01 -4.32936502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.25864 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:108.35, Y:2.45, Z:-43.30 [[ 9.91306083e-01 4.64756728e-02 1.23094520e-01 1.08346681e+02] [-3.66957815e-02 9.96074068e-01 -8.05597280e-02 2.44913117e+00] [-1.26355326e-01 7.53422988e-02 9.89119745e-01 -4.32956147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.28864000000002 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:108.38, Y:2.38, Z:-43.30 [[ 9.91164644e-01 3.96051752e-02 1.26586253e-01 1.08376079e+02] [-3.91877335e-02 9.99215106e-01 -5.78730656e-03 2.38108756e+00] [-1.26716103e-01 7.75545320e-04 9.91938722e-01 -4.33029923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.31864000000002 meters Centerline goodness : 0.974827 Centerline is valid? [True, True] Translation: X:108.39, Y:2.25, Z:-43.31 [[ 9.92835728e-01 -5.05898155e-02 1.08249192e-01 1.08390669e+02] [ 4.02955957e-02 9.94636725e-01 9.52578132e-02 2.25341753e+00] [-1.12487697e-01 -9.02133947e-02 9.89549423e-01 -4.33063974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.34864000000002 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:108.44, Y:2.46, Z:-43.30 [[ 9.91073844e-01 4.83738096e-02 1.24228055e-01 1.08441646e+02] [-3.61811694e-02 9.94469827e-01 -9.85935378e-02 2.45940989e+00] [-1.28310398e-01 9.32187602e-02 9.87343256e-01 -4.33021423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.37864000000002 meters Centerline goodness : 0.995461 Centerline is valid? [True, True] Translation: X:108.46, Y:2.33, Z:-43.30 [[ 9.95960405e-01 3.30963104e-02 8.34715895e-02 1.08464337e+02] [-3.71006089e-02 9.98211031e-01 4.68858372e-02 2.32882060e+00] [-8.17705132e-02 -4.97932842e-02 9.95406556e-01 -4.33044943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.40864000000002 meters Centerline goodness : 0.996609 Centerline is valid? [True, True] Translation: X:108.50, Y:2.42, Z:-43.31 [[ 9.91230900e-01 4.33371767e-02 1.24832658e-01 1.08502050e+02] [-3.67171908e-02 9.97819118e-01 -5.48530287e-02 2.41534633e+00] [-1.26937588e-01 4.97885125e-02 9.90660362e-01 -4.33105199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.43864000000002 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:108.53, Y:2.37, Z:-43.32 [[ 9.91062755e-01 3.82645937e-02 1.27790599e-01 1.08532109e+02] [-3.77845992e-02 9.99266803e-01 -6.17908714e-03 2.37049010e+00] [-1.27933343e-01 1.29534656e-03 9.91781922e-01 -4.33156190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.46864000000002 meters Centerline goodness : 0.995813 Centerline is valid? [True, True] Translation: X:108.56, Y:2.28, Z:-43.31 [[ 9.96650866e-01 2.72207474e-02 7.71108416e-02 1.08555292e+02] [-3.41484632e-02 9.95356424e-01 8.99970676e-02 2.28471695e+00] [-7.43029841e-02 -9.23288721e-02 9.92952389e-01 -4.33126164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49864000000002 meters Centerline goodness : 0.995821 Centerline is valid? [True, True] Translation: X:108.59, Y:2.37, Z:-43.32 [[ 9.96385277e-01 3.58643134e-02 7.70073469e-02 1.08590570e+02] [-3.52585660e-02 9.99335768e-01 -9.21178438e-03 2.37057505e+00] [-7.72865704e-02 6.46331771e-03 9.96987970e-01 -4.33166605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.52864 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:108.63, Y:2.44, Z:-43.32 [[ 9.90603869e-01 4.27640250e-02 1.29904633e-01 1.08626175e+02] [-3.11790846e-02 9.95458960e-01 -8.99406717e-02 2.43898391e+00] [-1.33160956e-01 8.50452698e-02 9.87438840e-01 -4.33182562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.55864 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:108.65, Y:2.30, Z:-43.32 [[ 9.95898027e-01 2.42210767e-02 8.71806094e-02 1.08646988e+02] [-3.01315607e-02 9.97289065e-01 6.71312911e-02 2.29844314e+00] [-8.53182763e-02 -6.94828082e-02 9.93928031e-01 -4.33209311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.58864 meters Centerline goodness : 0.996114 Centerline is valid? [True, True] Translation: X:108.67, Y:2.30, Z:-43.32 [[ 9.95590116e-01 2.18680341e-02 9.12255972e-02 1.08673132e+02] [-2.70118090e-02 9.98091179e-01 5.55370234e-02 2.30494458e+00] [-8.98369783e-02 -5.77562800e-02 9.94280408e-01 -4.33224612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.61864 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:108.71, Y:2.43, Z:-43.32 [[ 9.95131508e-01 3.69463880e-02 9.13687329e-02 1.08711275e+02] [-2.93609449e-02 9.96115767e-01 -8.30139374e-02 2.42553141e+00] [-9.40809005e-02 7.99271124e-02 9.92350967e-01 -4.33220730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.64864 meters Centerline goodness : 0.959126 Centerline is valid? [True, True] Translation: X:108.76, Y:2.35, Z:-43.35 [[ 9.86671972e-01 1.17202759e-01 1.12880169e-01 1.08755291e+02] [-1.22289188e-01 9.91719318e-01 3.92192422e-02 2.35143499e+00] [-1.07348841e-01 -5.25005513e-02 9.92834286e-01 -4.33507703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.67864 meters Centerline goodness : 0.994682 Centerline is valid? [True, True] Translation: X:108.77, Y:2.40, Z:-43.33 [[ 9.95320555e-01 2.94856191e-02 9.20195143e-02 1.08765937e+02] [-2.40359075e-02 9.97922159e-01 -5.97799267e-02 2.39753086e+00] [-9.35909605e-02 5.72884173e-02 9.93961151e-01 -4.33325532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.70864 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:108.80, Y:2.39, Z:-43.34 [[ 9.89520890e-01 2.94086415e-02 1.41363150e-01 1.08797723e+02] [-2.13393738e-02 9.98073179e-01 -5.82628512e-02 2.39099196e+00] [-1.42804200e-01 5.46357073e-02 9.88241823e-01 -4.33383640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.73864 meters Centerline goodness : 0.995078 Centerline is valid? [True, True] Translation: X:108.83, Y:2.34, Z:-43.34 [[ 9.89287445e-01 2.36996220e-02 1.44044016e-01 1.08828558e+02] [-2.29121627e-02 9.99712104e-01 -7.12340599e-03 2.34353886e+00] [-1.44171368e-01 3.74673619e-03 9.89545643e-01 -4.33434510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.76864 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:108.86, Y:2.27, Z:-43.34 [[ 9.95924473e-01 1.48440155e-02 8.89612274e-02 1.08856222e+02] [-2.13909681e-02 9.97095334e-01 7.30980253e-02 2.27015087e+00] [-8.76177565e-02 -7.47030791e-02 9.93349173e-01 -4.33384250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.79864 meters Centerline goodness : 0.994296 Centerline is valid? [True, True] Translation: X:108.89, Y:2.40, Z:-43.34 [[ 9.89294329e-01 3.28309700e-02 1.42193033e-01 1.08892859e+02] [-2.12430122e-02 9.96384547e-01 -8.22591614e-02 2.40282429e+00] [-1.44379589e-01 7.83579135e-02 9.86415010e-01 -4.33449985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.82864 meters Centerline goodness : 0.993018 Centerline is valid? [True, True] Translation: X:108.92, Y:2.30, Z:-43.35 [[ 9.94494439e-01 1.99214536e-02 1.02878306e-01 1.08922178e+02] [-2.31008936e-02 9.99288712e-01 2.98063476e-02 2.29978405e+00] [-1.02211344e-01 -3.20188277e-02 9.94247271e-01 -4.33489578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.85864 meters Centerline goodness : 0.993640 Centerline is valid? [True, True] Translation: X:108.95, Y:2.36, Z:-43.35 [[ 9.89056735e-01 2.85066423e-02 1.44755474e-01 1.08952873e+02] [-2.25814013e-02 9.98844967e-01 -4.24124149e-02 2.35637933e+00] [-1.45797312e-01 3.86795031e-02 9.88558061e-01 -4.33542544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.88864 meters Centerline goodness : 0.918362 Centerline is valid? [True, False] Translation: X:108.96, Y:2.34, Z:-43.36 [[ 9.90359164e-01 2.27224542e-02 1.36647048e-01 1.08960604e+02] [-1.97392408e-02 9.99537177e-01 -2.31472231e-02 2.33706100e+00] [-1.37109766e-01 2.02267556e-02 9.90349327e-01 -4.33563421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.91864 meters Centerline goodness : 0.993059 Centerline is valid? [False, True] Translation: X:108.99, Y:2.32, Z:-43.36 [[ 9.93050008e-01 2.03628984e-02 1.15918221e-01 1.08990775e+02] [-1.89961534e-02 9.99736549e-01 -1.28832504e-02 2.32423831e+00] [-1.16150022e-01 1.05917116e-02 9.93175205e-01 -4.33591029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.94864 meters Centerline goodness : 0.991528 Centerline is valid? [True, True] Translation: X:109.06, Y:2.32, Z:-43.39 [[ 9.95337946e-01 2.32508975e-02 9.36043216e-02 1.09064639e+02] [-2.32732808e-02 9.99728777e-01 -8.52651146e-04 2.31525588e+00] [-9.35987589e-02 -1.32980362e-03 9.95609112e-01 -4.33945909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.97864 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:109.05, Y:2.33, Z:-43.37 [[ 9.93381471e-01 1.95890352e-02 1.13179160e-01 1.09047143e+02] [-1.65179108e-02 9.99471174e-01 -2.80094801e-02 2.32577117e+00] [-1.13667986e-01 2.59546152e-02 9.93179715e-01 -4.33694942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.00864 meters Centerline goodness : 0.992676 Centerline is valid? [True, True] Translation: X:109.08, Y:2.32, Z:-43.37 [[ 9.93104727e-01 1.84279259e-02 1.15773108e-01 1.09077395e+02] [-1.49504710e-02 9.99412709e-01 -3.08337575e-02 2.32492157e+00] [-1.16273318e-01 2.88902878e-02 9.92796992e-01 -4.33701304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.03864000000002 meters Centerline goodness : 0.993107 Centerline is valid? [True, True] Translation: X:109.11, Y:2.30, Z:-43.37 [[ 9.93060279e-01 1.66699089e-02 1.16419056e-01 1.09107566e+02] [-1.66362606e-02 9.99860813e-01 -1.26078299e-03 2.29694758e+00] [-1.16423869e-01 -6.84744250e-04 9.93199383e-01 -4.33729484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.06864000000002 meters Centerline goodness : 0.992719 Centerline is valid? [True, True] Translation: X:109.14, Y:2.29, Z:-43.38 [[ 9.92844958e-01 2.08362190e-02 1.17578664e-01 1.09139193e+02] [-2.08291473e-02 9.99782219e-01 -1.28907152e-03 2.29447014e+00] [-1.17579917e-01 -1.16921517e-03 9.93062735e-01 -4.33787865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.09864000000002 meters Centerline goodness : 0.992280 Centerline is valid? [True, True] Translation: X:109.17, Y:2.30, Z:-43.38 [[ 9.92394362e-01 2.32833378e-02 1.20877278e-01 1.09170796e+02] [-2.22068698e-02 9.99700902e-01 -1.02451136e-02 2.30043513e+00] [-1.21079665e-01 7.48288697e-03 9.92614588e-01 -4.33813658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.12864000000002 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:109.20, Y:2.33, Z:-43.39 [[ 9.86316153e-01 2.95419817e-02 1.62196540e-01 1.09202642e+02] [-2.24288093e-02 9.98711933e-01 -4.55128869e-02 2.32985535e+00] [-1.63332160e-01 4.12522203e-02 9.85708304e-01 -4.33872046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.15864000000002 meters Centerline goodness : 0.992615 Centerline is valid? [True, True] Translation: X:109.23, Y:2.30, Z:-43.39 [[ 9.86265021e-01 2.55796594e-02 1.63177785e-01 1.09234182e+02] [-2.49819821e-02 9.99671571e-01 -5.71403304e-03 2.29552633e+00] [-1.63270356e-01 1.55904642e-03 9.86580134e-01 -4.33905027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.18864000000002 meters Centerline goodness : 0.992858 Centerline is valid? [True, True] Translation: X:109.26, Y:2.26, Z:-43.39 [[ 9.92081518e-01 2.63044035e-02 1.22810182e-01 1.09264855e+02] [-3.07019994e-02 9.98948312e-01 3.40537455e-02 2.26442447e+00] [-1.21785260e-01 -3.75546097e-02 9.91845755e-01 -4.33914195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.21864000000002 meters Centerline goodness : 0.926196 Centerline is valid? [True, False] Translation: X:109.27, Y:2.27, Z:-43.39 [[ 9.92197865e-01 2.28971725e-02 1.22552502e-01 1.09265264e+02] [-2.66212050e-02 9.99229591e-01 2.88363802e-02 2.26921195e+00] [-1.21797815e-01 -3.18738902e-02 9.92043017e-01 -4.33920979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24864000000002 meters Centerline goodness : 0.993059 Centerline is valid? [False, True] Translation: X:109.27, Y:2.27, Z:-43.39 [[ 9.92305319e-01 1.94663532e-02 1.22275160e-01 1.09265832e+02] [-2.25217635e-02 9.99466448e-01 2.36556540e-02 2.27399521e+00] [-1.21749431e-01 -2.62274836e-02 9.92214289e-01 -4.33927084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.27864 meters Centerline goodness : 0.964554 Centerline is valid? [True, True] Translation: X:109.28, Y:2.24, Z:-43.40 [[ 9.86847196e-01 -6.68611235e-02 1.47180846e-01 1.09275428e+02] [ 6.39083640e-02 9.97649914e-01 2.47056892e-02 2.23842698e+00] [-1.48486809e-01 -1.49746530e-02 9.88801005e-01 -4.34041270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.30864 meters Centerline goodness : 0.993413 Centerline is valid? [True, True] Translation: X:109.33, Y:2.32, Z:-43.40 [[ 9.91419671e-01 2.80839942e-02 1.27664896e-01 1.09327927e+02] [-2.63457629e-02 9.99536039e-01 -1.52842070e-02 2.31540558e+00] [-1.28034906e-01 1.17896344e-02 9.91699585e-01 -4.34012475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.33864 meters Centerline goodness : 0.993927 Centerline is valid? [True, True] Translation: X:109.36, Y:2.31, Z:-43.40 [[ 9.91420589e-01 2.42652955e-02 1.28438352e-01 1.09358400e+02] [-2.39006152e-02 9.99704744e-01 -4.38007014e-03 2.30646027e+00] [-1.28506713e-01 1.27273609e-03 9.91707822e-01 -4.34045585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.36864 meters Centerline goodness : 0.994542 Centerline is valid? [True, True] Translation: X:109.39, Y:2.34, Z:-43.41 [[ 9.85672204e-01 2.56044966e-02 1.66717473e-01 1.09390653e+02] [-1.91971992e-02 9.99018006e-01 -3.99310725e-02 2.33941209e+00] [-1.67576172e-01 3.61584397e-02 9.85195815e-01 -4.34101842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.39864 meters Centerline goodness : 0.994980 Centerline is valid? [True, True] Translation: X:109.42, Y:2.18, Z:-43.40 [[ 9.92365563e-01 -1.54065548e-03 1.23321592e-01 1.09415110e+02] [-1.52631848e-02 9.90700861e-01 1.35199258e-01 2.18496573e+00] [-1.22383103e-01 -1.36049368e-01 9.83113903e-01 -4.34029557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.42864 meters Centerline goodness : 0.995712 Centerline is valid? [True, True] Translation: X:109.46, Y:2.40, Z:-43.41 [[ 9.91303260e-01 3.16061454e-02 1.27745443e-01 1.09455055e+02] [-1.88822288e-02 9.94846957e-01 -9.96142200e-02 2.39517122e+00] [-1.30235586e-01 9.63357824e-02 9.86791827e-01 -4.34129881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.45864 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:109.48, Y:2.30, Z:-43.42 [[ 9.91517331e-01 1.51751495e-02 1.29085617e-01 1.09480746e+02] [-1.68333365e-02 9.99789098e-01 1.17642527e-02 2.29559954e+00] [-1.28879869e-01 -1.38374021e-02 9.91563667e-01 -4.34189340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.48864 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:109.51, Y:2.31, Z:-43.42 [[ 9.90912994e-01 1.82976173e-02 1.33254027e-01 1.09511857e+02] [-1.75280989e-02 9.99822246e-01 -6.94571022e-03 2.31167795e+00] [-1.33357430e-01 4.54690476e-03 9.91057577e-01 -4.34227576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.51864 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:109.54, Y:2.35, Z:-43.43 [[ 9.84243079e-01 2.66403121e-02 1.74802334e-01 1.09544861e+02] [-1.74655854e-02 9.98398084e-01 -5.38165295e-02 2.35371695e+00] [-1.75956005e-01 4.99155216e-02 9.83131693e-01 -4.34269007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.54864 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:109.57, Y:2.27, Z:-43.43 [[ 9.90235722e-01 1.41975479e-02 1.38678207e-01 1.09572968e+02] [-2.00618537e-02 9.98958488e-01 4.09812283e-02 2.27110581e+00] [-1.37951939e-01 -4.33632181e-02 9.89489209e-01 -4.34287336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.57864 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:109.61, Y:2.35, Z:-43.44 [[ 9.83754492e-01 2.81601193e-02 1.77296664e-01 1.09607261e+02] [-1.97794899e-02 9.98609744e-01 -4.88605214e-02 2.35011555e+00] [-1.78426095e-01 4.45599198e-02 9.82943814e-01 -4.34358198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.60864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:109.64, Y:2.31, Z:-43.44 [[ 9.83875243e-01 2.25861941e-02 1.77424265e-01 1.09638968e+02] [-2.20292993e-02 9.99744275e-01 -5.10829767e-03 2.31113600e+00] [-1.77494270e-01 1.11739536e-03 9.84121200e-01 -4.34418382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.63864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:109.67, Y:2.31, Z:-43.45 [[ 9.83715392e-01 2.28514848e-02 1.78274612e-01 1.09671647e+02] [-2.22764153e-02 9.99738185e-01 -5.22704470e-03 2.31097963e+00] [-1.78347383e-01 1.17060504e-03 9.83966890e-01 -4.34470927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.66864 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:109.70, Y:2.28, Z:-43.45 [[ 9.89868398e-01 1.63893136e-02 1.41038809e-01 1.09701528e+02] [-2.11065248e-02 9.99264492e-01 3.20154624e-02 2.27818261e+00] [-1.40410362e-01 -3.46679336e-02 9.89486263e-01 -4.34488091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.69864 meters Centerline goodness : 0.997835 Centerline is valid? [True, True] Translation: X:109.73, Y:2.30, Z:-43.45 [[ 9.90065624e-01 1.93072338e-02 1.39274157e-01 1.09732422e+02] [-2.05493187e-02 9.99760817e-01 7.48565485e-03 2.29852180e+00] [-1.39096318e-01 -1.02732786e-02 9.90225567e-01 -4.34541285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.72864 meters Centerline goodness : 0.997982 Centerline is valid? [True, True] Translation: X:109.76, Y:2.31, Z:-43.46 [[ 9.89527337e-01 2.15540343e-02 1.42727266e-01 1.09763510e+02] [-2.00575999e-02 9.99727823e-01 -1.19152031e-02 2.31428340e+00] [-1.42945240e-01 8.92765274e-03 9.89690333e-01 -4.34581436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.75864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:109.79, Y:2.31, Z:-43.46 [[ 9.89421618e-01 2.09883699e-02 1.43542155e-01 1.09793607e+02] [-2.00806820e-02 9.99768174e-01 -7.76944903e-03 2.31006148e+00] [-1.43671947e-01 4.80483646e-03 9.89613705e-01 -4.34629071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.78864000000002 meters Centerline goodness : 0.997687 Centerline is valid? [True, True] Translation: X:109.82, Y:2.31, Z:-43.47 [[ 9.89074366e-01 2.01224288e-02 1.46037622e-01 1.09824272e+02] [-2.01341161e-02 9.99796310e-01 -1.39821485e-03 2.30500848e+00] [-1.46036011e-01 -1.55739998e-03 9.89278049e-01 -4.34663822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.81864000000002 meters Centerline goodness : 0.997981 Centerline is valid? [True, True] Translation: X:109.85, Y:2.30, Z:-43.47 [[ 9.89307810e-01 2.05706658e-02 1.44384575e-01 1.09854501e+02] [-2.14073674e-02 9.99761830e-01 4.24359224e-03 2.29988259e+00] [-1.44262893e-01 -7.28911258e-03 9.89512550e-01 -4.34704224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.84864000000002 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:109.88, Y:2.31, Z:-43.48 [[ 9.88338104e-01 2.28527854e-02 1.50550799e-01 1.09884167e+02] [-2.23196876e-02 9.99737205e-01 -5.23000971e-03 2.30777676e+00] [-1.50630755e-01 1.80877108e-03 9.88588440e-01 -4.34765003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.87864000000002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:109.92, Y:2.30, Z:-43.48 [[ 9.88983247e-01 2.25702821e-02 1.46296681e-01 1.09915700e+02] [-2.34085038e-02 9.99717940e-01 4.01035902e-03 2.29996120e+00] [-1.46164901e-01 -7.39076429e-03 9.89232631e-01 -4.34792586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.90864000000002 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:109.95, Y:2.36, Z:-43.48 [[ 9.81052274e-01 3.46875839e-02 1.90612715e-01 1.09949197e+02] [-2.26449321e-02 9.97628417e-01 -6.49980630e-02 2.36109412e+00] [-1.92415287e-01 5.94500855e-02 9.79511125e-01 -4.34847056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.93864000000002 meters Centerline goodness : 0.860483 Centerline is valid? [True, False] Translation: X:109.96, Y:2.34, Z:-43.49 [[ 9.82976316e-01 2.94242256e-02 1.81360901e-01 1.09962295e+02] [-2.20019072e-02 9.98841242e-01 -4.28029211e-02 2.34429744e+00] [-1.82410191e-01 3.80839720e-02 9.82484673e-01 -4.34887015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.96864000000002 meters Centerline goodness : 0.983910 Centerline is valid? [False, True] Translation: X:110.00, Y:2.33, Z:-43.49 [[ 9.87068572e-01 2.44535111e-02 1.58422408e-01 1.10002855e+02] [-2.04326147e-02 9.99427660e-01 -2.69603502e-02 2.32991362e+00] [-1.58991011e-01 2.33747304e-02 9.87003283e-01 -4.34949109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99864000000002 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:110.01, Y:2.31, Z:-43.48 [[ 9.87929332e-01 -5.47165225e-02 1.44919761e-01 1.10014011e+02] [ 6.21688592e-02 9.96939392e-01 -4.74012849e-02 2.31061950e+00] [-1.41882585e-01 5.58386159e-02 9.88307331e-01 -4.34811643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.02864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:110.05, Y:2.26, Z:-43.49 [[ 9.87654116e-01 -6.52615439e-02 1.42408838e-01 1.10046391e+02] [ 6.47177443e-02 9.97867815e-01 8.45205702e-03 2.26441274e+00] [-1.42656790e-01 8.68669866e-04 9.89771835e-01 -4.34868545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.05864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:110.07, Y:2.26, Z:-43.49 [[ 9.87630542e-01 -6.78943222e-02 1.41337444e-01 1.10074650e+02] [ 6.70638935e-02 9.97691991e-01 1.06360491e-02 2.26404514e+00] [-1.41733363e-01 -1.02584761e-03 9.89904340e-01 -4.34911566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.08864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:110.10, Y:2.31, Z:-43.50 [[ 9.79765024e-01 -6.19018896e-02 1.90338260e-01 1.10104651e+02] [ 7.10891041e-02 9.96592979e-01 -4.18183360e-02 2.31412931e+00] [-1.87101139e-01 5.45031193e-02 9.80827494e-01 -4.34977144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.11864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:110.14, Y:2.17, Z:-43.49 [[ 9.89508947e-01 -8.84801283e-02 1.14207318e-01 1.10141272e+02] [ 7.48749767e-02 9.90142785e-01 1.18368083e-01 2.16931858e+00] [-1.23554775e-01 -1.08575007e-01 9.86380092e-01 -4.34945858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.14864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:110.16, Y:2.37, Z:-43.50 [[ 9.79069299e-01 -5.39098110e-02 1.96257587e-01 1.10163606e+02] [ 7.40356039e-02 9.92556541e-01 -9.66966506e-02 2.36586985e+00] [-1.89583853e-01 1.09202771e-01 9.75772882e-01 -4.35005968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.17864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:110.20, Y:2.21, Z:-43.51 [[ 9.87017752e-01 -8.21979273e-02 1.37983539e-01 1.10200875e+02] [ 7.22591932e-02 9.94519467e-01 7.55621472e-02 2.21057590e+00] [-1.43438368e-01 -6.46106015e-02 9.87547925e-01 -4.35077021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.20864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:110.23, Y:2.28, Z:-43.51 [[ 9.86653747e-01 -6.82799922e-02 1.47824986e-01 1.10228497e+02] [ 7.00975145e-02 9.97514774e-01 -7.11432078e-03 2.28485320e+00] [-1.46971841e-01 1.73815353e-02 9.88987947e-01 -4.35130971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.23864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:110.26, Y:2.27, Z:-43.52 [[ 9.86202455e-01 -6.97316258e-02 1.50140658e-01 1.10258703e+02] [ 6.97787533e-02 9.97550157e-01 4.96079108e-03 2.27444299e+00] [-1.50118761e-01 5.58428360e-03 9.88652200e-01 -4.35190161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.26864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:110.29, Y:2.31, Z:-43.53 [[ 9.78546156e-01 -6.12259275e-02 1.96720122e-01 1.10288649e+02] [ 6.98411050e-02 9.96866035e-01 -3.71527690e-02 2.31278279e+00] [-1.93828895e-01 5.00948500e-02 9.79755513e-01 -4.35255969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.29864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:110.33, Y:2.19, Z:-43.52 [[ 9.86836510e-01 -8.46596429e-02 1.37791317e-01 1.10325284e+02] [ 7.07997641e-02 9.92204053e-01 1.02559791e-01 2.18615543e+00] [-1.45399778e-01 -9.14541532e-02 9.85137068e-01 -4.35234762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.32864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:110.35, Y:2.35, Z:-43.53 [[ 9.78080063e-01 -5.26040188e-02 2.01475077e-01 1.10348954e+02] [ 7.00086242e-02 9.94312870e-01 -8.02540290e-02 2.35321717e+00] [-1.96107578e-01 9.25998587e-02 9.76200330e-01 -4.35314835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.35864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:110.39, Y:2.27, Z:-43.54 [[ 9.78294106e-01 -6.68902759e-02 1.96128357e-01 1.10385098e+02] [ 6.60790629e-02 9.97757186e-01 1.06843072e-02 2.27184197e+00] [-1.96403153e-01 2.50758323e-03 9.80520022e-01 -4.35401313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.38864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:110.42, Y:2.22, Z:-43.54 [[ 9.86222371e-01 -7.51407740e-02 1.47374691e-01 1.10417713e+02] [ 6.68206343e-02 9.95921603e-01 6.06231345e-02 2.22412430e+00] [-1.51328908e-01 -4.99402211e-02 9.87221118e-01 -4.35408939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.41864 meters Centerline goodness : 0.999457 Centerline is valid? [True, True] Translation: X:110.44, Y:2.32, Z:-43.55 [[ 9.78377734e-01 -5.60330049e-02 1.99091214e-01 1.10444010e+02] [ 6.52530877e-02 9.97064701e-01 -4.00501693e-02 2.31579156e+00] [-1.96262690e-01 5.21755103e-02 9.79162230e-01 -4.35494655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.44864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:110.48, Y:2.27, Z:-43.56 [[ 9.78504080e-01 -6.29505130e-02 1.96384822e-01 1.10478794e+02] [ 6.20992484e-02 9.98014792e-01 1.04955933e-02 2.27014904e+00] [-1.96655660e-01 1.92536897e-03 9.80470726e-01 -4.35555928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.47864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:110.51, Y:2.27, Z:-43.56 [[ 9.77997878e-01 -6.16572709e-02 1.99295085e-01 1.10510991e+02] [ 6.07755063e-02 9.98095759e-01 1.05448880e-02 2.27128917e+00] [-1.99565748e-01 1.79938158e-03 9.79882786e-01 -4.35615273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.50864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:110.54, Y:2.27, Z:-43.57 [[ 9.78113575e-01 -5.98595542e-02 1.99275358e-01 1.10543461e+02] [ 5.89623678e-02 9.98205623e-01 1.04390788e-02 2.27148993e+00] [-1.99542661e-01 1.53914229e-03 9.79887931e-01 -4.35658851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.53864000000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:110.58, Y:2.27, Z:-43.57 [[ 9.78931069e-01 -5.66711581e-02 1.96169169e-01 1.10576155e+02] [ 5.57590179e-02 9.98392419e-01 1.01739717e-02 2.27014582e+00] [-1.96430382e-01 9.78583166e-04 9.80517286e-01 -4.35715507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.56864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:110.61, Y:2.27, Z:-43.58 [[ 9.79235535e-01 -5.45607934e-02 1.95245709e-01 1.10608073e+02] [ 5.36362873e-02 9.98510234e-01 1.00230223e-02 2.27219564e+00] [-1.95501703e-01 6.57355343e-04 9.80703142e-01 -4.35776683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.59864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:110.64, Y:2.21, Z:-43.57 [[ 9.88032921e-01 -6.46917297e-02 1.40021168e-01 1.10642025e+02] [ 5.31477357e-02 9.94990398e-01 8.46724644e-02 2.20537027e+00] [-1.44797326e-01 -7.62173743e-02 9.86521488e-01 -4.35746604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.62864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.67, Y:2.34, Z:-43.58 [[ 9.78671529e-01 -3.76921280e-02 2.01943906e-01 1.10665304e+02] [ 5.17516710e-02 9.96555551e-01 -6.47981303e-02 2.34180442e+00] [-1.98805941e-01 7.38670198e-02 9.77251176e-01 -4.35849978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.65864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.70, Y:2.28, Z:-43.59 [[ 9.78761853e-01 -5.06084710e-02 1.98655526e-01 1.10701351e+02] [ 4.96060515e-02 9.98718569e-01 1.00229221e-02 2.27694297e+00] [-1.98908207e-01 4.44624639e-05 9.80018124e-01 -4.35923104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.73, Y:2.28, Z:-43.60 [[ 9.79101665e-01 -4.92843896e-02 1.97309345e-01 1.10734131e+02] [ 4.82798020e-02 9.98784772e-01 9.90152442e-03 2.27890146e+00] [-1.97557560e-01 -1.68542917e-04 9.80291274e-01 -4.35965299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.71864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:110.77, Y:2.19, Z:-43.59 [[ 9.89256728e-01 -6.52585488e-02 1.30814554e-01 1.10770662e+02] [ 5.03973525e-02 9.92217536e-01 1.13861616e-01 2.18735641e+00] [-1.37226938e-01 -1.06045662e-01 9.84846732e-01 -4.35898045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:110.79, Y:2.25, Z:-43.60 [[ 9.87029614e-01 -5.14595370e-02 1.52067279e-01 1.10788905e+02] [ 4.39905676e-02 9.97673491e-01 5.20810462e-02 2.24729219e+00] [-1.54393559e-01 -4.47160090e-02 9.86997015e-01 -4.36003314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.81, Y:2.43, Z:-43.60 [[ 9.75480420e-01 -1.37310428e-02 2.19657481e-01 1.10812292e+02] [ 4.62513451e-02 9.88554036e-01 -1.43602684e-01 2.42682702e+00] [-2.15171475e-01 1.50241060e-01 9.64950185e-01 -4.35978218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:110.85, Y:2.30, Z:-43.61 [[ 9.75581646e-01 -4.19189538e-02 2.15599752e-01 1.10849607e+02] [ 4.05908711e-02 9.99119771e-01 1.05860356e-02 2.29576227e+00] [-2.15853731e-01 -1.57616029e-03 9.76424438e-01 -4.36128963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.88, Y:2.30, Z:-43.62 [[ 9.75924856e-01 -4.04087106e-02 2.14331081e-01 1.10881772e+02] [ 3.90856035e-02 9.99181647e-01 1.04092698e-02 2.30018409e+00] [-2.14576307e-01 -1.78140548e-03 9.76705603e-01 -4.36189195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:110.91, Y:2.30, Z:-43.63 [[ 9.76246839e-01 -3.91364389e-02 2.13097273e-01 1.10913736e+02] [ 3.78236216e-02 9.99232008e-01 1.02356607e-02 2.30457354e+00] [-2.13334203e-01 -1.93242073e-03 9.76977371e-01 -4.36267681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.89864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:110.95, Y:2.31, Z:-43.63 [[ 9.76470603e-01 -3.84317891e-02 2.12198397e-01 1.10946633e+02] [ 3.71387161e-02 9.99259304e-01 1.00776365e-02 2.30784175e+00] [-2.12428524e-01 -1.95973980e-03 9.77174642e-01 -4.36321919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:110.98, Y:2.24, Z:-43.63 [[ 9.86118882e-01 -5.47203813e-02 1.56764892e-01 1.10979867e+02] [ 4.05806672e-02 9.94929868e-01 9.20204735e-02 2.23713161e+00] [-1.61005468e-01 -8.43815025e-02 9.83339718e-01 -4.36306746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.95864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.01, Y:2.32, Z:-43.64 [[ 9.85807011e-01 -3.64357139e-02 1.63880981e-01 1.11006020e+02] [ 3.56933684e-02 9.99334847e-01 7.47314127e-03 2.32106403e+00] [-1.64044264e-01 -1.51761084e-03 9.86451811e-01 -4.36378451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.04, Y:2.28, Z:-43.64 [[ 9.88325646e-01 -4.49770669e-02 1.45566069e-01 1.11038426e+02] [ 3.61994211e-02 9.97394636e-01 6.23982567e-02 2.27570017e+00] [-1.47993307e-01 -5.64003900e-02 9.87378842e-01 -4.36396677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.01864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:111.06, Y:2.38, Z:-43.64 [[ 9.84823098e-01 -2.15126639e-02 1.72222738e-01 1.11063021e+02] [ 2.97650311e-02 9.98521783e-01 -4.54784702e-02 2.37804831e+00] [-1.70989793e-01 4.99144630e-02 9.84007641e-01 -4.36440538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.09, Y:2.31, Z:-43.65 [[ 9.85615192e-01 -3.69597667e-02 1.64914126e-01 1.11093286e+02] [ 3.15858968e-02 9.98884853e-01 3.50910589e-02 2.31076809e+00] [-1.66027180e-01 -2.93773202e-02 9.85683493e-01 -4.36512293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.07864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:111.12, Y:2.38, Z:-43.65 [[ 9.83497144e-01 -2.17587061e-02 1.79610484e-01 1.11120856e+02] [ 2.90592598e-02 9.98850712e-01 -3.81158145e-02 2.38065616e+00] [-1.78574709e-01 4.27061425e-02 9.82999114e-01 -4.36548620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.10864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:111.15, Y:2.35, Z:-43.66 [[ 9.83331941e-01 -3.04194858e-02 1.79256655e-01 1.11151469e+02] [ 3.02895009e-02 9.99535170e-01 3.46270121e-03 2.34798117e+00] [-1.79278665e-01 2.02460992e-03 9.83796250e-01 -4.36623806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.13864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:111.18, Y:2.34, Z:-43.67 [[ 9.82853572e-01 -3.65693436e-02 1.80725037e-01 1.11182043e+02] [ 3.43711772e-02 9.99292309e-01 1.52808351e-02 2.34263961e+00] [-1.81155950e-01 -8.80709109e-03 9.83414947e-01 -4.36665486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.16864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:111.21, Y:2.37, Z:-43.67 [[ 9.81770380e-01 -3.35183981e-02 1.87092056e-01 1.11210240e+02] [ 3.61173963e-02 9.99292400e-01 -1.04991597e-02 2.36886663e+00] [-1.86607755e-01 1.70650419e-02 9.82286277e-01 -4.36717285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.19864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.24, Y:2.35, Z:-43.68 [[ 9.80451923e-01 -4.38812833e-02 1.91803179e-01 1.11238383e+02] [ 4.02187101e-02 9.98927323e-01 2.29490525e-02 2.34573092e+00] [-1.92604470e-01 -1.47863663e-02 9.81165063e-01 -4.36821189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.22864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.27, Y:2.37, Z:-43.68 [[ 9.81135635e-01 -3.96235809e-02 1.89216378e-01 1.11268048e+02] [ 4.10646694e-02 9.99149639e-01 -3.70012297e-03 2.37257217e+00] [-1.88908864e-01 1.14004305e-02 9.81928445e-01 -4.36837620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.25864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.30, Y:2.38, Z:-43.69 [[ 9.79721758e-01 -3.89907847e-02 1.96532431e-01 1.11297731e+02] [ 4.03091220e-02 9.99183580e-01 -2.71086088e-03 2.37515877e+00] [-1.96266279e-01 1.05779391e-02 9.80493577e-01 -4.36909378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.28864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.33, Y:2.37, Z:-43.70 [[ 9.79575143e-01 -4.22843718e-02 1.96582222e-01 1.11328389e+02] [ 4.14808999e-02 9.99105609e-01 8.20468169e-03 2.36877413e+00] [-1.96753331e-01 1.17305248e-04 9.80453014e-01 -4.36968515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.31864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.36, Y:2.37, Z:-43.70 [[ 9.79325814e-01 -4.32914107e-02 1.97602641e-01 1.11359581e+02] [ 4.16805645e-02 9.99055203e-01 1.23057883e-02 2.36801092e+00] [-1.97948681e-01 -3.81518656e-03 9.80204960e-01 -4.37033887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.34864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.39, Y:2.37, Z:-43.71 [[ 9.78890188e-01 -4.49997039e-02 1.99371580e-01 1.11388672e+02] [ 4.27718808e-02 9.98965096e-01 1.54694018e-02 2.36810080e+00] [-1.99861368e-01 -6.61534820e-03 9.79801853e-01 -4.37089636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.42, Y:2.39, Z:-43.71 [[ 9.77899811e-01 -4.08646766e-02 2.05041554e-01 1.11417938e+02] [ 4.33907079e-02 9.99027444e-01 -7.83661464e-03 2.39032816e+00] [-2.04521899e-01 1.65603221e-02 9.78721895e-01 -4.37146406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.45, Y:2.41, Z:-43.72 [[ 9.68017722e-01 -3.55913554e-02 2.48344408e-01 1.11449228e+02] [ 4.45840601e-02 9.98534455e-01 -3.06790303e-02 2.41480207e+00] [-2.46888540e-01 4.07700470e-02 9.68185856e-01 -4.37205489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.43864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:111.48, Y:2.34, Z:-43.73 [[ 9.77674977e-01 -5.52950412e-02 2.02716790e-01 1.11481570e+02] [ 4.43976909e-02 9.97333581e-01 5.79186854e-02 2.33886712e+00] [-2.05378878e-01 -4.76254920e-02 9.77523058e-01 -4.37281710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.46864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:111.51, Y:2.43, Z:-43.73 [[ 9.67776599e-01 -3.32321127e-02 2.49607854e-01 1.11509890e+02] [ 4.38475598e-02 9.98349586e-01 -3.70876804e-02 2.42765323e+00] [-2.47963396e-01 4.68372845e-02 9.67636514e-01 -4.37321934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.54, Y:2.29, Z:-43.74 [[ 9.80685852e-01 -6.93593983e-02 1.82878464e-01 1.11542524e+02] [ 4.74377062e-02 9.91440781e-01 1.21634052e-01 2.28923087e+00] [-1.89749632e-01 -1.10609459e-01 9.75582198e-01 -4.37391505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:111.57, Y:2.49, Z:-43.74 [[ 9.66718077e-01 -1.68209518e-02 2.55290454e-01 1.11569841e+02] [ 4.30001370e-02 9.94324306e-01 -9.73147574e-02 2.48965546e+00] [-2.52204577e-01 1.05053460e-01 9.61954584e-01 -4.37366762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:111.60, Y:2.27, Z:-43.75 [[ 9.77319815e-01 -7.41845372e-02 1.98349778e-01 1.11602694e+02] [ 4.40112627e-02 9.87335773e-01 1.52417454e-01 2.26946832e+00] [-2.07144850e-01 -1.40230974e-01 9.68207770e-01 -4.37508518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.58864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:111.63, Y:2.47, Z:-43.75 [[ 9.77752836e-01 -2.17637921e-02 2.08628205e-01 1.11632428e+02] [ 3.71742972e-02 9.96837793e-01 -7.02316545e-02 2.47013533e+00] [-2.06439973e-01 7.64248064e-02 9.75470034e-01 -4.37498295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.61864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.66, Y:2.39, Z:-43.76 [[ 9.78836241e-01 -4.35286918e-02 1.99962163e-01 1.11662800e+02] [ 3.93616042e-02 9.98917975e-01 2.47698256e-02 2.39288209e+00] [-2.00823997e-01 -1.63747715e-02 9.79490474e-01 -4.37624687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:111.69, Y:2.41, Z:-43.77 [[ 9.78308452e-01 -3.81372490e-02 2.03612679e-01 1.11692077e+02] [ 3.76490863e-02 9.99271339e-01 6.27191058e-03 2.41347709e+00] [-2.03703508e-01 1.52996818e-03 9.79031430e-01 -4.37692705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.67864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.72, Y:2.48, Z:-43.77 [[ 9.65893300e-01 -2.04906229e-02 2.58128394e-01 1.11721683e+02] [ 3.71353537e-02 9.97521038e-01 -5.97724322e-02 2.47928245e+00] [-2.56263729e-01 6.73194810e-02 9.64259814e-01 -4.37722965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.70864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:111.75, Y:2.35, Z:-43.78 [[ 9.78611932e-01 -5.47884113e-02 1.98284936e-01 1.11754564e+02] [ 3.86923992e-02 9.95700605e-01 8.41617676e-02 2.35245369e+00] [-2.02043520e-01 -7.46895901e-02 9.76524388e-01 -4.37844003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.73864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:111.78, Y:2.49, Z:-43.78 [[ 9.65040572e-01 -1.88030159e-02 2.61425213e-01 1.11783301e+02] [ 3.65191758e-02 9.97340390e-01 -6.30753204e-02 2.48803455e+00] [-2.59543917e-01 7.04172765e-02 9.63160611e-01 -4.37838862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.76864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:111.82, Y:2.43, Z:-43.80 [[ 9.65030932e-01 -3.70698791e-02 2.59501686e-01 1.11816129e+02] [ 3.56302898e-02 9.99312467e-01 1.02506484e-02 2.42781464e+00] [-2.59703261e-01 -6.46072451e-04 9.65688251e-01 -4.38005770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.79864 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:111.85, Y:2.30, Z:-43.81 [[ 9.77484800e-01 -7.19072670e-02 1.98375431e-01 1.11848397e+02] [ 4.24992551e-02 9.87967732e-01 1.48706337e-01 2.30320360e+00] [-2.06681590e-01 -1.36927376e-01 9.68779445e-01 -4.38065627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.82864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:111.88, Y:2.55, Z:-43.79 [[ 9.64104650e-01 -5.67011256e-03 2.65461999e-01 1.11877992e+02] [ 3.99366389e-02 9.91495210e-01 -1.23864093e-01 2.54810323e+00] [-2.62501977e-01 1.30019608e-01 9.56131588e-01 -4.37949899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.85864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:111.91, Y:2.43, Z:-43.82 [[ 9.64379142e-01 -4.15005512e-02 2.61248109e-01 1.11910466e+02] [ 4.03159447e-02 9.99137990e-01 9.89450640e-03 2.43287702e+00] [-2.61433538e-01 9.90408757e-04 9.65220972e-01 -4.38207065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.88864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:111.94, Y:2.37, Z:-43.83 [[ 9.78309209e-01 -6.05485342e-02 1.98103423e-01 1.11942352e+02] [ 4.44827430e-02 9.95424136e-01 8.45699431e-02 2.36705144e+00] [-2.02317515e-01 -7.39233705e-02 9.76525964e-01 -4.38253411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.91864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:111.97, Y:2.50, Z:-43.83 [[ 9.63889080e-01 -2.44408353e-02 2.65180102e-01 1.11971642e+02] [ 4.31097907e-02 9.96965989e-01 -6.48101985e-02 2.50281147e+00] [-2.62791527e-01 7.39017013e-02 9.62018270e-01 -4.38263767e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.94864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:112.00, Y:2.38, Z:-43.84 [[ 9.74998709e-01 -6.04203932e-02 2.13838474e-01 1.12002577e+02] [ 4.61725969e-02 9.96406257e-01 7.10117089e-02 2.38017527e+00] [-2.17360549e-01 -5.93628469e-02 9.74284581e-01 -4.38404413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.03, Y:2.42, Z:-43.84 [[ 9.73157331e-01 -4.94754220e-02 2.24759852e-01 1.12029598e+02] [ 4.41662838e-02 9.98614982e-01 2.85912039e-02 2.41934007e+00] [-2.25863118e-01 -1.78969323e-02 9.73994636e-01 -4.38446316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.00864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:112.06, Y:2.51, Z:-43.84 [[ 9.61741814e-01 -2.34561521e-02 2.72951445e-01 1.12061693e+02] [ 4.49304302e-02 9.96341944e-01 -7.26910430e-02 2.51340663e+00] [-2.70247921e-01 8.21738415e-02 9.59277604e-01 -4.38431920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.03864000000002 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:112.09, Y:2.40, Z:-43.86 [[ 9.72152316e-01 -5.87989028e-02 2.26853615e-01 1.12087809e+02] [ 4.88966981e-02 9.97599685e-01 4.90304224e-02 2.40316924e+00] [-2.29192030e-01 -3.65726460e-02 9.72693916e-01 -4.38557102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:112.12, Y:2.40, Z:-43.87 [[ 9.72451484e-01 -5.36819003e-02 2.26839954e-01 1.12121216e+02] [ 4.23106960e-02 9.97605958e-01 5.47006130e-02 2.40284782e+00] [-2.29233322e-01 -4.35959360e-02 9.72394713e-01 -4.38661670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.09864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:112.15, Y:2.51, Z:-43.87 [[ 9.60518507e-01 -1.98861477e-02 2.77504485e-01 1.12153822e+02] [ 3.92600532e-02 9.97149432e-01 -6.44333613e-02 2.51276948e+00] [-2.75432108e-01 7.27842768e-02 9.58561215e-01 -4.38650036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.12864000000002 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:112.18, Y:2.40, Z:-43.88 [[ 9.71966246e-01 -5.45211681e-02 2.28711739e-01 1.12183879e+02] [ 3.98624568e-02 9.96872727e-01 6.82330654e-02 2.39771886e+00] [-2.31716641e-01 -5.72032246e-02 9.71099989e-01 -4.38818233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.15864000000002 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:112.21, Y:2.39, Z:-43.89 [[ 9.71516645e-01 -5.58464482e-02 2.30296729e-01 1.12210283e+02] [ 3.89355956e-02 9.96244559e-01 7.73356226e-02 2.39295153e+00] [-2.33750783e-01 -6.61661042e-02 9.70042586e-01 -4.38884616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.18864000000002 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:112.24, Y:2.51, Z:-43.88 [[ 9.71048229e-01 -1.91632888e-02 2.38113639e-01 1.12244298e+02] [ 3.42929216e-02 9.97635492e-01 -5.95602327e-02 2.51490146e+00] [-2.36409247e-01 6.60014709e-02 9.69409343e-01 -4.38836536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.21864000000002 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:112.28, Y:2.51, Z:-43.89 [[ 9.59447986e-01 -2.20020947e-02 2.81025745e-01 1.12275232e+02] [ 3.71058475e-02 9.98131914e-01 -4.85369688e-02 2.50780897e+00] [-2.79432850e-01 5.69963954e-02 9.58472062e-01 -4.38947309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24864000000002 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:112.31, Y:2.41, Z:-43.91 [[ 9.69878804e-01 -5.31216457e-02 2.37725045e-01 1.12305235e+02] [ 3.90476851e-02 9.97215852e-01 6.35281198e-02 2.41020862e+00] [-2.40437902e-01 -5.23319642e-02 9.69252795e-01 -4.39083426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.27864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:112.33, Y:2.41, Z:-43.92 [[ 9.67878013e-01 -5.33166963e-02 2.45702019e-01 1.12333581e+02] [ 3.87608995e-02 9.97215762e-01 6.37049204e-02 2.41334569e+00] [-2.48414462e-01 -5.21349605e-02 9.67249813e-01 -4.39169067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.30864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:112.37, Y:2.56, Z:-43.91 [[ 9.58077515e-01 -8.65818772e-03 2.86378266e-01 1.12367332e+02] [ 3.84092500e-02 9.94402084e-01 -9.84338628e-02 2.55782002e+00] [-2.83922885e-01 1.05306845e-01 9.53046832e-01 -4.39084553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.33864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:112.40, Y:2.46, Z:-43.93 [[ 9.58048628e-01 -3.76156010e-02 2.84126543e-01 1.12398521e+02] [ 3.66590022e-02 9.99290088e-01 8.68553271e-03 2.46444522e+00] [-2.84251550e-01 2.09463287e-03 9.58747448e-01 -4.39317991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.36864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:112.43, Y:2.44, Z:-43.94 [[ 9.67153510e-01 -4.64842631e-02 2.49906586e-01 1.12428379e+02] [ 3.84682709e-02 9.98579470e-01 3.68678064e-02 2.44004904e+00] [-2.51265359e-01 -2.60433541e-02 9.67567808e-01 -4.39393583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.39864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:112.46, Y:2.49, Z:-43.94 [[ 9.57472922e-01 -2.78904062e-02 2.87171950e-01 1.12460588e+02] [ 3.46325563e-02 9.99230279e-01 -1.84237925e-02 2.49273702e+00] [-2.86437061e-01 2.75857812e-02 9.57701851e-01 -4.39447070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.42864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:112.49, Y:2.47, Z:-43.96 [[ 9.57563344e-01 -3.45057161e-02 2.86149958e-01 1.12492082e+02] [ 3.35271634e-02 9.99403176e-01 8.31990202e-03 2.47080753e+00] [-2.86266261e-01 1.62696321e-03 9.58148726e-01 -4.39559433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.45864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:112.52, Y:2.44, Z:-43.96 [[ 9.66746177e-01 -4.52760073e-02 2.51698060e-01 1.12521277e+02] [ 3.58219045e-02 9.98474410e-01 4.20195745e-02 2.44082712e+00] [-2.53216550e-01 -3.16059591e-02 9.66893191e-01 -4.39641070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.48864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:112.54, Y:2.47, Z:-43.96 [[ 9.63839700e-01 -5.30235682e-02 2.61154233e-01 1.12537359e+02] [ 5.67776501e-02 9.98363379e-01 -6.84562752e-03 2.47250866e+00] [-2.60363843e-01 2.14258113e-02 9.65272813e-01 -4.39624617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.51864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:112.59, Y:2.48, Z:-43.98 [[ 9.56537388e-01 -3.24689535e-02 2.89796467e-01 1.12585812e+02] [ 3.29347232e-02 9.99452153e-01 3.27081732e-03 2.47722660e+00] [-2.89743903e-01 6.41570737e-03 9.57082708e-01 -4.39814336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.54864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:112.62, Y:2.42, Z:-43.99 [[ 9.65524111e-01 -5.07753656e-02 2.55313637e-01 1.12616807e+02] [ 3.56515795e-02 9.97343435e-01 6.35219416e-02 2.42223864e+00] [-2.57860729e-01 -5.22296318e-02 9.64769356e-01 -4.39910826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.57864 meters Centerline goodness : 0.999310 Centerline is valid? [True, True] Translation: X:112.65, Y:2.47, Z:-44.00 [[ 9.65292993e-01 -3.48303078e-02 2.58836411e-01 1.12647626e+02] [ 3.42784248e-02 9.99390221e-01 6.64645978e-03 2.47332690e+00] [-2.58910076e-01 2.45672338e-03 9.65898306e-01 -4.39958173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.60864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:112.68, Y:2.49, Z:-44.00 [[ 9.64769212e-01 -3.19344114e-02 2.61152373e-01 1.12676332e+02] [ 3.55370228e-02 9.99327081e-01 -9.08321556e-03 2.48707433e+00] [-2.60686571e-01 1.80437845e-02 9.65254854e-01 -4.40021732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.63864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:112.71, Y:2.44, Z:-44.01 [[ 9.63954638e-01 -4.67737477e-02 2.61923027e-01 1.12707762e+02] [ 3.46257354e-02 9.98108046e-01 5.08073530e-02 2.43548228e+00] [-2.63803931e-01 -3.99067061e-02 9.63750456e-01 -4.40126983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.66864 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:112.74, Y:2.55, Z:-44.01 [[ 9.54672237e-01 -1.00304354e-02 2.97490018e-01 1.12742117e+02] [ 3.48533924e-02 9.96323962e-01 -7.82547365e-02 2.55093745e+00] [-2.95611504e-01 8.50761606e-02 9.51512420e-01 -4.40100723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.69864 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:112.77, Y:2.46, Z:-44.03 [[ 9.62237890e-01 -3.71477144e-02 2.69663289e-01 1.12771024e+02] [ 3.07789364e-02 9.99139286e-01 2.78090579e-02 2.45991208e+00] [-2.70464229e-01 -1.84589800e-02 9.62553046e-01 -4.40291201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.72864 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:112.80, Y:2.50, Z:-44.04 [[ 9.54135925e-01 -2.27427954e-02 2.98508629e-01 1.12804241e+02] [ 2.82866056e-02 9.99498079e-01 -1.42638633e-02 2.49865764e+00] [-2.98034401e-01 2.20534603e-02 9.54300341e-01 -4.40359878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.75864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:112.83, Y:2.46, Z:-44.05 [[ 9.62007495e-01 -3.08243866e-02 2.71277417e-01 1.12834829e+02] [ 2.43602304e-02 9.99334111e-01 2.71645787e-02 2.46402520e+00] [-2.71934108e-01 -1.95241479e-02 9.62117793e-01 -4.40474408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.78864000000002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:112.87, Y:2.48, Z:-44.05 [[ 9.61624489e-01 -2.37063500e-02 2.73342919e-01 1.12865841e+02] [ 2.24171562e-02 9.99717970e-01 7.83915606e-03 2.48390867e+00] [-2.73451666e-01 -1.41075352e-03 9.61884710e-01 -4.40546977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.81864000000002 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:112.90, Y:2.51, Z:-44.06 [[ 9.53353207e-01 -1.47795140e-02 3.01494990e-01 1.12897652e+02] [ 2.09190169e-02 9.99634156e-01 -1.71449110e-02 2.51164924e+00] [-3.01131296e-01 2.26521347e-02 9.53313602e-01 -4.40616376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.84864000000002 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:112.93, Y:2.49, Z:-44.07 [[ 9.53508061e-01 -1.96608676e-02 3.00725502e-01 1.12930053e+02] [ 1.87566173e-02 9.99806706e-01 5.89401761e-03 2.49424490e+00] [-3.00783255e-01 2.05998647e-05 9.53692525e-01 -4.40737292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.87864000000002 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:112.96, Y:2.50, Z:-44.08 [[ 9.53335674e-01 -1.80516773e-02 3.01372245e-01 1.12962285e+02] [ 1.71230881e-02 9.99837012e-01 5.72277077e-03 2.49747872e+00] [-3.01426430e-01 -2.95298017e-04 9.53489392e-01 -4.40827109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.90864000000002 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:112.99, Y:2.50, Z:-44.09 [[ 9.53176226e-01 -1.61990545e-02 3.01981245e-01 1.12994453e+02] [ 1.52346321e-02 9.99868550e-01 5.54880822e-03 2.50162530e+00] [-3.02031435e-01 -6.88418902e-04 9.53297718e-01 -4.40920693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.93864000000002 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:113.03, Y:2.49, Z:-44.10 [[ 9.61106317e-01 -2.00100842e-02 2.75452799e-01 1.13026613e+02] [ 1.26470224e-02 9.99514318e-01 2.84812226e-02 2.48904085e+00] [-2.75888928e-01 -2.38898253e-02 9.60892593e-01 -4.41028344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.96864000000002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:113.06, Y:2.52, Z:-44.11 [[ 9.60635972e-01 -1.10632593e-02 2.77589867e-01 1.13058397e+02] [ 1.09276085e-02 9.99938220e-01 2.03581652e-03 2.51677370e+00] [-2.77595240e-01 1.07771480e-03 9.60697518e-01 -4.41092299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99864000000002 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:113.09, Y:2.54, Z:-44.12 [[ 9.51890747e-01 -6.94407160e-03 3.06358916e-01 1.13090062e+02] [ 1.29958842e-02 9.99758549e-01 -1.77186520e-02 2.54121299e+00] [-3.06161906e-01 2.08476259e-02 9.51751157e-01 -4.41160007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.02864 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:113.12, Y:2.50, Z:-44.13 [[ 9.60688327e-01 -2.12691120e-02 2.76813229e-01 1.13120271e+02] [ 1.31719993e-02 9.99430165e-01 3.10780167e-02 2.50089180e+00] [-2.77316493e-01 -2.62101042e-02 9.60421050e-01 -4.41316584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.05864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:113.15, Y:2.53, Z:-44.14 [[ 9.60575501e-01 -1.45643377e-02 2.77637512e-01 1.13151561e+02] [ 1.46219461e-02 9.99891358e-01 1.86312085e-03 2.52945650e+00] [-2.77634484e-01 2.26993248e-03 9.60684100e-01 -4.41372693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.08864 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:113.18, Y:2.55, Z:-44.14 [[ 9.51378787e-01 -1.23877647e-02 3.07774182e-01 1.13184046e+02] [ 1.95950836e-02 9.99601119e-01 -2.03380393e-02 2.55363000e+00] [-3.07399474e-01 2.53800400e-02 9.51242039e-01 -4.41439070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.11864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:113.22, Y:2.53, Z:-44.16 [[ 9.51234511e-01 -2.04402679e-02 3.07790677e-01 1.13215906e+02] [ 1.99661921e-02 9.99789657e-01 4.68967255e-03 2.53310716e+00] [-3.07821793e-01 1.68442941e-03 9.51442540e-01 -4.41559410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.14864 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:113.25, Y:2.53, Z:-44.17 [[ 9.50918461e-01 -2.19785310e-02 3.08660049e-01 1.13248073e+02] [ 2.16405198e-02 9.99755604e-01 4.51885408e-03 2.53431297e+00] [-3.08683931e-01 2.38250212e-03 9.51161687e-01 -4.41650642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.17864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:113.28, Y:2.54, Z:-44.18 [[ 9.51100363e-01 -2.24025434e-02 3.08068542e-01 1.13280341e+02] [ 2.21470564e-02 9.99745364e-01 4.32619778e-03 2.53528685e+00] [-3.08087014e-01 2.70816310e-03 9.51354328e-01 -4.41755689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.20864 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:113.31, Y:2.47, Z:-44.19 [[ 9.64500685e-01 -4.48351375e-02 2.60246498e-01 1.13308641e+02] [ 2.38548457e-02 9.96245299e-01 8.32240975e-02 2.46520208e+00] [-2.63000714e-01 -7.40615589e-02 9.61948808e-01 -4.41895775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.23864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:113.35, Y:2.60, Z:-44.18 [[ 9.50277530e-01 1.27661937e-03 3.11401649e-01 1.13345349e+02] [ 2.23762607e-02 9.97126706e-01 -7.23715146e-02 2.60427001e+00] [-3.10599291e-01 7.57410286e-02 9.47518537e-01 -4.41816145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.26864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:113.38, Y:2.54, Z:-44.20 [[ 9.49636158e-01 -1.93228022e-02 3.12758369e-01 1.13375369e+02] [ 1.90675861e-02 9.99810689e-01 3.87479629e-03 2.53911817e+00] [-3.12774032e-01 2.28390048e-03 9.49824820e-01 -4.42034447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.29864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:113.41, Y:2.54, Z:-44.21 [[ 9.49609502e-01 -1.73607209e-02 3.12954309e-01 1.13408209e+02] [ 1.70658396e-02 9.99847590e-01 3.68166069e-03 2.54079608e+00] [-3.12970528e-01 1.84468805e-03 9.49761047e-01 -4.42126125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.32864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:113.44, Y:2.54, Z:-44.22 [[ 9.49635430e-01 -1.49528752e-02 3.12999939e-01 1.13440190e+02] [ 1.45926837e-02 9.99887418e-01 3.49349069e-03 2.54333028e+00] [-3.13016939e-01 1.24996657e-03 9.49746721e-01 -4.42225429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.35864 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:113.47, Y:2.51, Z:-44.24 [[ 9.60001562e-01 -2.48667977e-02 2.78888228e-01 1.13470672e+02] [ 1.28343681e-02 9.98909589e-01 4.48877650e-02 2.50807863e+00] [-2.79700341e-01 -3.95129703e-02 9.59273915e-01 -4.42354520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.38864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:113.50, Y:2.58, Z:-44.23 [[ 9.48855238e-01 -9.51744641e-04 3.15710044e-01 1.13504047e+02] [ 1.40561382e-02 9.99131212e-01 -3.92332231e-02 2.58476318e+00] [-3.15398419e-01 4.16643132e-02 9.48044262e-01 -4.42344979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.41864 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:113.54, Y:2.55, Z:-44.25 [[ 9.48068170e-01 -1.46668600e-02 3.17728859e-01 1.13535052e+02] [ 1.44093892e-02 9.99891184e-01 3.16049588e-03 2.55055160e+00] [-3.17740640e-01 1.58191326e-03 9.48176346e-01 -4.42513571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.44864 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:113.57, Y:2.55, Z:-44.26 [[ 9.48032000e-01 -1.47658152e-02 3.17832184e-01 1.13567146e+02] [ 1.45777568e-02 9.99889328e-01 2.97012440e-03 2.55197432e+00] [-3.17840865e-01 1.81750729e-03 9.48142332e-01 -4.42608725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.47864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:113.60, Y:2.55, Z:-44.27 [[ 9.48093382e-01 -1.51628295e-02 3.17630333e-01 1.13599786e+02] [ 1.50630404e-02 9.99882709e-01 2.77014503e-03 2.55400128e+00] [-3.17635081e-01 2.15812237e-03 9.48210577e-01 -4.42702923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.50864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:113.63, Y:2.55, Z:-44.28 [[ 9.48081518e-01 -1.56834290e-02 3.17640465e-01 1.13632609e+02] [ 1.56759985e-02 9.99873797e-01 2.57941082e-03 2.55494133e+00] [-3.17640832e-01 2.53383973e-03 9.48207721e-01 -4.42799486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.53864000000002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:113.66, Y:2.56, Z:-44.29 [[ 9.48289114e-01 -1.55274144e-02 3.17027847e-01 1.13664924e+02] [ 1.55744868e-02 9.99875864e-01 2.38581746e-03 2.55568279e+00] [-3.17025538e-01 2.67510131e-03 9.48413229e-01 -4.42893845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.56864000000002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:113.70, Y:2.56, Z:-44.30 [[ 9.47755620e-01 -1.64415337e-02 3.18573320e-01 1.13697758e+02] [ 1.66034345e-02 9.99859717e-01 2.20743182e-03 2.55505718e+00] [-3.18564923e-01 3.19730533e-03 9.47895652e-01 -4.42987777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.59864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:113.73, Y:2.55, Z:-44.31 [[ 9.47576024e-01 -1.74158901e-02 3.19055428e-01 1.13729573e+02] [ 1.76960917e-02 9.99841370e-01 2.02076248e-03 2.55446793e+00] [-3.19040010e-01 3.73120805e-03 9.47733903e-01 -4.43093089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.62864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:113.76, Y:2.55, Z:-44.32 [[ 9.48343086e-01 -1.84287459e-02 3.16710866e-01 1.13761522e+02] [ 1.88209799e-02 9.99821212e-01 1.82091906e-03 2.55243208e+00] [-3.16687799e-01 4.23395285e-03 9.48520380e-01 -4.43202288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.65864000000002 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:113.79, Y:2.55, Z:-44.33 [[ 9.48937467e-01 -1.87406880e-02 3.14907082e-01 1.13794214e+02] [ 1.92050521e-02 9.99814240e-01 1.62845868e-03 2.55125057e+00] [-3.14879104e-01 4.50250148e-03 9.49121108e-01 -4.43303244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.68864000000002 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:113.83, Y:2.55, Z:-44.34 [[ 9.48880582e-01 -1.83966311e-02 3.15098722e-01 1.13826758e+02] [ 1.89042814e-02 9.99820253e-01 1.44532128e-03 2.54978387e+00] [-3.15068673e-01 4.58527760e-03 9.49057799e-01 -4.43404136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.71864000000002 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:113.86, Y:2.55, Z:-44.35 [[ 9.48867391e-01 -1.71446557e-02 3.15209033e-01 1.13859456e+02] [ 1.76466395e-02 9.99843490e-01 1.26154868e-03 2.54665399e+00] [-3.15181328e-01 4.36533778e-03 9.49021430e-01 -4.43505015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:113.89, Y:2.55, Z:-44.36 [[ 9.48734523e-01 -1.48874447e-02 3.15723248e-01 1.13892179e+02] [ 1.53317332e-02 9.99881882e-01 1.07670778e-03 2.54623351e+00] [-3.15701985e-01 3.81907475e-03 9.48850711e-01 -4.43605368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.77864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:113.92, Y:2.50, Z:-44.37 [[ 9.61410855e-01 -2.32256788e-02 2.74134522e-01 1.13922282e+02] [ 1.05633893e-02 9.98811746e-01 4.75763634e-02 2.50294351e+00] [-2.74913774e-01 -4.28446425e-02 9.60513797e-01 -4.43729209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.80864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:113.96, Y:2.58, Z:-44.37 [[ 9.48696310e-01 5.05570513e-03 3.16148307e-01 1.13957527e+02] [ 9.91423465e-03 9.98904883e-01 -4.57246364e-02 2.58463811e+00] [-3.16033258e-01 4.65131623e-02 9.47607253e-01 -4.43739358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.83864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:113.99, Y:2.54, Z:-44.39 [[ 9.48692582e-01 -6.80611777e-03 3.16126655e-01 1.13988049e+02] [ 6.98116764e-03 9.99975464e-01 5.78783291e-04 2.54316844e+00] [-3.16122837e-01 1.65784575e-03 9.48716819e-01 -4.43895953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.86864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:114.02, Y:2.50, Z:-44.40 [[ 9.61193310e-01 -1.88824564e-02 2.75228767e-01 1.14018220e+02] [ 5.53341135e-03 9.98773732e-01 4.91977041e-02 2.49763480e+00] [-2.75820237e-01 -4.57655501e-02 9.60119113e-01 -4.44019439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.89864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:114.05, Y:2.58, Z:-44.40 [[ 9.48469111e-01 9.45726621e-03 3.16728441e-01 1.14053604e+02] [ 6.12262849e-03 9.98820930e-01 -4.81587299e-02 2.58302440e+00] [-3.16810446e-01 4.76162783e-02 9.47292896e-01 -4.44015501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.92864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:114.08, Y:2.51, Z:-44.42 [[ 9.60128956e-01 -1.41015541e-02 2.79201603e-01 1.14082816e+02] [ 5.09087949e-03 9.99443314e-01 3.29718852e-02 2.50993782e+00] [-2.79511130e-01 -3.02358800e-02 9.59666254e-01 -4.44186349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.95864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:114.12, Y:2.57, Z:-44.42 [[ 9.48043658e-01 5.42523333e-03 3.18093995e-01 1.14116545e+02] [ 5.20312869e-03 9.99456450e-01 -3.25535149e-02 2.56820521e+00] [-3.18097705e-01 3.25172373e-02 9.47500121e-01 -4.44218014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.98864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:114.15, Y:2.52, Z:-44.44 [[ 9.58688517e-01 -1.00531201e-02 2.84280254e-01 1.14146303e+02] [ 2.90827662e-03 9.99669467e-01 2.55440388e-02 2.51677577e+00] [-2.84443087e-01 -2.36620110e-02 9.58400876e-01 -4.44363142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.01864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:114.18, Y:2.54, Z:-44.44 [[ 9.58362407e-01 -3.02118269e-03 2.85538736e-01 1.14178273e+02] [ 2.34321372e-03 9.99993566e-01 2.71597236e-03 2.53623395e+00] [-2.85545104e-01 -1.93380753e-03 9.58363320e-01 -4.44428205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.04864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:114.20, Y:2.46, Z:-44.45 [[ 9.59777263e-01 -2.85040784e-02 2.79311875e-01 1.14202003e+02] [ 4.43710245e-03 9.96248791e-01 8.64214012e-02 2.46190356e+00] [-2.80727480e-01 -8.17059604e-02 9.56303413e-01 -4.44549510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.07864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:114.24, Y:2.61, Z:-44.45 [[ 9.57162611e-01 2.35536090e-02 2.88591343e-01 1.14243748e+02] [ 1.16977908e-03 9.96363290e-01 -8.51987449e-02 2.61275890e+00] [-2.89548557e-01 8.18866412e-02 9.53654136e-01 -4.44470395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.27, Y:2.53, Z:-44.47 [[ 9.57682738e-01 -3.09702046e-03 2.87809279e-01 1.14269677e+02] [ 2.95061122e-03 9.99995203e-01 9.42485832e-04 2.53494552e+00] [-2.87810818e-01 -5.33891239e-05 9.57687282e-01 -4.44693923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.30, Y:2.53, Z:-44.48 [[ 9.58123023e-01 -4.72907027e-03 2.86317844e-01 1.14300267e+02] [ 3.74427645e-03 9.99985042e-01 3.98690509e-03 2.53105228e+00] [-2.86332416e-01 -2.74789240e-03 9.58126399e-01 -4.44785241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.33, Y:2.57, Z:-44.48 [[ 9.45222771e-01 7.41723222e-03 3.26341688e-01 1.14334285e+02] [ 5.63037733e-03 9.99222618e-01 -3.90186959e-02 2.56927362e+00] [-3.26377406e-01 3.87187867e-02 9.44446210e-01 -4.44838984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.37, Y:2.54, Z:-44.50 [[ 9.45651778e-01 -3.88637149e-03 3.25157826e-01 1.14366045e+02] [ 4.61698748e-03 9.99988253e-01 -1.47539607e-03 2.53610938e+00] [-3.25148272e-01 2.89646052e-03 9.45658613e-01 -4.44995311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.40, Y:2.54, Z:-44.51 [[ 9.45631241e-01 -3.04907992e-03 3.25226475e-01 1.14399291e+02] [ 3.80713742e-03 9.99991317e-01 -1.69449502e-03 2.53521037e+00] [-3.25218484e-01 2.84054932e-03 9.45634638e-01 -4.45100035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.43, Y:2.47, Z:-44.52 [[ 9.58945883e-01 -2.44472448e-02 2.82533406e-01 1.14427810e+02] [ 3.46529495e-03 9.97213051e-01 7.45259882e-02 2.46616570e+00] [-2.83567955e-01 -7.04873280e-02 9.56358067e-01 -4.45213501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.46, Y:2.51, Z:-44.53 [[ 9.57257004e-01 -7.81167745e-03 2.89133196e-01 1.14460830e+02] [ 1.02352557e-03 9.99720453e-01 2.36213510e-02 2.50947155e+00] [-2.89236892e-01 -2.23157685e-02 9.56997402e-01 -4.45271389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.50, Y:2.62, Z:-44.52 [[ 9.43664144e-01 2.96365311e-02 3.29574967e-01 1.14498629e+02] [ 3.99671837e-03 9.94887785e-01 -1.00907490e-01 2.61771927e+00] [-3.30880657e-01 9.65399983e-02 9.38721481e-01 -4.45235391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.53, Y:2.53, Z:-44.55 [[ 9.44436708e-01 1.22932025e-03 3.28691031e-01 1.14525402e+02] [-4.81136173e-04 9.99997105e-01 -2.35757583e-03 2.52797376e+00] [-3.28692978e-01 2.06843601e-03 9.44434565e-01 -4.45495050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.37864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.56, Y:2.49, Z:-44.56 [[ 9.57188291e-01 -9.36435795e-03 2.89314508e-01 1.14556384e+02] [-9.49292931e-04 9.99369662e-01 3.54877029e-02 2.49322608e+00] [-2.89464462e-01 -3.42430579e-02 9.56576049e-01 -4.45588193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.59, Y:2.52, Z:-44.57 [[ 9.56932125e-01 3.84581409e-04 2.90311489e-01 1.14588849e+02] [-2.04617531e-03 9.99983218e-01 5.41995750e-03 2.51909028e+00] [-2.90304532e-01 -5.78055965e-03 9.56916853e-01 -4.45656107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.62, Y:2.52, Z:-44.57 [[ 9.56304480e-01 3.33834967e-04 2.92372416e-01 1.14618949e+02] [-1.50989373e-03 9.99991652e-01 3.79682180e-03 2.51823691e+00] [-2.92368708e-01 -4.07236897e-03 9.56297001e-01 -4.45736406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.46864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.65, Y:2.52, Z:-44.58 [[ 9.55828147e-01 2.96388610e-03 2.93911159e-01 1.14649968e+02] [-2.17957510e-03 9.99993137e-01 -2.99602959e-03 2.52424945e+00] [-2.93918021e-01 2.22308797e-03 9.55828047e-01 -4.45822772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:114.68, Y:2.57, Z:-44.59 [[ 9.41588397e-01 1.81871955e-02 3.36274465e-01 1.14684982e+02] [ 2.39648563e-04 9.98504202e-01 -5.46745094e-02 2.56744306e+00] [-3.36765843e-01 5.15614713e-02 9.40175612e-01 -4.45889223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:114.71, Y:2.39, Z:-44.60 [[ 9.55634648e-01 -4.31861267e-02 2.91371548e-01 1.14708716e+02] [ 1.77945402e-03 9.90022011e-01 1.40901568e-01 2.38999374e+00] [-2.94549238e-01 -1.34131938e-01 9.46176183e-01 -4.46036847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.13, Y:3.32, Z:-43.80 [[ 9.26891106e-01 3.70427401e-01 6.04683274e-02 1.15133508e+02] [ 1.04895932e-02 1.35477997e-01 -9.90724826e-01 3.31608276e+00] [-3.75183750e-01 9.18928318e-01 1.21687718e-01 -4.37959222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.82, Y:2.48, Z:-44.59 [[ 9.31392435e-01 -8.64072643e-03 3.63914097e-01 1.14820715e+02] [-9.02409268e-03 9.98862913e-01 4.68128962e-02 2.47532477e+00] [-3.63904792e-01 -4.68851719e-02 9.30255386e-01 -4.45859324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.61864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:114.88, Y:2.53, Z:-44.61 [[ 9.30268643e-01 2.11385377e-02 3.66269591e-01 1.14883631e+02] [-1.80465889e-02 9.99766756e-01 -1.18640246e-02 2.52564093e+00] [-3.66434949e-01 4.42681331e-03 9.30433142e-01 -4.46061008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:114.92, Y:2.53, Z:-44.62 [[ 9.28704626e-01 2.50008184e-02 3.69976589e-01 1.14916344e+02] [-1.93741797e-02 9.99633331e-01 -1.89167676e-02 2.52996062e+00] [-3.70313865e-01 1.04000967e-02 9.28848470e-01 -4.46165315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.67864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:114.94, Y:2.48, Z:-44.63 [[ 9.29892496e-01 3.90576685e-03 3.67810671e-01 1.14942133e+02] [-1.74522998e-02 9.99285953e-01 3.35112210e-02 2.48093842e+00] [-3.67417150e-01 -3.75809751e-02 9.29296674e-01 -4.46305437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.44, Y:3.32, Z:-43.89 [[ 8.93293242e-01 4.45775327e-01 5.75459912e-02 1.15440552e+02] [-1.15247910e-02 1.50703519e-01 -9.88511825e-01 3.31702178e+00] [-4.49326566e-01 8.82367728e-01 1.39759903e-01 -4.38943957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.07, Y:2.53, Z:-44.63 [[ 8.77280555e-01 3.71405089e-02 4.78538828e-01 1.15068759e+02] [-3.06707652e-02 9.99301902e-01 -2.13310075e-02 2.52522955e+00] [-4.78997006e-01 4.03612612e-03 8.77807256e-01 -4.46292897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.10, Y:2.52, Z:-44.65 [[ 8.76961089e-01 3.75817913e-02 4.79089613e-01 1.15104870e+02] [-3.09738538e-02 9.99284799e-01 -2.16912409e-02 2.52179026e+00] [-4.79562164e-01 4.18312261e-03 8.77497939e-01 -4.46475222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.14, Y:2.52, Z:-44.67 [[ 8.77208937e-01 3.82730532e-02 4.78580875e-01 1.15142681e+02] [-3.13518928e-02 9.99256332e-01 -2.24464260e-02 2.51715909e+00] [-4.79084063e-01 4.68578917e-03 8.77756517e-01 -4.46655348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.18, Y:2.51, Z:-44.68 [[ 8.78046710e-01 3.87989296e-02 4.76999599e-01 1.15177859e+02] [-3.15614266e-02 9.99232992e-01 -2.31798177e-02 2.51087362e+00] [-4.77533089e-01 5.29817484e-03 8.78597791e-01 -4.46844830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.85864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.20, Y:2.42, Z:-44.70 [[ 9.00888868e-01 -9.85914437e-03 4.33937836e-01 1.15203532e+02] [-2.91309176e-02 9.96114514e-01 8.31099600e-02 2.41511853e+00] [-4.33071169e-01 -8.75138451e-02 8.97101270e-01 -4.46982070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.88864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.28, Y:2.56, Z:-44.72 [[ 8.98268426e-01 7.67924921e-02 4.32685506e-01 1.15280755e+02] [-4.36842046e-02 9.95340255e-01 -8.59620126e-02 2.56310463e+00] [-4.37270539e-01 5.83154396e-02 8.97437343e-01 -4.47242474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.91864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:115.71, Y:3.25, Z:-44.29 [[ 8.62221332e-01 4.85125135e-01 1.45698245e-01 1.15709130e+02] [-9.46651483e-02 4.36900700e-01 -8.94514554e-01 3.25496404e+00] [-4.97607159e-01 7.57476984e-01 4.22629546e-01 -4.42928305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:115.40, Y:2.54, Z:-44.74 [[ 8.63787474e-01 8.93910526e-02 4.95863327e-01 1.15400858e+02] [-6.96217989e-02 9.95871405e-01 -5.82490250e-02 2.54484005e+00] [-4.99023050e-01 1.57918813e-02 8.66444812e-01 -4.47363416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.97864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.48, Y:2.54, Z:-44.78 [[ 8.60115517e-01 1.02305437e-01 4.99734825e-01 1.15481952e+02] [-8.42541460e-02 9.94718245e-01 -5.86246654e-02 2.54350277e+00] [-5.03092970e-01 8.31925358e-03 8.64192255e-01 -4.47828267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.57, Y:2.55, Z:-44.83 [[ 8.54957532e-01 1.19982882e-01 5.04630287e-01 1.15572065e+02] [-1.00075192e-01 9.92755675e-01 -6.64915473e-02 2.54570625e+00] [-5.08952428e-01 6.34647649e-03 8.60771252e-01 -4.48341063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.24, Y:3.30, Z:-44.21 [[ 8.07301507e-01 5.89796794e-01 -2.01002032e-02 1.16242110e+02] [-8.85699746e-02 8.74177675e-02 -9.92226533e-01 3.30435868e+00] [-5.83454913e-01 8.02806250e-01 1.22810783e-01 -4.42087419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.70, Y:2.50, Z:-44.86 [[ 8.13471323e-01 1.05578232e-01 5.71941993e-01 1.15697490e+02] [-1.05438667e-01 9.93861451e-01 -3.34978082e-02 2.49574793e+00] [-5.71967739e-01 -3.30552951e-02 8.19609818e-01 -4.48558176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.42, Y:3.29, Z:-44.29 [[ 7.63517786e-01 6.45583348e-01 -1.62089570e-02 1.16421219e+02] [-9.40565660e-02 8.63367300e-02 -9.91816178e-01 3.28664220e+00] [-6.38900581e-01 7.58793852e-01 1.26640982e-01 -4.42900871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:115.84, Y:2.53, Z:-44.90 [[ 7.41229474e-01 1.52427729e-01 6.53716035e-01 1.15842521e+02] [-1.11349135e-01 9.88304660e-01 -1.04188624e-01 2.53248648e+00] [-6.61951839e-01 4.43696432e-03 7.49533239e-01 -4.48962266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:115.87, Y:2.48, Z:-44.92 [[ 7.68692852e-01 1.20753691e-01 6.28116108e-01 1.15869060e+02] [-1.14642347e-01 9.92125795e-01 -5.04335083e-02 2.48108167e+00] [-6.29260226e-01 -3.32408277e-02 7.76483494e-01 -4.49203704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:115.95, Y:2.52, Z:-44.98 [[ 7.68047724e-01 1.63753050e-01 6.19102279e-01 1.15952981e+02] [-1.30234941e-01 9.86491926e-01 -9.93606603e-02 2.51906814e+00] [-6.27010011e-01 -4.31501991e-03 7.78999247e-01 -4.49797567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.21864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:116.79, Y:3.25, Z:-44.41 [[ 7.12291771e-01 6.94039440e-01 -1.04640757e-01 1.16788166e+02] [-1.08553344e-01 -3.83598760e-02 -9.93350236e-01 3.24571712e+00] [-6.93438248e-01 7.18914303e-01 4.80168781e-02 -4.44131627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:116.08, Y:2.46, Z:-45.03 [[ 7.15568534e-01 1.40897175e-01 6.84185398e-01 1.16078969e+02] [-1.26324113e-01 9.89399304e-01 -7.16326398e-02 2.46024684e+00] [-6.87025393e-01 -3.51710506e-02 7.25781721e-01 -4.50284450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.12, Y:2.45, Z:-45.07 [[ 7.10152698e-01 1.41780438e-01 6.89624138e-01 1.16122422e+02] [-1.30358129e-01 9.89055930e-01 -6.91022881e-02 2.44989340e+00] [-6.91874196e-01 -4.08249363e-02 7.20862970e-01 -4.50696019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.30864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:116.19, Y:2.54, Z:-45.13 [[ 6.82266556e-01 2.45774971e-01 6.88554290e-01 1.16194941e+02] [-1.82896992e-01 9.69232317e-01 -1.64734350e-01 2.53959903e+00] [-7.07856650e-01 -1.35417703e-02 7.06226298e-01 -4.51295224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.33, Y:3.05, Z:-44.35 [[ 0.65177668 0.60952275 -0.45129721 117.33028278] [ -0.12502111 -0.5005654 -0.85662361 3.04914516] [ -0.74803535 0.61474897 -0.25005364 -44.34640337] [ 0. 0. 0. 1. ]] SLAMing on 135.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.66, Y:2.04, Z:-44.14 [[ 6.50971345e-01 -1.82976379e-01 -7.36719724e-01 1.17661599e+02] [-4.14211058e-02 -9.77630564e-01 2.06210506e-01 2.04440070e+00] [-7.57971371e-01 -1.03721385e-01 -6.43988567e-01 -4.41396417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.14, Y:1.35, Z:-44.79 [[ 7.07479651e-01 -7.03148677e-01 -7.10948754e-02 1.17139820e+02] [-1.01089712e-02 -1.10654427e-01 9.93807530e-01 1.35482999e+00] [-7.06661413e-01 -7.02379908e-01 -8.53938651e-02 -4.47905738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.53, Y:2.21, Z:-45.55 [[ 7.01926771e-01 -1.01126439e-02 7.12177325e-01 1.16528069e+02] [-1.95814445e-02 9.99247259e-01 3.34885300e-02 2.21258020e+00] [-7.11979898e-01 -3.74519565e-02 7.01200382e-01 -4.55468261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:116.56, Y:2.22, Z:-45.58 [[ 7.33815168e-01 -1.16835314e-03 6.79348168e-01 1.16562140e+02] [-2.35556771e-02 9.99353443e-01 2.71629655e-02 2.21767232e+00] [-6.78940667e-01 -3.59351022e-02 7.33313193e-01 -4.55769829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:116.64, Y:2.27, Z:-45.65 [[ 7.37465583e-01 5.05967695e-02 6.73486808e-01 1.16643129e+02] [-4.21390967e-02 9.98694086e-01 -2.88863281e-02 2.27298678e+00] [-6.74068847e-01 -7.07745293e-03 7.38634618e-01 -4.56454834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.31, Y:3.10, Z:-45.24 [[ 6.68584142e-01 7.37834174e-01 9.27144958e-02 1.17314341e+02] [-7.92849963e-02 1.94693392e-01 -9.77654526e-01 3.09813259e+00] [-7.39397819e-01 6.46293444e-01 1.88668094e-01 -4.52401472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:118.17, Y:2.35, Z:-44.64 [[ 6.67264635e-01 1.52662341e-01 -7.29007624e-01 1.18168821e+02] [ 3.98427054e-04 -9.78842278e-01 -2.04615827e-01 2.35493490e+00] [-7.44820614e-01 1.36242449e-01 -6.53207660e-01 -4.46405858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.57864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:116.89, Y:2.13, Z:-45.83 [[ 6.60063047e-01 -5.71446798e-02 7.49033550e-01 1.16890225e+02] [ 1.50014965e-02 9.97906334e-01 6.29118742e-02 2.13250644e+00] [-7.51060403e-01 -3.02891792e-02 6.59538351e-01 -4.58252151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.51, Y:3.04, Z:-45.50 [[ 6.07505300e-01 7.66892744e-01 2.06912614e-01 1.17506834e+02] [-2.91700596e-02 2.81855482e-01 -9.59013344e-01 3.04037099e+00] [-7.93779829e-01 5.76570037e-01 1.93599006e-01 -4.54994564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.63864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.36, Y:2.70, Z:-45.05 [[ 5.56114468e-01 5.34614292e-01 -6.36336591e-01 1.18363752e+02] [ 2.52843889e-02 -7.76179110e-01 -6.30005309e-01 2.70246803e+00] [-8.30721011e-01 3.34265685e-01 -4.45161828e-01 -4.50485150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:118.42, Y:1.53, Z:-45.26 [[ 5.83843955e-01 -5.05020427e-01 -6.35673348e-01 1.18420976e+02] [ 1.02336498e-01 -7.30953895e-01 6.74710045e-01 1.52716968e+00] [-8.05390264e-01 -4.58977965e-01 -3.75080991e-01 -4.52644441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.23, Y:1.96, Z:-46.19 [[ 5.85069375e-01 -2.23429099e-01 7.79598143e-01 1.17232222e+02] [ 1.01454522e-01 9.73912857e-01 2.02979624e-01 1.95747559e+00] [-8.04612209e-01 -3.96634044e-02 5.92474479e-01 -4.61934304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.72864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:117.26, Y:1.97, Z:-46.23 [[ 6.15116811e-01 -2.16104715e-01 7.58241426e-01 1.17261923e+02] [ 1.04914798e-01 9.75585816e-01 1.92938336e-01 1.96923230e+00] [-7.81424464e-01 -3.91288678e-02 6.22771819e-01 -4.62285158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.75864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:117.80, Y:2.99, Z:-45.90 [[ 5.61613140e-01 7.68978349e-01 3.05389882e-01 1.17799847e+02] [ 5.95460400e-02 3.30574640e-01 -9.41899505e-01 2.99455811e+00] [-8.25254476e-01 5.47167896e-01 1.39865446e-01 -4.59042346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.78864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.79, Y:2.59, Z:-45.47 [[ 5.09137863e-01 4.99467890e-01 -7.00935421e-01 1.18790226e+02] [ 1.13918579e-01 -8.46333995e-01 -5.20328095e-01 2.58872052e+00] [-8.53112650e-01 1.85069167e-01 -4.87799353e-01 -4.54740744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:118.84, Y:1.54, Z:-45.80 [[ 0.54161382 -0.47996999 -0.6901328 118.83825538] [ 0.1874591 -0.73133929 0.65574532 1.54141299] [ -0.81945931 -0.4845324 -0.30612872 -45.79741414] [ 0. 0. 0. 1. ]] SLAMing on 135.84864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:117.61, Y:1.86, Z:-46.64 [[ 5.40060610e-01 -3.69497960e-01 7.56178415e-01 1.17614679e+02] [ 1.75211107e-01 9.28147991e-01 3.28393627e-01 1.85591937e+00] [-8.23186252e-01 -4.48616055e-02 5.65996317e-01 -4.66421020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:117.63, Y:1.90, Z:-46.68 [[ 5.70670625e-01 -3.41661713e-01 7.46727736e-01 1.17633028e+02] [ 1.81774666e-01 9.39335871e-01 2.90871264e-01 1.89520805e+00] [-8.00807723e-01 -3.02555015e-02 5.98156832e-01 -4.66815409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.90864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:118.06, Y:2.98, Z:-46.35 [[ 5.14393825e-01 7.49315194e-01 4.17044042e-01 1.18058481e+02] [ 1.36064578e-01 4.08842316e-01 -9.02404782e-01 2.98447294e+00] [-8.46690866e-01 5.20936370e-01 1.08350707e-01 -4.63450374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.15, Y:2.59, Z:-45.95 [[ 4.63296365e-01 5.30828115e-01 -7.09632292e-01 1.19154106e+02] [ 2.05675970e-01 -8.43297485e-01 -4.96534739e-01 2.59301205e+00] [-8.62005727e-01 8.40884302e-02 -4.99875247e-01 -4.59469804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.96864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.97, Y:1.40, Z:-46.53 [[ 5.35415835e-01 -7.07921429e-01 -4.60626892e-01 1.18972023e+02] [ 2.18909942e-01 -4.10428926e-01 8.85226826e-01 1.40259393e+00] [-8.15725641e-01 -5.74800267e-01 -6.47791068e-02 -4.65317733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.03, Y:1.42, Z:-46.69 [[ 5.81561641e-01 -6.64507378e-01 -4.69271778e-01 1.19028266e+02] [ 2.47790816e-01 -4.04743999e-01 8.80217023e-01 1.42417112e+00] [-7.74845642e-01 -6.28181693e-01 -7.07247585e-02 -4.66901969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.09, Y:1.45, Z:-46.85 [[ 6.23716333e-01 -6.20748253e-01 -4.75025833e-01 1.19091614e+02] [ 2.74937985e-01 -3.94660952e-01 8.76727915e-01 1.44872160e+00] [-7.31701469e-01 -6.77432166e-01 -7.54892081e-02 -4.68452666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.16, Y:1.48, Z:-47.00 [[ 6.63641980e-01 -5.74600479e-01 -4.78971410e-01 1.19163158e+02] [ 3.01519779e-01 -3.80502602e-01 8.74244584e-01 1.47765180e+00] [-6.84591224e-01 -7.24604761e-01 -7.92640911e-02 -4.69959416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.24, Y:1.51, Z:-47.14 [[ 7.00206053e-01 -5.26977247e-01 -4.81670493e-01 1.19240135e+02] [ 3.26544540e-01 -3.63565053e-01 8.72461527e-01 1.51148462e+00] [-6.34885932e-01 -7.68189712e-01 -8.24889084e-02 -4.71440953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:118.53, Y:3.13, Z:-47.28 [[ 6.44341816e-01 5.62136693e-01 5.18484293e-01 1.18525691e+02] [ 3.49223851e-01 3.86877875e-01 -8.53444908e-01 3.12871800e+00] [-6.80342800e-01 7.30977324e-01 5.29700522e-02 -4.72845389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.68, Y:3.21, Z:-47.33 [[ 6.20976768e-01 6.23981544e-01 4.74378421e-01 1.18680107e+02] [ 2.91415576e-01 3.78036701e-01 -8.78729318e-01 3.20704129e+00] [-7.27643330e-01 6.83911753e-01 5.29140677e-02 -4.73292472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.81, Y:2.65, Z:-46.83 [[ 5.98963596e-01 4.56000330e-01 -6.58260062e-01 1.19813103e+02] [ 3.69105335e-01 -8.86710113e-01 -2.78399763e-01 2.65147739e+00] [-7.10636238e-01 -7.62159781e-02 -6.99419232e-01 -4.68302681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.70, Y:2.10, Z:-48.07 [[ 5.90375078e-01 -5.65208887e-01 5.76191097e-01 1.18695224e+02] [ 3.75501886e-01 8.24253512e-01 4.23797688e-01 2.09683760e+00] [-7.14461756e-01 -3.38387496e-02 6.98855735e-01 -4.80709710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.90, Y:3.29, Z:-47.53 [[ 5.29955727e-01 6.45983207e-01 5.49411162e-01 1.18904160e+02] [ 3.56146248e-01 4.18427577e-01 -8.35510750e-01 3.28538781e+00] [-7.69614694e-01 6.38454430e-01 -8.31640511e-03 -4.75318232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.83, Y:1.79, Z:-47.74 [[ 5.67443357e-01 -6.39919328e-01 -5.18180750e-01 1.19831633e+02] [ 3.67347820e-01 -3.66472894e-01 8.54841036e-01 1.79068381e+00] [-7.36928501e-01 -6.75426436e-01 2.71203610e-02 -4.77414433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.92, Y:2.21, Z:-48.35 [[ 5.87859476e-01 -5.82726208e-01 5.61116212e-01 1.18917173e+02] [ 3.69750966e-01 8.10479888e-01 4.54319903e-01 2.20830444e+00] [-7.19517519e-01 -5.96029986e-02 6.91911860e-01 -4.83478308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.08, Y:3.40, Z:-47.87 [[ 5.38568236e-01 6.01168269e-01 5.90373582e-01 1.19076011e+02] [ 3.45732725e-01 4.81298864e-01 -8.05493815e-01 3.39920969e+00] [-7.68383458e-01 6.37924851e-01 5.13687366e-02 -4.78717472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.08, Y:1.95, Z:-47.98 [[ 5.68326099e-01 -6.08121323e-01 -5.54250758e-01 1.20076087e+02] [ 3.51141922e-01 -4.29932797e-01 8.31779503e-01 1.94583431e+00] [-7.44113430e-01 -6.67342676e-01 -3.08051390e-02 -4.79770149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.12, Y:2.35, Z:-48.63 [[ 5.90466593e-01 -5.68374985e-01 5.72973890e-01 1.19119782e+02] [ 3.59674340e-01 8.20870995e-01 4.43627296e-01 2.35173536e+00] [-7.22484306e-01 -5.58630920e-02 6.89126798e-01 -4.86323053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.32, Y:3.55, Z:-48.15 [[ 5.43623461e-01 6.26562909e-01 5.58473324e-01 1.19316795e+02] [ 3.34646985e-01 4.48403449e-01 -8.28821900e-01 3.54869833e+00] [-7.69730426e-01 6.37458444e-01 3.40852465e-02 -4.81454468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.29, Y:2.07, Z:-48.26 [[ 5.91019280e-01 -6.11069235e-01 -5.26583897e-01 1.20292608e+02] [ 3.09846026e-01 -4.30746534e-01 8.47615988e-01 2.06866928e+00] [-7.44776242e-01 -6.64117319e-01 -6.52421322e-02 -4.82627916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.38, Y:2.12, Z:-48.39 [[ 6.11590202e-01 -5.42523893e-01 -5.75869126e-01 1.20380723e+02] [ 3.72109689e-01 -4.45091783e-01 8.14510702e-01 2.12057582e+00] [-6.98206133e-01 -7.12433246e-01 -7.03353768e-02 -4.83921522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.41, Y:2.57, Z:-49.12 [[ 6.09880827e-01 -5.26035813e-01 5.92732402e-01 1.19409308e+02] [ 3.58703194e-01 8.50166160e-01 3.85421222e-01 2.57281975e+00] [-7.06666396e-01 -2.24460082e-02 7.07190767e-01 -4.91209726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.42, Y:2.62, Z:-49.15 [[ 6.12755625e-01 -4.99355295e-01 6.12515169e-01 1.19422694e+02] [ 3.55617511e-01 8.66392090e-01 3.50572293e-01 2.62167035e+00] [-7.05738429e-01 3.00597510e-03 7.08466114e-01 -4.91545288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.47, Y:2.62, Z:-49.19 [[ 6.39039379e-01 -5.15117632e-01 5.71211430e-01 1.19467448e+02] [ 3.64514123e-01 8.56757082e-01 3.64824283e-01 2.61572995e+00] [-6.77316859e-01 -2.49224495e-02 7.35269165e-01 -4.91853177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.59864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.61, Y:3.71, Z:-48.72 [[ 0.60430059 0.53816081 0.58754041 119.61040083] [ 0.31128971 0.51933544 -0.79585766 3.70934541] [ -0.73342997 0.66383254 0.14631079 -48.71614185] [ 0. 0. 0. 1. ]] SLAMing on 136.62864000000002 meters Centerline goodness : 0.852367 Centerline is valid? [True, False] Translation: X:119.54, Y:3.66, Z:-48.71 [[ 0.59589496 0.49678119 0.63096565 119.53600933] [ 0.30958528 0.58286171 -0.75128502 3.65985356] [ -0.74098998 0.64302464 0.19352821 -48.71436305] [ 0. 0. 0. 1. ]] SLAMing on 136.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:119.47, Y:3.61, Z:-48.72 [[ 0.58959106 0.45212371 0.66930302 119.46947618] [ 0.30553579 0.64223159 -0.70298397 3.60767618] [ -0.74768327 0.61896909 0.24051403 -48.71678779] [ 0. 0. 0. 1. ]] SLAMing on 136.68864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.52, Y:3.61, Z:-48.11 [[ 0.52435312 0.76924433 -0.36512596 120.52074208] [ 0.35449404 -0.58708498 -0.72778102 3.60688222] [ -0.77420139 0.25217927 -0.58053237 -48.10746276] [ 0. 0. 0. 1. ]] SLAMing on 136.71864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.95, Y:2.56, Z:-48.50 [[ 0.53982273 -0.19914592 -0.81788283 120.95483678] [ 0.42540221 -0.77387265 0.4692058 2.56002121] [ -0.72637757 -0.60121712 -0.33303693 -48.50476521] [ 0. 0. 0. 1. ]] SLAMing on 136.74864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.80, Y:2.61, Z:-49.44 [[ 5.66424162e-01 -6.54057035e-01 5.01371184e-01 1.19802395e+02] [ 4.13685471e-01 7.51832518e-01 5.13431783e-01 2.60624084e+00] [-7.12760829e-01 -8.34101936e-02 6.96429997e-01 -4.94361543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:119.75, Y:3.72, Z:-49.06 [[ 0.52848573 0.42889205 0.73263527 119.7516303 ] [ 0.35366711 0.67331421 -0.64928233 3.72442068] [ -0.77176577 0.60224545 0.20415194 -49.05537538] [ 0. 0. 0. 1. ]] SLAMing on 136.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.94, Y:3.69, Z:-48.48 [[ 4.72523551e-01 7.60999144e-01 -4.44524236e-01 1.20942400e+02] [ 4.38937351e-01 -6.40588137e-01 -6.30064156e-01 3.69051782e+00] [-7.64235236e-01 1.02601862e-01 -6.36723930e-01 -4.84758608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.98, Y:2.76, Z:-49.62 [[ 4.63557389e-01 -6.55891959e-01 5.95751866e-01 1.19979220e+02] [ 3.88408905e-01 7.54730703e-01 5.28696593e-01 2.75871836e+00] [-7.96400069e-01 -1.36858825e-02 6.04615272e-01 -4.96182614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.03, Y:2.75, Z:-49.66 [[ 4.90305008e-01 -6.81012216e-01 5.43896461e-01 1.20027858e+02] [ 4.07123205e-01 7.30747070e-01 5.47959319e-01 2.75106894e+00] [-7.70617736e-01 -4.72343282e-02 6.35544824e-01 -4.96567428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:120.14, Y:4.00, Z:-49.14 [[ 3.98787043e-01 6.59364257e-01 6.37344233e-01 1.20141740e+02] [ 3.87829295e-01 5.08524777e-01 -7.68759383e-01 4.00382072e+00] [-8.30997793e-01 5.53752046e-01 -5.29276833e-02 -4.91377056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.21, Y:2.61, Z:-49.42 [[ 4.96785131e-01 -6.10254913e-01 -6.17084658e-01 1.21210223e+02] [ 3.95885410e-01 -4.73401871e-01 7.86870644e-01 2.60697355e+00] [-7.72320708e-01 -6.35200449e-01 6.41200567e-03 -4.94241515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.26, Y:4.11, Z:-49.42 [[ 4.28764141e-01 6.24768735e-01 6.52552940e-01 1.20255241e+02] [ 3.51636831e-01 5.49942004e-01 -7.57571997e-01 4.10665127e+00] [-8.32173570e-01 5.54281354e-01 1.61037128e-02 -4.94186635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.49, Y:3.85, Z:-49.09 [[ 3.61761823e-01 6.89775047e-01 -6.27167257e-01 1.21493765e+02] [ 4.36396088e-01 -7.19768861e-01 -5.39899288e-01 3.85075588e+00] [-8.23824519e-01 -7.83783865e-02 -5.61400027e-01 -4.90910701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.36, Y:2.74, Z:-49.94 [[ 0.4587896 -0.69731427 -0.55069494 121.36241297] [ 0.44229505 -0.35830826 0.82218628 2.73974455] [ -0.77064077 -0.62078016 0.14403054 -49.93848457] [ 0. 0. 0. 1. ]] SLAMing on 137.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.40, Y:2.80, Z:-50.09 [[ 0.48397971 -0.65866885 -0.57612411 121.40337359] [ 0.49518084 -0.33668034 0.80090092 2.80256181] [ -0.72149815 -0.67290542 0.16321374 -50.08812949] [ 0. 0. 0. 1. ]] SLAMing on 137.07864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:120.47, Y:3.16, Z:-50.54 [[ 4.81705110e-01 -7.04650110e-01 5.20987916e-01 1.20470401e+02] [ 4.48570074e-01 7.08985093e-01 5.44173709e-01 3.16481538e+00] [-7.52824731e-01 -2.84316681e-02 6.57606695e-01 -5.05415837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.50, Y:3.19, Z:-50.58 [[ 5.06602521e-01 -7.08807269e-01 4.90862649e-01 1.20499679e+02] [ 4.69110192e-01 7.04285914e-01 5.32838605e-01 3.18581106e+00] [-7.23387526e-01 -3.96687090e-02 6.89301734e-01 -5.05814428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.13864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:120.57, Y:4.39, Z:-49.98 [[ 4.46126288e-01 5.93860386e-01 6.69552968e-01 1.20570644e+02] [ 4.19810586e-01 5.21854730e-01 -7.42581115e-01 4.39106210e+00] [-7.90398891e-01 6.12370381e-01 -1.64957636e-02 -4.99820322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.75, Y:4.16, Z:-49.64 [[ 3.74586534e-01 7.55188240e-01 -5.37936474e-01 1.21754139e+02] [ 4.86498467e-01 -6.53982468e-01 -5.79332524e-01 4.16291111e+00] [-7.89306132e-01 -4.46951076e-02 -6.12370947e-01 -4.96401491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.19864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:121.78, Y:3.10, Z:-50.52 [[ 4.64766293e-01 -5.82783162e-01 -6.66600390e-01 1.21781640e+02] [ 5.11547636e-01 -4.37762894e-01 7.39379919e-01 3.09627952e+00] [-7.22711083e-01 -6.84636717e-01 9.46639109e-02 -5.05179664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:121.84, Y:3.17, Z:-50.66 [[ 4.73762846e-01 -5.32027298e-01 -7.01780393e-01 1.21837949e+02] [ 5.70351424e-01 -4.21815537e-01 7.04819768e-01 3.17131413e+00] [-6.71005230e-01 -7.34178866e-01 1.03601998e-01 -5.06562825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.84, Y:3.49, Z:-51.19 [[ 4.79470746e-01 -7.57327993e-01 4.43353261e-01 1.20843580e+02] [ 5.33169998e-01 6.52673807e-01 5.38281204e-01 3.49449386e+00] [-6.97020485e-01 -2.17074330e-02 7.16722562e-01 -5.11854807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.28864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:120.88, Y:3.52, Z:-51.22 [[ 5.01653714e-01 -7.66330468e-01 4.01349180e-01 1.20883458e+02] [ 5.56724351e-01 6.41101081e-01 5.28249374e-01 3.51908456e+00] [-6.62118983e-01 -4.15573985e-02 7.48245571e-01 -5.12249934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:120.79, Y:4.64, Z:-50.63 [[ 4.74471014e-01 4.06274438e-01 7.80908662e-01 1.20792310e+02] [ 4.91672029e-01 6.13532129e-01 -6.17929561e-01 4.64226110e+00] [-7.30161539e-01 6.77140612e-01 9.13494341e-02 -5.06330092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.34864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:121.99, Y:4.56, Z:-50.16 [[ 3.95244275e-01 8.28431067e-01 -3.96842450e-01 1.21993754e+02] [ 5.35894495e-01 -5.58836199e-01 -6.32865857e-01 4.55789816e+00] [-7.46055664e-01 3.74709226e-02 -6.64828457e-01 -5.01602663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.17, Y:3.50, Z:-51.09 [[ 4.57745920e-01 -5.07937161e-01 -7.29704401e-01 1.22170433e+02] [ 5.67278902e-01 -4.65106877e-01 6.79610359e-01 3.49596119e+00] [-6.84589891e-01 -7.25034781e-01 7.52412600e-02 -5.10895877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.40864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:121.09, Y:4.90, Z:-50.83 [[ 4.23929047e-01 5.13224279e-01 7.46247280e-01 1.21086126e+02] [ 5.35312911e-01 5.22639927e-01 -6.63541705e-01 4.90152972e+00] [-7.30564337e-01 6.80770406e-01 -5.31733368e-02 -5.08333830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.43864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.28, Y:4.76, Z:-50.51 [[ 3.39771699e-01 8.31570864e-01 -4.39368969e-01 1.22278634e+02] [ 5.82434877e-01 -5.52843420e-01 -5.95931009e-01 4.75601137e+00] [-7.38461107e-01 -5.34233199e-02 -6.72176422e-01 -5.05085163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.46864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.66, Y:4.07, Z:-51.10 [[ 3.37467337e-01 2.71901373e-02 -9.40944469e-01 1.22656683e+02] [ 6.50401143e-01 -7.29351924e-01 2.12188890e-01 4.07386542e+00] [-6.80510213e-01 -6.83598177e-01 -2.63816948e-01 -5.11014796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49864000000002 meters Centerline goodness : 0.980505 Centerline is valid? [True, True] Translation: X:121.65, Y:3.87, Z:-52.00 [[ 4.52275510e-01 -8.89879188e-01 5.96816018e-02 1.21645043e+02] [ 6.14921571e-01 3.59599449e-01 7.01825974e-01 3.86984680e+00] [-6.46001799e-01 -2.80719196e-01 7.09843933e-01 -5.19971375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.35, Y:5.19, Z:-51.15 [[ 0.34360996 0.54922858 0.76176122 121.35147231] [ 0.59439191 0.5008091 -0.62919671 5.18631943] [ -0.72706977 0.66898296 -0.15437403 -51.15473148] [ 0. 0. 0. 1. ]] SLAMing on 137.55864 meters Centerline goodness : 0.870630 Centerline is valid? [True, False] Translation: X:121.34, Y:5.19, Z:-51.21 [[ 3.48955146e-01 5.12869185e-01 7.84343997e-01 1.21342746e+02] [ 5.71863680e-01 5.46525188e-01 -6.11786033e-01 5.19032934e+00] [-7.42429954e-01 6.62023729e-01 -1.02578483e-01 -5.12149032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.58864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:121.33, Y:5.19, Z:-51.27 [[ 3.55139762e-01 4.76546094e-01 8.04226068e-01 1.21334613e+02] [ 5.50640332e-01 5.88577957e-01 -5.91921628e-01 5.19032134e+00] [-7.55427676e-01 6.53054216e-01 -5.33780640e-02 -5.12728333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.61864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:121.53, Y:4.09, Z:-52.02 [[ 3.79633156e-01 -8.47771980e-01 3.70352990e-01 1.21529047e+02] [ 5.47235726e-01 5.28557489e-01 6.48968444e-01 4.09466486e+00] [-7.45930109e-01 -4.36995513e-02 6.64589062e-01 -5.20157161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.28, Y:5.14, Z:-51.62 [[ 0.37943841 0.18005174 0.90752844 121.27580356] [ 0.47521861 0.80368177 -0.35813808 5.14480264] [ -0.79384744 0.56716575 0.2193838 -51.62257501] [ 0. 0. 0. 1. ]] SLAMing on 137.67864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:122.47, Y:5.44, Z:-51.13 [[ 0.30091974 0.93385441 -0.19329578 122.47291745] [ 0.51907202 -0.33042614 -0.78827838 5.44335591] [ -0.80000722 0.13687409 -0.58416944 -51.13282326] [ 0. 0. 0. 1. ]] SLAMing on 137.70864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:121.70, Y:4.26, Z:-52.21 [[ 2.67068111e-01 -8.72424018e-01 4.09329887e-01 1.21699270e+02] [ 4.93900370e-01 4.88645694e-01 7.19227231e-01 4.25755621e+00] [-8.27488398e-01 1.00855245e-02 5.61392228e-01 -5.22081210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.73864 meters Centerline goodness : 0.991587 Centerline is valid? [True, True] Translation: X:121.77, Y:4.22, Z:-52.24 [[ 2.89938470e-01 -9.04377122e-01 3.13109733e-01 1.21765796e+02] [ 5.09896064e-01 4.22835395e-01 7.49143666e-01 4.21698658e+00] [-8.09902270e-01 -5.75521478e-02 5.83734582e-01 -5.22373456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.76864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:121.74, Y:4.31, Z:-52.30 [[ 2.73978281e-01 -8.75371672e-01 3.98321902e-01 1.21741435e+02] [ 4.83931979e-01 4.83398413e-01 7.29476397e-01 4.30976710e+00] [-8.31111149e-01 -7.09998295e-03 5.56061012e-01 -5.22974808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.79864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:121.77, Y:4.33, Z:-52.34 [[ 2.89566297e-01 -8.81159732e-01 3.73776518e-01 1.21771040e+02] [ 5.16623782e-01 4.72622069e-01 7.13952553e-01 4.32952710e+00] [-8.05761272e-01 -1.36347585e-02 5.92083496e-01 -5.23366509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.82864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:121.52, Y:5.48, Z:-51.97 [[ 2.71801680e-01 2.80701410e-01 9.20505603e-01 1.21515126e+02] [ 4.61151206e-01 8.01553386e-01 -3.80593923e-01 5.47530557e+00] [-8.44667634e-01 5.27938337e-01 8.84177635e-02 -5.19695365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.85864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:123.08, Y:4.60, Z:-52.11 [[ 3.15837528e-01 -3.07559915e-01 -8.97582060e-01 1.23077114e+02] [ 4.54180056e-01 -7.81573989e-01 4.27624340e-01 4.59717935e+00] [-8.33046897e-01 -5.42723685e-01 -1.07162818e-01 -5.21072347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.88864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:121.60, Y:5.59, Z:-52.28 [[ 0.31583521 0.2403651 0.91786314 121.60424151] [ 0.44153778 0.8190157 -0.36641189 5.5936831 ] [ -0.83981695 0.52099703 0.15254372 -52.28162577] [ 0. 0. 0. 1. ]] SLAMing on 137.91864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.58, Y:6.02, Z:-51.95 [[ 2.30549933e-01 9.72961229e-01 1.38987736e-02 1.22584237e+02] [ 4.23551333e-01 -8.74835171e-02 -9.01637900e-01 6.02494034e+00] [-8.76042805e-01 2.13759401e-01 -4.32268344e-01 -5.19482364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.94864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:123.36, Y:5.44, Z:-52.26 [[ 0.17093148 0.42358924 -0.88958113 123.36444057] [ 0.48066108 -0.82399319 -0.30000023 5.43689172] [ -0.86008566 -0.37630754 -0.34444924 -52.25549124] [ 0. 0. 0. 1. ]] SLAMing on 137.97864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:122.58, Y:4.60, Z:-53.12 [[ 2.30709056e-01 -9.54593170e-01 -1.88481327e-01 1.22579656e+02] [ 5.23968704e-01 -4.13402150e-02 8.50733674e-01 4.60044758e+00] [-8.19896414e-01 -2.95030280e-01 4.90639384e-01 -5.31228175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.00864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:122.12, Y:4.80, Z:-53.23 [[ 2.54875809e-01 -8.97719812e-01 3.59357012e-01 1.22123681e+02] [ 5.11629146e-01 4.40547235e-01 7.37667778e-01 4.80215634e+00] [-8.20532717e-01 -4.15615104e-03 5.71584454e-01 -5.32335441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.03864000000002 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:121.75, Y:5.78, Z:-52.98 [[ 2.75450117e-01 5.60980337e-02 9.59677156e-01 1.21751390e+02] [ 4.33854128e-01 8.83590587e-01 -1.76176815e-01 5.77783926e+00] [-8.57844874e-01 4.64887820e-01 2.19046767e-01 -5.29773544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.06864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.74, Y:6.39, Z:-52.59 [[ 1.82956724e-01 9.80523176e-01 7.14222496e-02 1.22739062e+02] [ 4.53144797e-01 -1.96353376e-02 -8.91220650e-01 6.39404608e+00] [-8.72460103e-01 1.95419431e-01 -4.47911393e-01 -5.25903220e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.09864000000002 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:122.29, Y:4.95, Z:-53.45 [[ 1.70761547e-01 -9.23981055e-01 3.42198049e-01 1.22288825e+02] [ 4.13377160e-01 3.82438087e-01 8.26353697e-01 4.95375206e+00] [-8.94404728e-01 3.47421704e-04 4.47258384e-01 -5.34504218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.12864000000002 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:122.40, Y:4.93, Z:-53.50 [[ 1.86508790e-01 -9.58435459e-01 2.15907251e-01 1.22396040e+02] [ 4.53509763e-01 2.78937907e-01 8.46476544e-01 4.93094304e+00] [-8.71517852e-01 -5.99592696e-02 4.86684210e-01 -5.34957001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.15864000000002 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:121.92, Y:6.09, Z:-53.23 [[ 1.48670183e-01 1.97374258e-01 9.68989463e-01 1.21915896e+02] [ 3.67196482e-01 8.98802900e-01 -2.39416147e-01 6.09047268e+00] [-9.18185123e-01 3.91403564e-01 6.11500582e-02 -5.32335034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.18864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:123.54, Y:5.38, Z:-53.39 [[ 1.71640297e-01 -2.80735429e-01 -9.44313098e-01 1.23542077e+02] [ 4.20314973e-01 -8.46051676e-01 3.27920546e-01 5.38486391e+00] [-8.90996595e-01 -4.53193314e-01 -2.72192567e-02 -5.33925277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.21864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:122.40, Y:5.11, Z:-53.85 [[ 1.95805531e-01 -9.38037000e-01 2.85913940e-01 1.22398324e+02] [ 3.90846372e-01 3.42049628e-01 8.54541494e-01 5.11135535e+00] [-8.99388296e-01 -5.55755251e-02 4.33603567e-01 -5.38472442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24864000000002 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:122.38, Y:5.15, Z:-53.89 [[ 2.16056546e-01 -9.24780752e-01 3.13209401e-01 1.22375285e+02] [ 4.31061153e-01 3.78176223e-01 8.19249063e-01 5.15295784e+00] [-8.76074113e-01 -4.19917176e-02 4.80344506e-01 -5.38903635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.27864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:121.94, Y:5.90, Z:-53.83 [[ 0.23853357 -0.26012015 0.9356491 121.93662416] [ 0.34635645 0.92288763 0.16827251 5.9027736 ] [ -0.90727005 0.28392946 0.31023397 -53.82680123] [ 0. 0. 0. 1. ]] SLAMing on 138.30864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:122.65, Y:6.83, Z:-53.49 [[ 0.15082709 0.91232363 0.38067938 122.65083053] [ 0.30752104 0.32267736 -0.89515928 6.83212135] [ -0.93951157 0.25208119 -0.23189023 -53.49466605] [ 0. 0. 0. 1. ]] SLAMing on 138.33864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:123.69, Y:6.40, Z:-53.67 [[ 8.60447852e-02 6.11298992e-01 -7.86708229e-01 1.23689571e+02] [ 3.74624707e-01 -7.51538690e-01 -5.42997170e-01 6.39995656e+00] [-9.23175294e-01 -2.47998265e-01 -2.93673691e-01 -5.36651263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.36864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:122.81, Y:5.28, Z:-54.39 [[ 1.44960679e-01 -9.89188149e-01 -2.22082602e-02 1.22812188e+02] [ 3.92922405e-01 3.69522295e-02 9.18828883e-01 5.27675331e+00] [-9.08073998e-01 -1.41920182e-01 3.94030806e-01 -5.43940014e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.39864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:122.09, Y:6.40, Z:-54.22 [[ 1.09436541e-01 6.24478985e-02 9.92030193e-01 1.22085307e+02] [ 3.05829850e-01 9.47495566e-01 -9.33823069e-02 6.40101758e+00] [-9.45775738e-01 3.13611882e-01 8.45922061e-02 -5.42245282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.42864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:122.13, Y:6.57, Z:-54.35 [[ 9.91766121e-02 1.42720365e-01 9.84781649e-01 1.22131245e+02] [ 2.42130299e-01 9.56453876e-01 -1.62999695e-01 6.56803338e+00] [-9.65161602e-01 2.54611233e-01 6.03009305e-02 -5.43523955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.45864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:123.81, Y:5.96, Z:-54.47 [[ 1.63311673e-01 -1.93836459e-01 -9.67345194e-01 1.23814767e+02] [ 3.08893200e-01 -9.21164049e-01 2.36731462e-01 5.95589488e+00] [-9.36970804e-01 -3.37467364e-01 -9.05620786e-02 -5.44743844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.48864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:123.88, Y:6.12, Z:-54.59 [[ 1.23374161e-01 1.34515331e-02 -9.92269053e-01 1.23878117e+02] [ 3.78871997e-01 -9.24803172e-01 3.45702552e-02 6.12083692e+00] [-9.17188544e-01 -3.80208034e-01 -1.19193225e-01 -5.45914595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.51864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:122.67, Y:5.57, Z:-55.07 [[ 1.48896501e-01 -9.60738125e-01 2.34119814e-01 1.22672721e+02] [ 3.48160363e-01 2.72532598e-01 8.96945006e-01 5.56771129e+00] [-9.25534545e-01 -5.20407337e-02 3.75070085e-01 -5.50728217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.54864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:122.65, Y:5.60, Z:-55.12 [[ 1.62165980e-01 -9.51890749e-01 2.60011915e-01 1.22651758e+02] [ 3.82231118e-01 3.03524490e-01 8.72795656e-01 5.60282365e+00] [-9.09726095e-01 -4.21531179e-02 4.13063612e-01 -5.51194075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.57864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.32, Y:6.92, Z:-54.84 [[ 1.05519685e-01 3.91084334e-01 9.14285863e-01 1.22315731e+02] [ 3.13794142e-01 8.59347751e-01 -4.03800296e-01 6.91798562e+00] [-9.43609470e-01 3.29506428e-01 -3.20418685e-02 -5.48390969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.60864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.41, Y:7.06, Z:-54.95 [[ 1.03757073e-01 4.73382999e-01 8.74724532e-01 1.22409832e+02] [ 2.47100640e-01 8.39628283e-01 -4.83699929e-01 7.05822548e+00] [-9.63418779e-01 2.66332280e-01 -2.98558687e-02 -5.49504757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.63864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:123.37, Y:7.38, Z:-54.95 [[ 1.44151909e-02 9.97500535e-01 -6.91728571e-02 1.23368978e+02] [ 2.48916460e-01 -7.05820942e-02 -9.65949669e-01 7.38424094e+00] [-9.68417677e-01 -3.29391387e-03 -2.49311757e-01 -5.49524309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.66864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:124.02, Y:6.31, Z:-55.44 [[ 3.46676712e-02 -1.21743910e-01 -9.91955933e-01 1.24019521e+02] [ 3.28996985e-01 -9.35839446e-01 1.26354719e-01 6.31317203e+00] [-9.43694408e-01 -3.30730935e-01 7.61000517e-03 -5.54363215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.69864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:122.33, Y:6.93, Z:-55.43 [[-1.18609203e-02 1.58988572e-01 9.87209174e-01 1.22329114e+02] [ 2.96086321e-01 9.43562268e-01 -1.48401945e-01 6.92653606e+00] [-9.55087540e-01 2.90538948e-01 -5.82658581e-02 -5.54343649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.72864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:122.38, Y:7.09, Z:-55.57 [[ 9.96222997e-03 2.43577047e-01 9.69830385e-01 1.22377467e+02] [ 2.22715020e-01 9.44975715e-01 -2.39622449e-01 7.09087116e+00] [-9.74832690e-01 2.18382968e-01 -4.48342015e-02 -5.55662630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.75864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:123.48, Y:7.59, Z:-55.53 [[-3.91352832e-02 9.87334865e-01 -1.53747504e-01 1.23484379e+02] [ 2.23963900e-01 -1.41283572e-01 -9.64302403e-01 7.58916013e+00] [-9.73811379e-01 -7.21721382e-02 -2.15598195e-01 -5.55306141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.78864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:123.42, Y:5.92, Z:-55.92 [[-4.88360504e-02 -9.22485095e-01 -3.82931181e-01 1.23416024e+02] [ 2.01955766e-01 -3.84589658e-01 9.00724522e-01 5.91862852e+00] [-9.78176318e-01 -3.33473317e-02 2.05083024e-01 -5.59220039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.81864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.24, Y:5.90, Z:-55.94 [[-4.41107003e-02 -9.78770518e-01 -2.00156236e-01 1.23244926e+02] [ 2.05420418e-01 -2.04956264e-01 9.56971986e-01 5.89932306e+00] [-9.77679241e-01 1.09652684e-03 2.10100214e-01 -5.59436763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.84864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.21, Y:5.90, Z:-55.96 [[-4.06543399e-02 -9.85252840e-01 -1.66204892e-01 1.23212987e+02] [ 2.07277511e-01 -1.71039976e-01 9.63214078e-01 5.90050388e+00] [-9.77437086e-01 4.70829618e-03 2.11174274e-01 -5.59566946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.87864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:123.22, Y:5.91, Z:-55.98 [[-4.00610325e-02 -9.83102095e-01 -1.78620784e-01 1.23224344e+02] [ 2.25408074e-01 -1.83047959e-01 9.56914126e-01 5.90652485e+00] [-9.73440452e-01 -1.92759902e-03 2.28932240e-01 -5.59825619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.90864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:122.32, Y:6.88, Z:-55.81 [[-4.70630429e-02 -6.13435994e-02 9.97006536e-01 1.22315849e+02] [ 1.67120176e-01 9.83560668e-01 6.84051039e-02 6.88483273e+00] [-9.84812630e-01 1.69839260e-01 -3.60376048e-02 -5.58057173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.93864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.20, Y:5.93, Z:-56.00 [[-2.88524538e-02 -9.86931240e-01 -1.58537893e-01 1.23200969e+02] [ 1.38190267e-01 -1.61019255e-01 9.77228862e-01 5.92560740e+00] [-9.89985346e-01 6.28705688e-03 1.41030092e-01 -5.60020924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.96864000000002 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:123.24, Y:5.93, Z:-56.02 [[-2.45501695e-02 -9.78630120e-01 -2.04157727e-01 1.23242264e+02] [ 1.30945098e-01 -2.05607732e-01 9.69834441e-01 5.92615660e+00] [-9.91085602e-01 -2.92385369e-03 1.33194522e-01 -5.60160067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.99864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:122.31, Y:6.82, Z:-55.95 [[-2.61894824e-02 -1.70538458e-01 9.85002916e-01 1.22307601e+02] [ 9.76734433e-02 9.80189721e-01 1.72302089e-01 6.82140009e+00] [-9.94873866e-01 1.00721129e-01 -9.01358305e-03 -5.59538529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.02864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:124.09, Y:6.77, Z:-56.06 [[ 8.93731534e-03 8.96622067e-02 -9.95932133e-01 1.24086431e+02] [ 1.43574534e-01 -9.85767383e-01 -8.74586782e-02 6.77145952e+00] [-9.89599150e-01 -1.42208846e-01 -2.16833235e-02 -5.60565355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.05864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:123.13, Y:5.95, Z:-56.19 [[-2.00226395e-02 -9.97106137e-01 -7.33378854e-02 1.23126555e+02] [ 1.34610909e-01 -7.53732493e-02 9.88027720e-01 5.95441013e+00] [-9.90696218e-01 9.91084346e-03 1.35730535e-01 -5.61890155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.08864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:123.11, Y:5.96, Z:-56.21 [[-1.64806804e-02 -9.98729236e-01 -4.76266684e-02 1.23106011e+02] [ 1.35490373e-01 -4.94245185e-02 9.89545136e-01 5.96012004e+00] [-9.90641583e-01 9.85542203e-03 1.36132747e-01 -5.62071035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.11864 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:123.11, Y:5.96, Z:-56.23 [[-1.16650275e-02 -9.98629551e-01 -5.10190755e-02 1.23113451e+02] [ 1.51610768e-01 -5.21990200e-02 9.87061010e-01 5.96450856e+00] [-9.88371439e-01 3.77905259e-03 1.52011896e-01 -5.62341317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.14864 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:122.31, Y:7.01, Z:-56.28 [[-1.72694935e-02 -3.61298898e-02 9.99197876e-01 1.22314610e+02] [ 6.89693234e-02 9.96923487e-01 3.72396718e-02 7.00818308e+00] [-9.97469296e-01 6.95571117e-02 -1.47245096e-02 -5.62811329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.17864 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:122.43, Y:7.37, Z:-56.43 [[ 2.60108029e-03 3.20790493e-01 9.47146607e-01 1.22430833e+02] [-4.18707354e-03 9.47145002e-01 -3.20778450e-01 7.36739974e+00] [-9.99987851e-01 -3.13140199e-03 3.80677357e-03 -5.64310332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.20864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:123.64, Y:7.75, Z:-56.50 [[-3.31853719e-02 9.43657922e-01 -3.29254395e-01 1.23640283e+02] [ 2.04161702e-02 -3.28727053e-01 -9.44204271e-01 7.75437253e+00] [-9.99240667e-01 -3.80558836e-02 -8.35695123e-03 -5.65028850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.23864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:124.11, Y:6.80, Z:-56.55 [[-2.71374560e-02 -5.38490328e-02 -9.98180264e-01 1.24107178e+02] [-2.11629492e-04 -9.98547686e-01 5.38746077e-02 6.79700864e+00] [-9.99631689e-01 1.67326418e-03 2.70866478e-02 -5.65455861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.26864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:123.36, Y:7.84, Z:-56.58 [[-1.08378897e-01 9.94086670e-01 -6.76072381e-03 1.23362766e+02] [ 3.22404142e-02 -3.28240215e-03 -9.99474753e-01 7.84240490e+00] [-9.93586720e-01 -1.08539940e-01 -3.16940229e-02 -5.65843770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.14, Y:6.08, Z:-56.66 [[-5.69002828e-02 -9.97620649e-01 -3.89281202e-02 1.23144537e+02] [-1.09430382e-02 -3.83657509e-02 9.99203843e-01 6.08218404e+00] [-9.98319892e-01 5.72809732e-02 -8.73397880e-03 -5.66609142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.46, Y:7.82, Z:-56.74 [[-1.00605191e-01 9.84928512e-01 -1.40692653e-01 1.23457794e+02] [ 4.08429262e-02 -1.37202442e-01 -9.89700634e-01 7.81903402e+00] [-9.94087748e-01 -1.05315321e-01 -2.64240847e-02 -5.67435038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.35864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.31, Y:7.85, Z:-56.81 [[-1.69683483e-01 9.85230526e-01 2.29853519e-02 1.23310914e+02] [ 4.13716165e-02 3.04244559e-02 -9.98680500e-01 7.84724737e+00] [-9.84629831e-01 -1.68508645e-01 -4.59231072e-02 -5.68148025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.38864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.10, Y:6.09, Z:-56.91 [[-1.28216645e-01 -9.91740067e-01 3.48293441e-03 1.23101404e+02] [ 1.95090362e-02 9.89056203e-04 9.99809191e-01 6.09057073e+00] [-9.91554280e-01 1.28260129e-01 1.92210794e-02 -5.69135807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.41864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:122.32, Y:6.90, Z:-56.89 [[-1.26851506e-01 -2.01082544e-01 9.71326158e-01 1.22317994e+02] [-3.86675629e-02 9.79494833e-01 1.97723775e-01 6.89920251e+00] [-9.91167753e-01 -1.24772567e-02 -1.32025767e-01 -5.68856574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.44864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:124.00, Y:7.30, Z:-57.16 [[-1.14976578e-01 4.70724022e-01 -8.74756699e-01 1.23997856e+02] [-3.10196978e-02 -8.81868539e-01 -4.70473866e-01 7.30395134e+00] [-9.92883762e-01 -2.69587867e-02 1.15995944e-01 -5.71635286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.47864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:124.05, Y:7.07, Z:-57.20 [[-1.19738691e-01 2.10221224e-01 -9.70293606e-01 1.24052647e+02] [-1.44325371e-02 -9.77590329e-01 -2.10021072e-01 7.06822920e+00] [-9.92700533e-01 -1.11438498e-02 1.20089412e-01 -5.72024689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.50864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.38, Y:6.11, Z:-57.19 [[-5.95733069e-02 -9.39783218e-01 -3.36539038e-01 1.23376102e+02] [-2.54250256e-03 -3.36993873e-01 9.41503407e-01 6.11016220e+00] [-9.98220695e-01 5.69441228e-02 1.76864382e-02 -5.71905224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.53864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.44, Y:7.81, Z:-57.25 [[-1.13414989e-01 9.71739947e-01 -2.07022983e-01 1.23436093e+02] [ 3.28982444e-02 -2.04580216e-01 -9.78296806e-01 7.80621563e+00] [-9.93002893e-01 -1.17764214e-01 -8.76607530e-03 -5.72481170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.03, Y:6.80, Z:-57.35 [[-1.00656005e-01 -9.69907670e-02 -9.90182387e-01 1.24030137e+02] [ 3.52198353e-02 -9.94960492e-01 9.38785567e-02 6.79773576e+00] [-9.94297708e-01 -2.54246201e-02 1.03564747e-01 -5.73522509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.59864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.26, Y:7.84, Z:-57.30 [[-1.85761951e-01 9.82593697e-01 -1.45730257e-03 1.23258692e+02] [ 4.08725251e-02 6.24520965e-03 -9.99144851e-01 7.84443335e+00] [-9.81744332e-01 -1.85662660e-01 -4.13212079e-02 -5.73011377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.02, Y:6.79, Z:-57.50 [[-1.67060476e-01 -1.12836654e-01 -9.79468574e-01 1.24019740e+02] [ 4.93744301e-02 -9.93140588e-01 1.05990276e-01 6.78753077e+00] [-9.84709583e-01 -3.06539166e-02 1.71485784e-01 -5.74952178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:7.84, Z:-57.40 [[-2.55060288e-01 9.62066629e-01 -9.68093498e-02 1.23334621e+02] [ 7.66309063e-02 -7.96934025e-02 -9.93869542e-01 7.83604680e+00] [-9.63883786e-01 -2.60915240e-01 -5.33974155e-02 -5.73972414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.23, Y:7.85, Z:-57.46 [[-3.24977244e-01 9.45619879e-01 1.38865037e-02 1.23225781e+02] [ 7.42576031e-02 4.01524616e-02 -9.96430423e-01 7.85438183e+00] [-9.42801994e-01 -3.22786034e-01 -8.32681020e-02 -5.74584819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.71864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.10, Y:7.86, Z:-57.53 [[-3.91159295e-01 9.08921835e-01 1.44414348e-01 1.23095816e+02] [ 4.48764105e-02 1.75567628e-01 -9.83444008e-01 7.86072076e+00] [-9.19228216e-01 -3.78202467e-01 -1.09464059e-01 -5.75267668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.94, Y:6.88, Z:-57.93 [[-3.60333101e-01 -3.23879362e-02 -9.32261271e-01 1.23943131e+02] [ 6.05646683e-02 -9.98100694e-01 1.12661195e-02 6.87539253e+00] [-9.30855508e-01 -5.24025388e-02 3.61610283e-01 -5.79270724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.90, Y:6.13, Z:-57.63 [[-3.11052769e-01 -9.44172987e-01 1.08552040e-01 1.22898794e+02] [ 1.96298991e-02 1.07811133e-01 9.93977579e-01 6.12613811e+00] [-9.50189898e-01 3.11310344e-01 -1.50009308e-02 -5.76263375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.86, Y:6.13, Z:-57.70 [[-2.46101467e-01 -9.62587291e-01 1.13400951e-01 1.22857418e+02] [ 1.22113353e-02 1.13910796e-01 9.93415932e-01 6.13154855e+00] [-9.69167143e-01 2.45865895e-01 -1.62791377e-02 -5.76989058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.82, Y:6.14, Z:-57.77 [[-1.81078606e-01 -9.75848589e-01 1.22188665e-01 1.22818044e+02] [ 4.46537405e-03 1.23425480e-01 9.92343797e-01 6.13746801e+00] [-9.83458489e-01 1.80237850e-01 -1.79921849e-02 -5.77721396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.86864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:122.75, Y:6.16, Z:-57.86 [[-1.14556292e-01 -9.78298900e-01 1.72650276e-01 1.22745931e+02] [ 1.33682662e-02 1.72260562e-01 9.84960704e-01 6.15556199e+00] [-9.93326807e-01 1.15141481e-01 -6.65537124e-03 -5.78561629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:122.12, Y:7.07, Z:-57.84 [[-1.21926227e-01 -7.12640383e-02 9.89977491e-01 1.22119214e+02] [-6.33460646e-02 9.95944331e-01 6.38918247e-02 7.06732456e+00] [-9.90515659e-01 -5.49210889e-02 -1.25946031e-01 -5.78427103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.74, Y:7.86, Z:-58.01 [[-1.97032117e-01 8.94030583e-01 4.02352659e-01 1.22744978e+02] [-5.29954961e-02 4.00085298e-01 -9.14944387e-01 7.86225038e+00] [-9.78963647e-01 -2.01596308e-01 -3.14500589e-02 -5.80117604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.71, Y:7.50, Z:-58.20 [[-1.73716455e-01 6.56633526e-01 -7.33931200e-01 1.23710930e+02] [-6.17768926e-02 -7.51060624e-01 -6.57336714e-01 7.50362730e+00] [-9.82856149e-01 -6.88502145e-02 1.71036368e-01 -5.82003555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.82, Y:7.28, Z:-58.24 [[-1.59289125e-01 4.33085034e-01 -8.87166460e-01 1.23815924e+02] [-4.83063260e-02 -9.00983094e-01 -4.31156540e-01 7.28467784e+00] [-9.86049427e-01 -2.58227960e-02 1.64437556e-01 -5.82358580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.01864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.30, Y:6.18, Z:-58.20 [[-1.33090692e-01 -8.59233028e-01 -4.93969099e-01 1.23295823e+02] [-2.60675958e-02 -4.95195801e-01 8.68390235e-01 6.18060677e+00] [-9.90760994e-01 1.28451244e-01 4.35078124e-02 -5.81957985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.04864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:122.19, Y:6.56, Z:-58.15 [[-8.97460556e-02 -6.10555926e-01 7.86871722e-01 1.22186141e+02] [-7.90677600e-02 7.91933960e-01 6.05465847e-01 6.56397588e+00] [-9.92821200e-01 -7.87801285e-03 -1.19348239e-01 -5.81476287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.31, Y:7.62, Z:-58.33 [[-1.35122187e-01 5.84922099e-01 7.99755045e-01 1.22310049e+02] [-1.27952083e-01 7.90098185e-01 -5.99477374e-01 7.62013867e+00] [-9.82532574e-01 -1.83333018e-01 -3.19177938e-02 -5.83256516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.42, Y:7.73, Z:-58.50 [[-1.28072617e-01 8.90667917e-01 -4.36243127e-01 1.23422362e+02] [-1.11731145e-01 -4.50022935e-01 -8.85999723e-01 7.72932973e+00] [-9.85450940e-01 -6.47303593e-02 1.57150961e-01 -5.84951544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.13864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:123.62, Y:7.54, Z:-58.53 [[-1.38387531e-01 7.11690520e-01 -6.88727446e-01 1.23620993e+02] [-1.27059255e-01 -7.02430157e-01 -7.00319799e-01 7.53705575e+00] [-9.82193890e-01 -9.40633173e-03 1.87634443e-01 -5.85311102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.16864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.49, Y:6.31, Z:-58.44 [[-9.30872999e-02 -6.74668301e-01 -7.32227723e-01 1.23486641e+02] [-8.14934705e-02 -7.27790663e-01 6.80940207e-01 6.30907020e+00] [-9.92317272e-01 1.23058664e-01 1.27670065e-02 -5.84367349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.19864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:122.28, Y:6.38, Z:-58.41 [[-4.33307273e-02 -7.83530399e-01 6.19840756e-01 1.22276405e+02] [-1.25153104e-01 6.19793198e-01 7.74721300e-01 6.37698878e+00] [-9.91190773e-01 -4.40057571e-02 -1.24917351e-01 -5.84120416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.11, Y:7.83, Z:-58.64 [[-4.62869894e-02 9.92336979e-01 -1.14563673e-01 1.23112401e+02] [-1.01120510e-01 -1.18752137e-01 -9.87761394e-01 7.83311906e+00] [-9.93796839e-01 -3.41357642e-02 1.05842300e-01 -5.86412571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.33, Y:7.75, Z:-58.66 [[-4.53749282e-02 9.28834445e-01 -3.67705984e-01 1.23326871e+02] [-1.01030545e-01 -3.70464631e-01 -9.23335684e-01 7.74739980e+00] [-9.93848049e-01 -4.74675464e-03 1.10650456e-01 -5.86567112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.28864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.33, Y:7.74, Z:-58.69 [[-5.58708837e-02 9.29340226e-01 -3.64972860e-01 1.23325812e+02] [-1.20160889e-01 -3.69145599e-01 -9.21570880e-01 7.74366318e+00] [-9.91181015e-01 -7.63351604e-03 1.32294839e-01 -5.86911853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.64, Y:6.49, Z:-58.65 [[-3.04863525e-02 -4.14308490e-01 -9.09625779e-01 1.23641558e+02] [-5.70558864e-02 -9.07843593e-01 4.15408999e-01 6.49373764e+00] [-9.97905410e-01 6.45638103e-02 4.03810164e-03 -5.86457938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.34864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:122.30, Y:6.30, Z:-58.69 [[ 3.10827932e-02 -8.25415711e-01 5.63669020e-01 1.22295448e+02] [-9.20065029e-02 5.59184358e-01 8.23922118e-01 6.30396929e+00] [-9.95273160e-01 -7.74710162e-02 -5.85626012e-02 -5.86851264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.37864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:122.53, Y:7.75, Z:-58.91 [[ 2.04367334e-02 8.53236227e-01 5.21124055e-01 1.22525056e+02] [-1.30130644e-01 5.19069020e-01 -8.44768233e-01 7.74968346e+00] [-9.91286213e-01 -5.05499057e-02 1.21640255e-01 -5.89080052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.40864000000002 meters Centerline goodness : 0.835507 Centerline is valid? [True, False] Translation: X:122.48, Y:7.73, Z:-58.88 [[ 1.25954253e-02 8.18124639e-01 5.74902974e-01 1.22480402e+02] [-1.38722361e-01 5.70818406e-01 -8.09272793e-01 7.72757876e+00] [-9.90251211e-01 -6.95587631e-02 1.20681882e-01 -5.88777343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.43864000000002 meters Centerline goodness : 0.823105 Centerline is valid? [False, False] Translation: X:122.44, Y:7.71, Z:-58.84 [[ 3.98395290e-03 7.80364722e-01 6.25311946e-01 1.22439122e+02] [-1.46026076e-01 6.19067860e-01 -7.71641996e-01 7.70601141e+00] [-9.89272719e-01 -8.82376643e-02 1.16419935e-01 -5.88437427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.46864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [False, True] Translation: X:122.40, Y:7.68, Z:-58.85 [[ 1.52702864e-03 7.41608803e-01 6.70830866e-01 1.22403539e+02] [-1.64334071e-01 6.61897599e-01 -7.31358928e-01 7.67620396e+00] [-9.86403559e-01 -1.09123561e-01 1.22882330e-01 -5.88467374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.49864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:122.96, Y:7.80, Z:-59.01 [[-1.65796560e-02 9.95278217e-01 9.56367368e-02 1.22961758e+02] [-1.60183420e-01 9.17704680e-02 -9.82812013e-01 7.80306709e+00] [-9.86948016e-01 -3.16141046e-02 1.57905546e-01 -5.90126454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.52864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:123.04, Y:7.80, Z:-59.02 [[-1.97926759e-02 9.99722877e-01 1.27443408e-02 1.23036366e+02] [-1.54698792e-01 9.53107271e-03 -9.87915706e-01 7.79649543e+00] [-9.87763400e-01 -2.15250296e-02 1.54467276e-01 -5.90225695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.55864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:123.80, Y:6.93, Z:-58.99 [[-3.00819259e-02 1.75068076e-01 -9.84096665e-01 1.23802238e+02] [-1.04968946e-01 -9.79651497e-01 -1.71068596e-01 6.92829948e+00] [-9.94020421e-01 9.81535170e-02 4.78465152e-02 -5.89901247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.58864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:122.86, Y:6.00, Z:-59.07 [[ 9.12111333e-02 -9.88403901e-01 -1.21401222e-01 1.22856139e+02] [-1.20164013e-01 -1.31942687e-01 9.83947020e-01 6.00374529e+00] [-9.88555076e-01 -7.51588648e-02 -1.30805221e-01 -5.90745283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.61864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:122.43, Y:7.62, Z:-59.32 [[ 5.92078207e-02 7.60365415e-01 6.46791211e-01 1.22425081e+02] [-8.21107922e-02 6.49441854e-01 -7.55965010e-01 7.61599220e+00] [-9.94862931e-01 -8.34949799e-03 1.00886243e-01 -5.93238578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.64864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:122.37, Y:7.57, Z:-59.38 [[ 8.56175361e-02 7.04233739e-01 7.04786832e-01 1.22372668e+02] [-1.11409271e-01 7.09714927e-01 -6.95623962e-01 7.56971528e+00] [-9.90079599e-01 -1.89621777e-02 1.39222211e-01 -5.93776500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.67864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:123.64, Y:7.35, Z:-59.44 [[ 3.79142664e-02 7.21404409e-01 -6.91475370e-01 1.23640352e+02] [-2.92878071e-02 -6.90873412e-01 -7.22382276e-01 7.35092232e+00] [-9.98851707e-01 4.76403913e-02 -5.06560541e-03 -5.94416820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.70864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:123.81, Y:6.98, Z:-59.59 [[-2.42609843e-02 3.98982296e-01 -9.16637623e-01 1.23812455e+02] [ 4.66211761e-03 -9.16852381e-01 -3.99199168e-01 6.97972973e+00] [-9.99694788e-01 -1.39584372e-02 2.03836389e-02 -5.95947335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.73864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.84, Y:6.71, Z:-59.65 [[-3.11634881e-02 9.78013768e-02 -9.94717914e-01 1.23839077e+02] [ 2.10952465e-02 -9.94915248e-01 -9.84816713e-02 6.70690448e+00] [-9.99291663e-01 -2.40528519e-02 2.89418854e-02 -5.96511834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.76864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:123.70, Y:6.29, Z:-59.68 [[-2.55532467e-04 -3.98291166e-01 -9.17259005e-01 1.23704704e+02] [ 2.22780051e-02 -9.17033652e-01 3.98187107e-01 6.28575942e+00] [-9.99751782e-01 -2.03329510e-02 9.10746449e-03 -5.96775820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.79864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:123.25, Y:5.93, Z:-59.73 [[-1.77824980e-02 -8.79767710e-01 -4.75071111e-01 1.23253169e+02] [ 4.22440725e-02 -4.75383049e-01 8.78764129e-01 5.92819250e+00] [-9.98949058e-01 -4.44231704e-03 4.56184690e-02 -5.97266089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.82864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:122.23, Y:6.27, Z:-59.78 [[ 3.56383768e-02 -6.86619846e-01 7.26142612e-01 1.22225264e+02] [-5.18452800e-03 7.26467382e-01 6.87181391e-01 6.27020296e+00] [-9.99351303e-01 -2.82547360e-02 2.23303185e-02 -5.97845715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.85864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:122.08, Y:6.81, Z:-59.86 [[ 4.17503920e-02 -1.11990451e-01 9.92831831e-01 1.22075327e+02] [-2.12422647e-02 9.93374157e-01 1.12944901e-01 6.80505612e+00] [-9.98902233e-01 -2.58054904e-02 3.90948296e-02 -5.98644164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.88864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:122.18, Y:7.18, Z:-59.94 [[ 3.84549277e-02 3.25891100e-01 9.44624904e-01 1.22180370e+02] [-3.62590278e-02 9.45156660e-01 -3.24598477e-01 7.17792156e+00] [-9.98602274e-01 -2.17687697e-02 4.81624255e-02 -5.99444809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.91864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:122.39, Y:7.43, Z:-60.03 [[ 2.89312504e-02 6.48206793e-01 7.60914540e-01 1.22388047e+02] [-4.79569947e-02 7.61256693e-01 -6.46674860e-01 7.43199112e+00] [-9.98430323e-01 -1.77820622e-02 5.31101577e-02 -6.00316697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.94864 meters Centerline goodness : 0.771077 Centerline is valid? [True, False] Translation: X:122.37, Y:7.40, Z:-60.10 [[ 4.61571403e-02 6.17261238e-01 7.85403133e-01 1.22369172e+02] [-7.69869433e-02 7.86100762e-01 -6.13285091e-01 7.40212469e+00] [-9.95963116e-01 -3.21583005e-02 8.38052191e-02 -6.01019556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.97864 meters Centerline goodness : 0.999264 Centerline is valid? [False, True] Translation: X:122.35, Y:7.37, Z:-60.17 [[ 6.48687028e-02 5.87780818e-01 8.06415378e-01 1.22354468e+02] [-1.05439365e-01 8.07630920e-01 -5.80185176e-01 7.37048794e+00] [-9.92307710e-01 -4.73920659e-02 1.14365206e-01 -6.01733658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.00864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:122.65, Y:7.55, Z:-60.29 [[ 3.40590796e-02 8.49316374e-01 5.26784278e-01 1.22650538e+02] [-1.11957840e-01 5.27014744e-01 -8.42449346e-01 7.55163534e+00] [-9.93129106e-01 -3.02845808e-02 1.13037264e-01 -6.02924788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.03864000000002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:122.88, Y:7.60, Z:-60.40 [[ 1.53019094e-02 9.55169833e-01 2.95662715e-01 1.22877278e+02] [-1.18319456e-01 2.95349499e-01 -9.48034377e-01 7.60127208e+00] [-9.92857673e-01 -2.04759154e-02 1.17534586e-01 -6.03956733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.06864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:122.93, Y:7.60, Z:-60.46 [[ 9.31259340e-03 9.70370105e-01 2.41443853e-01 1.22929952e+02] [-1.23189229e-01 2.40728370e-01 -9.62743094e-01 7.59937860e+00] [-9.92339503e-01 -2.07776471e-02 1.21780950e-01 -6.04561869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.09864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:123.89, Y:6.80, Z:-60.41 [[ 2.41731643e-02 2.53893135e-01 -9.66930160e-01 1.23888076e+02] [-8.81305065e-02 -9.62905893e-01 -2.55039712e-01 6.79763157e+00] [-9.95815581e-01 9.13811616e-02 -9.00751782e-04 -6.04111934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.12864000000002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:122.15, Y:6.87, Z:-60.51 [[-8.82899134e-03 3.62059344e-02 9.99305348e-01 1.22153175e+02] [-1.59593471e-01 9.86483500e-01 -3.71514136e-02 6.87226309e+00] [-9.87143340e-01 -1.59810619e-01 -2.93142353e-03 -6.05148113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.15864000000002 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:122.96, Y:7.58, Z:-60.62 [[-2.45013957e-02 9.76513813e-01 2.14057129e-01 1.22959307e+02] [-1.24997400e-01 2.09448578e-01 -9.69797372e-01 7.57916705e+00] [-9.91854491e-01 -5.05179737e-02 1.16929905e-01 -6.06184612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.18864000000002 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:123.13, Y:7.57, Z:-60.65 [[-2.85830776e-02 9.99399542e-01 1.95847760e-02 1.23132754e+02] [-1.15382023e-01 1.61631294e-02 -9.93189681e-01 7.56961694e+00] [-9.92909863e-01 -3.06481488e-02 1.14850749e-01 -6.06493040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.21864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:123.89, Y:6.70, Z:-60.66 [[-3.72733709e-02 1.82901840e-01 -9.82424355e-01 1.23892748e+02] [-7.77930917e-02 -9.80655158e-01 -1.79620977e-01 6.69936555e+00] [-9.96272518e-01 6.97307486e-02 5.07808230e-02 -6.06589467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.24864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:123.38, Y:5.87, Z:-60.63 [[ 5.00318213e-02 -8.22562168e-01 -5.66470032e-01 1.23382156e+02] [-7.13759309e-02 -5.68674915e-01 8.19459772e-01 5.87071589e+00] [-9.96193903e-01 -5.66739073e-04 -8.71629822e-02 -6.06290411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.27864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:122.20, Y:6.28, Z:-60.92 [[ 8.79269784e-02 -5.77410810e-01 8.11705367e-01 1.22201396e+02] [-1.77313510e-01 7.92775673e-01 5.83152340e-01 6.28251602e+00] [-9.80218734e-01 -1.95201151e-01 -3.26763678e-02 -6.09156998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.30864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:122.36, Y:6.05, Z:-61.03 [[ 1.74519492e-01 -8.11741423e-01 5.57331867e-01 1.22363251e+02] [-1.85224933e-01 5.28849248e-01 8.28257326e-01 6.04684085e+00] [-9.67075318e-01 -2.47778805e-01 -5.80602486e-02 -6.10349916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.33864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:122.39, Y:7.30, Z:-61.35 [[ 1.63436531e-01 6.20222273e-01 7.67211074e-01 1.22393845e+02] [-2.18378157e-01 7.81120278e-01 -5.84946230e-01 7.29811752e+00] [-9.62080808e-01 -7.19405580e-02 2.63106586e-01 -6.13485631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.36864 meters Centerline goodness : 0.863355 Centerline is valid? [True, False] Translation: X:122.38, Y:7.26, Z:-61.40 [[ 1.78931538e-01 5.90203024e-01 7.87174628e-01 1.22384042e+02] [-2.42793986e-01 8.01830600e-01 -5.46002536e-01 7.25862576e+00] [-9.53433052e-01 -9.34241923e-02 2.86770527e-01 -6.14037886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.39864 meters Centerline goodness : 0.999411 Centerline is valid? [False, True] Translation: X:122.38, Y:7.22, Z:-61.47 [[ 1.97776765e-01 5.63553370e-01 8.02054830e-01 1.22380487e+02] [-2.67573878e-01 8.18181415e-01 -5.08904108e-01 7.21877940e+00] [-9.43020981e-01 -1.13959513e-01 3.12609434e-01 -6.14657544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.42864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:122.58, Y:7.32, Z:-61.60 [[ 2.27551129e-01 7.40226974e-01 6.32680418e-01 1.22582748e+02] [-2.75179055e-01 6.72124557e-01 -6.87404588e-01 7.32406982e+00] [-9.34075463e-01 -1.76807091e-02 3.56637661e-01 -6.15952510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.45864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:122.52, Y:7.23, Z:-61.68 [[ 0.18290609 0.64856504 0.73885639 122.51569774] [ -0.32042046 0.74982507 -0.57887226 7.23413919] [ -0.92944935 -0.13086545 0.34496108 -61.67518692] [ 0. 0. 0. 1. ]] SLAMing on 141.48864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:122.77, Y:7.35, Z:-61.76 [[ 1.70242335e-01 8.49525746e-01 4.99323097e-01 1.22774783e+02] [-3.28106145e-01 5.26674683e-01 -7.84193940e-01 7.35481951e+00] [-9.29173775e-01 -3.03279693e-02 3.68396945e-01 -6.17628992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.51864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:123.95, Y:6.85, Z:-61.57 [[ 1.47862344e-01 5.13139837e-01 -8.45472787e-01 1.23951809e+02] [-2.33083562e-01 -8.12709423e-01 -5.34018208e-01 6.84524773e+00] [-9.61149718e-01 2.76026993e-01 -5.64659221e-04 -6.15698966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.54864 meters Centerline goodness : 0.927650 Centerline is valid? [True, False] Translation: X:123.23, Y:7.12, Z:-62.39 [[-2.05555454e-02 -9.75696205e-01 -2.18161372e-01 1.23229305e+02] [ 4.87682978e-01 1.80702012e-01 -8.54114803e-01 7.12475973e+00] [ 8.72778771e-01 -1.23950383e-01 4.72116002e-01 -6.23866518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.57864 meters Centerline goodness : 0.999362 Centerline is valid? [False, True] Translation: X:123.34, Y:7.06, Z:-62.45 [[-8.73291771e-03 -9.37390389e-01 -3.48170929e-01 1.23343918e+02] [ 4.92596749e-01 2.98973499e-01 -8.17290211e-01 7.05506085e+00] [ 8.70213870e-01 -1.78645196e-01 4.59144547e-01 -6.24486219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.60864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:123.02, Y:7.05, Z:-62.46 [[-9.77341407e-03 -9.99887849e-01 1.13476653e-02 1.23023482e+02] [ 5.05480507e-01 -1.47316924e-02 -8.62712255e-01 7.05369536e+00] [ 8.62782671e-01 -2.69562046e-03 5.05567796e-01 -6.24573162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.63864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:123.01, Y:7.05, Z:-62.46 [[-1.00550436e-02 -9.99494910e-01 3.01466568e-02 1.23006653e+02] [ 4.97807121e-01 -3.11501629e-02 -8.66728180e-01 7.05242839e+00] [ 8.67229477e-01 6.29223078e-03 4.97868900e-01 -6.24563067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.66864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:122.99, Y:7.04, Z:-62.46 [[-8.51856918e-03 -9.98541084e-01 5.33210883e-02 1.22985202e+02] [ 5.10940880e-01 -5.01831792e-02 -8.58149792e-01 7.04243801e+00] [ 8.59573645e-01 1.99337154e-02 5.10622949e-01 -6.24612455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.69864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:123.04, Y:7.06, Z:-62.45 [[-6.58304450e-03 -9.99931149e-01 -9.71389688e-03 1.23037419e+02] [ 4.94616334e-01 5.18658426e-03 -8.69095956e-01 7.06254835e+00] [ 8.69086500e-01 -1.05259494e-02 4.94548136e-01 -6.24512001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.72864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:122.98, Y:7.04, Z:-62.46 [[-6.41163505e-03 -9.98550899e-01 5.34321360e-02 1.22982283e+02] [ 5.10042131e-01 -4.92258327e-02 -8.58739682e-01 7.04478437e+00] [ 8.60125523e-01 2.17467151e-02 5.09618647e-01 -6.24587262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.75864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:123.03, Y:7.06, Z:-62.45 [[-7.38087851e-03 -9.99972759e-01 -6.62921687e-05 1.23027217e+02] [ 4.92629340e-01 -3.57844523e-03 -8.70231882e-01 7.05909866e+00] [ 8.70207938e-01 -6.45573326e-03 4.92642332e-01 -6.24481291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.78864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:122.99, Y:7.04, Z:-62.46 [[-6.83630135e-03 -9.99187791e-01 3.97117544e-02 1.22992286e+02] [ 5.10790275e-01 -3.76301672e-02 -8.58881403e-01 7.04362939e+00] [ 8.59678172e-01 1.44128059e-02 5.10632658e-01 -6.24611143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.81864000000002 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:123.00, Y:7.04, Z:-62.46 [[-7.81545300e-03 -9.99591712e-01 2.74832366e-02 1.23001639e+02] [ 5.11751118e-01 -2.76104193e-02 -8.58689966e-01 7.04290402e+00] [ 8.59098197e-01 7.35352596e-03 5.11757964e-01 -6.24635693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.84864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.00, Y:7.04, Z:-62.47 [[-1.02304434e-02 -9.99522539e-01 2.91553087e-02 1.22998617e+02] [ 5.11326123e-01 -3.02856758e-02 -8.58852941e-01 7.04157420e+00] [ 8.59325860e-01 6.12142450e-03 5.11391820e-01 -6.24679053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.87864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:123.00, Y:7.04, Z:-62.47 [[-1.12933464e-02 -9.99460499e-01 3.08410652e-02 1.22995735e+02] [ 5.10482336e-01 -3.22836430e-02 -8.59281997e-01 7.03941814e+00] [ 8.59814076e-01 6.03964977e-03 5.10571521e-01 -6.24691462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.99, Y:7.04, Z:-62.47 [[-1.28221013e-02 -9.99389964e-01 3.24852871e-02 1.22991504e+02] [ 5.11512521e-01 -3.44710456e-02 -8.58584118e-01 7.03576157e+00] [ 8.59180153e-01 5.60777853e-03 5.11642471e-01 -6.24746902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.99, Y:7.03, Z:-62.48 [[-1.42466398e-02 -9.99315366e-01 3.41442876e-02 1.22989131e+02] [ 5.12031993e-01 -3.66219350e-02 -8.58185337e-01 7.03320539e+00] [ 8.58848224e-01 5.25671028e-03 5.12203178e-01 -6.24780926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.96864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.04, Y:7.04, Z:-62.50 [[-1.44086922e-02 -9.99545081e-01 -2.64956660e-02 1.23040816e+02] [ 5.21959313e-01 1.50825952e-02 -8.52837025e-01 7.03694799e+00] [ 8.52848677e-01 -2.61179258e-02 5.21504543e-01 -6.24967703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.93, Y:7.02, Z:-62.47 [[-1.63975579e-02 -9.94911304e-01 9.94113541e-02 1.22929321e+02] [ 5.09744455e-01 -9.38518879e-02 -8.55191449e-01 7.02030671e+00] [ 8.60169583e-01 3.66513352e-02 5.08689462e-01 -6.24720690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.05, Y:7.04, Z:-62.50 [[-1.43697341e-02 -9.99147095e-01 -3.87116746e-02 1.23046279e+02] [ 5.18414417e-01 2.56609966e-02 -8.54744410e-01 7.03983740e+00] [ 8.55008774e-01 -3.23511401e-02 5.17603517e-01 -6.24990358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.97, Y:7.03, Z:-62.49 [[-1.72532082e-02 -9.98810886e-01 4.55976073e-02 1.22972830e+02] [ 5.18532270e-01 -4.79306385e-02 -8.53713617e-01 7.02622639e+00] [ 8.54883976e-01 8.91453208e-03 5.18742633e-01 -6.24946776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.95, Y:7.03, Z:-62.48 [[-1.84712805e-02 -9.97515437e-01 6.79835652e-02 1.22953944e+02] [ 4.90047273e-01 -6.83003003e-02 -8.69015960e-01 7.02704536e+00] [ 8.71500133e-01 1.72633232e-02 4.90091313e-01 -6.24782587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.97, Y:7.03, Z:-62.48 [[-1.99563257e-02 -9.98369600e-01 5.34779164e-02 1.22966098e+02] [ 4.89849876e-01 -5.63923189e-02 -8.69981037e-01 7.02832404e+00] [ 8.71578364e-01 8.83452577e-03 4.90176608e-01 -6.24800053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.98, Y:7.03, Z:-62.48 [[-2.24182097e-02 -9.99095751e-01 3.61262147e-02 1.22980901e+02] [ 4.89480485e-01 -4.24768633e-02 -8.70979088e-01 7.03008504e+00] [ 8.71726034e-01 -1.84271472e-03 4.89990128e-01 -6.24836035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.17864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:123.00, Y:7.03, Z:-62.49 [[-2.60738505e-02 -9.99488925e-01 1.84944308e-02 1.22995362e+02] [ 4.98571625e-01 -2.90373949e-02 -8.66362028e-01 7.03137288e+00] [ 8.66456282e-01 -1.33685956e-02 4.99073934e-01 -6.24899794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.94, Y:7.01, Z:-62.49 [[-3.02725494e-02 -9.95823534e-01 8.61339785e-02 1.22938291e+02] [ 5.09765072e-01 -8.95058101e-02 -8.55644950e-01 7.01191207e+00] [ 8.59780870e-01 1.80055397e-02 5.10345625e-01 -6.24943435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.97, Y:7.02, Z:-62.50 [[-3.11029432e-02 -9.98549988e-01 4.39377883e-02 1.22974201e+02] [ 5.09528899e-01 -5.36584960e-02 -8.58778823e-01 7.01802765e+00] [ 8.59891219e-01 -4.32297613e-03 5.10459012e-01 -6.25013693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.26864 meters Centerline goodness : 0.882624 Centerline is valid? [True, False] Translation: X:123.55, Y:4.67, Z:-61.57 [[-1.22439719e-02 9.90094434e-01 -1.39868139e-01 1.23546747e+02] [ 2.24165942e-01 1.39036212e-01 9.64582066e-01 4.67187071e+00] [ 9.74474071e-01 -1.95433575e-02 -2.23647808e-01 -6.15670581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.29864 meters Centerline goodness : 0.999755 Centerline is valid? [False, True] Translation: X:122.48, Y:5.21, Z:-61.46 [[-4.19781617e-02 -5.64976292e-01 8.24038605e-01 1.22484373e+02] [-3.26638469e-01 7.87204960e-01 5.23082844e-01 5.20665039e+00] [-9.44216683e-01 -2.47204652e-01 -2.17588408e-01 -6.14648860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.43, Y:6.35, Z:-61.93 [[-3.70946116e-02 9.98915681e-01 2.81327409e-02 1.23425003e+02] [-3.28481420e-01 1.43993020e-02 -9.44400665e-01 6.34678167e+00] [-9.43781726e-01 -4.42732585e-02 3.27591105e-01 -6.19268067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.17, Y:5.40, Z:-61.72 [[-2.70863811e-02 8.78731362e-02 -9.95763345e-01 1.24168007e+02] [-2.74909562e-01 -9.58374140e-01 -7.70956639e-02 5.40351519e+00] [-9.61088477e-01 2.71656622e-01 5.01160525e-02 -6.17151815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.42, Y:5.64, Z:-61.78 [[-7.24110009e-02 -4.90284376e-03 9.97362827e-01 1.22415614e+02] [-3.18034796e-01 9.47899883e-01 -1.84304170e-02 5.63633579e+00] [-9.45309746e-01 -3.18530648e-01 -7.01976542e-02 -6.17772668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.16, Y:5.35, Z:-61.86 [[-3.12855620e-02 7.35308507e-02 -9.96802101e-01 1.24158993e+02] [-2.76390097e-01 -9.59038986e-01 -6.20704280e-02 5.34571823e+00] [-9.60536167e-01 2.73564321e-01 5.03272725e-02 -6.18616490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.41, Y:5.61, Z:-61.94 [[-6.18346491e-02 2.64978444e-02 9.97734604e-01 1.22413112e+02] [-3.17065002e-01 9.47344644e-01 -4.48097059e-02 5.61061217e+00] [-9.46385894e-01 -3.19117517e-01 -5.01771845e-02 -6.19429663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.43, Y:6.24, Z:-62.25 [[-5.45108172e-02 9.98479689e-01 -8.17809372e-03 1.23430036e+02] [-3.26230078e-01 -2.55497609e-02 -9.44945049e-01 6.24146662e+00] [-9.43717387e-01 -4.88417866e-02 3.27126845e-01 -6.22524713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.50864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:124.15, Y:5.43, Z:-62.13 [[-7.83681982e-02 2.43955010e-01 -9.66614907e-01 1.24149806e+02] [-2.77670728e-01 -9.36569721e-01 -2.13860059e-01 5.43310041e+00] [-9.57474486e-01 2.51640838e-01 1.41136447e-01 -6.21283411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.62, Y:4.57, Z:-61.91 [[-1.52259948e-02 -8.32600841e-01 -5.53664166e-01 1.23620565e+02] [-2.66495109e-01 -5.30319554e-01 8.04823911e-01 4.57479190e+00] [-9.63715999e-01 1.59803037e-01 -2.13809409e-01 -6.19067245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.43, Y:4.97, Z:-62.23 [[ 2.84300870e-02 -5.60927843e-01 8.27376387e-01 1.22432282e+02] [-3.38416181e-01 7.73431240e-01 5.35983774e-01 4.97026339e+00] [-9.40566966e-01 -2.95235623e-01 -1.67838341e-01 -6.22277534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.59864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.24, Y:6.14, Z:-62.69 [[ 6.30306495e-02 9.85295776e-01 1.58806083e-01 1.23237357e+02] [-3.18321153e-01 1.70659290e-01 -9.32495067e-01 6.13764749e+00] [-9.45885184e-01 8.22443430e-03 3.24397254e-01 -6.26941274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.26, Y:6.12, Z:-62.75 [[ 5.88591712e-02 9.89378673e-01 1.32911395e-01 1.23263754e+02] [-3.18431369e-01 1.44794870e-01 -9.36822240e-01 6.12007040e+00] [-9.46116833e-01 1.28174233e-02 3.23571711e-01 -6.27460674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.65864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.21, Y:6.10, Z:-62.79 [[ 6.12968008e-02 9.78824746e-01 1.95306987e-01 1.23207024e+02] [-3.63518321e-01 2.04128819e-01 -9.08947664e-01 6.09648234e+00] [-9.29568251e-01 -1.52820839e-02 3.68333172e-01 -6.27938268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.68864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.33, Y:6.05, Z:-62.91 [[ 2.91165603e-02 9.96490630e-01 7.84770688e-02 1.23331436e+02] [-3.53277792e-01 8.37022767e-02 -9.31766457e-01 6.05099881e+00] [-9.35065253e-01 -5.94371361e-04 3.54475132e-01 -6.29106662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.71864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.67, Y:5.91, Z:-63.03 [[-4.39926258e-02 9.63454593e-01 -2.64234547e-01 1.23671647e+02] [-3.30233180e-01 -2.63646937e-01 -9.06331252e-01 5.91167038e+00] [-9.42873637e-01 4.73871233e-02 3.29763196e-01 -6.30275952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.20, Y:5.08, Z:-62.84 [[-1.80464140e-02 1.12683111e-01 -9.93467082e-01 1.24197061e+02] [-2.68445869e-01 -9.57691480e-01 -1.03748953e-01 5.08276125e+00] [-9.63125715e-01 2.64819838e-01 4.75322125e-02 -6.28416016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.21, Y:4.21, Z:-62.79 [[ 7.49755790e-02 -9.94218637e-01 -7.68632861e-02 1.23211297e+02] [-2.75767865e-01 -9.47466844e-02 9.56543334e-01 4.21238806e+00] [-9.58295751e-01 -5.05209660e-02 -2.81277239e-01 -6.27943589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.14, Y:5.89, Z:-63.30 [[ 7.36068155e-02 9.53732984e-01 2.91505458e-01 1.23143897e+02] [-2.31941601e-01 3.00654559e-01 -9.25099957e-01 5.88842021e+00] [-9.69940787e-01 4.81419140e-04 2.43340580e-01 -6.32976415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:5.88, Z:-63.35 [[ 6.97101119e-02 9.58120474e-01 2.77751071e-01 1.23163662e+02] [-2.32657417e-01 2.86365375e-01 -9.29443596e-01 5.87691896e+00] [-9.70057228e-01 1.70770330e-04 2.42876397e-01 -6.33504373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.86864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.13, Y:5.86, Z:-63.40 [[ 8.09362462e-02 9.44959701e-01 3.17018118e-01 1.23132231e+02] [-2.77144877e-01 3.26854906e-01 -9.03524536e-01 5.85512684e+00] [-9.57413203e-01 -1.47320631e-02 2.88345149e-01 -6.34008257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.15, Y:5.83, Z:-63.48 [[ 7.34219442e-02 9.48613823e-01 3.07800313e-01 1.23153950e+02] [-2.90058457e-01 3.15603107e-01 -9.03471511e-01 5.83431071e+00] [-9.54188299e-01 -2.29454491e-02 2.98325656e-01 -6.34794040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.92864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.22, Y:5.82, Z:-63.55 [[ 5.45631506e-02 9.68237492e-01 2.44006191e-01 1.23224959e+02] [-2.70779638e-01 2.49561122e-01 -9.29729872e-01 5.82402380e+00] [-9.61093778e-01 -1.53429170e-02 2.75795839e-01 -6.35474364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.14, Y:5.26, Z:-63.53 [[-9.91180420e-03 5.50491277e-01 -8.34782073e-01 1.24138839e+02] [-1.95419667e-01 -8.19792241e-01 -5.38286016e-01 5.25762568e+00] [-9.80669623e-01 1.57797449e-01 1.15702442e-01 -6.35313802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.68, Y:4.05, Z:-63.50 [[ 8.36644793e-02 -8.19478353e-01 -5.66970444e-01 1.23678920e+02] [-1.55941168e-01 -5.72722235e-01 8.04780463e-01 4.05305601e+00] [-9.84216748e-01 2.10824946e-02 -1.75706919e-01 -6.34970381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.01864 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:123.81, Y:4.10, Z:-63.66 [[ 1.00919890e-01 -6.66141488e-01 -7.38965962e-01 1.23813635e+02] [-7.51107499e-02 -7.45739730e-01 6.61989902e-01 4.10446872e+00] [-9.92055216e-01 -1.13036602e-02 -1.25294358e-01 -6.36587192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.04864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.80, Y:4.03, Z:-63.95 [[ 1.97233776e-01 -9.15025735e-01 3.51890242e-01 1.22802985e+02] [-9.05652304e-02 3.40399985e-01 9.35909071e-01 4.03392856e+00] [-9.76164318e-01 -2.16461901e-01 -1.57311421e-02 -6.39465702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.07864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.43, Y:5.00, Z:-64.22 [[ 2.26942707e-01 9.56174464e-02 9.69202926e-01 1.22433554e+02] [-1.30727739e-01 9.89153462e-01 -6.69752634e-02 4.99723524e+00] [-9.65094434e-01 -1.11502159e-01 2.36981017e-01 -6.42213746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.10864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:122.64, Y:5.34, Z:-64.31 [[ 2.00992690e-01 5.10826907e-01 8.35857530e-01 1.22635680e+02] [-1.46623164e-01 8.59346141e-01 -4.89924338e-01 5.33662743e+00] [-9.68557477e-01 -2.40848655e-02 2.47621350e-01 -6.43145132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.13864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.75, Y:5.41, Z:-64.43 [[ 1.91027523e-01 6.17546757e-01 7.62983937e-01 1.22746143e+02] [-1.59893352e-01 7.86493077e-01 -5.96542333e-01 5.41021847e+00] [-9.68474368e-01 -8.04005477e-03 2.48983445e-01 -6.44253095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.16864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.97, Y:5.38, Z:-64.41 [[ 1.20704252e-01 8.51276492e-01 -5.10645492e-01 1.23966998e+02] [-1.10434906e-01 -4.99698208e-01 -8.59130859e-01 5.38470203e+00] [-9.86526541e-01 1.60093834e-01 3.36949408e-02 -6.44102228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.19864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:122.69, Y:4.18, Z:-64.56 [[ 1.41195949e-01 -7.44913228e-01 6.52049067e-01 1.22685764e+02] [-1.40818217e-01 6.36837946e-01 7.58028799e-01 4.17756587e+00] [-9.79915269e-01 -1.98850983e-01 -1.49784145e-02 -6.45619382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:122.63, Y:5.14, Z:-64.82 [[ 1.57864034e-01 3.33038892e-01 9.29604240e-01 1.22627012e+02] [-1.68103592e-01 9.36730798e-01 -3.07044938e-01 5.14007375e+00] [-9.73046828e-01 -1.07798460e-01 2.03861136e-01 -6.48205545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.13, Y:5.52, Z:-64.98 [[ 9.33535683e-02 8.55493623e-01 5.09328747e-01 1.23125333e+02] [-1.67994245e-01 5.17762548e-01 -8.38868212e-01 5.51783114e+00] [-9.81357756e-01 -7.25295741e-03 1.92052987e-01 -6.49845651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.16, Y:5.52, Z:-65.03 [[ 1.27683296e-01 8.75638838e-01 4.65782782e-01 1.23160922e+02] [-1.95660292e-01 4.82635911e-01 -8.53685907e-01 5.51977169e+00] [-9.72324033e-01 1.78662358e-02 2.32952294e-01 -6.50255692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.24, Y:5.52, Z:-65.14 [[ 7.00184906e-02 9.05592348e-01 4.18329906e-01 1.23239346e+02] [-1.73103903e-01 4.24027170e-01 -8.88952191e-01 5.51857775e+00] [-9.82411548e-01 -1.01714488e-02 1.86451312e-01 -6.51420254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.37, Y:5.53, Z:-65.19 [[ 6.84304084e-02 9.55378822e-01 2.87347499e-01 1.23366993e+02] [-1.73919930e-01 2.95036171e-01 -9.39524090e-01 5.53128746e+00] [-9.82379324e-01 1.43165602e-02 1.86348864e-01 -6.51940728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.37864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:123.34, Y:5.51, Z:-65.25 [[ 7.97212315e-02 9.44735990e-01 3.17991249e-01 1.23343868e+02] [-2.16100428e-01 3.27799839e-01 -9.19699881e-01 5.51192186e+00] [-9.73111058e-01 4.60156211e-03 2.30290459e-01 -6.52478896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.40864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.36, Y:4.81, Z:-65.24 [[ 5.12147760e-02 4.23452485e-01 -9.04469480e-01 1.24357940e+02] [-1.44019125e-01 -8.93059917e-01 -4.26265735e-01 4.80534355e+00] [-9.88248723e-01 1.52092007e-01 1.52473925e-02 -6.52355630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.43864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:124.39, Y:4.51, Z:-65.37 [[-1.40672248e-02 1.91203992e-01 -9.81449513e-01 1.24392382e+02] [-9.49801788e-02 -9.77363863e-01 -1.89046672e-01 4.51354127e+00] [-9.95379766e-01 9.05588882e-02 3.19093865e-02 -6.53731525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.46864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.54, Y:3.60, Z:-65.51 [[ 7.32976650e-02 -9.64283593e-01 -2.54528201e-01 1.23537333e+02] [-7.37397430e-02 -2.59756183e-01 9.62854701e-01 3.59548806e+00] [-9.94580265e-01 -5.18061572e-02 -9.01455460e-02 -6.55094776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.49864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:122.73, Y:4.94, Z:-65.70 [[ 1.17516210e-01 3.67322434e-01 9.22639783e-01 1.22725504e+02] [-3.83901285e-02 9.30063276e-01 -3.65388150e-01 4.93634136e+00] [-9.92328644e-01 7.51877073e-03 1.23399067e-01 -6.56971949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.52864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.95, Y:5.23, Z:-65.80 [[ 3.81353381e-02 9.54441726e-01 -2.95950480e-01 1.23945077e+02] [-1.37148200e-02 -2.95638102e-01 -9.55201558e-01 5.23282041e+00] [-9.99178462e-01 4.04858420e-02 1.81573752e-03 -6.57961602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.55864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:123.29, Y:5.29, Z:-65.86 [[ 3.62195856e-02 8.90476455e-01 4.53585521e-01 1.23286976e+02] [-4.07635147e-02 4.54822041e-01 -8.89648946e-01 5.29105912e+00] [-9.98512132e-01 1.37329760e-02 5.27724159e-02 -6.58618465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.58864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:124.42, Y:4.64, Z:-66.02 [[ 3.08201794e-03 4.45565406e-01 -8.95244084e-01 1.24415893e+02] [ 2.52529092e-02 -8.94997512e-01 -4.45355750e-01 4.64433599e+00] [-9.99676343e-01 -2.12349231e-02 -1.40102211e-02 -6.60164741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.61864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:124.30, Y:4.90, Z:-66.09 [[-3.83044140e-02 7.07945080e-01 -7.05228003e-01 1.24298156e+02] [ 8.33299116e-02 -7.01024738e-01 -7.08251680e-01 4.89813564e+00] [-9.95785568e-01 -8.58957527e-02 -3.21406591e-02 -6.60887722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.64864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:124.24, Y:3.82, Z:-66.21 [[-6.05540448e-02 -5.02637417e-01 -8.62373953e-01 1.24243132e+02] [ 6.22237210e-02 -8.64179919e-01 4.99320815e-01 3.82274627e+00] [-9.96223577e-01 -2.34242212e-02 8.36055600e-02 -6.62066880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.67864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:124.00, Y:3.62, Z:-66.23 [[-6.16968902e-02 -7.73999424e-01 -6.30173298e-01 1.23998233e+02] [ 6.10935123e-02 -6.33120788e-01 7.71638290e-01 3.62206290e+00] [-9.96223407e-01 9.10818273e-03 8.63479270e-02 -6.62308062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.70864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:122.91, Y:3.81, Z:-66.26 [[-2.70889085e-02 -7.99591306e-01 5.99933274e-01 1.22906500e+02] [ 5.48743004e-02 5.98059127e-01 7.99571192e-01 3.80620257e+00] [-9.98125745e-01 5.45804296e-02 2.76762446e-02 -6.62600078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.73864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:122.79, Y:4.87, Z:-66.30 [[-3.89477346e-02 3.49524192e-01 9.36117468e-01 1.22794449e+02] [ 1.37900604e-02 9.36927083e-01 -3.49252739e-01 4.87462443e+00] [-9.99146090e-01 -6.93486523e-04 -4.13111471e-02 -6.62982482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.76864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:123.27, Y:5.26, Z:-66.36 [[-2.43737254e-02 8.73995994e-01 4.85321464e-01 1.23267103e+02] [ 6.66294437e-03 4.85596928e-01 -8.74157440e-01 5.26186109e+00] [-9.99680712e-01 -1.80728035e-02 -1.76591929e-02 -6.63598426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.79864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:123.35, Y:5.29, Z:-66.46 [[-8.19034187e-02 9.09753831e-01 4.06988695e-01 1.23345389e+02] [-2.25847098e-02 4.06561618e-01 -9.13344175e-01 5.28543165e+00] [-9.96384344e-01 -8.39977320e-02 -1.27522601e-02 -6.64580695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.82864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:124.41, Y:4.67, Z:-66.58 [[-8.06022347e-02 4.35849730e-01 -8.96402974e-01 1.24406430e+02] [-6.19447793e-02 -8.99781062e-01 -4.31922312e-01 4.67026261e+00] [-9.94819644e-01 2.07135808e-02 9.95229798e-02 -6.65753170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.85864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:124.42, Y:4.59, Z:-66.60 [[-8.47241241e-02 3.49456104e-01 -9.33114277e-01 1.24422173e+02] [-5.83520507e-02 -9.36614339e-01 -3.45468694e-01 4.58920845e+00] [-9.94694356e-01 2.51795991e-02 9.97453097e-02 -6.65985894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.88864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:123.60, Y:5.30, Z:-66.63 [[-1.50397946e-01 9.81966025e-01 1.14556463e-01 1.23604243e+02] [-3.65924424e-02 1.10265823e-01 -9.93228293e-01 5.30412844e+00] [-9.87948101e-01 -1.53571396e-01 1.93487818e-02 -6.66306369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.91864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:124.41, Y:4.61, Z:-66.76 [[-1.54147058e-01 3.69958715e-01 -9.16170963e-01 1.24410267e+02] [-5.62267664e-02 -9.29035498e-01 -3.65693306e-01 4.60877961e+00] [-9.86446773e-01 -4.85721649e-03 1.64009671e-01 -6.67604236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.94864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:123.69, Y:5.29, Z:-66.75 [[-2.15813053e-01 9.76429567e-01 -3.16665310e-03 1.23691155e+02] [-1.62507824e-02 -6.83438128e-03 -9.99844590e-01 5.29037429e+00] [-9.76299461e-01 -2.15728053e-01 1.73426931e-02 -6.67450442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.97864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:124.40, Y:4.46, Z:-66.96 [[-2.18452745e-01 2.03110254e-01 -9.54476099e-01 1.24399140e+02] [-3.37561268e-02 -9.79087077e-01 -2.00621584e-01 4.45884894e+00] [-9.75263514e-01 -1.16069194e-02 2.20740475e-01 -6.69557661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.00864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:124.39, Y:4.35, Z:-66.99 [[-2.16171654e-01 7.99964424e-02 -9.73072652e-01 1.24388793e+02] [-2.34889940e-02 -9.96775427e-01 -7.67268849e-02 4.34668044e+00] [-9.76072786e-01 6.27032011e-03 2.17353628e-01 -6.69906979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.03864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:123.52, Y:3.53, Z:-66.88 [[-2.02357529e-01 -9.63743745e-01 -1.73923617e-01 1.23519886e+02] [-7.19127687e-03 -1.76130694e-01 9.84340522e-01 3.53134072e+00] [-9.79285309e-01 2.00439449e-01 2.87108239e-02 -6.68816520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.06864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:123.48, Y:5.30, Z:-66.92 [[-2.17844270e-01 9.63367269e-01 1.56420518e-01 1.23483221e+02] [ 4.41653569e-02 1.69835937e-01 -9.84482187e-01 5.29755671e+00] [-9.74983741e-01 -2.07555435e-01 -7.95452450e-02 -6.69215021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.09864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:124.34, Y:4.55, Z:-67.18 [[-2.17667916e-01 2.89254041e-01 -9.32176366e-01 1.24339591e+02] [-3.56464120e-03 -9.55305566e-01 -2.95598663e-01 4.55118769e+00] [-9.76016379e-01 -6.10194708e-02 2.08970459e-01 -6.71808989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.12864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:124.32, Y:4.22, Z:-67.20 [[-2.27363605e-01 -7.89918143e-02 -9.70600888e-01 1.24322815e+02] [-7.70448156e-03 -9.96527538e-01 8.29066178e-02 4.21909826e+00] [-9.73779458e-01 2.63279242e-02 2.25965503e-01 -6.71980004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.15864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:123.80, Y:5.23, Z:-67.15 [[-2.80334701e-01 9.29818672e-01 -2.38431735e-01 1.23798222e+02] [ 3.91942135e-02 -2.37096780e-01 -9.70695076e-01 5.22753971e+00] [-9.59101803e-01 -2.81464658e-01 3.00229434e-02 -6.71496673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.18864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:124.30, Y:4.28, Z:-67.36 [[-2.86510743e-01 -1.63149228e-02 -9.57938107e-01 1.24303372e+02] [ 1.97658140e-02 -9.99742850e-01 1.11151329e-02 4.28211151e+00] [-9.57873116e-01 -1.57498214e-02 2.86759545e-01 -6.73587950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.21864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:124.27, Y:4.16, Z:-67.37 [[-2.89530248e-01 -1.55634031e-01 -9.44431196e-01 1.24270467e+02] [ 2.16386357e-02 -9.87504450e-01 1.56098463e-01 4.16192107e+00] [-9.56924242e-01 2.47590241e-02 2.89280116e-01 -6.73734724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.24864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:123.23, Y:3.57, Z:-67.16 [[-2.65383306e-01 -9.57007729e-01 1.17080778e-01 1.23225536e+02] [ 5.18717949e-02 1.07086995e-01 9.92895610e-01 3.56889417e+00] [-9.62746601e-01 2.69571109e-01 2.12226080e-02 -6.71616253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.27864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:122.62, Y:4.09, Z:-67.06 [[-2.48488392e-01 -4.92057959e-01 8.34345543e-01 1.22624761e+02] [-5.31815616e-03 8.62042344e-01 5.06808360e-01 4.09061376e+00] [-9.68620275e-01 1.21498815e-01 -2.16824357e-01 -6.70571159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.30864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:123.05, Y:5.24, Z:-67.29 [[-2.53031241e-01 8.27838240e-01 5.00658606e-01 1.23054653e+02] [-2.36800576e-02 5.12044423e-01 -8.58632496e-01 5.24278972e+00] [-9.67168262e-01 -2.29116470e-01 -1.09959978e-01 -6.72865712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.33864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:124.23, Y:4.50, Z:-67.62 [[-2.49123734e-01 2.04209488e-01 -9.46697338e-01 1.24232463e+02] [-6.69291341e-02 -9.78809969e-01 -1.93523990e-01 4.49566105e+00] [-9.66156227e-01 1.51502139e-02 2.57512359e-01 -6.76204228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.36864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:123.46, Y:5.30, Z:-67.53 [[-3.09682563e-01 9.50750861e-01 1.30196237e-02 1.23463951e+02] [-2.29176454e-02 6.22534981e-03 -9.99717974e-01 5.30233089e+00] [-9.50563776e-01 -3.09893604e-01 1.98610888e-02 -6.75295926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.39864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:123.15, Y:3.58, Z:-67.43 [[-3.01349565e-01 -9.48250916e-01 1.00043194e-01 1.23151109e+02] [-6.51969167e-02 1.25166191e-01 9.89991306e-01 3.58103545e+00] [-9.51282188e-01 2.91810942e-01 -9.95418131e-02 -6.74300241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.42864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.49, Y:4.61, Z:-67.39 [[-2.91299119e-01 5.25578578e-02 9.55187152e-01 1.22487886e+02] [-9.60877708e-02 9.91832484e-01 -8.38776711e-02 4.61200460e+00] [-9.51794076e-01 -1.16215296e-01 -2.83869762e-01 -6.73948103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.45864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:124.11, Y:4.69, Z:-67.89 [[-2.53295130e-01 4.21026985e-01 -8.70963751e-01 1.24110695e+02] [-1.41415106e-01 -9.06767600e-01 -3.97208117e-01 4.69328554e+00] [-9.56997045e-01 2.25565492e-02 2.89219393e-01 -6.78924346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.48864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:123.31, Y:5.30, Z:-67.82 [[-3.19413577e-01 9.42766868e-01 9.57371344e-02 1.23307291e+02] [-1.09892910e-01 6.34957001e-02 -9.91913224e-01 5.29783708e+00] [-9.41221820e-01 -3.27351383e-01 8.33220057e-02 -6.78238054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.51864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.30, Y:5.29, Z:-67.91 [[-3.83875186e-01 9.19380522e-01 8.59028333e-02 1.23295364e+02] [-1.10847089e-01 4.64754332e-02 -9.92750199e-01 5.28705379e+00] [-9.16707568e-01 -3.90614246e-01 8.40698889e-02 -6.79069367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.54864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:123.21, Y:5.28, Z:-67.95 [[-4.50381116e-01 8.78480751e-01 1.59462912e-01 1.23208387e+02] [-1.10895669e-01 1.22178983e-01 -9.86293286e-01 5.28103223e+00] [-8.85922683e-01 -4.61891618e-01 4.23926040e-02 -6.79468600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.99, Y:4.62, Z:-68.30 [[-4.44887541e-01 3.68960076e-01 -8.16053637e-01 1.23994174e+02] [-1.42959647e-01 -9.28767740e-01 -3.41983954e-01 4.61592211e+00] [-8.84102718e-01 -3.54816606e-02 4.65943598e-01 -6.83048866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.60864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.15, Y:3.54, Z:-67.79 [[-4.33129387e-01 -9.00857299e-01 -2.92414189e-02 1.23147369e+02] [-1.45033443e-01 3.76385312e-02 9.88710595e-01 3.53742380e+00] [-8.89586553e-01 4.32480598e-01 -1.46956790e-01 -6.77936725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.63864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:123.19, Y:5.25, Z:-68.15 [[-4.46678164e-01 8.91604274e-01 7.42996354e-02 1.23194175e+02] [-1.11449917e-01 2.69484522e-02 -9.93404599e-01 5.25246573e+00] [-8.87726046e-01 -4.52012831e-01 8.73319373e-02 -6.81527191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.66864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:123.19, Y:5.24, Z:-68.25 [[-5.05531792e-01 8.62051701e-01 3.61174771e-02 1.23193848e+02] [-1.12117399e-01 -2.41281767e-02 -9.93401993e-01 5.23652286e+00] [-8.55492429e-01 -5.06245687e-01 1.08848555e-01 -6.82494571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.69864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.19, Y:5.22, Z:-68.35 [[-5.62714448e-01 8.26644150e-01 -3.44940206e-03 1.23192114e+02] [-1.07479794e-01 -7.72998543e-02 -9.91197673e-01 5.21936324e+00] [-8.19634396e-01 -5.57390510e-01 1.32345288e-01 -6.83452207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.72864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.99, Y:3.51, Z:-68.03 [[-5.51770393e-01 -8.33908677e-01 1.20727809e-02 1.22986775e+02] [-1.46307908e-01 1.11038256e-01 9.82987539e-01 3.51028546e+00] [-8.21062379e-01 5.40617077e-01 -1.83275056e-01 -6.80340762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.75864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:123.09, Y:5.20, Z:-68.47 [[-5.67412607e-01 8.23191892e-01 1.99510222e-02 1.23086755e+02] [-1.21523582e-01 -5.97512807e-02 -9.90788476e-01 5.20062384e+00] [-8.14416940e-01 -5.64610392e-01 1.33940858e-01 -6.84733788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.78864000000002 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:123.71, Y:4.50, Z:-68.84 [[-5.85504944e-01 2.96627232e-01 -7.54450957e-01 1.23713614e+02] [-1.33231387e-01 -9.53207539e-01 -2.71375729e-01 4.49983580e+00] [-7.99645771e-01 -5.83752832e-02 5.97627784e-01 -6.88375106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.81864000000002 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:123.72, Y:4.41, Z:-68.85 [[-5.74426669e-01 2.15802255e-01 -7.89596979e-01 1.23717558e+02] [-1.17823989e-01 -9.76374961e-01 -1.81133769e-01 4.41323179e+00] [-8.10031795e-01 -1.10146016e-02 5.86282499e-01 -6.88531903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.84864000000002 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:123.10, Y:3.47, Z:-68.39 [[-5.44590848e-01 -8.00721695e-01 -2.49530712e-01 1.23103002e+02] [-1.06815156e-01 -2.28880394e-01 9.67576502e-01 3.46609226e+00] [-8.31872184e-01 5.53586969e-01 3.91169554e-02 -6.83925111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.87864000000002 meters Centerline goodness : 0.998375 Centerline is valid? [True, True] Translation: X:123.02, Y:3.45, Z:-68.45 [[-4.89281946e-01 -8.45597177e-01 -2.13468009e-01 1.23019905e+02] [-7.55714680e-02 -2.02739200e-01 9.76312332e-01 3.45262029e+00] [-8.68845286e-01 4.93824089e-01 3.52936102e-02 -6.84457969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.90864000000002 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:122.12, Y:4.13, Z:-68.11 [[-4.71285085e-01 -3.32067322e-01 8.17081185e-01 1.22121120e+02] [-1.29004234e-01 9.42406003e-01 3.08591693e-01 4.13386856e+00] [-8.72495431e-01 4.00277300e-02 -4.86979983e-01 -6.81085379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.93864000000002 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:123.02, Y:3.46, Z:-68.57 [[-4.07779078e-01 -8.54529603e-01 -3.21706981e-01 1.23022654e+02] [-1.25675143e-01 -2.96451027e-01 9.46743126e-01 3.46149006e+00] [-9.04390392e-01 4.26492610e-01 1.34933963e-02 -6.85673842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.96864000000002 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:122.04, Y:4.02, Z:-68.31 [[-3.84472427e-01 -4.50652980e-01 8.05662984e-01 1.22038189e+02] [-1.77341391e-01 8.92546099e-01 4.14622108e-01 4.02353815e+00] [-9.05942042e-01 1.65333736e-02 -4.23078791e-01 -6.83055174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.99864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:123.52, Y:4.60, Z:-69.03 [[-3.38841228e-01 4.68965899e-01 -8.15633256e-01 1.23517241e+02] [-1.96890331e-01 -8.83066530e-01 -4.25943308e-01 4.59861061e+00] [-9.20011315e-01 1.62631485e-02 3.91554199e-01 -6.90263126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.02864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:123.48, Y:4.59, Z:-69.11 [[-3.81334466e-01 4.59928961e-01 -8.01903595e-01 1.23484057e+02] [-1.39260163e-01 -8.86131916e-01 -4.42014518e-01 4.58934567e+00] [-9.13887647e-01 -5.68821446e-02 4.01962423e-01 -6.91053230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.05864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:123.10, Y:3.49, Z:-68.88 [[-3.45054247e-01 -7.74507253e-01 -5.30166088e-01 1.23103012e+02] [-1.11887781e-01 -5.26887191e-01 8.42538434e-01 3.48778150e+00] [-9.31889849e-01 3.50040572e-01 9.51467646e-02 -6.88836416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.08864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:122.34, Y:5.06, Z:-68.84 [[-3.80545120e-01 7.91899522e-01 4.77577804e-01 1.22337049e+02] [-9.37248016e-02 4.80746696e-01 -8.71836152e-01 5.05575152e+00] [-9.20000583e-01 -3.76533878e-01 -1.08725184e-01 -6.88433525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.11864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:122.27, Y:5.03, Z:-68.90 [[ -0.43418455 0.73778799 0.51686813 122.27466533] [ -0.12925464 0.51681179 -0.8462853 5.03199805] [ -0.89150267 -0.4342516 -0.12902917 -68.90356193] [ 0. 0. 0. 1. ]] SLAMing on 145.14864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:123.08, Y:3.51, Z:-69.14 [[ -0.40625375 -0.69883625 -0.58871537 123.08454332] [ -0.12480156 -0.59580477 0.79337333 3.50628493] [ -0.90519747 0.39578349 0.15483207 -69.14427774] [ 0. 0. 0. 1. ]] SLAMing on 145.17864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:121.97, Y:3.73, Z:-68.77 [[ -0.37040694 -0.65761586 0.65600311 121.96940654] [ -0.16657988 0.74181735 0.64958307 3.72853555] [ -0.91381062 0.13133316 -0.38431986 -68.76717921] [ 0. 0. 0. 1. ]] SLAMing on 145.20864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:122.30, Y:5.06, Z:-69.22 [[-3.96435214e-01 8.38102956e-01 3.74729979e-01 1.22304884e+02] [-1.69029576e-01 3.34564078e-01 -9.27090006e-01 5.05809007e+00] [-9.02368064e-01 -4.30871574e-01 9.03120529e-03 -6.92201381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.23864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:122.26, Y:5.04, Z:-69.30 [[-4.46895304e-01 7.98067195e-01 4.04194681e-01 1.22256613e+02] [-2.12754867e-01 3.44043640e-01 -9.14532307e-01 5.03635087e+00] [-8.68918842e-01 -4.94694579e-01 1.60411929e-02 -6.92984745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.26864 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:123.24, Y:4.51, Z:-69.69 [[-4.42395269e-01 4.62545058e-01 -7.68334884e-01 1.23241976e+02] [-2.10737360e-01 -8.86359573e-01 -4.12257774e-01 4.51406431e+00] [-8.71708776e-01 -2.04640244e-02 4.89596806e-01 -6.96931272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.29864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:123.25, Y:4.46, Z:-69.72 [[-4.49858442e-01 4.07307794e-01 -7.94813024e-01 1.23246740e+02] [-1.96290698e-01 -9.13279626e-01 -3.56917758e-01 4.45963257e+00] [-8.71261926e-01 -4.54806398e-03 4.90797281e-01 -6.97175168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.32864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:123.21, Y:4.49, Z:-69.75 [[-4.49040274e-01 4.39045617e-01 -7.78204201e-01 1.23213844e+02] [-1.71794804e-01 -8.97123695e-01 -4.07008134e-01 4.49350314e+00] [-8.76840566e-01 -4.90716054e-02 4.78270425e-01 -6.97539077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.35864 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:122.86, Y:3.41, Z:-69.47 [[-4.24338507e-01 -7.42386705e-01 -5.18458110e-01 1.22862617e+02] [-1.39040199e-01 -5.12353304e-01 8.47444343e-01 3.41124739e+00] [-8.94765139e-01 4.31689786e-01 1.14189641e-01 -6.94702460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.38864 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:121.72, Y:3.86, Z:-69.07 [[-4.01790389e-01 -4.79864041e-01 7.79932680e-01 1.21721155e+02] [-2.07747742e-01 8.77263033e-01 4.32724447e-01 3.85933000e+00] [-8.91855010e-01 1.18352708e-02 -4.52166526e-01 -6.90668407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.41864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:122.17, Y:5.00, Z:-69.62 [[-4.39307868e-01 8.33531838e-01 3.35012346e-01 1.22170843e+02] [-2.19919372e-01 2.61790156e-01 -9.39734741e-01 4.99600297e+00] [-8.71001760e-01 -4.86508571e-01 6.83033228e-02 -6.96231596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.44864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:123.10, Y:4.48, Z:-69.96 [[-4.29619082e-01 4.75199468e-01 -7.67862560e-01 1.23095332e+02] [-2.05379017e-01 -8.79471122e-01 -4.29359994e-01 4.47969561e+00] [-8.79344588e-01 -2.67583892e-02 4.75433575e-01 -6.99625754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.47864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:122.79, Y:3.39, Z:-69.62 [[-3.86838383e-01 -7.43490570e-01 -5.45506955e-01 1.22789643e+02] [-1.96697056e-01 -5.11419675e-01 8.36516697e-01 3.38528261e+00] [-9.00925265e-01 4.30896379e-01 5.15943536e-02 -6.96245972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.50864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:122.70, Y:3.34, Z:-69.69 [[-3.47550095e-01 -7.98451649e-01 -4.91613563e-01 1.22698680e+02] [-1.45990910e-01 -4.71825011e-01 8.69521600e-01 3.34162226e+00] [-9.26226530e-01 3.73973427e-01 4.74161447e-02 -6.96908186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.53864000000002 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:121.58, Y:3.75, Z:-69.42 [[-3.05203635e-01 -5.31911657e-01 7.89886530e-01 1.21575779e+02] [-2.02313887e-01 8.46745023e-01 4.92028411e-01 3.74824959e+00] [-9.30548135e-01 -9.63615470e-03 -3.66042774e-01 -6.94208671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.56864000000002 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:121.97, Y:4.92, Z:-69.88 [[-3.72817406e-01 8.31099853e-01 4.12650235e-01 1.21966609e+02] [-2.13531161e-01 3.55933679e-01 -9.09788799e-01 4.92057610e+00] [-9.03001453e-01 -4.27298784e-01 4.47674456e-02 -6.98817006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.59864000000002 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:122.36, Y:3.25, Z:-69.71 [[ -0.30518182 -0.92973321 -0.20605878 122.36370906] [ -0.22289957 -0.1406302 0.96464446 3.24912016] [ -0.92584007 0.34032236 -0.16431935 -69.71472134] [ 0. 0. 0. 1. ]] SLAMing on 145.62864000000002 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:121.40, Y:3.98, Z:-69.66 [[ -0.28346358 -0.27662003 0.91822097 121.40219459] [ -0.29332807 0.93661364 0.19160777 3.97651399] [ -0.91302084 -0.21502616 -0.34663627 -69.66008923] [ 0. 0. 0. 1. ]] SLAMing on 145.65864000000002 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:122.73, Y:4.67, Z:-70.34 [[-2.99776595e-01 7.81760964e-01 -5.46794101e-01 1.22725326e+02] [-2.93046599e-01 -6.20901384e-01 -7.27052380e-01 4.67112083e+00] [-9.07886383e-01 -5.77171352e-02 4.15224094e-01 -7.03378118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.68864000000002 meters Centerline goodness : 0.997395 Centerline is valid? [True, True] Translation: X:122.79, Y:3.44, Z:-70.06 [[-2.52622647e-01 -6.02603567e-01 -7.57001149e-01 1.22794442e+02] [-2.36433201e-01 -7.20213655e-01 6.52220540e-01 3.43853457e+00] [-9.38232988e-01 3.43745884e-01 3.94667902e-02 -7.00570518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.71864000000002 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:121.54, Y:3.48, Z:-69.82 [[-1.93765541e-01 -7.42479064e-01 6.41232996e-01 1.21544762e+02] [-2.90177867e-01 6.67749748e-01 6.85497688e-01 3.48164655e+00] [-9.37150853e-01 -5.32457927e-02 -3.44837882e-01 -6.98236186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.74864 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:121.56, Y:4.66, Z:-70.28 [[-2.50203836e-01 6.54081550e-01 7.13845478e-01 1.21557649e+02] [-3.40877727e-01 6.30577001e-01 -6.97262520e-01 4.66293118e+00] [-9.06201090e-01 -4.17791781e-01 6.51890476e-02 -7.02813058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.77864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:122.60, Y:4.65, Z:-70.58 [[-2.62371756e-01 8.38808778e-01 -4.77033432e-01 1.22598831e+02] [-3.31824848e-01 -5.42631609e-01 -7.71649666e-01 4.64944323e+00] [-9.06119932e-01 -4.41675318e-02 4.20708804e-01 -7.05819725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.80864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:122.82, Y:3.48, Z:-70.30 [[-2.20924125e-01 -4.75074622e-01 -8.51760902e-01 1.22816511e+02] [-2.68635584e-01 -8.09916091e-01 5.21412360e-01 3.47636508e+00] [-9.37564640e-01 3.44005856e-01 5.13080551e-02 -7.03010269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.83864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:121.56, Y:3.35, Z:-70.03 [[-1.71190975e-01 -8.20494601e-01 5.45419344e-01 1.21556154e+02] [-3.34666175e-01 5.69102308e-01 7.51079966e-01 3.34827490e+00] [-9.26656464e-01 -5.39552934e-02 -3.72016968e-01 -7.00326557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.86864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:122.51, Y:4.66, Z:-70.66 [[-1.61814593e-01 8.86836124e-01 -4.32825284e-01 1.22511378e+02] [-2.93903415e-01 -4.62011467e-01 -8.36759336e-01 4.65672727e+00] [-9.42038651e-01 -8.19104240e-03 3.35404363e-01 -7.06563964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.89864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:122.49, Y:4.66, Z:-70.68 [[-1.75129128e-01 8.94162039e-01 -4.12072854e-01 1.22491665e+02] [-3.15639287e-01 -4.47440306e-01 -8.36761025e-01 4.65503137e+00] [-9.32577948e-01 -1.64748475e-02 3.60592499e-01 -7.06848830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.92864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:122.84, Y:3.54, Z:-70.46 [[-1.46749428e-01 -3.47489619e-01 -9.26129348e-01 1.22843085e+02] [-2.48379969e-01 -8.93324517e-01 3.74537979e-01 3.54433893e+00] [-9.57482113e-01 2.84995213e-01 4.47854008e-02 -7.04572969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.93, Y:3.08, Z:-70.25 [[-7.68461257e-02 -9.95151474e-01 6.13858008e-02 1.21926630e+02] [-2.92357147e-01 8.13519616e-02 9.52842672e-01 3.08095925e+00] [-9.53216645e-01 5.52756902e-02 -2.97191228e-01 -7.02463923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:121.17, Y:3.94, Z:-70.54 [[-6.94300694e-02 -4.35174293e-02 9.96637195e-01 1.21165068e+02] [-3.32352873e-01 9.42982923e-01 1.80215125e-02 3.93572420e+00] [-9.40596105e-01 -3.29984000e-01 -7.99345124e-02 -7.05350967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.17, Y:4.70, Z:-70.90 [[-8.00417780e-02 9.92194463e-01 -9.56214531e-02 1.22168583e+02] [-3.32704179e-01 -1.17020704e-01 -9.35742531e-01 4.69723692e+00] [-9.39628247e-01 -4.30848389e-02 3.39473789e-01 -7.09005314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.89, Y:3.79, Z:-70.73 [[-8.02758754e-02 3.67937132e-03 -9.96765893e-01 1.22888544e+02] [-2.64460056e-01 -9.64233475e-01 1.77393605e-02 3.78559537e+00] [-9.61049771e-01 2.65028807e-01 7.83777330e-02 -7.07272670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.95, Y:3.00, Z:-70.50 [[-7.18775302e-03 -9.99958449e-01 5.60680538e-03 1.21949305e+02] [-2.89566487e-01 7.44807747e-03 9.57128923e-01 3.00093789e+00] [-9.57130913e-01 5.25606337e-03 -2.89607991e-01 -7.04978698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.10864 meters Centerline goodness : 0.848373 Centerline is valid? [True, False] Translation: X:121.97, Y:4.63, Z:-72.43 [[ 3.42258384e-02 -9.99412611e-01 -1.73908139e-03 1.21965383e+02] [ 8.46744897e-01 2.99218550e-02 -5.31157003e-01 4.62770665e+00] [ 5.30897044e-01 1.67067355e-02 8.47271629e-01 -7.24337994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.13864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:122.09, Y:4.53, Z:-72.47 [[ 4.59860967e-02 -9.87289527e-01 -1.52133720e-01 1.22090055e+02] [ 8.48662769e-01 1.18946224e-01 -5.15386554e-01 4.53404613e+00] [ 5.26931479e-01 -1.05409608e-01 8.43345737e-01 -7.24659018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.98, Y:4.57, Z:-72.45 [[ 4.96398021e-02 -9.98468672e-01 -2.44172192e-02 1.21981023e+02] [ 8.48994648e-01 5.50600993e-02 -5.25524951e-01 4.56574420e+00] [ 5.26064614e-01 5.35686618e-03 8.50427731e-01 -7.24505599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.19864 meters Centerline goodness : 0.991102 Centerline is valid? [True, True] Translation: X:122.00, Y:4.60, Z:-72.44 [[ 1.12025805e-01 -9.91073775e-01 -7.22702651e-02 1.21998573e+02] [ 8.54460800e-01 1.33201125e-01 -5.02149581e-01 4.60108105e+00] [ 5.07293762e-01 -5.49839763e-03 8.61755654e-01 -7.24441457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.19, Y:4.11, Z:-71.40 [[ 5.55099120e-02 2.05142903e-01 9.77156609e-01 1.21185871e+02] [ 8.94174039e-01 -4.45672181e-01 4.27679272e-02 4.10927359e+00] [ 4.44265054e-01 8.71374028e-01 -2.08172682e-01 -7.13987949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.03, Y:4.60, Z:-72.39 [[ 2.74661776e-02 -9.97709116e-01 -6.18233768e-02 1.22033161e+02] [ 9.03112634e-01 5.12797382e-02 -4.26330809e-01 4.59582498e+00] [ 4.28524421e-01 -4.41237950e-02 9.02452166e-01 -7.23858290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.28864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:122.04, Y:4.62, Z:-72.37 [[ 2.41954579e-02 -9.97541096e-01 -6.57749293e-02 1.22037275e+02] [ 8.81045221e-01 5.23684546e-02 -4.70124307e-01 4.62103558e+00] [ 4.72412848e-01 -4.65758142e-02 8.80145894e-01 -7.23681057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.16, Y:4.27, Z:-71.48 [[ 5.81069935e-03 -1.12579144e-02 9.99919744e-01 1.21163253e+02] [ 9.18928237e-01 -3.94303509e-01 -9.77943574e-03 4.26892024e+00] [ 3.94381960e-01 9.18911313e-01 8.05403633e-03 -7.14812068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.34864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:122.03, Y:4.62, Z:-72.31 [[ 2.04269044e-02 -9.98455335e-01 -5.16689914e-02 1.22031006e+02] [ 9.12340891e-01 3.97526649e-02 -4.07497024e-01 4.62488112e+00] [ 4.08921558e-01 -3.88158309e-02 9.11743654e-01 -7.23102179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.16, Y:4.37, Z:-71.42 [[ 1.02560941e-02 -3.98419955e-02 9.99153356e-01 1.21163062e+02] [ 9.42689781e-01 -3.32880246e-01 -2.29503592e-02 4.37031937e+00] [ 3.33512803e-01 9.42127039e-01 3.41445909e-02 -7.14208208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.40864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:122.04, Y:4.65, Z:-72.24 [[ 2.04796337e-02 -9.98383593e-01 -5.30168486e-02 1.22042586e+02] [ 9.37479586e-01 3.76040020e-02 -3.46002838e-01 4.65494982e+00] [ 3.47437203e-01 -4.26162019e-02 9.36734354e-01 -7.22439889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:122.01, Y:4.69, Z:-72.23 [[ 2.34229000e-02 -9.99634754e-01 -1.34806161e-02 1.22010843e+02] [ 9.36968674e-01 2.66528426e-02 -3.48395363e-01 4.69291128e+00] [ 3.48627410e-01 -4.47048519e-03 9.37250737e-01 -7.22290576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.46864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:122.01, Y:4.75, Z:-72.21 [[ 3.15884572e-02 -9.99475032e-01 -7.19927446e-03 1.22008127e+02] [ 9.37674551e-01 3.21276972e-02 -3.46026369e-01 4.75439128e+00] [ 3.46076013e-01 4.17986269e-03 9.38197166e-01 -7.22078095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:121.17, Y:4.62, Z:-71.38 [[ 6.68778099e-02 -1.31329519e-01 9.89080339e-01 1.21171055e+02] [ 9.62138242e-01 -2.54030150e-01 -9.87860661e-02 4.62184305e+00] [ 2.64229753e-01 9.58238614e-01 1.09368172e-01 -7.13825611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.10, Y:4.80, Z:-72.14 [[ 3.49624850e-02 -9.94503824e-01 -9.86902714e-02 1.22097974e+02] [ 9.55507380e-01 6.22045173e-02 -2.88333566e-01 4.79593842e+00] [ 2.92887814e-01 -8.42184247e-02 9.52430567e-01 -7.21362771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.99, Y:4.84, Z:-72.13 [[ 4.41192231e-02 -9.98634863e-01 2.79625584e-02 1.21991480e+02] [ 9.61171118e-01 3.47988750e-02 -2.73750104e-01 4.83981779e+00] [ 2.72403332e-01 3.89544455e-02 9.61394287e-01 -7.21280327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:121.18, Y:4.78, Z:-71.31 [[ 7.86825139e-02 -1.34842409e-01 9.87738117e-01 1.21177027e+02] [ 9.79109989e-01 -1.75892359e-01 -1.02007387e-01 4.78165302e+00] [ 1.87490509e-01 9.75130454e-01 1.18185896e-01 -7.13055568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:122.04, Y:4.90, Z:-72.07 [[ 4.95276678e-02 -9.98672277e-01 -1.41666026e-02 1.22038262e+02] [ 9.85321587e-01 5.11757583e-02 -1.62857029e-01 4.90072554e+00] [ 1.63365787e-01 -5.89273053e-03 9.86547969e-01 -7.20675680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:122.07, Y:4.96, Z:-72.05 [[ 6.05274537e-02 -9.96644752e-01 -5.50968742e-02 1.22070467e+02] [ 9.77657221e-01 7.03253478e-02 -1.98092666e-01 4.96410884e+00] [ 2.01302723e-01 -4.18758123e-02 9.78633553e-01 -7.20513102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.67864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:121.18, Y:4.98, Z:-71.22 [[ 8.37152282e-02 -1.30655832e-01 9.87887045e-01 1.21183446e+02] [ 9.90630524e-01 -9.64358171e-02 -9.67021106e-02 4.97718184e+00] [ 1.07902389e-01 9.86726501e-01 1.21358508e-01 -7.12234712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.70864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:122.08, Y:5.03, Z:-71.99 [[ 6.37166486e-02 -9.96300677e-01 -5.76641053e-02 1.22077577e+02] [ 9.88584744e-01 7.09170689e-02 -1.32932211e-01 5.03449623e+00] [ 1.36529822e-01 -4.85358597e-02 9.89446248e-01 -7.19912166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.73864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:122.09, Y:5.09, Z:-71.98 [[ 6.74437614e-02 -9.95390849e-01 -6.81791548e-02 1.22087103e+02] [ 9.88874962e-01 7.57699404e-02 -1.28004789e-01 5.08636155e+00] [ 1.32580726e-01 -5.87875347e-02 9.89427297e-01 -7.19844877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.76864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:121.97, Y:5.15, Z:-71.97 [[ 7.72805966e-02 -9.94592348e-01 6.93813415e-02 1.21966262e+02] [ 9.89166651e-01 6.77754355e-02 -1.30214539e-01 5.15373030e+00] [ 1.24808034e-01 7.86927665e-02 9.89055308e-01 -7.19720496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.79864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:121.92, Y:5.26, Z:-71.96 [[ 1.24682563e-01 -9.88097830e-01 9.00940442e-02 1.21923843e+02] [ 9.87758679e-01 1.15033387e-01 -1.05357070e-01 5.26348775e+00] [ 9.37392693e-02 1.02127364e-01 9.90344865e-01 -7.19560668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.82864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:121.18, Y:5.40, Z:-71.04 [[ 1.28340765e-01 -2.88263614e-02 9.91311096e-01 1.21178526e+02] [ 9.91728633e-01 1.99462089e-03 -1.28336820e-01 5.40208393e+00] [ 1.72219375e-03 9.99582444e-01 2.88439192e-02 -7.10369954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.85864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:122.08, Y:5.33, Z:-71.90 [[ 1.10917567e-01 -9.91292774e-01 -7.09642891e-02 1.22081810e+02] [ 9.93277787e-01 1.12952186e-01 -2.53188033e-02 5.33381003e+00] [ 3.31139184e-02 -6.76789519e-02 9.97157474e-01 -7.19044336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.88864 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:121.97, Y:5.45, Z:-71.90 [[ 1.34747138e-01 -9.89335209e-01 5.53087152e-02 1.21969682e+02] [ 9.90612246e-01 1.33203141e-01 -3.07294784e-02 5.44984137e+00] [ 2.30344603e-02 5.89301999e-02 9.97996315e-01 -7.18966448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.91864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:121.20, Y:5.68, Z:-71.06 [[ 1.51682850e-01 -1.06681992e-01 9.82655212e-01 1.21199173e+02] [ 9.85273083e-01 9.57021444e-02 -1.41697039e-01 5.68362749e+00] [-7.89256887e-02 9.89676741e-01 1.19627269e-01 -7.10563823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.94864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:122.02, Y:5.54, Z:-71.86 [[ 1.30063409e-01 -9.91362149e-01 1.68700828e-02 1.22021948e+02] [ 9.86877635e-01 1.31079601e-01 9.42903584e-02 5.54421307e+00] [-9.56872161e-02 4.38498203e-03 9.95401793e-01 -7.18571741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.97864 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:122.10, Y:5.57, Z:-71.86 [[ 1.29356064e-01 -9.88540945e-01 -7.78062300e-02 1.22102919e+02] [ 9.90555044e-01 1.25223350e-01 5.58553338e-02 5.57245622e+00] [-4.54721277e-02 -8.42965797e-02 9.95402618e-01 -7.18558226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.00864 meters Centerline goodness : 0.781101 Centerline is valid? [True, False] Translation: X:122.10, Y:5.63, Z:-71.86 [[ 1.43514810e-01 -9.86730489e-01 -7.59370822e-02 1.22101900e+02] [ 9.89458380e-01 1.41561593e-01 3.05357019e-02 5.62738969e+00] [-1.93807338e-02 -7.95189078e-02 9.96644937e-01 -7.18578493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.03864000000002 meters Centerline goodness : 0.751684 Centerline is valid? [False, False] Translation: X:122.12, Y:5.67, Z:-71.86 [[ 1.57839069e-01 -9.82550348e-01 -9.83953323e-02 1.22122342e+02] [ 9.87463883e-01 1.56913961e-01 1.71198398e-02 5.67133249e+00] [-1.38150322e-03 -9.98640164e-02 9.95000136e-01 -7.18576045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.06864000000002 meters Centerline goodness : 0.998229 Centerline is valid? [False, True] Translation: X:122.13, Y:5.71, Z:-71.86 [[ 1.68380164e-01 -9.80292546e-01 -1.03318173e-01 1.22128427e+02] [ 9.85631251e-01 1.68860512e-01 4.14302327e-03 5.71395535e+00] [ 1.33849848e-02 -1.02531223e-01 9.94639729e-01 -7.18569550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.09864000000002 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:122.02, Y:5.81, Z:-71.86 [[ 1.79922077e-01 -9.83081845e-01 3.43239325e-02 1.22017516e+02] [ 9.83677858e-01 1.79725670e-01 -8.74959263e-03 5.80688097e+00] [ 2.43267391e-03 3.53379373e-02 9.99372459e-01 -7.18554873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.12864000000002 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:121.26, Y:6.11, Z:-71.10 [[ 2.15985391e-01 -2.00187086e-01 9.55654457e-01 1.21260570e+02] [ 9.72565731e-01 1.30725036e-01 -1.92423657e-01 6.10679945e+00] [-8.64072321e-02 9.70997474e-01 2.22929798e-01 -7.11022045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.15864000000002 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:122.09, Y:5.89, Z:-71.81 [[ 1.78089149e-01 -9.83629997e-01 -2.75006007e-02 1.22094486e+02] [ 9.81761758e-01 1.75722125e-01 7.25643545e-02 5.89343667e+00] [-6.65440118e-02 -3.99219623e-02 9.96984519e-01 -7.18116647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.18864000000002 meters Centerline goodness : 0.997343 Centerline is valid? [True, True] Translation: X:122.05, Y:5.99, Z:-71.82 [[ 1.88822353e-01 -9.81197819e-01 3.99619660e-02 1.22048269e+02] [ 9.79196533e-01 1.91204061e-01 6.79349403e-02 5.98599156e+00] [-7.42985054e-02 2.63029833e-02 9.96889104e-01 -7.18161904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.21864000000002 meters Centerline goodness : 0.997391 Centerline is valid? [True, True] Translation: X:121.77, Y:6.19, Z:-71.75 [[ 2.51879775e-01 -9.04050248e-01 3.45325539e-01 1.21774886e+02] [ 9.62055258e-01 2.72594159e-01 1.19207950e-02 6.18740203e+00] [-1.04910723e-01 3.29219644e-01 9.38407250e-01 -7.17515056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.24864 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:121.31, Y:6.58, Z:-70.90 [[ 2.74998873e-01 3.40802505e-02 9.60840339e-01 1.21309942e+02] [ 9.42045577e-01 1.90189908e-01 -2.76365574e-01 6.58306941e+00] [-1.92160744e-01 9.81155612e-01 2.01968611e-02 -7.09041025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.27864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:121.76, Y:6.76, Z:-70.24 [[ 2.15497509e-01 8.01198246e-01 5.58249223e-01 1.21761897e+02] [ 9.41331727e-01 -1.83913826e-02 -3.36981211e-01 6.75759265e+00] [-2.59721780e-01 5.98116317e-01 -7.58156626e-01 -7.02426278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.30864 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:122.93, Y:6.66, Z:-70.41 [[ 1.25799332e-01 6.86901255e-01 -7.15780129e-01 1.22930798e+02] [ 9.68540227e-01 -2.41202138e-01 -6.12483304e-02 6.65826136e+00] [-2.14719253e-01 -6.85556849e-01 -6.95634566e-01 -7.04058943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.33864 meters Centerline goodness : 0.871293 Centerline is valid? [True, False] Translation: X:122.87, Y:6.59, Z:-70.34 [[ 1.32534792e-01 7.48341002e-01 -6.49938669e-01 1.22870630e+02] [ 9.72153826e-01 -2.25999772e-01 -6.19761413e-02 6.58747922e+00] [-1.93265279e-01 -6.23626369e-01 -7.57455401e-01 -7.03351219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.36864 meters Centerline goodness : 0.996896 Centerline is valid? [False, True] Translation: X:122.80, Y:6.52, Z:-70.27 [[ 1.36697690e-01 8.04859628e-01 -5.77507333e-01 1.22803869e+02] [ 9.75766106e-01 -2.09954213e-01 -6.16419835e-02 6.51685316e+00] [-1.70863242e-01 -5.55085765e-01 -8.14055002e-01 -7.02701052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.39864 meters Centerline goodness : 0.840866 Centerline is valid? [True, False] Translation: X:122.73, Y:6.44, Z:-70.21 [[ 1.40061656e-01 8.55145589e-01 -4.99107958e-01 1.22730710e+02] [ 9.79054059e-01 -1.94839597e-01 -5.90819838e-02 6.43971665e+00] [-1.47769691e-01 -4.80378552e-01 -8.64523317e-01 -7.02111252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.42864 meters Centerline goodness : 0.991295 Centerline is valid? [False, True] Translation: X:122.65, Y:6.36, Z:-70.16 [[ 1.39857708e-01 8.99315358e-01 -4.14332848e-01 1.22650143e+02] [ 9.82111474e-01 -1.79273096e-01 -5.76039022e-02 6.36431076e+00] [-1.26082806e-01 -3.98864694e-01 -9.08300656e-01 -7.01578591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.45864 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:122.26, Y:6.29, Z:-71.82 [[ 1.74967142e-01 -9.84225410e-01 -2.62076492e-02 1.22261743e+02] [ 9.73733997e-01 1.69040368e-01 1.52536743e-01 6.28797957e+00] [-1.45700388e-01 -5.22081971e-02 9.87950252e-01 -7.18198062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.48864 meters Centerline goodness : 0.997442 Centerline is valid? [True, True] Translation: X:122.29, Y:6.32, Z:-71.82 [[ 1.75314813e-01 -9.82513045e-01 -6.27123088e-02 1.22292303e+02] [ 9.80317566e-01 1.68339336e-01 1.03147160e-01 6.32045633e+00] [-9.07864818e-02 -7.95612030e-02 9.92687176e-01 -7.18169944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.51864 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:121.43, Y:6.75, Z:-71.02 [[ 1.84768849e-01 -8.13595822e-02 9.79408541e-01 1.21429530e+02] [ 9.65194504e-01 2.02713345e-01 -1.65247900e-01 6.75143816e+00] [-1.85094681e-01 9.75852406e-01 1.15982933e-01 -7.10153004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.54864 meters Centerline goodness : 0.997344 Centerline is valid? [True, True] Translation: X:121.46, Y:6.91, Z:-71.00 [[ 1.90482482e-01 -6.57939065e-02 9.79483326e-01 1.21457045e+02] [ 9.48816974e-01 2.68378531e-01 -1.66491185e-01 6.91282607e+00] [-2.51918191e-01 9.61064059e-01 1.13547784e-01 -7.09961517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.57864 meters Centerline goodness : 0.997639 Centerline is valid? [True, True] Translation: X:121.49, Y:7.07, Z:-70.98 [[ 2.35071786e-01 -3.82101155e-02 9.71226669e-01 1.21492630e+02] [ 9.19046495e-01 3.33984952e-01 -2.09302631e-01 7.06535725e+00] [-3.16377615e-01 9.41803610e-01 1.13627312e-01 -7.09765506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.60864 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:122.12, Y:7.37, Z:-70.18 [[ 1.55245583e-01 9.22546687e-01 3.53279520e-01 1.22120333e+02] [ 9.14050195e-01 1.50379027e-03 -4.05598299e-01 7.36993598e+00] [-3.74714625e-01 3.85882559e-01 -8.43020522e-01 -7.01843361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.63864 meters Centerline goodness : 0.997443 Centerline is valid? [True, True] Translation: X:123.26, Y:7.18, Z:-70.67 [[ 1.10158492e-01 4.05409285e-01 -9.07473646e-01 1.23256683e+02] [ 9.47733764e-01 -3.17919207e-01 -2.69831270e-02 7.18279560e+00] [-2.99442513e-01 -8.57070994e-01 -4.19241568e-01 -7.06702264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.66864 meters Centerline goodness : 0.945526 Centerline is valid? [True, False] Translation: X:123.25, Y:7.80, Z:-70.95 [[ 0.15997782 -0.33603214 -0.92816459 123.25397215] [ -0.909491 0.31532378 -0.27091888 7.7986563 ] [ 0.38370981 0.88749835 -0.25517339 -70.9478829 ] [ 0. 0. 0. 1. ]] SLAMing on 147.69864 meters Centerline goodness : 0.996854 Centerline is valid? [False, True] Translation: X:123.24, Y:7.87, Z:-70.98 [[ 0.18295911 -0.33256268 -0.92516378 123.24328133] [ -0.9026226 0.31611728 -0.29213405 7.86526602] [ 0.38961314 0.88852233 -0.24234206 -70.97991668] [ 0. 0. 0. 1. ]] SLAMing on 147.72864 meters Centerline goodness : 0.996359 Centerline is valid? [True, True] Translation: X:122.51, Y:7.23, Z:-71.99 [[ 2.31283552e-01 9.71486288e-01 -5.21757662e-02 1.22505592e+02] [-8.97591277e-01 2.33763939e-01 3.73743655e-01 7.23004168e+00] [ 3.75283649e-01 -3.96082477e-02 9.26063372e-01 -7.19870445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.75864 meters Centerline goodness : 0.996313 Centerline is valid? [True, True] Translation: X:122.54, Y:7.21, Z:-71.98 [[ 2.32178526e-01 9.68601313e-01 -8.89079788e-02 1.22543598e+02] [-8.98097287e-01 2.48580454e-01 3.62807141e-01 7.21238533e+00] [ 3.73516258e-01 -4.38801263e-03 9.27613255e-01 -7.19763176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.78864000000002 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:122.55, Y:7.19, Z:-71.97 [[ 2.32630418e-01 9.68440636e-01 -8.94752620e-02 1.22549643e+02] [-8.97349727e-01 2.49204786e-01 3.64225811e-01 7.18735833e+00] [ 3.75028739e-01 -4.43940050e-03 9.27002555e-01 -7.19653545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.81864000000002 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:122.56, Y:7.16, Z:-71.95 [[ 2.33105480e-01 9.68307433e-01 -8.96802686e-02 1.22555831e+02] [-8.97226402e-01 2.49722066e-01 3.64175334e-01 7.16185108e+00] [ 3.75028824e-01 -4.42776122e-03 9.27002576e-01 -7.19542976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.84864000000002 meters Centerline goodness : 0.996259 Centerline is valid? [True, True] Translation: X:122.51, Y:7.12, Z:-71.94 [[ 2.27820719e-01 9.72938338e-01 -3.85838145e-02 1.22508199e+02] [-8.79116289e-01 2.22564999e-01 4.21449134e-01 7.12479288e+00] [ 4.18631426e-01 -6.20951849e-02 9.06030859e-01 -7.19386185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.87864000000002 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:122.58, Y:7.11, Z:-71.93 [[ 2.24489102e-01 9.68716012e-01 -1.05801380e-01 1.22575719e+02] [-8.82499503e-01 2.48144593e-01 3.99523326e-01 7.11324011e+00] [ 4.13278683e-01 3.68103256e-03 9.10597156e-01 -7.19293393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.90864000000002 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:122.57, Y:7.09, Z:-71.92 [[ 2.24219959e-01 9.69974119e-01 -9.42104971e-02 1.22572710e+02] [-8.83103882e-01 2.43113728e-01 4.01277022e-01 7.08723659e+00] [ 4.12132191e-01 -6.77666154e-03 9.11098861e-01 -7.19168253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.93864000000002 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:122.58, Y:7.06, Z:-71.91 [[ 2.25039470e-01 9.69781477e-01 -9.42397117e-02 1.22580360e+02] [-8.83114265e-01 2.43875609e-01 4.00791571e-01 7.06334912e+00] [ 4.11663008e-01 -6.96948908e-03 9.11309494e-01 -7.19076574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.96864000000002 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:122.60, Y:7.04, Z:-71.90 [[ 2.24592256e-01 9.69314088e-01 -9.99425754e-02 1.22595014e+02] [-8.85112566e-01 2.45825379e-01 3.95152665e-01 7.04138516e+00] [ 4.07595466e-01 -2.87798856e-04 9.13162556e-01 -7.18957798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.99864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:122.59, Y:7.01, Z:-71.88 [[ 2.25075860e-01 9.70698932e-01 -8.41691257e-02 1.22587502e+02] [-8.85104437e-01 2.39813118e-01 3.98848097e-01 7.01254495e+00] [ 4.07346282e-01 -1.52726116e-02 9.13146075e-01 -7.18847269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.02864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:122.60, Y:6.99, Z:-71.87 [[ 2.27310351e-01 9.69000018e-01 -9.67934328e-02 1.22604984e+02] [-8.84293994e-01 2.47020112e-01 3.96238813e-01 6.99192580e+00] [ 4.07865342e-01 -4.47533263e-03 9.13031125e-01 -7.18726127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.05864 meters Centerline goodness : 0.907848 Centerline is valid? [True, False] Translation: X:122.65, Y:7.00, Z:-71.86 [[ 2.36541306e-01 9.59287028e-01 -1.54326303e-01 1.22650245e+02] [-8.74289069e-01 2.79435194e-01 3.96906281e-01 7.00290353e+00] [ 4.23871248e-01 4.10410697e-02 9.04792129e-01 -7.18574854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.08864 meters Centerline goodness : 0.999164 Centerline is valid? [False, True] Translation: X:122.72, Y:7.04, Z:-71.84 [[ 2.51170589e-01 9.36723661e-01 -2.43848554e-01 1.22720438e+02] [-8.65265212e-01 3.30203532e-01 3.77202519e-01 7.03659864e+00] [ 4.33854179e-01 1.16251492e-01 8.93451813e-01 -7.18442716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.11864 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:122.63, Y:6.98, Z:-71.84 [[ 2.59045620e-01 9.56740789e-01 -1.32447836e-01 1.22632384e+02] [-8.66919602e-01 2.90771580e-01 4.04848480e-01 6.98267950e+00] [ 4.25847121e-01 9.94739956e-03 9.04740448e-01 -7.18423327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.14864 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:122.66, Y:6.96, Z:-71.83 [[ 2.67313841e-01 9.53353178e-01 -1.40217788e-01 1.22657199e+02] [-8.83186362e-01 3.00593051e-01 3.60035647e-01 6.96333069e+00] [ 3.85389622e-01 2.75959264e-02 9.22341208e-01 -7.18311987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.17864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:122.64, Y:6.93, Z:-71.82 [[ 2.67244090e-01 9.57732285e-01 -1.06439964e-01 1.22635854e+02] [-8.83204534e-01 2.87617755e-01 3.70439979e-01 6.92939416e+00] [ 3.85396351e-01 -4.98963638e-03 9.22737642e-01 -7.18217201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.20864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:122.64, Y:6.91, Z:-71.81 [[ 2.67731257e-01 9.57639887e-01 -1.06046317e-01 1.22644884e+02] [-8.84002117e-01 2.87927508e-01 3.68290656e-01 6.90538411e+00] [ 3.83223473e-01 -4.85775120e-03 9.23642881e-01 -7.18107186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.23864 meters Centerline goodness : 0.921790 Centerline is valid? [True, False] Translation: X:122.70, Y:6.89, Z:-71.79 [[ 2.84873117e-01 9.43913103e-01 -1.66959161e-01 1.22699383e+02] [-8.71453362e-01 3.27575215e-01 3.65052759e-01 6.89445784e+00] [ 3.99269765e-01 4.15034046e-02 9.15893619e-01 -7.17857177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.26864 meters Centerline goodness : 0.999263 Centerline is valid? [False, True] Translation: X:122.75, Y:6.89, Z:-71.76 [[ 3.01359557e-01 9.25780844e-01 -2.28281068e-01 1.22754544e+02] [-8.58185248e-01 3.67687410e-01 3.58223462e-01 6.88715075e+00] [ 4.15572494e-01 8.79533812e-02 9.05297578e-01 -7.17586429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.29864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:122.68, Y:6.83, Z:-71.75 [[ 2.99125701e-01 9.45032270e-01 -1.32052350e-01 1.22682347e+02] [-8.59293753e-01 3.26950268e-01 3.93341796e-01 6.83295349e+00] [ 4.14895242e-01 -4.18688084e-03 9.09859554e-01 -7.17543212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.32864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:122.69, Y:6.81, Z:-71.74 [[ 2.99882170e-01 9.44779653e-01 -1.32144208e-01 1.22691449e+02] [-8.59233573e-01 3.27678449e-01 3.92867028e-01 6.80867998e+00] [ 4.14473583e-01 -4.27107731e-03 9.10051321e-01 -7.17428958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.35864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:122.67, Y:6.78, Z:-71.73 [[ 2.94905185e-01 9.49119452e-01 -1.10468082e-01 1.22671068e+02] [-8.42425350e-01 3.12815228e-01 4.38709656e-01 6.77866393e+00] [ 4.50943967e-01 -3.63166397e-02 8.91813120e-01 -7.17277857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.38864 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:122.70, Y:6.76, Z:-71.71 [[ 2.95140537e-01 9.45925794e-01 -1.34597381e-01 1.22700019e+02] [-8.40656907e-01 3.24039801e-01 4.33928765e-01 6.76240447e+00] [ 4.54079320e-01 -1.49197506e-02 8.90836333e-01 -7.17137689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.41864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:122.76, Y:6.75, Z:-71.70 [[ 3.05049920e-01 9.36411778e-01 -1.73428742e-01 1.22755696e+02] [-8.58980225e-01 3.49179183e-01 3.74468787e-01 6.75349743e+00] [ 4.11214689e-01 3.47401867e-02 9.10876281e-01 -7.17006049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.44864 meters Centerline goodness : 0.807053 Centerline is valid? [True, False] Translation: X:122.81, Y:6.73, Z:-71.67 [[ 3.28331957e-01 9.17127847e-01 -2.25996988e-01 1.22808543e+02] [-8.43569852e-01 3.92353046e-01 3.66672869e-01 6.73300364e+00] [ 4.24956506e-01 7.02538252e-02 9.02483445e-01 -7.16696900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.47864 meters Centerline goodness : 0.998868 Centerline is valid? [False, True] Translation: X:122.87, Y:6.71, Z:-71.63 [[ 3.52654962e-01 8.91140262e-01 -2.85488197e-01 1.22868984e+02] [-8.25255988e-01 4.40005189e-01 3.54045179e-01 6.71181089e+00] [ 4.41120202e-01 1.10745055e-01 8.90588850e-01 -7.16316498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.50864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:122.77, Y:6.64, Z:-71.63 [[ 3.54997689e-01 9.21768381e-01 -1.55947726e-01 1.22768693e+02] [-8.21793917e-01 3.87212815e-01 4.17996403e-01 6.63842068e+00] [ 4.45680826e-01 -2.02308641e-02 8.94963303e-01 -7.16326863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.53864000000002 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:122.76, Y:6.61, Z:-71.62 [[ 3.51896190e-01 9.24933958e-01 -1.43757591e-01 1.22764717e+02] [-8.16994823e-01 3.78452129e-01 4.35078664e-01 6.60952628e+00] [ 4.56824398e-01 -3.56533167e-02 8.88842118e-01 -7.16183728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.56864000000002 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:122.83, Y:6.61, Z:-71.60 [[ 3.53930237e-01 9.14228951e-01 -1.97278516e-01 1.22825245e+02] [-8.23689568e-01 4.04606410e-01 3.97277169e-01 6.60908573e+00] [ 4.43022441e-01 2.18878532e-02 8.96243292e-01 -7.16046026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.59864000000002 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:122.83, Y:6.58, Z:-71.59 [[ 3.57517739e-01 9.16075670e-01 -1.81621674e-01 1.22826462e+02] [-8.25933209e-01 4.00919473e-01 3.96355788e-01 6.58258617e+00] [ 4.35907560e-01 8.30314712e-03 8.99953141e-01 -7.15942363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.62864000000002 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:122.82, Y:6.55, Z:-71.58 [[ 3.58495915e-01 9.18756389e-01 -1.65430883e-01 1.22823468e+02] [-8.25086485e-01 3.94734964e-01 4.04248192e-01 6.55351500e+00] [ 4.36706963e-01 -8.42653957e-03 8.99564351e-01 -7.15841377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.65864000000002 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:122.84, Y:6.53, Z:-71.57 [[ 3.58659208e-01 9.18121163e-01 -1.68573732e-01 1.22837169e+02] [-8.23894963e-01 3.96247456e-01 4.05197537e-01 6.53283698e+00] [ 4.38817346e-01 -6.44077893e-03 8.98553200e-01 -7.15725739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.68864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:122.89, Y:6.52, Z:-71.56 [[ 3.69210725e-01 9.09186957e-01 -1.92516280e-01 1.22885275e+02] [-8.40717989e-01 4.15041812e-01 3.47755026e-01 6.52303926e+00] [ 3.96076639e-01 3.34570151e-02 9.17607718e-01 -7.15597225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.71864000000002 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:122.82, Y:6.47, Z:-71.55 [[ 3.62868375e-01 9.24224343e-01 -1.18894514e-01 1.22817390e+02] [-8.22376041e-01 3.77625182e-01 4.25554777e-01 6.46997854e+00] [ 4.38205646e-01 -5.66443708e-02 8.97088193e-01 -7.15505356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.74864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:122.88, Y:6.47, Z:-71.54 [[ 3.61555724e-01 9.15330426e-01 -1.77334908e-01 1.22880535e+02] [-8.24157635e-01 4.02697811e-01 3.98244479e-01 6.46997198e+00] [ 4.35937668e-01 2.16434765e-03 8.99974258e-01 -7.15370759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.77864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:122.78, Y:6.40, Z:-71.53 [[ 3.69313573e-01 9.27979457e-01 -4.96146319e-02 1.22775848e+02] [-8.16254244e-01 3.49444635e-01 4.60018973e-01 6.40151870e+00] [ 4.44225724e-01 -1.29393096e-01 8.86521818e-01 -7.15256327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.80864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:123.04, Y:6.49, Z:-71.49 [[ 0.37711009 0.869324 -0.3194742 123.0407152 ] [ -0.83945242 0.4665551 0.27865026 6.49126589] [ 0.39128967 0.16310157 0.90569878 -71.48649956] [ 0. 0. 0. 1. ]] SLAMing on 148.83864 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:122.87, Y:6.38, Z:-71.50 [[ 3.73124457e-01 9.19483636e-01 -1.23806226e-01 1.22867457e+02] [-8.21463991e-01 3.89439014e-01 4.16574323e-01 6.38427708e+00] [ 4.31248248e-01 -5.37317120e-02 9.00631918e-01 -7.14990029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.86864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:122.83, Y:6.34, Z:-71.49 [[ 3.77651257e-01 9.23270120e-01 -7.03691253e-02 1.22829927e+02] [-8.18171668e-01 3.68313618e-01 4.41520328e-01 6.34348652e+00] [ 4.33560434e-01 -1.09166682e-01 8.94487555e-01 -7.14870076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.89864 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:123.05, Y:6.41, Z:-71.45 [[ 0.38531943 0.87551078 -0.29156442 123.05008925] [ -0.8380282 0.46427667 0.28662852 6.41120254] [ 0.38631291 0.13389567 0.91259755 -71.45372051] [ 0. 0. 0. 1. ]] SLAMing on 148.92864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:122.93, Y:6.33, Z:-71.46 [[ 3.85408447e-01 9.10982678e-01 -1.46870313e-01 1.22934700e+02] [-8.39740984e-01 4.12243780e-01 3.53397998e-01 6.32623175e+00] [ 3.82485828e-01 -1.28695527e-02 9.23871726e-01 -7.14625886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.95864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:122.81, Y:6.25, Z:-71.45 [[ 3.87211750e-01 9.21936628e-01 -9.99568682e-03 1.22805264e+02] [-8.15795949e-01 3.47643954e-01 4.62191140e-01 6.25305370e+00] [ 4.29585881e-01 -1.70811399e-01 8.86723991e-01 -7.14478045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.98864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:122.97, Y:6.29, Z:-71.43 [[ 3.78047299e-01 9.08266788e-01 -1.79253123e-01 1.22965487e+02] [-8.19163068e-01 4.18388871e-01 3.92329735e-01 6.28911481e+00] [ 4.31337579e-01 -1.48165882e-03 9.02189391e-01 -7.14328073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.01864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:123.08, Y:6.32, Z:-71.41 [[ 0.39001792 0.87680784 -0.28123663 123.08148757] [ -0.83953211 0.46406326 0.28254404 6.31561525] [ 0.37824842 0.12590994 0.91710132 -71.40637757] [ 0. 0. 0. 1. ]] SLAMing on 149.04864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:122.97, Y:6.23, Z:-71.41 [[ 3.88250341e-01 9.10317998e-01 -1.43467122e-01 1.22972661e+02] [-8.42867471e-01 4.13715363e-01 3.44113389e-01 6.23349763e+00] [ 3.72607164e-01 -1.26783703e-02 9.27902560e-01 -7.14140059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.07864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:122.92, Y:6.19, Z:-71.40 [[ 3.83540458e-01 9.18396620e-01 -9.71821315e-02 1.22921737e+02] [-8.22553300e-01 3.87553701e-01 4.16182889e-01 6.19193479e+00] [ 4.19884253e-01 -7.96854925e-02 9.04072694e-01 -7.14018059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.10864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:123.05, Y:6.22, Z:-71.38 [[ 3.88337226e-01 8.96292344e-01 -2.14136015e-01 1.23051553e+02] [-8.41482746e-01 4.39624265e-01 3.14065748e-01 6.21503871e+00] [ 3.75634114e-01 5.82283404e-02 9.24937010e-01 -7.13835400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.13864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:122.94, Y:6.14, Z:-71.38 [[ 3.82709610e-01 9.18498241e-01 -9.94702749e-02 1.22943940e+02] [-8.23657940e-01 3.87983029e-01 4.13590095e-01 6.14418468e+00] [ 4.18474554e-01 -7.63554223e-02 9.05013203e-01 -7.13796951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.16864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.00, Y:6.14, Z:-71.36 [[ 3.79033815e-01 9.11912143e-01 -1.57320091e-01 1.23003037e+02] [-8.25480044e-01 4.10026560e-01 3.87892918e-01 6.14349055e+00] [ 4.18229678e-01 -1.71599368e-02 9.08179207e-01 -7.13646913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.19864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:122.96, Y:6.09, Z:-71.35 [[ 3.78139096e-01 9.20773248e-01 -9.58511810e-02 1.22960822e+02] [-8.27127914e-01 3.82541706e-01 4.11729592e-01 6.09445161e+00] [ 4.15776669e-01 -7.64098686e-02 9.06251231e-01 -7.13543965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.22864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.05, Y:6.11, Z:-71.34 [[ 3.73593979e-01 9.07161625e-01 -1.93611271e-01 1.23053413e+02] [-8.27579778e-01 4.20248358e-01 3.72159950e-01 6.10967397e+00] [ 4.18974044e-01 2.11920559e-02 9.07750873e-01 -7.13381794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.12, Y:6.11, Z:-71.32 [[ 3.84741261e-01 8.92376731e-01 -2.35876942e-01 1.23119522e+02] [-8.48559100e-01 4.42516022e-01 2.90046589e-01 6.11095827e+00] [ 3.63210153e-01 8.85626355e-02 9.27488568e-01 -7.13215651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.05, Y:6.05, Z:-71.32 [[ 3.81242633e-01 9.13869343e-01 -1.39631223e-01 1.23046327e+02] [-8.50914465e-01 4.05923542e-01 3.33422632e-01 6.04744628e+00] [ 3.61384323e-01 -8.30069463e-03 9.32380003e-01 -7.13211325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.31864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.06, Y:6.02, Z:-71.31 [[ 3.81089696e-01 9.13967749e-01 -1.39404437e-01 1.23056084e+02] [-8.51424357e-01 4.05708464e-01 3.32381116e-01 6.02302565e+00] [ 3.60343181e-01 -7.97468527e-03 9.32785718e-01 -7.13104885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.34864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.07, Y:6.00, Z:-71.30 [[ 3.80870632e-01 9.14063892e-01 -1.39372747e-01 1.23065845e+02] [-8.51751579e-01 4.05497843e-01 3.31799259e-01 5.99928772e+00] [ 3.59801070e-01 -7.66163661e-03 9.32997583e-01 -7.12994493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.37864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:122.94, Y:5.93, Z:-71.29 [[ 3.79451008e-01 9.25145587e-01 -1.10713982e-02 1.22942348e+02] [-8.27174797e-01 3.44580245e-01 4.43898986e-01 5.92757714e+00] [ 4.14486172e-01 -1.59279936e-01 8.96008435e-01 -7.12853073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.40864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.14, Y:5.98, Z:-71.27 [[ 3.67627291e-01 9.02459043e-01 -2.24539196e-01 1.23143836e+02] [-8.34166061e-01 4.26735135e-01 3.49376740e-01 5.97915749e+00] [ 4.11116963e-01 5.88625522e-02 9.09680187e-01 -7.12677995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.43864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.17, Y:5.96, Z:-71.26 [[ 3.79929168e-01 8.99591043e-01 -2.15382873e-01 1.23165690e+02] [-8.52705178e-01 4.30852663e-01 2.95397804e-01 5.96032263e+00] [ 3.58535503e-01 7.14278486e-02 9.30779434e-01 -7.12563083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.46864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.11, Y:5.91, Z:-71.25 [[ 3.75766167e-01 9.16311757e-01 -1.38464985e-01 1.23114171e+02] [-8.55474234e-01 4.00435331e-01 3.28352525e-01 5.90702746e+00] [ 3.56319551e-01 -4.93054258e-03 9.34351148e-01 -7.12532321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.49864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:123.13, Y:5.88, Z:-71.24 [[ 3.74707274e-01 9.16762214e-01 -1.38352820e-01 1.23126127e+02] [-8.56244140e-01 3.99410389e-01 3.27593215e-01 5.88407627e+00] [ 3.55584634e-01 -4.28776875e-03 9.34634251e-01 -7.12430111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.14, Y:5.86, Z:-71.23 [[ 3.73770115e-01 9.17111544e-01 -1.38572423e-01 1.23138299e+02] [-8.56607910e-01 3.98613038e-01 3.27613391e-01 5.86156592e+00] [ 3.55694798e-01 -3.74986093e-03 9.34594645e-01 -7.12325961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.15, Y:5.84, Z:-71.22 [[ 3.74391404e-01 9.16806397e-01 -1.38914031e-01 1.23154752e+02] [-8.56166533e-01 3.99313570e-01 3.27913923e-01 5.84064299e+00] [ 3.56103840e-01 -3.83460979e-03 9.34438522e-01 -7.12213648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:123.05, Y:5.77, Z:-71.21 [[ 3.71326120e-01 9.28210541e-01 -2.32831283e-02 1.23051694e+02] [-8.38922582e-01 3.46141978e-01 4.19993610e-01 5.77218948e+00] [ 3.97901764e-01 -1.36421856e-01 9.07228341e-01 -7.12133307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.29, Y:5.85, Z:-71.18 [[ 0.38120095 0.88437638 -0.26937754 123.29438854] [ -0.85420047 0.44837786 0.26324674 5.85228163] [ 0.35359212 0.12975251 0.92635679 -71.17668442] [ 0. 0. 0. 1. ]] SLAMing on 149.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.19, Y:5.77, Z:-71.19 [[ 3.81224034e-01 9.14153623e-01 -1.37809253e-01 1.23194798e+02] [-8.54570528e-01 4.05323354e-01 3.24687836e-01 5.77223484e+00] [ 3.52671870e-01 -6.01108053e-03 9.35727748e-01 -7.11868899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.21, Y:5.75, Z:-71.18 [[ 3.81656642e-01 9.13946480e-01 -1.37985653e-01 1.23205012e+02] [-8.54377344e-01 4.05790397e-01 3.24612857e-01 5.74792021e+00] [ 3.52672031e-01 -5.99883686e-03 9.35727766e-01 -7.11762403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.70864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.22, Y:5.73, Z:-71.17 [[ 3.85281511e-01 9.12446276e-01 -1.37840308e-01 1.23217251e+02] [-8.53083345e-01 4.09133664e-01 3.23818547e-01 5.72508295e+00] [ 3.51862138e-01 -7.17202790e-03 9.36024358e-01 -7.11655442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.73864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:123.13, Y:5.66, Z:-71.16 [[ 3.89317617e-01 9.20398273e-01 -3.60390304e-02 1.23125619e+02] [-8.34128486e-01 3.68883060e-01 4.10067015e-01 5.66164123e+00] [ 3.90719160e-01 -1.29585131e-01 9.11343092e-01 -7.11584348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.29, Y:5.71, Z:-71.13 [[ 3.87834074e-01 8.96378347e-01 -2.14687192e-01 1.23289941e+02] [-8.32837557e-01 4.40589600e-01 3.35055829e-01 5.70721419e+00] [ 3.94925735e-01 4.88534896e-02 9.17413212e-01 -7.11322965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.79864 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:123.26, Y:5.68, Z:-71.13 [[ 4.06180608e-01 8.95135984e-01 -1.83708692e-01 1.23261189e+02] [-8.26702498e-01 4.45621972e-01 3.43488046e-01 5.68129786e+00] [ 3.89333139e-01 1.23542515e-02 9.21014158e-01 -7.11292606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.32, Y:5.66, Z:-71.11 [[ 4.02836000e-01 8.91203783e-01 -2.08516126e-01 1.23320422e+02] [-8.44773578e-01 4.49708592e-01 2.90034110e-01 5.66187418e+00] [ 3.52250990e-01 5.93127331e-02 9.34024218e-01 -7.11126584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.17, Y:5.57, Z:-71.11 [[ 4.01025123e-01 9.15001977e-01 -4.41614462e-02 1.23169835e+02] [-8.28892866e-01 3.82965773e-01 4.07766887e-01 5.56929624e+00] [ 3.90019830e-01 -1.26919659e-01 9.12017507e-01 -7.11138680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.29, Y:5.59, Z:-71.09 [[ 4.02470181e-01 8.97254688e-01 -1.81526247e-01 1.23292114e+02] [-8.26659392e-01 4.41408884e-01 3.48987747e-01 5.59428684e+00] [ 3.93258190e-01 9.60321503e-03 9.19377928e-01 -7.10948756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.35, Y:5.59, Z:-71.08 [[ 4.14526553e-01 8.83740449e-01 -2.17187836e-01 1.23345557e+02] [-8.39015194e-01 4.63562636e-01 2.84891534e-01 5.58735413e+00] [ 3.52450338e-01 6.41287886e-02 9.33630686e-01 -7.10797608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.21, Y:5.50, Z:-71.08 [[ 4.10465806e-01 9.09132684e-01 -7.06794540e-02 1.23211545e+02] [-8.27148230e-01 4.03834661e-01 3.90823965e-01 5.50234155e+00] [ 3.83853654e-01 -1.01957489e-01 9.17747810e-01 -7.10802238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.97864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.29, Y:5.51, Z:-71.06 [[ 4.08374993e-01 8.98332927e-01 -1.61950046e-01 1.23290416e+02] [-8.25260438e-01 4.39168640e-01 3.55071987e-01 5.50794710e+00] [ 3.90096239e-01 -1.13515540e-02 9.20704115e-01 -7.10643211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.29, Y:5.48, Z:-71.06 [[ 4.09250561e-01 9.00223042e-01 -1.48702563e-01 1.23285468e+02] [-8.27262179e-01 4.34843771e-01 3.55736113e-01 5.47669355e+00] [ 3.84904229e-01 -2.25691977e-02 9.22680533e-01 -7.10551008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.35, Y:5.48, Z:-71.04 [[ 4.16714864e-01 8.85082743e-01 -2.07309577e-01 1.23350874e+02] [-8.39056760e-01 4.62245070e-01 2.86902858e-01 5.47567231e+00] [ 3.49760598e-01 5.43878159e-02 9.35259049e-01 -7.10405588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.29, Y:5.42, Z:-71.04 [[ 4.15958138e-01 8.99182570e-01 -1.35829061e-01 1.23294732e+02] [-8.41025837e-01 4.37190371e-01 3.18653607e-01 5.42073756e+00] [ 3.45910927e-01 -1.83108115e-02 9.38088666e-01 -7.10364531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.09864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.30, Y:5.39, Z:-71.03 [[ 4.15458883e-01 8.99463710e-01 -1.35495210e-01 1.23299990e+02] [-8.41777833e-01 4.36631860e-01 3.17431408e-01 5.39433116e+00] [ 3.44679557e-01 -1.78228339e-02 9.38551197e-01 -7.10260784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.23, Y:5.34, Z:-71.01 [[ 4.10743464e-01 9.09744509e-01 -6.04544002e-02 1.23229480e+02] [-8.33737467e-01 4.01607917e-01 3.78936560e-01 5.33963582e+00] [ 3.69014421e-01 -1.05242617e-01 9.23445910e-01 -7.10126343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.38, Y:5.38, Z:-71.00 [[ 4.11552319e-01 8.84590594e-01 -2.19372216e-01 1.23381576e+02] [-8.42841409e-01 4.60991083e-01 2.77678916e-01 5.37503435e+00] [ 3.46760792e-01 7.06165863e-02 9.35291532e-01 -7.09960628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.18864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.27, Y:5.30, Z:-70.99 [[ 4.00839634e-01 9.11383640e-01 -9.33137074e-02 1.23270510e+02] [-8.38167713e-01 4.05934587e-01 3.64269126e-01 5.29618358e+00] [ 3.69868184e-01 -6.78009664e-02 9.26607013e-01 -7.09889812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.21864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.30, Y:5.28, Z:-70.98 [[ 3.95292686e-01 9.09601363e-01 -1.27941599e-01 1.23299293e+02] [-8.36846583e-01 4.14047557e-01 3.58123468e-01 5.28413026e+00] [ 3.78723501e-01 -3.44960979e-02 9.24866763e-01 -7.09772600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.39, Y:5.29, Z:-70.96 [[ 3.99607984e-01 8.94242170e-01 -2.01604565e-01 1.23385167e+02] [-8.50685417e-01 4.43697273e-01 2.81899008e-01 5.29217335e+00] [ 3.41537377e-01 5.88529695e-02 9.38023746e-01 -7.09649238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.27864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:123.28, Y:5.22, Z:-70.95 [[ 3.89839997e-01 9.16756932e-01 -8.70718321e-02 1.23280215e+02] [-8.39617654e-01 3.92681840e-01 3.75290776e-01 5.22168569e+00] [ 3.78241948e-01 -7.31963075e-02 9.22808393e-01 -7.09544898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.32, Y:5.21, Z:-70.94 [[ 3.81859633e-01 9.16963981e-01 -1.15586667e-01 1.23317232e+02] [-8.45995073e-01 3.97150075e-01 3.55758563e-01 5.20831910e+00] [ 3.72123041e-01 -3.80640837e-02 9.27402592e-01 -7.09447250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.33864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.38, Y:5.21, Z:-70.93 [[ 3.76576151e-01 9.08104473e-01 -1.83130197e-01 1.23383832e+02] [-8.45984773e-01 4.17660227e-01 3.31465984e-01 5.20762108e+00] [ 3.77491942e-01 3.01031740e-02 9.25523437e-01 -7.09322207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.41, Y:5.19, Z:-70.92 [[ 3.83892900e-01 9.05473401e-01 -1.80953480e-01 1.23406006e+02] [-8.60495889e-01 4.21894002e-01 2.85573590e-01 5.18866311e+00] [ 3.34922478e-01 4.60800516e-02 9.41118251e-01 -7.09228845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.34, Y:5.13, Z:-70.91 [[ 3.71293094e-01 9.22988474e-01 -1.01161826e-01 1.23335822e+02] [-8.50850858e-01 3.81831013e-01 3.60912587e-01 5.12883924e+00] [ 3.71744880e-01 -4.79307248e-02 9.27096753e-01 -7.09113859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.42, Y:5.14, Z:-70.90 [[ 3.76829578e-01 9.10261393e-01 -1.71533278e-01 1.23420766e+02] [-8.64433061e-01 4.12119351e-01 2.87946390e-01 5.13764601e+00] [ 3.32798665e-01 3.97723200e-02 9.42158803e-01 -7.09028265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.45864 meters Centerline goodness : 0.858085 Centerline is valid? [True, False] Translation: X:123.47, Y:5.14, Z:-70.88 [[ 3.90807488e-01 8.92538383e-01 -2.25043867e-01 1.23467091e+02] [-8.52639480e-01 4.43137221e-01 2.76830853e-01 5.13656668e+00] [ 3.46807476e-01 8.36937150e-02 9.34194807e-01 -7.08822543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.48864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:123.52, Y:5.18, Z:-70.87 [[ 0.40114713 0.86548492 -0.30002805 123.52050646] [ -0.84543215 0.47589235 0.24242723 5.18382657] [ 0.35259816 0.15640437 0.92261162 -70.87178567] [ 0. 0. 0. 1. ]] SLAMing on 150.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.44, Y:5.11, Z:-70.87 [[ 4.13231464e-01 8.93752977e-01 -1.74486027e-01 1.23439183e+02] [-8.55702384e-01 4.46651191e-01 2.61297042e-01 5.11486021e+00] [ 3.11469400e-01 4.13319498e-02 9.49356878e-01 -7.08731896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.42, Y:5.07, Z:-70.87 [[ 4.12032853e-01 9.01027456e-01 -1.35567148e-01 1.23417325e+02] [-8.56257564e-01 4.33761759e-01 2.80488361e-01 5.07438196e+00] [ 3.11531559e-01 5.09976445e-04 9.50235669e-01 -7.08655378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.57864 meters Centerline goodness : 0.905083 Centerline is valid? [True, False] Translation: X:123.46, Y:5.08, Z:-70.85 [[ 4.23516103e-01 8.87278813e-01 -1.82675719e-01 1.23457495e+02] [-8.45976174e-01 4.59498634e-01 2.70527852e-01 5.07715613e+00] [ 3.23972875e-01 3.99664038e-02 9.45221806e-01 -7.08490332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.60864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:123.51, Y:5.10, Z:-70.83 [[ 4.37888382e-01 8.63006896e-01 -2.51938213e-01 1.23513637e+02] [-8.35503306e-01 4.94111031e-01 2.40392419e-01 5.10457412e+00] [ 3.31945765e-01 1.05230163e-01 9.37410594e-01 -7.08345645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.63864 meters Centerline goodness : 0.930773 Centerline is valid? [True, False] Translation: X:123.55, Y:5.14, Z:-70.82 [[ 0.4494047 0.83941813 -0.30563478 123.55278181] [ -0.82835859 0.51966186 0.20922143 5.14044886] [ 0.334451 0.1591501 0.9288777 -70.82407793] [ 0. 0. 0. 1. ]] SLAMing on 150.66864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:123.60, Y:5.15, Z:-70.80 [[ 0.45905213 0.81545524 -0.35256758 123.59523852] [ -0.81779486 0.54291714 0.19092552 5.14863233] [ 0.3471062 0.20068318 0.91610237 -70.80276655] [ 0. 0. 0. 1. ]] SLAMing on 150.69864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:123.48, Y:5.04, Z:-70.82 [[ 4.68896456e-01 8.63748068e-01 -1.84595202e-01 1.23480058e+02] [-8.25052578e-01 5.02936727e-01 2.57571140e-01 5.04269665e+00] [ 3.15316282e-01 3.15265527e-02 9.48462819e-01 -7.08181423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.72864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:123.44, Y:4.99, Z:-70.81 [[ 4.63084194e-01 8.75670751e-01 -1.36944385e-01 1.23438216e+02] [-8.13479335e-01 4.81264095e-01 3.26552051e-01 4.98750827e+00] [ 3.51858495e-01 -3.98196663e-02 9.35205856e-01 -7.08077937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.75864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:123.46, Y:4.98, Z:-70.80 [[ 4.63672468e-01 8.72947321e-01 -1.51561264e-01 1.23464371e+02] [-8.11374534e-01 4.87074122e-01 3.23156566e-01 4.97502486e+00] [ 3.55920228e-01 -2.68658526e-02 9.34130086e-01 -7.07961362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.78864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:123.51, Y:4.97, Z:-70.78 [[ 4.64107337e-01 8.65425389e-01 -1.88794269e-01 1.23513312e+02] [-8.14082990e-01 5.00743315e-01 2.94151353e-01 4.97290269e+00] [ 3.49103517e-01 1.71764018e-02 9.36926734e-01 -7.07843001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.56, Y:4.97, Z:-70.77 [[ 4.73810208e-01 8.55896003e-01 -2.07233972e-01 1.23562806e+02] [-8.25807450e-01 5.13568872e-01 2.33000146e-01 4.97087255e+00] [ 3.05852811e-01 6.07375105e-02 9.50139470e-01 -7.07730222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.84864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:123.53, Y:4.92, Z:-70.77 [[ 4.73194074e-01 8.67276168e-01 -1.54659033e-01 1.23533076e+02] [-8.26372262e-01 4.97816722e-01 2.63224991e-01 4.92157288e+00] [ 3.05280614e-01 3.24942874e-03 9.52256892e-01 -7.07668845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.87864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.51, Y:4.88, Z:-70.76 [[ 4.66904747e-01 8.75302800e-01 -1.25876789e-01 1.23505397e+02] [-8.14028838e-01 4.81033008e-01 3.25521575e-01 4.87735931e+00] [ 3.45480837e-01 -4.95202324e-02 9.37118316e-01 -7.07574813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.57, Y:4.88, Z:-70.75 [[ 4.68045131e-01 8.65405826e-01 -1.78903638e-01 1.23566142e+02] [-8.14528362e-01 5.00993889e-01 2.92487045e-01 4.88437793e+00] [ 3.42749622e-01 8.82494966e-03 9.39385340e-01 -7.07474379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.93864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.56, Y:4.85, Z:-70.74 [[ 4.68485657e-01 8.69367960e-01 -1.57227666e-01 1.23558610e+02] [-8.12881477e-01 4.93878870e-01 3.08718912e-01 4.85155480e+00] [ 3.46041753e-01 -1.68229244e-02 9.38068278e-01 -7.07387601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.96864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:123.59, Y:4.84, Z:-70.73 [[ 4.71029393e-01 8.63120937e-01 -1.82081186e-01 1.23593787e+02] [-8.12368396e-01 5.04888677e-01 2.91796186e-01 4.84251577e+00] [ 3.43786127e-01 1.04724211e-02 9.38989578e-01 -7.07284445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.65, Y:4.84, Z:-70.72 [[ 4.80458091e-01 8.51960267e-01 -2.08143522e-01 1.23650226e+02] [-8.24648798e-01 5.19644215e-01 2.23437349e-01 4.84353849e+00] [ 2.98520321e-01 6.42930227e-02 9.52235278e-01 -7.07161990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.02864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:123.62, Y:4.79, Z:-70.71 [[ 4.81758637e-01 8.63115313e-01 -1.51461454e-01 1.23615084e+02] [-8.23972298e-01 5.05005902e-01 2.56979944e-01 4.79045983e+00] [ 2.98292253e-01 9.97734777e-04 9.54474063e-01 -7.07114688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.05864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:123.63, Y:4.77, Z:-70.70 [[ 4.84583530e-01 8.61463982e-01 -1.51850614e-01 1.23626113e+02] [-8.22138650e-01 5.07818652e-01 2.57309653e-01 4.76698319e+00] [ 2.98775573e-01 1.54238755e-04 9.54323390e-01 -7.07013545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.64, Y:4.74, Z:-70.69 [[ 4.86356605e-01 8.60509306e-01 -1.51594814e-01 1.23638913e+02] [-8.21375678e-01 5.09434655e-01 2.56550830e-01 4.74371792e+00] [ 2.97992028e-01 -2.58897515e-04 9.54568324e-01 -7.06930095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.65, Y:4.72, Z:-70.68 [[ 4.87646476e-01 8.59773845e-01 -1.51624039e-01 1.23650869e+02] [-8.20691802e-01 5.10674700e-01 2.56273909e-01 4.72009335e+00] [ 2.97768165e-01 -5.34462515e-04 9.54638065e-01 -7.06844447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.66, Y:4.70, Z:-70.68 [[ 4.87632214e-01 8.59854053e-01 -1.51214521e-01 1.23663306e+02] [-8.21092114e-01 5.10539823e-01 2.55258359e-01 4.69621307e+00] [ 2.96685970e-01 -3.11147867e-04 9.54975046e-01 -7.06760824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.17864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.63, Y:4.65, Z:-70.67 [[ 4.82159388e-01 8.67436153e-01 -1.22787808e-01 1.23629184e+02] [-8.06559849e-01 4.94232571e-01 3.24338365e-01 4.64948463e+00] [ 3.42028557e-01 -5.73470718e-02 9.37938047e-01 -7.06662898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.68, Y:4.65, Z:-70.65 [[ 4.77777673e-01 8.62414382e-01 -1.67242126e-01 1.23677714e+02] [-8.07211974e-01 5.06101591e-01 3.03759788e-01 4.64660044e+00] [ 3.46608316e-01 -1.01297978e-02 9.37955256e-01 -7.06548833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.75, Y:4.66, Z:-70.64 [[ 4.86583361e-01 8.47715397e-01 -2.11223197e-01 1.23751805e+02] [-8.22264108e-01 5.26069114e-01 2.17101413e-01 4.65852536e+00] [ 2.95158210e-01 6.80433186e-02 9.53022423e-01 -7.06426425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.71, Y:4.60, Z:-70.64 [[ 4.83461585e-01 8.62229493e-01 -1.51080100e-01 1.23711523e+02] [-8.23867237e-01 5.06515568e-01 2.54331980e-01 4.60227242e+00] [ 2.95816957e-01 1.51020225e-03 9.55243449e-01 -7.06382305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.29864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.67, Y:4.55, Z:-70.63 [[ 4.76401734e-01 8.71508561e-01 -1.16250661e-01 1.23671865e+02] [-8.09681123e-01 4.86405539e-01 3.28368894e-01 4.55223834e+00] [ 3.42721268e-01 -6.23095448e-02 9.37368473e-01 -7.06261492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.73, Y:4.56, Z:-70.62 [[ 4.73296193e-01 8.64239850e-01 -1.70529166e-01 1.23733380e+02] [-8.13504550e-01 5.03079590e-01 2.91755504e-01 4.55837767e+00] [ 3.37936475e-01 6.39483212e-04 9.41168704e-01 -7.06153966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.35864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:123.75, Y:4.54, Z:-70.60 [[ 4.70348920e-01 8.65987300e-01 -1.69817223e-01 1.23748440e+02] [-8.16240961e-01 5.00059528e-01 2.89294247e-01 4.53809728e+00] [ 3.35443864e-01 2.54253660e-03 9.42056765e-01 -7.06048338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:4.55, Z:-70.59 [[ 4.78167864e-01 8.53705141e-01 -2.06259610e-01 1.23816534e+02] [-8.30468423e-01 5.15918683e-01 2.10119278e-01 4.54710032e+00] [ 2.85793094e-01 7.08198071e-02 9.55670896e-01 -7.05945704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.78, Y:4.49, Z:-70.59 [[ 4.72593296e-01 8.68853436e-01 -1.47476385e-01 1.23782909e+02] [-8.32983116e-01 4.95032489e-01 2.47147656e-01 4.49483050e+00] [ 2.87740692e-01 6.04501285e-03 9.57689277e-01 -7.05897090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.44864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.80, Y:4.47, Z:-70.58 [[ 4.71524818e-01 8.69445945e-01 -1.47404528e-01 1.23798909e+02] [-8.33732595e-01 4.93984493e-01 2.46717005e-01 4.47275724e+00] [ 2.87322651e-01 6.56276872e-03 9.57811372e-01 -7.05820297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.82, Y:4.45, Z:-70.57 [[ 4.69950679e-01 8.70294151e-01 -1.47426081e-01 1.23816137e+02] [-8.34703808e-01 4.92479090e-01 2.46442487e-01 4.45245506e+00] [ 2.87081718e-01 7.24129715e-03 9.57878725e-01 -7.05730552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.76, Y:4.39, Z:-70.56 [[ 4.63442340e-01 8.80737196e-01 -9.75868260e-02 1.23764917e+02] [-8.17677787e-01 4.67484156e-01 3.35948807e-01 4.39438470e+00] [ 3.41502905e-01 -7.58983213e-02 9.36811193e-01 -7.05590241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:4.45, Z:-70.55 [[ 4.73087646e-01 8.53042324e-01 -2.20242758e-01 1.23909339e+02] [-8.34060193e-01 5.14175902e-01 1.99916825e-01 4.44911332e+00] [ 2.83781032e-01 8.91175373e-02 9.54738912e-01 -7.05457471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.56864000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:123.83, Y:4.37, Z:-70.54 [[ 4.66583215e-01 8.76118291e-01 -1.21312999e-01 1.23826316e+02] [-8.21976160e-01 4.80158034e-01 3.06273497e-01 4.36754581e+00] [ 3.26581224e-01 -4.31856798e-02 9.44182028e-01 -7.05421988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.92, Y:4.39, Z:-70.53 [[ 4.75554225e-01 8.59348091e-01 -1.88066577e-01 1.23918657e+02] [-8.33511638e-01 5.08528385e-01 2.16002848e-01 4.39173009e+00] [ 2.81258828e-01 5.40346137e-02 9.58109457e-01 -7.05307154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.90, Y:4.35, Z:-70.53 [[ 4.74665812e-01 8.68081738e-01 -1.45349453e-01 1.23896254e+02] [-8.33661992e-01 4.96381875e-01 2.42100634e-01 4.34526209e+00] [ 2.82311973e-01 6.25542078e-03 9.59302257e-01 -7.05257684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.91, Y:4.32, Z:-70.52 [[ 4.75771753e-01 8.67264491e-01 -1.46606756e-01 1.23914912e+02] [-8.32281107e-01 4.97811836e-01 2.43908865e-01 4.32499488e+00] [ 2.84516076e-01 5.97308519e-03 9.58652661e-01 -7.05180430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:123.93, Y:4.30, Z:-70.51 [[ 4.76808027e-01 8.66671955e-01 -1.46744092e-01 1.23929905e+02] [-8.31684559e-01 4.98844942e-01 2.43832972e-01 4.30308502e+00] [ 2.84525746e-01 5.78327723e-03 9.58650955e-01 -7.05105113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.71864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.89, Y:4.25, Z:-70.50 [[ 4.70613471e-01 8.75592524e-01 -1.08906811e-01 1.23889877e+02] [-8.16689233e-01 4.78986650e-01 3.21854759e-01 4.25080492e+00] [ 3.33978529e-01 -6.25261648e-02 9.40504557e-01 -7.04994574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.01, Y:4.29, Z:-70.49 [[ 4.81495142e-01 8.52227818e-01 -2.04622027e-01 1.24008273e+02] [-8.30065743e-01 5.18355066e-01 2.05666932e-01 4.29181282e+00] [ 2.81341945e-01 7.08221063e-02 9.56990564e-01 -7.04866546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:123.97, Y:4.24, Z:-70.48 [[ 4.80991004e-01 8.64464185e-01 -1.46114085e-01 1.23972533e+02] [-8.29876053e-01 5.02671551e-01 2.42130230e-01 4.23670808e+00] [ 2.82760306e-01 4.79411811e-03 9.59178620e-01 -7.04849879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.93, Y:4.18, Z:-70.47 [[ 4.76240429e-01 8.72523948e-01 -1.09073435e-01 1.23933620e+02] [-8.15195609e-01 4.84602532e-01 3.17201049e-01 4.18467859e+00] [ 3.29622774e-01 -6.21477786e-02 9.42065008e-01 -7.04737600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:123.90, Y:4.14, Z:-70.46 [[ 4.79080653e-01 8.75898814e-01 -5.72974329e-02 1.23898321e+02] [-8.10817204e-01 4.66598734e-01 3.53356878e-01 4.13749562e+00] [ 3.36239780e-01 -1.22828700e-01 9.33732253e-01 -7.04634629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.86864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:124.10, Y:4.23, Z:-70.44 [[ 0.47309984 0.83743226 -0.27364896 124.10408356] [ -0.8208247 0.53181126 0.20838327 4.23054784] [ 0.32003647 0.12603173 0.93898491 -70.43530451] [ 0. 0. 0. 1. ]] SLAMing on 151.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.02, Y:4.15, Z:-70.44 [[ 4.76487855e-01 8.64393417e-01 -1.60571927e-01 1.24023482e+02] [-8.18871751e-01 5.02815923e-01 2.76812577e-01 4.14809487e+00] [ 3.20013092e-01 -4.10016050e-04 9.47413032e-01 -7.04424594e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.92864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:124.04, Y:4.13, Z:-70.43 [[ 4.76878471e-01 8.62809668e-01 -1.67768888e-01 1.24044110e+02] [-8.20311527e-01 5.05430138e-01 2.67636645e-01 4.13142416e+00] [ 3.15714937e-01 9.99259814e-03 9.48801468e-01 -7.04334800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.95864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:124.05, Y:4.11, Z:-70.43 [[ 4.76299604e-01 8.64840915e-01 -1.58710045e-01 1.24050701e+02] [-8.21088138e-01 5.02045100e-01 2.71597105e-01 4.10589510e+00] [ 3.14567890e-01 9.53342268e-04 9.49234499e-01 -7.04264860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.98864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:124.07, Y:4.09, Z:-70.42 [[ 4.75619296e-01 8.64824950e-01 -1.60823168e-01 1.24067566e+02] [-8.21839035e-01 5.02056855e-01 2.69294478e-01 4.08621067e+00] [ 3.13634957e-01 4.08910762e-03 9.49534830e-01 -7.04179392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.01864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:124.09, Y:4.07, Z:-70.41 [[ 4.75961321e-01 8.63718735e-01 -1.65682733e-01 1.24087173e+02] [-8.22823029e-01 5.03849377e-01 2.62865113e-01 4.06749991e+00] [ 3.10520665e-01 1.12139419e-02 9.50500481e-01 -7.04086752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:124.14, Y:4.07, Z:-70.40 [[ 4.86852943e-01 8.53480623e-01 -1.85862954e-01 1.24139960e+02] [-8.33219630e-01 5.17634572e-01 1.94420932e-01 4.06852445e+00] [ 2.62143589e-01 6.02102589e-02 9.63148724e-01 -7.03992649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.07864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:124.06, Y:3.99, Z:-70.39 [[ 4.80748110e-01 8.70871494e-01 -1.02294166e-01 1.24060873e+02] [-8.19724760e-01 4.87776599e-01 3.00208774e-01 3.98958626e+00] [ 3.11339964e-01 -6.04717401e-02 9.48372604e-01 -7.03943461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.10864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:124.13, Y:4.00, Z:-70.38 [[ 4.80195011e-01 8.62457892e-01 -1.59934788e-01 1.24125274e+02] [-8.21383479e-01 5.06103541e-01 2.63036855e-01 3.99909259e+00] [ 3.07801774e-01 5.05880690e-03 9.51437058e-01 -7.03827882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.13864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:124.19, Y:4.01, Z:-70.37 [[ 4.89979963e-01 8.51070625e-01 -1.88675455e-01 1.24189221e+02] [-8.33092963e-01 5.20886676e-01 1.86099935e-01 4.00684198e+00] [ 2.56662719e-01 6.59989546e-02 9.64244983e-01 -7.03721035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.16864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:124.11, Y:3.92, Z:-70.37 [[ 4.82866209e-01 8.70036854e-01 -9.93785582e-02 1.24105432e+02] [-8.20172781e-01 4.89095664e-01 2.96819880e-01 3.92368203e+00] [ 3.06849856e-01 -6.18167016e-02 9.49748315e-01 -7.03710731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.17, Y:3.93, Z:-70.36 [[ 4.82022907e-01 8.61431688e-01 -1.59966760e-01 1.24172686e+02] [-8.21711441e-01 5.07828325e-01 2.58651694e-01 3.93384190e+00] [ 3.04046417e-01 6.77047543e-03 9.52633160e-01 -7.03595506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.22864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:124.23, Y:3.94, Z:-70.35 [[ 4.90985179e-01 8.50674367e-01 -1.87847476e-01 1.24233774e+02] [-8.33149429e-01 5.21517078e-01 1.84070550e-01 3.93958329e+00] [ 2.54549765e-01 6.61291053e-02 9.64796019e-01 -7.03475198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.25864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:124.20, Y:3.89, Z:-70.35 [[ 4.92300170e-01 8.60196597e-01 -1.33050207e-01 1.24201705e+02] [-8.32406324e-01 5.09947165e-01 2.16918420e-01 3.88679929e+00] [ 2.54441063e-01 3.96285893e-03 9.67080163e-01 -7.03450756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.28864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:124.10, Y:3.80, Z:-70.34 [[ 4.92528581e-01 8.69185243e-01 -4.39614560e-02 1.24100013e+02] [-8.03666265e-01 4.73623996e-01 3.60278843e-01 3.80045808e+00] [ 3.33970255e-01 -1.42117288e-01 9.31808213e-01 -7.03352016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.31864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:124.30, Y:3.89, Z:-70.31 [[ 4.89030880e-01 8.39955459e-01 -2.35209746e-01 1.24295479e+02] [-8.20487130e-01 5.34484862e-01 2.02797439e-01 3.88607512e+00] [ 2.96056865e-01 9.38123597e-02 9.50552247e-01 -7.03127374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.34864000000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:124.28, Y:3.84, Z:-70.31 [[ 5.01701650e-01 8.46753428e-01 -1.76929609e-01 1.24281674e+02] [-8.28221854e-01 5.29229975e-01 1.84293771e-01 3.84238247e+00] [ 2.49687835e-01 5.40764803e-02 9.66815246e-01 -7.03146801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.37864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:124.20, Y:3.77, Z:-70.31 [[ 4.97935805e-01 8.61491345e-01 -9.94615322e-02 1.24204385e+02] [-8.14051630e-01 5.03865541e-01 2.88858893e-01 3.76615605e+00] [ 2.98964675e-01 -6.28663630e-02 9.52191128e-01 -7.03131867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.40864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:124.32, Y:3.80, Z:-70.30 [[ 5.05709994e-01 8.42144315e-01 -1.87217399e-01 1.24316057e+02] [-8.26139353e-01 5.35244933e-01 1.76086998e-01 3.80135636e+00] [ 2.48497829e-01 6.56187060e-02 9.66407272e-01 -7.02973325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.43864000000002 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:124.25, Y:3.73, Z:-70.30 [[ 5.00645642e-01 8.57720466e-01 -1.16916826e-01 1.24248446e+02] [-8.14784534e-01 5.12525290e-01 2.71005517e-01 3.73023263e+00] [ 2.92369808e-01 -4.04157095e-02 9.55450923e-01 -7.02964811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.46864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:124.29, Y:3.73, Z:-70.29 [[ 4.98870085e-01 8.53578380e-01 -1.50108586e-01 1.24291079e+02] [-8.15713491e-01 5.20955891e-01 2.51428836e-01 3.72537628e+00] [ 2.92814171e-01 -2.98472623e-03 9.56164710e-01 -7.02867934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.49864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:124.31, Y:3.71, Z:-70.28 [[ 4.97514455e-01 8.53637171e-01 -1.54217211e-01 1.24310124e+02] [-8.17478904e-01 5.20854540e-01 2.45843020e-01 3.70610752e+00] [ 2.90185474e-01 3.75886062e-03 9.56963041e-01 -7.02778825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.32, Y:3.68, Z:-70.27 [[ 4.96701361e-01 8.54559106e-01 -1.51711871e-01 1.24323269e+02] [-8.18691275e-01 5.19348056e-01 2.44994270e-01 3.68299170e+00] [ 2.88153350e-01 2.51619781e-03 9.57580971e-01 -7.02699830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.55864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:124.35, Y:3.67, Z:-70.26 [[ 4.95168037e-01 8.54151114e-01 -1.58853673e-01 1.24348032e+02] [-8.20938968e-01 5.19851528e-01 2.36249022e-01 3.66673235e+00] [ 2.84372690e-01 1.34262062e-02 9.58619794e-01 -7.02608044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.58864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:124.35, Y:3.64, Z:-70.26 [[ 4.95834011e-01 8.55677138e-01 -1.48206847e-01 1.24354040e+02] [-8.20939547e-01 5.17506156e-01 2.41341333e-01 3.63919882e+00] [ 2.83208217e-01 2.00362102e-03 9.59056355e-01 -7.02551664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.61864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:124.37, Y:3.62, Z:-70.25 [[ 4.95215063e-01 8.55123162e-01 -1.53383243e-01 1.24374345e+02] [-8.22209432e-01 5.18334931e-01 2.35160687e-01 3.61961308e+00] [ 2.80595243e-01 9.65803512e-03 9.59777595e-01 -7.02473092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.39, Y:3.60, Z:-70.24 [[ 4.95927664e-01 8.54274606e-01 -1.55790402e-01 1.24393110e+02] [-8.22944386e-01 5.19625176e-01 2.29678500e-01 3.60048106e+00] [ 2.77161125e-01 1.43029146e-02 9.60716991e-01 -7.02392719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.67864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:124.40, Y:3.57, Z:-70.23 [[ 4.94340643e-01 8.58164986e-01 -1.38492548e-01 1.24396248e+02] [-8.22700286e-01 5.13328897e-01 2.44249222e-01 3.57063979e+00] [ 2.80698357e-01 -6.80445877e-03 9.59771916e-01 -7.02330751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.70864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:124.42, Y:3.55, Z:-70.22 [[ 4.94242128e-01 8.56647211e-01 -1.47919830e-01 1.24421682e+02] [-8.23475230e-01 5.15877441e-01 2.36133460e-01 3.55402698e+00] [ 2.78591574e-01 5.10121219e-03 9.60396123e-01 -7.02246069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.73864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:124.37, Y:3.50, Z:-70.22 [[ 4.94785306e-01 8.65544712e-01 -7.75877090e-02 1.24373979e+02] [-8.21253795e-01 4.94915691e-01 2.83902559e-01 3.49518130e+00] [ 2.84129734e-01 -7.67516141e-02 9.55708891e-01 -7.02223279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.51, Y:3.55, Z:-70.20 [[ 4.92922423e-01 8.44779464e-01 -2.08266995e-01 1.24506687e+02] [-8.24716438e-01 5.29919767e-01 1.97554643e-01 3.54635499e+00] [ 2.77254904e-01 7.43821012e-02 9.57912847e-01 -7.01994627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.79864 meters Centerline goodness : 0.899346 Centerline is valid? [True, False] Translation: X:124.54, Y:3.54, Z:-70.18 [[ 5.15952243e-01 8.23824672e-01 -2.34747083e-01 1.24540296e+02] [-8.11519837e-01 5.57822009e-01 1.73983218e-01 3.54378170e+00] [ 2.74278757e-01 1.00734883e-01 9.56359580e-01 -7.01838630e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.82864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:124.58, Y:3.55, Z:-70.17 [[ 0.54335853 0.79604413 -0.26659943 124.57866119] [ -0.79426085 0.59030871 0.14382392 3.54885964] [ 0.27186615 0.13360154 0.95301596 -70.16706913] [ 0. 0. 0. 1. ]] SLAMing on 152.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:3.46, Z:-70.18 [[ 5.47261075e-01 8.22156767e-01 -1.56727682e-01 1.24502215e+02] [-7.90975742e-01 5.69259818e-01 2.24278033e-01 3.45690353e+00] [ 2.73610474e-01 1.22915722e-03 9.61839798e-01 -7.01820664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.88864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.49, Y:3.42, Z:-70.18 [[ 5.49367843e-01 8.24807215e-01 -1.33746146e-01 1.24490462e+02] [-7.84235634e-01 5.64206383e-01 2.58158144e-01 3.41697169e+00] [ 2.88391129e-01 -3.69352890e-02 9.56800053e-01 -7.01770185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.91864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:124.56, Y:3.43, Z:-70.16 [[ 5.52906443e-01 8.12600065e-01 -1.84324712e-01 1.24557698e+02] [-7.87552684e-01 5.81887722e-01 2.02897633e-01 3.43239379e+00] [ 2.72130916e-01 3.29820131e-02 9.61694833e-01 -7.01627184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.50, Y:3.36, Z:-70.17 [[ 5.58786877e-01 8.22429429e-01 -1.06616415e-01 1.24500422e+02] [-7.79093068e-01 5.64651067e-01 2.72365863e-01 3.35906051e+00] [ 2.84202774e-01 -6.91303601e-02 9.56268674e-01 -7.01651505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.97864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:124.60, Y:3.40, Z:-70.15 [[ 5.61969548e-01 8.02538548e-01 -2.00305031e-01 1.24601145e+02] [-7.81122827e-01 5.94557958e-01 1.90651419e-01 3.39940637e+00] [ 2.72098064e-01 4.93225402e-02 9.61004647e-01 -7.01453109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.00864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:124.56, Y:3.34, Z:-70.15 [[ 5.65456811e-01 8.12861184e-01 -1.39697136e-01 1.24563424e+02] [-7.78498155e-01 5.81955307e-01 2.35092838e-01 3.33861359e+00] [ 2.72395333e-01 -2.41808838e-02 9.61881525e-01 -7.01471747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.03864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:124.59, Y:3.33, Z:-70.14 [[ 5.66433836e-01 8.08968097e-01 -1.57236535e-01 1.24587644e+02] [-7.75418466e-01 5.87787210e-01 2.30721474e-01 3.32574556e+00] [ 2.79067936e-01 -8.76433651e-03 9.60231365e-01 -7.01382531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.06864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:124.67, Y:3.35, Z:-70.12 [[ 5.78405089e-01 7.90674523e-01 -2.00702146e-01 1.24669345e+02] [-7.84945744e-01 6.06427914e-01 1.26906910e-01 3.34961509e+00] [ 2.22053444e-01 8.41366930e-02 9.71397594e-01 -7.01216109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.09864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:124.57, Y:3.25, Z:-70.13 [[ 5.75617864e-01 8.11119000e-01 -1.03682412e-01 1.24574891e+02] [-7.74560565e-01 5.81484749e-01 2.48860238e-01 3.25013555e+00] [ 2.62145008e-01 -6.29400912e-02 9.62973800e-01 -7.01290650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.12864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:124.63, Y:3.26, Z:-70.12 [[ 5.74492672e-01 8.03973206e-01 -1.53574914e-01 1.24630686e+02] [-7.75095603e-01 5.94654257e-01 2.13572284e-01 3.25974962e+00] [ 2.63030370e-01 -3.66047138e-03 9.64780610e-01 -7.01168588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.15864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:124.59, Y:3.20, Z:-70.11 [[ 5.73931649e-01 8.13787966e-01 -9.13871412e-02 1.24588596e+02] [-7.72697356e-01 5.75121378e-01 2.68652557e-01 3.19572461e+00] [ 2.71184916e-01 -8.35736024e-02 9.58892170e-01 -7.01132130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.18864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:124.76, Y:3.28, Z:-70.08 [[ 5.76729131e-01 7.82019137e-01 -2.36282834e-01 1.24759241e+02] [-7.87399099e-01 6.09188426e-01 9.42980424e-02 3.28405589e+00] [ 2.17683642e-01 1.31664463e-01 9.67097876e-01 -7.00813696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.21864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.62, Y:3.15, Z:-70.10 [[ 5.65910844e-01 8.19821311e-01 -8.73952786e-02 1.24623058e+02] [-7.80867410e-01 5.66979251e-01 2.62260589e-01 3.15260887e+00] [ 2.64558129e-01 -8.01719865e-02 9.61031450e-01 -7.00993908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.71, Y:3.18, Z:-70.08 [[ 5.61442310e-01 8.10308391e-01 -1.67877466e-01 1.24713731e+02] [-7.86754272e-01 5.85573186e-01 1.95247942e-01 3.18410598e+00] [ 2.56515588e-01 2.24578583e-02 9.66279151e-01 -7.00844675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.76, Y:3.18, Z:-70.08 [[ 5.62492913e-01 8.09914766e-01 -1.66252201e-01 1.24755698e+02] [-7.99487091e-01 5.84058829e-01 1.40341284e-01 3.17719895e+00] [ 2.10765544e-01 5.39755113e-02 9.76045352e-01 -7.00750132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.70, Y:3.10, Z:-70.08 [[ 5.56010729e-01 8.24729170e-01 -1.03314400e-01 1.24695981e+02] [-7.91445951e-01 5.63298080e-01 2.37294290e-01 3.10326613e+00] [ 2.53900326e-01 -5.01704073e-02 9.65928338e-01 -7.00771452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.75, Y:3.11, Z:-70.07 [[ 5.54812647e-01 8.19268718e-01 -1.44850594e-01 1.24748241e+02] [-7.92302338e-01 5.73409075e-01 2.08468316e-01 3.10921496e+00] [ 2.53850215e-01 -8.95393640e-04 9.67243127e-01 -7.00651487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:3.12, Z:-70.05 [[ 5.60191656e-01 8.12340485e-01 -1.62136498e-01 1.24807256e+02] [-8.02344494e-01 5.80771987e-01 1.37648875e-01 3.11685890e+00] [ 2.05982090e-01 5.29795754e-02 9.77120537e-01 -7.00527735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.39864 meters Centerline goodness : 0.885525 Centerline is valid? [True, False] Translation: X:124.83, Y:3.14, Z:-70.05 [[ 5.76505524e-01 7.94765000e-01 -1.89710242e-01 1.24831542e+02] [-7.92639842e-01 6.00345875e-01 1.06333960e-01 3.14232420e+00] [ 1.98402271e-01 8.90697810e-02 9.76065117e-01 -7.00450248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.42864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:124.85, Y:3.20, Z:-70.04 [[ 5.89619586e-01 7.77072711e-01 -2.20242472e-01 1.24850686e+02] [-7.86163405e-01 6.14685362e-01 6.41015304e-02 3.19944863e+00] [ 1.85191374e-01 1.35351054e-01 9.73336657e-01 -7.00432119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.81, Y:3.13, Z:-70.06 [[ 5.94267516e-01 7.95199514e-01 -1.20431938e-01 1.24808373e+02] [-7.91079514e-01 6.04938458e-01 9.07891247e-02 3.12720181e+00] [ 1.45049379e-01 4.13182111e-02 9.88561320e-01 -7.00599404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.80, Y:3.08, Z:-70.06 [[ 5.93877115e-01 7.99648961e-01 -8.87215418e-02 1.24798337e+02] [-7.91286965e-01 6.00465365e-01 1.15352872e-01 3.08286803e+00] [ 1.45516017e-01 1.69876895e-03 9.89354438e-01 -7.00610503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.77, Y:3.03, Z:-70.06 [[ 5.89531505e-01 8.04776273e-01 -6.91935957e-02 1.24773458e+02] [-7.83923402e-01 5.90692564e-01 1.91171117e-01 3.03109619e+00] [ 1.94722121e-01 -5.84589173e-02 9.79114830e-01 -7.00601581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.85, Y:3.06, Z:-70.05 [[ 5.85477692e-01 8.00518536e-01 -1.28007599e-01 1.24850013e+02] [-7.88848679e-01 5.98962169e-01 1.37702877e-01 3.05590351e+00] [ 1.86905415e-01 2.03566627e-02 9.82166978e-01 -7.00474493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.86, Y:3.02, Z:-70.04 [[ 5.85017777e-01 8.03431928e-01 -1.10685761e-01 1.24855779e+02] [-7.89405150e-01 5.95396618e-01 1.49473666e-01 3.02470481e+00] [ 1.85993843e-01 -6.88422667e-05 9.82550907e-01 -7.00448637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.60864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:124.88, Y:3.01, Z:-70.04 [[ 5.85895682e-01 8.02022891e-01 -1.16127225e-01 1.24883079e+02] [-7.89603348e-01 5.97223274e-01 1.40893274e-01 3.01158605e+00] [ 1.82353512e-01 9.14568499e-03 9.83190497e-01 -7.00390193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.93, Y:3.01, Z:-70.03 [[ 5.90810311e-01 7.98272991e-01 -1.17061555e-01 1.24925361e+02] [-7.94534587e-01 6.00878139e-01 8.75228620e-02 3.00856062e+00] [ 1.40206866e-01 4.13000450e-02 9.89260502e-01 -7.00301518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:124.89, Y:2.95, Z:-70.04 [[ 5.91576346e-01 8.02102226e-01 -8.16666745e-02 1.24892075e+02] [-7.85001478e-01 5.96124713e-01 1.68546749e-01 2.94817931e+00] [ 1.83875245e-01 -3.55998097e-02 9.82304712e-01 -7.00352303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:124.96, Y:2.97, Z:-70.02 [[ 5.97154684e-01 7.93639718e-01 -1.16371305e-01 1.24962514e+02] [-7.89595312e-01 6.07150508e-01 8.89241490e-02 2.96770093e+00] [ 1.41228633e-01 3.87847644e-02 9.89216971e-01 -7.00206294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.72864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:124.92, Y:2.90, Z:-70.03 [[ 5.96850997e-01 7.99083291e-01 -7.23517874e-02 1.24915182e+02] [-7.79439130e-01 5.98840523e-01 1.84023559e-01 2.89753575e+00] [ 1.90377334e-01 -5.34408306e-02 9.80255349e-01 -7.00275346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.75864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:124.94, Y:2.88, Z:-70.02 [[ 6.00150196e-01 7.95699341e-01 -8.17453397e-02 1.24937797e+02] [-7.75269284e-01 6.03792962e-01 1.85449715e-01 2.87962535e+00] [ 1.96919477e-01 -4.79230320e-02 9.79247723e-01 -7.00210108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.98, Y:2.89, Z:-70.01 [[ 6.01972125e-01 7.90055480e-01 -1.15939204e-01 1.24983656e+02] [-7.74875749e-01 6.13028207e-01 1.54155736e-01 2.88633324e+00] [ 1.92865586e-01 -2.95897802e-03 9.81220724e-01 -7.00102036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:124.94, Y:2.82, Z:-70.01 [[ 6.09474433e-01 7.91363288e-01 -4.78023198e-02 1.24937003e+02] [-7.67756314e-01 6.04180469e-01 2.13345268e-01 2.81856908e+00] [ 1.97714841e-01 -9.33279536e-02 9.75806710e-01 -7.00143862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.15, Y:2.96, Z:-69.95 [[ 6.14441520e-01 7.53359669e-01 -2.34330595e-01 1.25152532e+02] [-7.78832949e-01 6.26622420e-01 -2.76329360e-02 2.95726373e+00] [ 1.26019265e-01 1.99483212e-01 9.71764165e-01 -6.99477338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.87864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:125.00, Y:2.80, Z:-70.00 [[ 6.08480177e-01 7.91115647e-01 -6.23530936e-02 1.24997525e+02] [-7.74435482e-01 6.09123240e-01 1.70934381e-01 2.79526577e+00] [ 1.73209582e-01 -5.57217343e-02 9.83307444e-01 -6.99991964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.90864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:125.09, Y:2.83, Z:-69.98 [[ 6.11410989e-01 7.82314175e-01 -1.19000564e-01 1.25090779e+02] [-7.81452454e-01 6.20592334e-01 6.47859322e-02 2.83143725e+00] [ 1.24533791e-01 5.33824518e-02 9.90778305e-01 -6.99792804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.93864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.02, Y:2.74, Z:-69.99 [[ 6.07249462e-01 7.93082865e-01 -4.76199630e-02 1.25017617e+02] [-7.74991803e-01 6.04469709e-01 1.84401942e-01 2.74093977e+00] [ 1.75030845e-01 -7.50728987e-02 9.81696625e-01 -6.99910881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.96864000000002 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:125.09, Y:2.73, Z:-69.98 [[ 5.73332761e-01 8.16343212e-01 -6.98090624e-02 1.25091612e+02] [-8.02466214e-01 5.76689448e-01 1.53222895e-01 2.72849599e+00] [ 1.65340620e-01 -3.18282917e-02 9.85722800e-01 -6.99816175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.14, Y:2.77, Z:-69.96 [[ 6.12263373e-01 7.81925305e-01 -1.17159634e-01 1.25139860e+02] [-7.81458160e-01 6.20995921e-01 6.07224089e-02 2.76842530e+00] [ 1.20236043e-01 5.43772453e-02 9.91254967e-01 -6.99642686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.02864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:125.12, Y:2.72, Z:-69.97 [[ 6.10965256e-01 7.88204766e-01 -7.38559611e-02 1.25121935e+02] [-7.82568737e-01 6.15412991e-01 9.40905003e-02 2.71702944e+00] [ 1.19614499e-01 3.11339566e-04 9.92820364e-01 -6.99705694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:125.07, Y:2.64, Z:-69.98 [[ 6.08447270e-01 7.93044337e-01 -2.95398019e-02 1.25071656e+02] [-7.75071729e-01 6.01829375e-01 1.92523292e-01 2.64470948e+00] [ 1.70457427e-01 -9.42448062e-02 9.80847685e-01 -6.99760103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.08864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:125.18, Y:2.70, Z:-69.95 [[ 6.06274944e-01 7.83602210e-01 -1.35640214e-01 1.25183818e+02] [-7.77872459e-01 6.19799696e-01 1.03743794e-01 2.69710847e+00] [ 1.65363630e-01 4.26135238e-02 9.85311604e-01 -6.99515590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.11864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:125.21, Y:2.68, Z:-69.95 [[ 6.14561305e-01 7.80935651e-01 -1.11597095e-01 1.25208146e+02] [-7.79804012e-01 6.22774094e-01 6.37034605e-02 2.68034076e+00] [ 1.19248083e-01 4.78741803e-02 9.91709614e-01 -6.99475304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.09, Y:2.55, Z:-69.97 [[ 6.13868729e-01 7.89357204e-01 8.96597063e-03 1.25092259e+02] [-7.70535735e-01 5.96685650e-01 2.24144854e-01 2.55492306e+00] [ 1.71580489e-01 -1.44504117e-01 9.74514595e-01 -6.99650906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.17864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:125.31, Y:2.69, Z:-69.91 [[ 6.16897621e-01 7.65887974e-01 -1.81253792e-01 1.25305627e+02] [-7.78880272e-01 6.27172126e-01 -8.04383275e-04 2.69108275e+00] [ 1.13061258e-01 1.41671224e-01 9.83436025e-01 -6.99105414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.20864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:125.23, Y:2.59, Z:-69.94 [[ 6.13931863e-01 7.86322078e-01 -6.91755594e-02 1.25229405e+02] [-7.81393052e-01 6.17816787e-01 8.79051482e-02 2.59024519e+00] [ 1.11859581e-01 8.55300937e-05 9.93724019e-01 -6.99403230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.23864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:125.18, Y:2.52, Z:-69.95 [[ 6.09469595e-01 7.92530374e-01 -2.10337455e-02 1.25180733e+02] [-7.76158850e-01 6.01868280e-01 1.87968114e-01 2.51835900e+00] [ 1.61629984e-01 -9.82353228e-02 9.81949881e-01 -6.99462132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.26864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:125.33, Y:2.61, Z:-69.91 [[ 6.12252708e-01 7.77406182e-01 -1.44174373e-01 1.25333521e+02] [-7.83078611e-01 6.21408671e-01 2.52814853e-02 2.60597163e+00] [ 1.09245189e-01 9.74212100e-02 9.89229294e-01 -6.99100964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.29864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:125.25, Y:2.50, Z:-69.93 [[ 6.05337887e-01 7.94094883e-01 -5.45835117e-02 1.25253305e+02] [-7.80725684e-01 6.05703903e-01 1.53590977e-01 2.50461978e+00] [ 1.55027255e-01 -5.03596880e-02 9.86625791e-01 -6.99348256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.34, Y:2.54, Z:-69.91 [[ 6.06693850e-01 7.87637273e-01 -1.07471384e-01 1.25343325e+02] [-7.87537433e-01 6.13931102e-01 5.36040516e-02 2.53993925e+00] [ 1.08200574e-01 5.21164891e-02 9.92762060e-01 -6.99129593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.29, Y:2.46, Z:-69.93 [[ 6.01501208e-01 7.97119614e-01 -5.28830570e-02 1.25292313e+02] [-7.83966515e-01 6.01711403e-01 1.52773988e-01 2.46347457e+00] [ 1.53599481e-01 -5.04351925e-02 9.86845221e-01 -6.99251073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.38864 meters Centerline goodness : 0.834307 Centerline is valid? [True, False] Translation: X:125.30, Y:2.53, Z:-69.93 [[ 6.12118530e-01 7.86330486e-01 -8.36377434e-02 1.25303785e+02] [-7.79155224e-01 6.17806023e-01 1.05985165e-01 2.53316853e+00] [ 1.35011268e-01 2.91301279e-04 9.90844020e-01 -6.99257050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.41864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:125.30, Y:2.59, Z:-69.93 [[ 6.23477653e-01 7.76141891e-01 -9.42304708e-02 1.25298489e+02] [-7.74108132e-01 6.29720388e-01 6.48755171e-02 2.58986127e+00] [ 1.09691455e-01 3.24961387e-02 9.93434339e-01 -6.99267322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.31, Y:2.56, Z:-69.93 [[ 6.25298051e-01 7.76165503e-01 -8.10521993e-02 1.25313157e+02] [-7.73612670e-01 6.30172780e-01 6.63754787e-02 2.56479739e+00] [ 1.02595247e-01 2.11985509e-02 9.94497278e-01 -6.99279758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.30, Y:2.52, Z:-69.93 [[ 6.28188406e-01 7.76302311e-01 -5.22881414e-02 1.25303606e+02] [-7.70314993e-01 6.29987578e-01 9.86431146e-02 2.52280670e+00] [ 1.09517757e-01 -2.16881216e-02 9.93748201e-01 -6.99332495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.50864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:125.35, Y:2.53, Z:-69.92 [[ 6.28577570e-01 7.74055807e-01 -7.56825364e-02 1.25346268e+02] [-7.70931029e-01 6.32966604e-01 7.08422616e-02 2.52506353e+00] [ 1.02740382e-01 1.38161590e-02 9.94612250e-01 -6.99236462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.53864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:125.36, Y:2.51, Z:-69.92 [[ 6.31092888e-01 7.72597263e-01 -6.93919045e-02 1.25364617e+02] [-7.69571547e-01 6.34820059e-01 6.90154060e-02 2.50725885e+00] [ 9.73724867e-02 9.84690346e-03 9.95199295e-01 -6.99210230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.56864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:125.38, Y:2.48, Z:-69.92 [[ 6.32173968e-01 7.72814270e-01 -5.58048327e-02 1.25376515e+02] [-7.69358276e-01 6.34623865e-01 7.30779876e-02 2.48134160e+00] [ 9.18907903e-02 -3.26409149e-03 9.95763741e-01 -6.99228886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.59864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:125.38, Y:2.45, Z:-69.93 [[ 6.33842540e-01 7.72362174e-01 -4.12347698e-02 1.25378869e+02] [-7.66275848e-01 6.34310855e-01 1.02328222e-01 2.44747805e+00] [ 1.05190110e-01 -3.32627723e-02 9.93895683e-01 -6.99262111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.62864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:125.41, Y:2.44, Z:-69.92 [[ 6.35098579e-01 7.70328815e-01 -5.69500792e-02 1.25406646e+02] [-7.64864974e-01 6.37460224e-01 9.28764470e-02 2.44070301e+00] [ 1.07848814e-01 -1.54265786e-02 9.94047612e-01 -6.99201424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.65864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:125.44, Y:2.44, Z:-69.91 [[ 6.35401913e-01 7.69930292e-01 -5.89215917e-02 1.25436459e+02] [-7.67480479e-01 6.38099436e-01 6.16670502e-02 2.43634356e+00] [ 8.50771644e-02 6.03780970e-03 9.96356071e-01 -6.99143132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.68864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:125.45, Y:2.41, Z:-69.91 [[ 6.37746793e-01 7.68738983e-01 -4.81601862e-02 1.25446436e+02] [-7.64872198e-01 6.39431196e-01 7.80913949e-02 2.40689461e+00] [ 9.08270250e-02 -1.29661492e-02 9.95782271e-01 -6.99144358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.71864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:125.56, Y:2.46, Z:-69.88 [[ 6.40345319e-01 7.59868187e-01 -1.12063427e-01 1.25556296e+02] [-7.67565789e-01 6.38438023e-01 -5.69179173e-02 2.46155420e+00] [ 2.82954379e-02 1.22463174e-01 9.92069624e-01 -6.98753504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:2.37, Z:-69.91 [[ 6.39963083e-01 7.68178687e-01 -1.86750333e-02 1.25497248e+02] [-7.67856393e-01 6.40235499e-01 2.22500526e-02 2.37355583e+00] [ 2.90484354e-02 1.00531468e-04 9.99578000e-01 -6.99096487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.47, Y:2.32, Z:-69.92 [[ 6.43163438e-01 7.65728903e-01 1.96372702e-04 1.25469472e+02] [-7.61702894e-01 6.39755542e-01 1.02574590e-01 2.31825618e+00] [ 7.84186981e-02 -6.61218039e-02 9.94725296e-01 -6.99195835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.48, Y:2.30, Z:-69.92 [[ 6.44777829e-01 7.64359784e-01 3.95872840e-03 1.25480154e+02] [-7.59907044e-01 6.40445666e-01 1.11223354e-01 2.29740964e+00] [ 8.24793082e-02 -7.47226182e-02 9.93787550e-01 -6.99186652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.65, Y:2.40, Z:-69.86 [[ 6.41605152e-01 7.57436076e-01 -1.20968668e-01 1.25646353e+02] [-7.66777191e-01 6.37452140e-01 -7.55480620e-02 2.39547466e+00] [ 1.98889087e-02 1.41228041e-01 9.89777284e-01 -6.98586120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.50, Y:2.24, Z:-69.92 [[ 6.42957442e-01 7.65465353e-01 2.58557626e-02 1.25504616e+02] [-7.62072292e-01 6.36006245e-01 1.21416136e-01 2.24396072e+00] [ 7.64954191e-02 -9.77693687e-02 9.92264885e-01 -6.99186410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.60, Y:2.29, Z:-69.89 [[ 6.37188174e-01 7.68736456e-01 -5.50952890e-02 1.25599508e+02] [-7.67417657e-01 6.39443250e-01 4.67169087e-02 2.28793520e+00] [ 7.11433015e-02 1.25136359e-02 9.97387607e-01 -6.98919934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.61, Y:2.26, Z:-69.89 [[ 6.36824414e-01 7.69740894e-01 -4.41997918e-02 1.25612114e+02] [-7.68210206e-01 6.38349411e-01 4.86118206e-02 2.26440301e+00] [ 6.56334173e-02 2.99753694e-03 9.97839300e-01 -6.98907576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.69, Y:2.29, Z:-69.87 [[ 6.35061129e-01 7.69234757e-01 -7.05354608e-02 1.25686583e+02] [-7.72384447e-01 6.33637547e-01 -4.38830889e-02 2.28646292e+00] [ 1.09375191e-02 8.23489369e-02 9.96543538e-01 -6.98679015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.98864 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:125.60, Y:2.17, Z:-69.92 [[ 5.98622269e-01 7.99803392e-01 4.43386099e-02 1.25603487e+02] [-7.98677921e-01 5.91708427e-01 1.09520394e-01 2.17277969e+00] [ 6.13592533e-02 -1.00973615e-01 9.92995152e-01 -6.99202865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:2.21, Z:-69.88 [[ 6.32014403e-01 7.74072736e-01 -3.70026051e-02 1.25677088e+02] [-7.73482487e-01 6.33036381e-01 3.14608045e-02 2.21107683e+00] [ 4.77769463e-02 8.73718546e-03 9.98819816e-01 -6.98838288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.76, Y:2.24, Z:-69.85 [[ 6.34992676e-01 7.68434747e-01 -7.93242786e-02 1.25759020e+02] [-7.72513217e-01 6.31999356e-01 -6.16453070e-02 2.24110539e+00] [ 2.76249706e-03 1.00423372e-01 9.94940961e-01 -6.98538180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.71, Y:2.16, Z:-69.89 [[ 6.34951269e-01 7.72549226e-01 -2.14008550e-03 1.25712582e+02] [-7.72544963e-01 6.34954875e-01 2.56658374e-03 2.16439503e+00] [ 3.34167000e-03 2.36566647e-05 9.99994416e-01 -6.98853607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.68, Y:2.11, Z:-69.90 [[ 6.37950545e-01 7.69515600e-01 2.94082122e-02 1.25679654e+02] [-7.68868697e-01 6.34345908e-01 8.02882120e-02 2.10507093e+00] [ 4.31280526e-02 -7.38309624e-02 9.96337774e-01 -6.98991936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.80, Y:2.17, Z:-69.86 [[ 6.40542653e-01 7.65926836e-01 -5.53280275e-02 1.25799924e+02] [-7.67922588e-01 6.38869728e-01 -4.62641260e-02 2.16711237e+00] [-8.75338232e-05 7.21217881e-02 9.97395829e-01 -6.98580647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.77, Y:2.11, Z:-69.88 [[ 6.39901638e-01 7.68456706e-01 -4.30333399e-04 1.25772237e+02] [-7.68456524e-01 6.39901782e-01 5.28916960e-04 2.10693133e+00] [ 6.81820894e-04 -7.76232087e-06 9.99999768e-01 -6.98801333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.79, Y:2.09, Z:-69.88 [[ 6.40980272e-01 7.67556561e-01 -1.10360294e-03 1.25792710e+02] [-7.67555412e-01 6.40981222e-01 1.32779180e-03 2.08738176e+00] [ 1.72654407e-03 -4.01194401e-06 9.99998510e-01 -6.98788295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.78, Y:2.04, Z:-69.89 [[ 6.44774763e-01 7.64342394e-01 6.79782773e-03 1.25778686e+02] [-7.63166651e-01 6.43232653e-01 6.18742021e-02 2.04486860e+00] [ 4.29204910e-02 -4.50827994e-02 9.98060806e-01 -6.98891279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.86, Y:2.07, Z:-69.86 [[ 6.44372625e-01 7.64007882e-01 -3.28005543e-02 1.25861157e+02] [-7.64710860e-01 6.43716961e-01 -2.90821980e-02 2.07356791e+00] [-1.10475534e-03 4.38227123e-02 9.99038713e-01 -6.98641548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.28864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.85, Y:2.03, Z:-69.88 [[ 6.45756411e-01 7.63542601e-01 1.16394162e-03 1.25851772e+02] [-7.63541381e-01 6.45757460e-01 -1.36445198e-03 2.02850259e+00] [-1.79344119e-03 -7.61398222e-06 9.99998392e-01 -6.98769546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:125.83, Y:1.98, Z:-69.89 [[ 6.50678539e-01 7.59098890e-01 1.96548585e-02 1.25825356e+02] [-7.58148904e-01 6.47971609e-01 7.30960554e-02 1.97762152e+00] [ 4.27513442e-02 -6.24633440e-02 9.97131212e-01 -6.98899521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.93, Y:2.02, Z:-69.85 [[ 6.48420927e-01 7.59985290e-01 -4.44146425e-02 1.25931678e+02] [-7.61276145e-01 6.47082397e-01 -4.17492916e-02 2.02393616e+00] [-2.98891417e-03 6.08829222e-02 9.98140439e-01 -6.98539957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.91, Y:1.97, Z:-69.87 [[ 6.48375812e-01 7.61317056e-01 2.26869660e-03 1.25910962e+02] [-7.61312357e-01 6.48379781e-01 -2.67469855e-03 1.96997138e+00] [-3.50727063e-03 7.02308548e-06 9.99993849e-01 -6.98732591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.93, Y:1.95, Z:-69.87 [[ 6.50152226e-01 7.59798680e-01 2.83709911e-03 1.25931556e+02] [-7.59791316e-01 6.50158416e-01 -3.34521192e-03 1.95076638e+00] [-4.38625146e-03 1.92937017e-05 9.99990380e-01 -6.98712963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.43864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.95, Y:1.93, Z:-69.87 [[ 6.50498727e-01 7.59502042e-01 2.83814129e-03 1.25949613e+02] [-7.59494679e-01 6.50504918e-01 -3.34432866e-03 1.92892090e+00] [-4.38624931e-03 1.99283276e-05 9.99990380e-01 -6.98707504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.46864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.91, Y:1.86, Z:-69.89 [[ 6.53304209e-01 7.55969556e-01 4.12751748e-02 1.25910931e+02] [-7.56400376e-01 6.49397996e-01 7.83627092e-02 1.86483051e+00] [ 3.24358068e-02 -8.24152455e-02 9.96070101e-01 -6.98900436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:125.98, Y:1.89, Z:-69.87 [[ 6.53739826e-01 7.56599635e-01 -1.34622622e-02 1.25979313e+02] [-7.56119412e-01 6.53826410e-01 2.81861808e-02 1.88587153e+00] [ 3.01276367e-02 -8.24735120e-03 9.99512034e-01 -6.98697812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:125.99, Y:1.86, Z:-69.87 [[ 6.58357125e-01 7.52645472e-01 -9.52312935e-03 1.25992205e+02] [-7.52097461e-01 6.58280985e-01 3.18677507e-02 1.86409491e+00] [ 3.02540132e-02 -1.38180393e-02 9.99446725e-01 -6.98704942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.01, Y:1.85, Z:-69.87 [[ 6.60730234e-01 7.50460893e-01 -1.56207015e-02 1.26014144e+02] [-7.50059201e-01 6.60897325e-01 2.50183986e-02 1.85038747e+00] [ 2.90990096e-02 -4.81396149e-03 9.99564942e-01 -6.98669904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.11, Y:1.89, Z:-69.83 [[ 6.64818646e-01 7.43555949e-01 -7.16988060e-02 1.26107633e+02] [-7.46899400e-01 6.60043589e-01 -8.05217166e-02 1.88617089e+00] [-1.25480642e-02 1.07084134e-01 9.94170777e-01 -6.98283912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.06, Y:1.81, Z:-69.87 [[ 6.64614135e-01 7.47122885e-01 9.76965984e-03 1.26055993e+02] [-7.47033992e-01 6.64685836e-01 -1.15305791e-02 1.80557781e+00] [-1.51085140e-02 3.65117835e-04 9.99885793e-01 -6.98658780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.04, Y:1.76, Z:-69.88 [[ 6.67466579e-01 7.44275168e-01 2.32989198e-02 1.26037706e+02] [-7.44352980e-01 6.66014566e-01 4.86131665e-02 1.75981736e+00] [ 2.06641527e-02 -4.97902843e-02 9.98545903e-01 -6.98770247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.08, Y:1.76, Z:-69.87 [[ 6.67170805e-01 7.44862221e-01 -7.96168720e-03 1.26082234e+02] [-7.44551750e-01 6.67145549e-01 2.36539360e-02 1.76093270e+00] [ 2.29305275e-02 -9.85332736e-03 9.99688503e-01 -6.98658869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.07, Y:1.71, Z:-69.88 [[ 6.69647000e-01 7.42299966e-01 2.37414267e-02 1.26069576e+02] [-7.42291204e-01 6.67921157e-01 5.37131004e-02 1.71482052e+00] [ 2.40138314e-02 -5.35918687e-02 9.98274134e-01 -6.98781666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.73864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.19, Y:1.78, Z:-69.83 [[ 6.68746109e-01 7.40435553e-01 -6.73337376e-02 1.26194931e+02] [-7.43241462e-01 6.63429087e-01 -8.63364097e-02 1.77584220e+00] [-1.92553873e-02 1.07782364e-01 9.93988024e-01 -6.98259664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.10, Y:1.67, Z:-69.88 [[ 6.72013525e-01 7.39730509e-01 3.45918462e-02 1.26096687e+02] [-7.40368379e-01 6.70123119e-01 5.28173227e-02 1.66562429e+00] [ 1.58897892e-02 -6.11046643e-02 9.98004877e-01 -6.98768273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.20, Y:1.71, Z:-69.84 [[ 6.68807174e-01 7.42896969e-01 -2.83029678e-02 1.26198768e+02] [-7.43035868e-01 6.66713931e-01 -5.82257154e-02 1.70560442e+00] [-2.43857245e-02 5.99718964e-02 9.97902154e-01 -6.98423481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.12, Y:1.61, Z:-69.88 [[ 6.73847930e-01 7.37211638e-01 4.94769452e-02 1.26115477e+02] [-7.38730267e-01 6.70905709e-01 6.45222606e-02 1.60935713e+00] [ 1.43721965e-02 -8.00283087e-02 9.96688973e-01 -6.98799669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.18, Y:1.62, Z:-69.86 [[ 6.70857628e-01 7.41585018e-01 -1.30524981e-03 1.26179783e+02] [-7.41423353e-01 6.70746184e-01 1.97729037e-02 1.62298735e+00] [ 1.55387805e-02 -1.22970606e-02 9.99803645e-01 -6.98626385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.26, Y:1.65, Z:-69.83 [[ 6.71217037e-01 7.39898037e-01 -4.49286547e-02 1.26260672e+02] [-7.40825440e-01 6.67512191e-01 -7.48675058e-02 1.64864031e+00] [-2.54038959e-02 8.35366357e-02 9.96180843e-01 -6.98335723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.18, Y:1.55, Z:-69.87 [[ 6.73894700e-01 7.37928847e-01 3.64273332e-02 1.26181100e+02] [-7.38787596e-01 6.72527031e-01 4.35922090e-02 1.55229733e+00] [ 7.66958226e-03 -5.62886205e-02 9.98385080e-01 -6.98720346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.21, Y:1.54, Z:-69.86 [[ 6.74442798e-01 7.38110030e-01 1.79024250e-02 1.26214628e+02] [-7.38296289e-01 6.73994838e-01 2.54862226e-02 1.54262376e+00] [ 6.74549446e-03 -3.04062932e-02 9.99514860e-01 -6.98645091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.97864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.26, Y:1.54, Z:-69.85 [[ 6.76437832e-01 7.36250416e-01 -1.91620274e-02 1.26255535e+02] [-7.36439589e-01 6.76486123e-01 -4.82251412e-03 1.54432418e+00] [ 9.41226759e-03 1.73738066e-02 9.99804761e-01 -6.98501118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.00864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:126.24, Y:1.49, Z:-69.86 [[ 6.74767768e-01 7.37819928e-01 1.76128866e-02 1.26239984e+02] [-7.37974255e-01 6.74230899e-01 2.84023500e-02 1.49198805e+00] [ 9.08066745e-03 -3.21628472e-02 9.99441390e-01 -6.98620672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.03864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:126.30, Y:1.51, Z:-69.84 [[ 6.74937848e-01 7.37163951e-01 -3.23760815e-02 1.26299172e+02] [-7.37848690e-01 6.74631754e-01 -2.12440045e-02 1.50577969e+00] [ 6.18161835e-03 3.82270320e-02 9.99249960e-01 -6.98431599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.06864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:126.33, Y:1.49, Z:-69.84 [[ 6.72797251e-01 7.39493271e-01 -2.22162217e-02 1.26331939e+02] [-7.39125500e-01 6.70548971e-01 -6.36990761e-02 1.48804928e+00] [-3.22079736e-02 5.92771393e-02 9.97721839e-01 -6.98404022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.22, Y:1.37, Z:-69.88 [[ 6.76282214e-01 7.32010297e-01 8.24820732e-02 1.26224395e+02] [-7.36619023e-01 6.71111462e-01 8.36768864e-02 1.37022430e+00] [ 5.89767776e-03 -1.17347054e-01 9.93073455e-01 -6.98780657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.35, Y:1.44, Z:-69.84 [[ 6.71534453e-01 7.40029820e-01 -3.73810784e-02 1.26347833e+02] [-7.40948804e-01 6.71067641e-01 -2.57505698e-02 1.43541170e+00] [ 6.02904256e-03 4.49898601e-02 9.98969250e-01 -6.98401168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.15864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.38, Y:1.42, Z:-69.84 [[ 6.67222153e-01 7.44391940e-01 -2.63673699e-02 1.26382462e+02] [-7.43923049e-01 6.64192481e-01 -7.36671206e-02 1.42100643e+00] [-3.73242020e-02 6.87676290e-02 9.96934259e-01 -6.98364999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.18864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.28, Y:1.31, Z:-69.87 [[ 6.68660909e-01 7.40000831e-01 7.27417298e-02 1.26278876e+02] [-7.43565421e-01 6.65221844e-01 6.77522140e-02 1.30709447e+00] [ 1.74730705e-03 -9.93914920e-02 9.95046872e-01 -6.98726122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.21864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:126.36, Y:1.33, Z:-69.85 [[ 6.63923701e-01 7.47762157e-01 7.55487688e-03 1.26356193e+02] [-7.47798088e-01 6.63863147e-01 9.15105692e-03 1.33186545e+00] [ 1.82740972e-03 -1.17251261e-02 9.99929589e-01 -6.98547631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.45, Y:1.37, Z:-69.82 [[ 6.60826753e-01 7.49058049e-01 -4.71173260e-02 1.26450360e+02] [-7.49272565e-01 6.54766245e-01 -9.93568699e-02 1.36751365e+00] [-4.35732284e-02 1.00961397e-01 9.93935697e-01 -6.98245989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.27864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:126.40, Y:1.29, Z:-69.85 [[ 6.56396402e-01 7.53802312e-01 3.04275923e-02 1.26399420e+02] [-7.52939661e-01 6.57100827e-01 -3.60606382e-02 1.28863585e+00] [-4.71765885e-02 7.59932126e-04 9.98886276e-01 -6.98517590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.41, Y:1.27, Z:-69.85 [[ 6.55707454e-01 7.54407988e-01 3.02708115e-02 1.26414769e+02] [-7.53556500e-01 6.56405447e-01 -3.58397756e-02 1.26562022e+00] [-4.69077386e-02 6.89641169e-04 9.98898988e-01 -6.98527487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.33864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:126.35, Y:1.19, Z:-69.87 [[ 6.58708950e-01 7.47973428e-01 8.14755813e-02 1.26354856e+02] [-7.52386879e-01 6.55410606e-01 6.59615216e-02 1.18746836e+00] [-4.06249463e-03 -1.04750603e-01 9.94490225e-01 -6.98686134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.36864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:126.51, Y:1.28, Z:-69.82 [[ 6.54673799e-01 7.54566929e-01 -4.50662509e-02 1.26513450e+02] [-7.54375317e-01 6.48382257e-01 -1.02558909e-01 1.27532545e+00] [-4.81674038e-02 1.01139498e-01 9.93705541e-01 -6.98242746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.39864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:126.43, Y:1.17, Z:-69.86 [[ 6.56107988e-01 7.53325043e-01 4.49854150e-02 1.26425425e+02] [-7.54629493e-01 6.55503153e-01 2.91538107e-02 1.17129542e+00] [-7.52578569e-03 -5.30753689e-02 9.98562150e-01 -6.98607369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.42864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.52, Y:1.20, Z:-69.84 [[ 6.50613481e-01 7.59393356e-01 -4.88149452e-03 1.26515158e+02] [-7.57590599e-01 6.48597567e-01 -7.33326713e-02 1.20291500e+00] [-5.25222179e-02 5.14093989e-02 9.97295588e-01 -6.98392268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.45864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:126.50, Y:1.15, Z:-69.85 [[ 6.49203762e-01 7.59861647e-01 3.38341816e-02 1.26498435e+02] [-7.58806614e-01 6.50084747e-01 -4.00292894e-02 1.15213895e+00] [-5.24118072e-02 3.13564500e-04 9.98625507e-01 -6.98520204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.48864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:126.51, Y:1.13, Z:-69.85 [[ 6.48339433e-01 7.60611289e-01 3.35625757e-02 1.26514832e+02] [-7.59575782e-01 6.49207527e-01 -3.96764069e-02 1.12943095e+00] [-5.19673998e-02 2.30459400e-04 9.98648755e-01 -6.98532368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.51864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:126.53, Y:1.11, Z:-69.86 [[ 6.48801578e-01 7.60236434e-01 3.31221615e-02 1.26531771e+02] [-7.59229122e-01 6.49646450e-01 -3.91232870e-02 1.10748868e+00] [-5.12606428e-02 2.35940768e-04 9.98685281e-01 -6.98551785e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.54864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:126.55, Y:1.09, Z:-69.86 [[ 6.48924691e-01 7.60133924e-01 3.30630176e-02 1.26548727e+02] [-7.59132107e-01 6.49766397e-01 -3.90137700e-02 1.08520571e+00] [-5.11389279e-02 2.17800397e-04 9.98691525e-01 -6.98568414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.50, Y:1.01, Z:-69.87 [[ 6.55836476e-01 7.51877191e-01 6.75218956e-02 1.26496126e+02] [-7.54875775e-01 6.52424795e-01 6.71152062e-02 1.01345222e+00] [ 6.40943382e-03 -9.49872436e-02 9.95457856e-01 -6.98693147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.56, Y:1.03, Z:-69.86 [[ 6.52536104e-01 7.57536981e-01 1.82853716e-02 1.26562249e+02] [-7.57756381e-01 6.52388899e-01 1.39280705e-02 1.03262772e+00] [-1.37814496e-03 -2.29444259e-02 9.99735792e-01 -6.98594012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.67, Y:1.08, Z:-69.83 [[ 6.48777439e-01 7.59537307e-01 -4.68071942e-02 1.26669640e+02] [-7.58814534e-01 6.41072754e-01 -1.15005335e-01 1.08132129e+00] [-5.73440253e-02 1.10130846e-01 9.92261488e-01 -6.98279143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.66864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:126.52, Y:0.93, Z:-69.88 [[ 6.55671489e-01 7.48918437e-01 9.60003847e-02 1.26516144e+02] [-7.54951400e-01 6.48252738e-01 9.90796201e-02 9.25325403e-01] [ 1.19700420e-02 -1.37439307e-01 9.90437860e-01 -6.98763198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.69864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:126.64, Y:0.99, Z:-69.85 [[ 6.49185550e-01 7.60473930e-01 -1.54118228e-02 1.26639510e+02] [-7.60600900e-01 6.49204860e-01 -4.39544070e-03 9.89444654e-01] [ 6.66281222e-03 1.45757029e-02 9.99871570e-01 -6.98496539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.67, Y:0.98, Z:-69.85 [[ 6.46332821e-01 7.62824902e-01 -1.87630943e-02 1.26672603e+02] [-7.62925635e-01 6.45573463e-01 -3.43420993e-02 9.80009913e-01] [-1.40840528e-02 3.65112716e-02 9.99233990e-01 -6.98451735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:126.68, Y:0.95, Z:-69.85 [[ 6.45945206e-01 7.63355882e-01 -6.52598693e-03 1.26683536e+02] [-7.63123885e-01 6.45478648e-01 -3.16109238e-02 9.52651087e-01] [-1.99179994e-02 2.53990612e-02 9.99478945e-01 -6.98492193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.78864000000002 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:126.64, Y:0.88, Z:-69.86 [[ 6.48581782e-01 7.59358089e-01 5.21245102e-02 1.26643568e+02] [-7.61094035e-01 6.47808120e-01 3.28711016e-02 8.84318870e-01] [-8.80574405e-03 -6.09912514e-02 9.98099457e-01 -6.98649793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.81864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:126.78, Y:0.95, Z:-69.83 [[ 6.45876866e-01 7.62505554e-01 -3.77935668e-02 1.26776935e+02] [-7.60385563e-01 6.38077709e-01 -1.21122393e-01 9.53064210e-01] [-6.82412647e-02 1.06967834e-01 9.91917846e-01 -6.98288538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.84864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:126.66, Y:0.82, Z:-69.87 [[ 6.49383478e-01 7.56133015e-01 8.10182877e-02 1.26656838e+02] [-7.60330354e-01 6.47552125e-01 5.07345845e-02 8.21930079e-01] [-1.41014700e-02 -9.45468643e-02 9.95420534e-01 -6.98710353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.87864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:126.80, Y:0.90, Z:-69.83 [[ 6.46782224e-01 7.62326810e-01 -2.30345392e-02 1.26801688e+02] [-7.59315455e-01 6.40808057e-01 -1.13159509e-01 9.00907925e-01] [-7.15038091e-02 9.06800404e-02 9.93309788e-01 -6.98342815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.90864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:126.76, Y:0.83, Z:-69.86 [[ 6.45680484e-01 7.62153732e-01 4.70999188e-02 1.26758864e+02] [-7.60128108e-01 6.47396082e-01 -5.55299204e-02 8.29681985e-01] [-7.28146389e-02 5.26136579e-05 9.97345490e-01 -6.98572326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.93864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.78, Y:0.81, Z:-69.86 [[ 6.46110234e-01 7.61805656e-01 4.68370308e-02 1.26776159e+02] [-7.59805792e-01 6.47805634e-01 -5.51635715e-02 8.07450645e-01] [-7.23652132e-02 5.47008041e-05 9.97378200e-01 -6.98590633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.96864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:126.73, Y:0.74, Z:-69.87 [[ 6.53350087e-01 7.53507439e-01 7.32134101e-02 1.26733236e+02] [-7.56861016e-01 6.52314575e-01 4.05844480e-02 7.39154607e-01] [-1.71774910e-02 -8.19282286e-02 9.96490190e-01 -6.98722049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.99864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:126.76, Y:0.73, Z:-69.87 [[ 6.56226080e-01 7.51855490e-01 6.38799969e-02 1.26756045e+02] [-7.54240163e-01 6.56070632e-01 2.63268526e-02 7.26247064e-01] [-2.21158013e-02 -6.54572265e-02 9.97610266e-01 -6.98716640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.02864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:126.92, Y:0.82, Z:-69.82 [[ 6.54383762e-01 7.53863864e-01 -5.89166152e-02 1.26916634e+02] [-7.52098739e-01 6.40821173e-01 -1.53934109e-01 8.16524387e-01] [-7.82903478e-02 1.45043093e-01 9.86323032e-01 -6.98220715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.05864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:126.74, Y:0.64, Z:-69.88 [[ 6.60259018e-01 7.40994559e-01 1.22413616e-01 1.26737104e+02] [-7.50586663e-01 6.56687773e-01 7.33541408e-02 6.39954681e-01] [-2.60325058e-02 -1.40314761e-01 9.89764657e-01 -6.98773372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.08864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:126.94, Y:0.77, Z:-69.82 [[ 6.54495015e-01 7.54502042e-01 -4.86101295e-02 1.26944108e+02] [-7.51588157e-01 6.42285079e-01 -1.50283465e-01 7.66695402e-01] [-8.21676201e-02 1.34894576e-01 9.87447181e-01 -6.98249980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.11864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:126.87, Y:0.67, Z:-69.86 [[ 6.52013556e-01 7.56361219e-01 5.28774905e-02 1.26869614e+02] [-7.53794954e-01 6.54153780e-01 -6.22575277e-02 6.70414678e-01] [-8.16791898e-02 7.33966549e-04 9.96658402e-01 -6.98631901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.14864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:126.77, Y:0.56, Z:-69.88 [[ 6.61529934e-01 7.37015272e-01 1.38515827e-01 1.26773430e+02] [-7.49403531e-01 6.56546336e-01 8.56811265e-02 5.59926116e-01] [-2.77937598e-02 -1.60484880e-01 9.86646903e-01 -6.98809345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.17864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.01, Y:0.71, Z:-69.82 [[ 6.52917115e-01 7.54988883e-01 -6.07538317e-02 1.27009367e+02] [-7.52529298e-01 6.37494001e-01 -1.65230305e-01 7.08805428e-01] [-8.60168402e-02 1.53600732e-01 9.84381998e-01 -6.98229338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.20864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:126.92, Y:0.60, Z:-69.86 [[ 6.51182174e-01 7.56751991e-01 5.73428333e-02 1.26924312e+02] [-7.53730184e-01 6.53701631e-01 -6.75646844e-02 6.03627141e-01] [-8.86148130e-02 7.75893773e-04 9.96065667e-01 -6.98647394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.23864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.94, Y:0.58, Z:-69.87 [[ 6.50926306e-01 7.56960981e-01 5.74892811e-02 1.26944743e+02] [-7.53928409e-01 6.53459681e-01 -6.76934240e-02 5.77397995e-01] [-8.88082079e-02 7.20628148e-04 9.96048484e-01 -6.98674894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.96, Y:0.55, Z:-69.87 [[ 6.52317185e-01 7.55718204e-01 5.80713976e-02 1.26964963e+02] [-7.52616496e-01 6.54896295e-01 -6.84050637e-02 5.51714917e-01] [-8.97256950e-02 9.16306791e-04 9.95966094e-01 -6.98675118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:126.99, Y:0.53, Z:-69.87 [[ 6.53259020e-01 7.54951332e-01 5.74555470e-02 1.26986233e+02] [-7.51909957e-01 6.55780017e-01 -6.77051371e-02 5.26685290e-01] [-8.87922830e-02 1.02759363e-03 9.96049635e-01 -6.98694758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.01, Y:0.50, Z:-69.87 [[ 6.53096443e-01 7.55092986e-01 5.74423110e-02 1.27007964e+02] [-7.52051171e-01 6.55616908e-01 -6.77163655e-02 5.01221419e-01] [-8.87923030e-02 1.02576016e-03 9.96049635e-01 -6.98716683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:126.91, Y:0.39, Z:-69.89 [[ 6.66539728e-01 7.31293883e-01 1.44686033e-01 1.26906160e+02] [-7.44833849e-01 6.61320862e-01 8.87539004e-02 3.86714119e-01] [-3.07787077e-02 -1.66925055e-01 9.85489065e-01 -6.98882677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.05, Y:0.46, Z:-69.87 [[ 6.57955013e-01 7.52940157e-01 1.32785771e-02 1.27051319e+02] [-7.52140247e-01 6.57921571e-01 -3.77393158e-02 4.63996183e-01] [-3.71517087e-02 1.48434198e-02 9.99199391e-01 -6.98671214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:127.05, Y:0.43, Z:-69.87 [[ 6.57996271e-01 7.52014458e-01 3.89250849e-02 1.27051011e+02] [-7.51555066e-01 6.59061277e-01 -2.83410674e-02 4.28005587e-01] [-4.69669086e-02 -1.06060281e-02 9.98840138e-01 -6.98733835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.17, Y:0.48, Z:-69.84 [[ 6.56285225e-01 7.53288425e-01 -4.29680386e-02 1.27169895e+02] [-7.48365038e-01 6.42626388e-01 -1.64259232e-01 4.82812411e-01] [-9.61221831e-02 1.39956685e-01 9.85480924e-01 -6.98403016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.10, Y:0.38, Z:-69.88 [[ 6.53819775e-01 7.53942090e-01 6.39611359e-02 1.27096545e+02] [-7.50152376e-01 6.56939412e-01 -7.55117300e-02 3.81433410e-01] [-9.89500625e-02 1.39046425e-03 9.95091429e-01 -6.98767010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.03, Y:0.30, Z:-69.89 [[ 6.63791464e-01 7.39678604e-01 1.10708878e-01 1.27031140e+02] [-7.46731777e-01 6.63770631e-01 4.24288041e-02 2.96403293e-01] [-4.21016229e-02 -1.10833715e-01 9.92946797e-01 -6.98884252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.20, Y:0.39, Z:-69.85 [[ 6.55353002e-01 7.55130907e-01 -1.70222282e-02 1.27201541e+02] [-7.48793647e-01 6.46566276e-01 -1.45808523e-01 3.88337221e-01] [-9.90985236e-02 1.08302190e-01 9.89166375e-01 -6.98548860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.15, Y:0.30, Z:-69.88 [[ 6.51823357e-01 7.55549355e-01 6.53565833e-02 1.27147640e+02] [-7.51578394e-01 6.55090413e-01 -7.73722725e-02 3.02558504e-01] [-1.01273042e-01 1.31245848e-03 9.94857803e-01 -6.98811518e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.59864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.11, Y:0.24, Z:-69.89 [[ 6.59046355e-01 7.46563325e-01 9.11103948e-02 1.27107779e+02] [-7.50590788e-01 6.60554335e-01 1.67761517e-02 2.37313076e-01] [-4.76589067e-02 -7.94428846e-02 9.95699481e-01 -6.98886905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.24, Y:0.30, Z:-69.87 [[ 6.49763483e-01 7.60091371e-01 8.27795619e-03 1.27236792e+02] [-7.53084714e-01 6.45177423e-01 -1.28877875e-01 2.95728183e-01] [-1.03299711e-01 7.75061349e-02 9.91625922e-01 -6.98686514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.65864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.11, Y:0.16, Z:-69.90 [[ 6.54636580e-01 7.44064193e-01 1.33489420e-01 1.27112334e+02] [-7.53687306e-01 6.56059466e-01 3.92609621e-02 1.62591504e-01] [-5.83643218e-02 -1.26310944e-01 9.90272261e-01 -6.98956540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.30, Y:0.27, Z:-69.86 [[ 6.42739173e-01 7.65734828e-01 -2.31631038e-02 1.27303072e+02] [-7.58419839e-01 6.31750688e-01 -1.60282302e-01 2.70666837e-01] [-1.08100434e-01 1.20587072e-01 9.86799399e-01 -6.98597671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.71864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.24, Y:0.18, Z:-69.89 [[ 6.36828672e-01 7.67817564e-01 7.00387818e-02 1.27243840e+02] [-7.63272148e-01 6.40668462e-01 -8.34239177e-02 1.80874185e-01] [-1.08925988e-01 -3.31908717e-04 9.94049807e-01 -6.98881393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.27, Y:0.16, Z:-69.89 [[ 6.35157483e-01 7.69210219e-01 6.99329087e-02 1.27265010e+02] [-7.64677376e-01 6.38995599e-01 -8.33854576e-02 1.55525364e-01] [-1.08827767e-01 -5.13215803e-04 9.94060488e-01 -6.98905621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.29, Y:0.13, Z:-69.89 [[ 6.34155923e-01 7.69994749e-01 7.03871622e-02 1.27285332e+02] [-7.65397580e-01 6.38049946e-01 -8.40167311e-02 1.29730000e-01] [-1.09602967e-01 -5.94455959e-04 9.93975269e-01 -6.98932593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.27, Y:0.08, Z:-69.90 [[ 6.38625545e-01 7.65091342e-01 8.24175456e-02 1.27267369e+02] [-7.66754013e-01 6.41740726e-01 -1.60351052e-02 7.80421999e-02] [-6.51590157e-02 -5.29535560e-02 9.96468877e-01 -6.98991838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.32, Y:0.08, Z:-69.89 [[ 6.37132155e-01 7.69420176e-01 4.53344338e-02 1.27322445e+02] [-7.67900829e-01 6.38730956e-01 -4.84879653e-02 8.16107803e-02] [-6.62641250e-02 -3.91910749e-03 9.97794421e-01 -6.98938557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.29, Y:0.02, Z:-69.91 [[ 6.37972937e-01 7.63243320e-01 1.02226055e-01 1.27291073e+02] [-7.67199654e-01 6.41407656e-01 -9.53688544e-04 1.97215978e-02] [-6.62964708e-02 -7.78193667e-02 9.94760737e-01 -6.99056938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.45, Y:0.11, Z:-69.87 [[ 6.35123675e-01 7.72029880e-01 -2.42441973e-02 1.27452263e+02] [-7.63512134e-01 6.22746970e-01 -1.70983721e-01 1.06754500e-01] [-1.16906541e-01 1.27106548e-01 9.84975526e-01 -6.98720129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.92864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:127.26, Y:-0.08, Z:-69.91 [[ 6.47213660e-01 7.43587259e-01 1.67906123e-01 1.27261049e+02] [-7.60282700e-01 6.45688668e-01 7.11080809e-02 -7.81036863e-02] [-5.55400181e-02 -1.73678242e-01 9.83235056e-01 -6.99127838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.48, Y:0.05, Z:-69.88 [[ 6.35739333e-01 7.71092417e-01 -3.53833904e-02 1.27478235e+02] [-7.68343720e-01 6.27744625e-01 -1.24838353e-01 4.83913069e-02] [-7.40501741e-02 1.06551257e-01 9.91545965e-01 -6.98779671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.35, Y:-0.08, Z:-69.91 [[ 6.41915904e-01 7.56616739e-01 1.24398886e-01 1.27353368e+02] [-7.63297003e-01 6.45973532e-01 9.79188493e-03 -8.48365403e-02] [-7.29496838e-02 -1.01238864e-01 9.92183973e-01 -6.99129657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.01864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.55, Y:0.03, Z:-69.87 [[ 6.38340890e-01 7.68936014e-01 -3.54727261e-02 1.27546721e+02] [-7.58962456e-01 6.21033798e-01 -1.95686005e-01 2.60653533e-02] [-1.28440255e-01 1.51836846e-01 9.80024833e-01 -6.98685648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:127.39, Y:-0.13, Z:-69.91 [[ 6.45172557e-01 7.54818868e-01 1.18325184e-01 1.27392911e+02] [-7.61030687e-01 6.48605412e-01 1.19713387e-02 -1.32693240e-01] [-6.77101624e-02 -9.77726753e-02 9.92902733e-01 -6.99142039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.55, Y:-0.05, Z:-69.89 [[ 6.40063400e-01 7.68249120e-01 1.05893445e-02 1.27545355e+02] [-7.57096795e-01 6.32999411e-01 -1.61605038e-01 -5.30379224e-02] [-1.30855977e-01 9.54203114e-02 9.86798702e-01 -6.98898811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.41, Y:-0.19, Z:-69.92 [[ 6.44882137e-01 7.49455850e-01 1.49809738e-01 1.27414118e+02] [-7.58716465e-01 6.51379428e-01 7.35981505e-03 -1.93480027e-01] [-9.20671247e-02 -1.18409328e-01 9.88687451e-01 -6.99208337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.13864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:127.59, Y:-0.09, Z:-69.89 [[ 6.42756547e-01 7.66063936e-01 -3.17286016e-03 1.27594360e+02] [-7.54320280e-01 6.32169693e-01 -1.77094309e-01 -9.37647914e-02] [-1.33659777e-01 1.16221879e-01 9.84188772e-01 -6.98898541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.53, Y:-0.18, Z:-69.92 [[ 6.41987032e-01 7.61907948e-01 8.57258994e-02 1.27534839e+02] [-7.54876627e-01 6.47683362e-01 -1.03283789e-01 -1.82806804e-01] [-1.34215978e-01 1.59437519e-03 9.90950821e-01 -6.99161988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.55, Y:-0.21, Z:-69.92 [[ 6.43833511e-01 7.60420442e-01 8.50832635e-02 1.27551971e+02] [-7.53467652e-01 6.49428145e-01 -1.02613755e-01 -2.11856200e-01] [-1.33285063e-01 1.95868741e-03 9.91075807e-01 -6.99202791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.22864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:127.50, Y:-0.29, Z:-69.93 [[ 6.51029043e-01 7.47744973e-01 1.30532143e-01 1.27499518e+02] [-7.54021026e-01 6.56847154e-01 -2.02686651e-03 -2.89304940e-01] [-8.72552456e-02 -9.71044311e-02 9.91442006e-01 -6.99290115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.65, Y:-0.21, Z:-69.91 [[ 6.46504449e-01 7.62786154e-01 1.37579192e-02 1.27648342e+02] [-7.50820176e-01 6.39353403e-01 -1.65820048e-01 -2.13827069e-01] [-1.35281409e-01 9.68736755e-02 9.86060055e-01 -6.99089340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.28864000000002 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:127.52, Y:-0.35, Z:-69.93 [[ 6.52485498e-01 7.44078641e-01 1.43560617e-01 1.27519469e+02] [-7.52394677e-01 6.58688366e-01 5.64689556e-03 -3.50310481e-01] [-9.03599736e-02 -1.11698761e-01 9.89625415e-01 -6.99333039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.31864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:127.59, Y:-0.33, Z:-69.93 [[ 6.50206598e-01 7.55190323e-01 8.31802598e-02 1.27591902e+02] [-7.54086468e-01 6.54825723e-01 -5.05655170e-02 -3.29450195e-01] [-9.26551629e-02 -2.98470755e-02 9.95250809e-01 -6.99297086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.34864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.73, Y:-0.27, Z:-69.91 [[ 6.44917558e-01 7.64117253e-01 -1.43585280e-02 1.27727057e+02] [-7.50715049e-01 6.29861930e-01 -1.99250757e-01 -2.66650617e-01] [-1.43207051e-01 1.39279475e-01 9.79843339e-01 -6.99055803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.37864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.65, Y:-0.37, Z:-69.93 [[ 6.40695125e-01 7.62264634e-01 9.19912223e-02 1.27650358e+02] [-7.54054441e-01 6.47261986e-01 -1.11596690e-01 -3.67958201e-01] [-1.44608631e-01 2.13306551e-03 9.89486631e-01 -6.99341592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.40864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.67, Y:-0.40, Z:-69.94 [[ 6.38268871e-01 7.64421891e-01 9.09506567e-02 1.27666869e+02] [-7.56403997e-01 6.44714125e-01 -1.10438625e-01 -3.96713978e-01] [-1.43058875e-01 1.69409607e-03 9.89712730e-01 -6.99386454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.43864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:127.64, Y:-0.45, Z:-69.94 [[ 6.43160402e-01 7.58183429e-01 1.07250104e-01 1.27643146e+02] [-7.59293870e-01 6.49590380e-01 -3.87963402e-02 -4.51442759e-01] [-9.90833781e-02 -5.64820769e-02 9.93474841e-01 -6.99439842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.46864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:127.71, Y:-0.44, Z:-69.94 [[ 6.40078525e-01 7.65994927e-01 5.95923986e-02 1.27705618e+02] [-7.61728679e-01 6.42814298e-01 -8.09888793e-02 -4.40967338e-01] [-1.00343916e-01 6.44600334e-03 9.94931931e-01 -6.99416434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.49864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:127.72, Y:-0.47, Z:-69.94 [[ 6.38193642e-01 7.67090713e-01 6.54271567e-02 1.27721715e+02] [-7.63024114e-01 6.41538511e-01 -7.88830861e-02 -4.67672821e-01] [-1.02484523e-01 4.20185795e-04 9.94734510e-01 -6.99449684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.52864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:127.74, Y:-0.49, Z:-69.95 [[ 6.34178350e-01 7.70273004e-01 6.70620638e-02 1.27742117e+02] [-7.65811479e-01 6.37713244e-01 -8.27924947e-02 -4.92580993e-01] [-1.06539190e-01 1.14830942e-03 9.94307841e-01 -6.99474520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.76, Y:-0.52, Z:-69.95 [[ 6.31322805e-01 7.72553869e-01 6.77645605e-02 1.27762085e+02] [-7.67800478e-01 6.34946056e-01 -8.55916520e-02 -5.15703342e-01] [-1.09151002e-01 2.00629982e-03 9.94023155e-01 -6.99506757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.81, Y:-0.52, Z:-69.95 [[ 6.22831197e-01 7.79959629e-01 6.11904995e-02 1.27813776e+02] [-7.67392830e-01 6.24271147e-01 -1.46266124e-01 -5.16640963e-01] [-1.52281135e-01 4.41419547e-02 9.87350973e-01 -6.99508996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:127.77, Y:-0.59, Z:-69.96 [[ 6.27234356e-01 7.71982408e-01 1.03054469e-01 1.27772516e+02] [-7.71185869e-01 6.34110536e-01 -5.63576409e-02 -5.86454482e-01] [-1.08855032e-01 -4.41247016e-02 9.93077838e-01 -6.99610384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.64864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:127.83, Y:-0.59, Z:-69.96 [[ 6.22349708e-01 7.79569818e-01 7.03685917e-02 1.27826418e+02] [-7.74321450e-01 6.26312959e-01 -9.03236975e-02 -5.85028971e-01] [-1.14486389e-01 1.72501690e-03 9.93423319e-01 -6.99607850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.87, Y:-0.59, Z:-69.96 [[ 6.16093857e-01 7.84736645e-01 6.79467303e-02 1.27872445e+02] [-7.72158335e-01 6.18744270e-01 -1.44661794e-01 -5.90296137e-01] [-1.55563061e-01 3.66596085e-02 9.87145484e-01 -6.99621925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.70864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:127.84, Y:-0.65, Z:-69.97 [[ 6.19919925e-01 7.77703353e-01 1.04291805e-01 1.27838185e+02] [-7.76091300e-01 6.27300838e-01 -6.46216159e-02 -6.53841012e-01] [-1.15678784e-01 -4.08797350e-02 9.92445095e-01 -6.99704976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:127.89, Y:-0.66, Z:-69.97 [[ 6.16257190e-01 7.83787963e-01 7.68342645e-02 1.27885355e+02] [-7.78935626e-01 6.20998998e-01 -8.72899501e-02 -6.57487195e-01] [-1.16130813e-01 -6.05588655e-03 9.93215465e-01 -6.99700587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.76864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:127.91, Y:-0.68, Z:-69.97 [[ 6.14620902e-01 7.84958858e-01 7.79790827e-02 1.27906699e+02] [-7.79962626e-01 6.19515507e-01 -8.86500891e-02 -6.80525636e-01] [-1.17895924e-01 -6.33457234e-03 9.93005752e-01 -6.99734458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.93, Y:-0.70, Z:-69.98 [[ 6.14080228e-01 7.85115366e-01 8.06184594e-02 1.27925485e+02] [-7.80431769e-01 6.19269166e-01 -8.62087812e-02 -7.04616888e-01] [-1.17608365e-01 -9.97809895e-03 9.93009924e-01 -6.99775738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:127.96, Y:-0.72, Z:-69.98 [[ 6.12632096e-01 7.87124339e-01 7.15345376e-02 1.27956034e+02] [-7.81025509e-01 6.16780763e-01 -9.78807695e-02 -7.19904068e-01] [-1.21165463e-01 4.09460240e-03 9.92623879e-01 -6.99801964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.85864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:128.00, Y:-0.72, Z:-69.98 [[ 6.06963839e-01 7.91849953e-01 6.75910450e-02 1.28004699e+02] [-7.77639327e-01 6.09302463e-01 -1.55008339e-01 -7.23912601e-01] [-1.63926736e-01 4.15230016e-02 9.85598227e-01 -6.99822679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.88864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.00, Y:-0.77, Z:-69.99 [[ 6.05355552e-01 7.89259792e-01 1.03022506e-01 1.27997720e+02] [-7.78966984e-01 6.14050479e-01 -1.27092276e-01 -7.71071434e-01] [-1.63569842e-01 -3.31511564e-03 9.86526186e-01 -6.99927913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.91864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:127.90, Y:-0.88, Z:-70.00 [[ 6.15607049e-01 7.62383687e-01 1.99497055e-01 1.27902020e+02] [-7.80017887e-01 6.25540879e-01 1.64531177e-02 -8.78594298e-01] [-1.12249974e-01 -1.65739926e-01 9.79760287e-01 -7.00005146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.94864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:128.10, Y:-0.76, Z:-69.98 [[ 6.06290212e-01 7.95225515e-01 5.34406361e-03 1.28104864e+02] [-7.85408986e-01 5.99832497e-01 -1.52753723e-01 -7.64225342e-01] [-1.24679201e-01 8.84158115e-02 9.88249837e-01 -6.99798713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.97864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:128.06, Y:-0.84, Z:-70.00 [[ 6.07529289e-01 7.90226374e-01 8.03146378e-02 1.28060080e+02] [-7.84844818e-01 6.12775720e-01 -9.23283730e-02 -8.35027503e-01] [-1.22175175e-01 -6.94233647e-03 9.92484272e-01 -7.00009238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.00864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:128.10, Y:-0.85, Z:-70.00 [[ 6.05839529e-01 7.92689987e-01 6.78310428e-02 1.28096535e+02] [-7.85015675e-01 6.09465350e-01 -1.10916080e-01 -8.45959412e-01] [-1.29262736e-01 1.39489138e-02 9.91512266e-01 -7.00025997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.03864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:128.11, Y:-0.87, Z:-70.01 [[ 6.06452847e-01 7.91108618e-01 7.97627642e-02 1.28110794e+02] [-7.84130093e-01 6.11674804e-01 -1.04851953e-01 -8.72552167e-01] [-1.31738157e-01 1.04338171e-03 9.91284000e-01 -7.00088968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.06864000000002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:128.08, Y:-0.93, Z:-70.02 [[ 6.10252839e-01 7.81296341e-01 1.31024807e-01 1.28081075e+02] [-7.82216203e-01 6.20442157e-01 -5.64742581e-02 -9.29309991e-01] [-1.25416445e-01 -6.80261510e-02 9.89769245e-01 -7.00185041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.09864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.20, Y:-0.88, Z:-70.00 [[ 6.09156658e-01 7.92231983e-01 3.60090459e-02 1.28195164e+02] [-7.81020632e-01 6.07176482e-01 -1.46094121e-01 -8.82503864e-01] [-1.37604281e-01 6.08703990e-02 9.88615120e-01 -7.00043357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.12864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:128.17, Y:-0.94, Z:-70.02 [[ 6.12357762e-01 7.85332817e-01 9.09414005e-02 1.28167330e+02] [-7.78867194e-01 6.19008336e-01 -1.00968187e-01 -9.40528939e-01] [-1.35587115e-01 -9.00262058e-03 9.90724526e-01 -7.00202287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.15864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.18, Y:-0.97, Z:-70.03 [[ 6.14063749e-01 7.82633217e-01 1.02034111e-01 1.28176430e+02] [-7.77791743e-01 6.22020603e-01 -9.01685870e-02 -9.70263415e-01] [-1.34036251e-01 -2.39920286e-02 9.90685957e-01 -7.00259126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.18864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.16, Y:-1.02, Z:-70.04 [[ 6.17218953e-01 7.72979662e-01 1.46776041e-01 1.28160506e+02] [-7.74226814e-01 6.29906185e-01 -6.15714039e-02 -1.02059972e+00] [-1.40048579e-01 -7.56349089e-02 9.87251617e-01 -7.00359678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.21864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.28, Y:-0.96, Z:-70.02 [[ 6.16614108e-01 7.86723890e-01 2.91986663e-02 1.28283279e+02] [-7.74835708e-01 6.13025667e-01 -1.54366958e-01 -9.64568876e-01] [-1.39343706e-01 7.25606749e-02 9.87582037e-01 -7.00163232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.24864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.25, Y:-1.02, Z:-70.03 [[ 6.17572608e-01 7.81674598e-01 8.71142775e-02 1.28252251e+02] [-7.73697701e-01 6.23684919e-01 -1.11395643e-01 -1.02437230e+00] [-1.41407006e-01 1.39478180e-03 9.89950561e-01 -7.00339701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.27864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:128.28, Y:-1.04, Z:-70.04 [[ 6.17579265e-01 7.82420043e-01 8.00919953e-02 1.28283403e+02] [-7.72104963e-01 6.22517009e-01 -1.27775191e-01 -1.03774804e+00] [-1.49832500e-01 1.70718814e-02 9.88563995e-01 -7.00361982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.30, Y:-1.07, Z:-70.04 [[ 6.18103966e-01 7.81068513e-01 8.87663529e-02 1.28297140e+02] [-7.70917826e-01 6.24375113e-01 -1.25862720e-01 -1.06555622e+00] [-1.53730909e-01 9.36468263e-03 9.88068373e-01 -7.00426590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.33864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:128.29, Y:-1.11, Z:-70.05 [[ 6.19248377e-01 7.76345628e-01 1.17553875e-01 1.28286875e+02] [-7.71529090e-01 6.29423333e-01 -9.25696029e-02 -1.11185280e+00] [-1.45857158e-01 -3.33726581e-02 9.88742613e-01 -7.00528680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:128.35, Y:-1.10, Z:-70.05 [[ 6.17315415e-01 7.82886342e-01 7.75284067e-02 1.28347979e+02] [-7.71335484e-01 6.21691722e-01 -1.36165241e-01 -1.10298190e+00] [-1.54800676e-01 2.42564910e-02 9.87647899e-01 -7.00487030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.39864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:128.34, Y:-1.15, Z:-70.06 [[ 6.16691446e-01 7.78867983e-01 1.14264282e-01 1.28335794e+02] [-7.72103825e-01 6.26750199e-01 -1.05070793e-01 -1.15211867e+00] [-1.53451438e-01 -2.34276298e-02 9.87878435e-01 -7.00614378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.42864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:128.38, Y:-1.15, Z:-70.06 [[ 6.19094090e-01 7.80944654e-01 8.27523664e-02 1.28382718e+02] [-7.69339844e-01 6.24269549e-01 -1.35660367e-01 -1.15259264e+00] [-1.57603021e-01 2.03218389e-02 9.87293427e-01 -7.00589977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.45864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:128.40, Y:-1.18, Z:-70.07 [[ 6.19304082e-01 7.79803633e-01 9.14808588e-02 1.28398397e+02] [-7.67532204e-01 6.25827946e-01 -1.38685610e-01 -1.17982846e+00] [-1.65398820e-01 1.56740590e-02 9.86102203e-01 -7.00651863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.48864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:128.40, Y:-1.22, Z:-70.07 [[ 6.20520311e-01 7.75908042e-01 1.13671696e-01 1.28397018e+02] [-7.66972221e-01 6.30694630e-01 -1.18228152e-01 -1.21915813e+00] [-1.63426302e-01 -1.38200631e-02 9.86458742e-01 -7.00741527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.51864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.43, Y:-1.23, Z:-70.07 [[ 6.22566064e-01 7.76258970e-01 9.91640447e-02 1.28430167e+02] [-7.64570630e-01 6.30364978e-01 -1.34431195e-01 -1.23261717e+00] [-1.66862962e-01 7.87438366e-03 9.85948653e-01 -7.00749732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.54864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:128.44, Y:-1.26, Z:-70.08 [[ 6.23026124e-01 7.74886813e-01 1.06718678e-01 1.28440500e+02] [-7.64485842e-01 6.32094108e-01 -1.26563957e-01 -1.26257902e+00] [-1.65528989e-01 -2.73226655e-03 9.86201140e-01 -7.00832204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.57864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.50, Y:-1.25, Z:-70.08 [[ 6.20571166e-01 7.79672930e-01 8.36752679e-02 1.28503337e+02] [-7.56262366e-01 6.23288627e-01 -1.98943514e-01 -1.25474783e+00] [-2.07264715e-01 6.01781524e-02 9.76432244e-01 -7.00796681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:128.39, Y:-1.38, Z:-70.11 [[ 6.25217488e-01 7.52914505e-01 2.05481972e-01 1.28388090e+02] [-7.62313251e-01 6.45572457e-01 -4.59859858e-02 -1.37662497e+00] [-1.67277017e-01 -1.27890387e-01 9.77579894e-01 -7.01054085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.63864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:128.54, Y:-1.30, Z:-70.09 [[ 6.22389432e-01 7.80773249e-01 5.49957099e-02 1.28542904e+02] [-7.64826036e-01 6.21600487e-01 -1.69274834e-01 -1.30118156e+00] [-1.66350623e-01 6.32927173e-02 9.84033283e-01 -7.00861472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.66864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:128.56, Y:-1.33, Z:-70.09 [[ 6.20208724e-01 7.79967512e-01 8.36170984e-02 1.28558739e+02] [-7.55099562e-01 6.22491092e-01 -2.05741323e-01 -1.32709279e+00] [-2.12522447e-01 6.44633294e-02 9.75027532e-01 -7.00935468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.69864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:128.49, Y:-1.42, Z:-70.12 [[ 6.24643801e-01 7.65431707e-01 1.54707543e-01 1.28487749e+02] [-7.62329751e-01 6.40654097e-01 -9.17370021e-02 -1.41787207e+00] [-1.69332432e-01 -6.06352133e-02 9.83691973e-01 -7.01151837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.72864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:128.54, Y:-1.41, Z:-70.11 [[ 6.24435158e-01 7.73396826e-01 1.09261536e-01 1.28543076e+02] [-7.63120973e-01 6.33903579e-01 -1.25748288e-01 -1.41433230e+00] [-1.66514605e-01 -4.85811755e-03 9.86027020e-01 -7.01139933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.75864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:128.61, Y:-1.40, Z:-70.11 [[ 6.20119931e-01 7.80557243e-01 7.86235397e-02 1.28613990e+02] [-7.55268307e-01 6.21108259e-01 -2.09270912e-01 -1.40052131e+00] [-2.12181656e-01 7.03911956e-02 9.74691759e-01 -7.01085800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.78864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:128.59, Y:-1.46, Z:-70.13 [[ 6.17918003e-01 7.74829573e-01 1.33478362e-01 1.28585324e+02] [-7.56411401e-01 6.32163882e-01 -1.67960171e-01 -1.46197815e+00] [-2.14520707e-01 2.82105906e-03 9.76715367e-01 -7.01270917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.81864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:128.61, Y:-1.49, Z:-70.13 [[ 6.15794382e-01 7.76332846e-01 1.34553303e-01 1.28605201e+02] [-7.57608982e-01 6.30318486e-01 -1.69491110e-01 -1.48854058e+00] [-2.16392951e-01 2.43288250e-03 9.76303320e-01 -7.01321749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.84864000000002 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:128.58, Y:-1.54, Z:-70.14 [[ 6.19550220e-01 7.69324909e-01 1.55874017e-01 1.28581573e+02] [-7.65261966e-01 6.36180339e-01 -9.82277964e-02 -1.54380572e+00] [-1.74733075e-01 -5.84274036e-02 9.82880761e-01 -7.01418242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.87864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:128.66, Y:-1.53, Z:-70.14 [[ 6.16727068e-01 7.80925874e-01 9.90075875e-02 1.28655030e+02] [-7.66398866e-01 6.24387117e-01 -1.50908933e-01 -1.52766452e+00] [-1.79667753e-01 1.71903213e-02 9.83577141e-01 -7.01393022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.90864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:128.65, Y:-1.57, Z:-70.15 [[ 6.14675678e-01 7.78838200e-01 1.24839376e-01 1.28650774e+02] [-7.68208750e-01 6.27009530e-01 -1.29284048e-01 -1.56697527e+00] [-1.78966834e-01 -1.64349411e-02 9.83717828e-01 -7.01505920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.93864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.73, Y:-1.55, Z:-70.14 [[ 6.11781391e-01 7.86086031e-01 8.82739047e-02 1.28726053e+02] [-7.59199289e-01 6.14834783e-01 -2.13528989e-01 -1.54941561e+00] [-2.22126023e-01 6.36155764e-02 9.72940434e-01 -7.01422279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.96864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:128.70, Y:-1.61, Z:-70.16 [[ 6.09725427e-01 7.80254842e-01 1.39417664e-01 1.28703329e+02] [-7.60154470e-01 6.25460357e-01 -1.75967395e-01 -1.60606058e+00] [-2.24499634e-01 1.31283443e-03 9.74473289e-01 -7.01581948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.99864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.69, Y:-1.65, Z:-70.17 [[ 6.14172943e-01 7.75046816e-01 1.48640604e-01 1.28693195e+02] [-7.67577991e-01 6.30434877e-01 -1.15654197e-01 -1.65293839e+00] [-1.83345638e-01 -4.30615771e-02 9.82104922e-01 -7.01675683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.02864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:128.74, Y:-1.65, Z:-70.17 [[ 6.12398515e-01 7.81725415e-01 1.17785545e-01 1.28742822e+02] [-7.68610174e-01 6.23614650e-01 -1.42629484e-01 -1.65498658e+00] [-1.84949884e-01 -3.18508377e-03 9.82742792e-01 -7.01680966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.05864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:128.73, Y:-1.70, Z:-70.18 [[ 6.15153419e-01 7.74703978e-01 1.46355790e-01 1.28727666e+02] [-7.70045931e-01 6.30213737e-01 -9.92970757e-02 -1.70208713e+00] [-1.69161269e-01 -5.16177452e-02 9.84235781e-01 -7.01787085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.08864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:128.83, Y:-1.67, Z:-70.17 [[ 6.11053800e-01 7.88490657e-01 6.99695456e-02 1.28825871e+02] [-7.68570639e-01 6.12123684e-01 -1.86020882e-01 -1.66834022e+00] [-1.89505744e-01 5.98922287e-02 9.80051271e-01 -7.01693023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:128.80, Y:-1.73, Z:-70.19 [[ 6.14237669e-01 7.79475246e-01 1.23005804e-01 1.28795302e+02] [-7.67077215e-01 6.26366687e-01 -1.38770745e-01 -1.72666368e+00] [-1.85215099e-01 -9.11673069e-03 9.82655714e-01 -7.01862240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.14864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:128.82, Y:-1.75, Z:-70.19 [[ 6.15412994e-01 7.79144762e-01 1.19164958e-01 1.28817231e+02] [-7.66112504e-01 6.26831727e-01 -1.41963435e-01 -1.74716007e+00] [-1.85306443e-01 -3.92762181e-03 9.82672934e-01 -7.01903734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.85, Y:-1.76, Z:-70.19 [[ 6.16652666e-01 7.80186003e-01 1.05115605e-01 1.28850755e+02] [-7.63476101e-01 6.25243172e-01 -1.61787571e-01 -1.75889137e+00] [-1.91947213e-01 1.95134846e-02 9.81211237e-01 -7.01938739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.85, Y:-1.79, Z:-70.20 [[ 6.18994434e-01 7.76153078e-01 1.20134464e-01 1.28854838e+02] [-7.61189461e-01 6.30539762e-01 -1.51691175e-01 -1.79407335e+00] [-1.93485128e-01 2.45090489e-03 9.81100147e-01 -7.02029807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.23864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:128.78, Y:-1.88, Z:-70.22 [[ 6.30244617e-01 7.48029837e-01 2.07949720e-01 1.28779497e+02] [-7.55002709e-01 6.52928104e-01 -6.04632214e-02 -1.87798185e+00] [-1.81004510e-01 -1.18895982e-01 9.76268976e-01 -7.02151763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.26864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:128.90, Y:-1.83, Z:-70.21 [[ 6.25478789e-01 7.74319129e-01 9.59487896e-02 1.28901599e+02] [-7.58505909e-01 6.32263190e-01 -1.57835501e-01 -1.82845374e+00] [-1.82879935e-01 2.59450343e-02 9.82792849e-01 -7.02073865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:129.00, Y:-1.80, Z:-70.20 [[ 6.16698357e-01 7.85697427e-01 4.86075138e-02 1.28996040e+02] [-7.49009585e-01 6.04659469e-01 -2.70871867e-01 -1.80182447e+00] [-2.42214322e-01 1.30638741e-01 9.61387404e-01 -7.01964508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:128.92, Y:-1.89, Z:-70.23 [[ 6.14080251e-01 7.74630131e-01 1.51174089e-01 1.28923773e+02] [-7.50276182e-01 6.32395122e-01 -1.92774634e-01 -1.89197239e+00] [-2.44930797e-01 4.95677702e-03 9.69527893e-01 -7.02290832e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:128.94, Y:-1.92, Z:-70.24 [[ 6.13033109e-01 7.75571586e-01 1.50595890e-01 1.28942341e+02] [-7.51383965e-01 6.31242181e-01 -1.92237993e-01 -1.91878889e+00] [-2.44156804e-01 4.69291753e-03 9.69724410e-01 -7.02362991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.38864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:128.84, Y:-2.03, Z:-70.25 [[ 6.22653359e-01 7.43484641e-01 2.43994637e-01 1.28844760e+02] [-7.57838371e-01 6.50628615e-01 -4.86148987e-02 -2.02656129e+00] [-1.94894324e-01 -1.54638269e-01 9.68557282e-01 -7.02473001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.41864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:129.09, Y:-1.89, Z:-70.22 [[ 6.12851427e-01 7.89556915e-01 3.18277717e-02 1.29087923e+02] [-7.50218776e-01 5.94022025e-01 -2.90361192e-01 -1.89283174e+00] [-2.48163084e-01 1.54070479e-01 9.56387668e-01 -7.02150441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.44864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:128.95, Y:-2.03, Z:-70.25 [[ 6.14714760e-01 7.67470302e-01 1.81975545e-01 1.28947824e+02] [-7.60684948e-01 6.37844490e-01 -1.20469147e-01 -2.02848557e+00] [-2.08528591e-01 -6.43718950e-02 9.75895530e-01 -7.02542452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.06, Y:-1.98, Z:-70.25 [[ 6.07590044e-01 7.87192627e-01 1.05650871e-01 1.29061533e+02] [-7.51766837e-01 6.12901611e-01 -2.43306882e-01 -1.98491288e+00] [-2.56282973e-01 6.84060178e-02 9.64178228e-01 -7.02465728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.50864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:128.98, Y:-2.08, Z:-70.27 [[ 6.12689538e-01 7.67932433e-01 1.86792155e-01 1.28976519e+02] [-7.62828517e-01 6.36418891e-01 -1.14296318e-01 -2.08355044e+00] [-2.06649906e-01 -7.24622249e-02 9.75727955e-01 -7.02667883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.53864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:129.07, Y:-2.06, Z:-70.26 [[ 6.07836847e-01 7.85647804e-01 1.15290485e-01 1.29066670e+02] [-7.62734038e-01 6.18049293e-01 -1.90399209e-01 -2.05510774e+00] [-2.20841923e-01 2.77956771e-02 9.74913455e-01 -7.02642268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:128.98, Y:-2.15, Z:-70.28 [[ 6.13416683e-01 7.58851771e-01 2.18778341e-01 1.28981578e+02] [-7.61775682e-01 6.41613959e-01 -8.96065703e-02 -2.14989117e+00] [-2.08369342e-01 -1.11693855e-01 9.71651532e-01 -7.02799580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.59864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:129.15, Y:-2.07, Z:-70.27 [[ 6.02955510e-01 7.95486917e-01 6.03756311e-02 1.29149950e+02] [-7.66796550e-01 5.98764858e-01 -2.31308658e-01 -2.07154728e+00] [-2.20153818e-01 9.31730045e-02 9.71005195e-01 -7.02660275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.62864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:129.10, Y:-2.14, Z:-70.29 [[ 6.03509018e-01 7.86411540e-01 1.31657720e-01 1.29103390e+02] [-7.65748600e-01 6.17659123e-01 -1.79238078e-01 -2.13996284e+00] [-2.22274485e-01 7.35508176e-03 9.74956387e-01 -7.02866537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.65864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.11, Y:-2.17, Z:-70.29 [[ 6.03347888e-01 7.84213023e-01 1.44849094e-01 1.29107479e+02] [-7.65861518e-01 6.20426006e-01 -1.68901468e-01 -2.17415271e+00] [-2.22322876e-01 -9.02800296e-03 9.74931297e-01 -7.02935110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.68864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:129.18, Y:-2.16, Z:-70.29 [[ 5.96292739e-01 7.94353631e-01 1.15919277e-01 1.29180018e+02] [-7.54690747e-01 6.03927588e-01 -2.56346141e-01 -2.16031206e+00] [-2.73636338e-01 6.53741366e-02 9.59608971e-01 -7.02922193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.71864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:129.11, Y:-2.25, Z:-70.31 [[ 5.98302689e-01 7.79719133e-01 1.84585930e-01 1.29112833e+02] [-7.67282362e-01 6.23897028e-01 -1.48425990e-01 -2.24719716e+00] [-2.30893197e-01 -5.28258591e-02 9.71544008e-01 -7.03116488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.74864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:129.17, Y:-2.25, Z:-70.32 [[ 5.95802211e-01 7.89641551e-01 1.46580854e-01 1.29165245e+02] [-7.69532857e-01 6.13526022e-01 -1.77214566e-01 -2.24802100e+00] [-2.29867153e-01 -7.21395292e-03 9.73195279e-01 -7.03154964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.77864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:129.19, Y:-2.27, Z:-70.32 [[ 5.93479545e-01 7.92938846e-01 1.37949326e-01 1.29192793e+02] [-7.70873445e-01 6.09288574e-01 -1.85799799e-01 -2.26609418e+00] [-2.31378827e-01 3.92690786e-03 9.72855805e-01 -7.03206506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.80864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:129.21, Y:-2.29, Z:-70.33 [[ 5.91802770e-01 7.93592957e-01 1.41349565e-01 1.29206900e+02] [-7.72845578e-01 6.08443713e-01 -1.80294093e-01 -2.29272832e+00] [-2.29083377e-01 -2.54284320e-03 9.73403483e-01 -7.03292017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.83864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:129.22, Y:-2.32, Z:-70.34 [[ 5.90780043e-01 7.94035512e-01 1.43131219e-01 1.29222812e+02] [-7.73204044e-01 6.07858872e-01 -1.80729349e-01 -2.31655317e+00] [-2.30509103e-01 -3.89834481e-03 9.73062360e-01 -7.03363543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.86864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:129.23, Y:-2.35, Z:-70.34 [[ 5.91542465e-01 7.91831171e-01 1.51924021e-01 1.29230895e+02] [-7.73251725e-01 6.10526422e-01 -1.71287065e-01 -2.34778961e+00] [-2.28384066e-01 -1.61519384e-02 9.73437123e-01 -7.03436973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.89864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:129.28, Y:-2.35, Z:-70.35 [[ 5.89259773e-01 7.98247405e-01 1.24795839e-01 1.29278158e+02] [-7.72382425e-01 6.01884308e-01 -2.02880925e-01 -2.35126515e+00] [-2.37061829e-01 2.31594546e-02 9.71218476e-01 -7.03461211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.92864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:129.28, Y:-2.39, Z:-70.36 [[ 5.90124723e-01 7.93736615e-01 1.47427940e-01 1.29275968e+02] [-7.71737773e-01 6.08246874e-01 -1.85624756e-01 -2.38883175e+00] [-2.37009749e-01 -4.23395227e-03 9.71498045e-01 -7.03572814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.95864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:129.29, Y:-2.41, Z:-70.36 [[ 5.90472016e-01 7.93395811e-01 1.47871177e-01 1.29292854e+02] [-7.71298424e-01 6.08691386e-01 -1.85993380e-01 -2.41324412e+00] [-2.37574280e-01 -4.22891966e-03 9.71360169e-01 -7.03636273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.98864 meters Centerline goodness : 0.801268 Centerline is valid? [True, False] Translation: X:129.26, Y:-2.39, Z:-70.35 [[ 6.00049380e-01 7.82439070e-01 1.66522803e-01 1.29259047e+02] [-7.58950486e-01 6.22611878e-01 -1.90653112e-01 -2.39100150e+00] [-2.52853519e-01 -1.19812801e-02 9.67430384e-01 -7.03541189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.01864 meters Centerline goodness : 0.999165 Centerline is valid? [False, True] Translation: X:129.23, Y:-2.37, Z:-70.35 [[ 6.09613194e-01 7.71066105e-01 1.83926116e-01 1.29228246e+02] [-7.46708549e-01 6.36455722e-01 -1.93262663e-01 -2.37257624e+00] [-2.66079118e-01 -1.95237336e-02 9.63753458e-01 -7.03453397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.04864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:129.26, Y:-2.39, Z:-70.35 [[ 6.08067329e-01 7.75469224e-01 1.70004725e-01 1.29260653e+02] [-7.47703964e-01 6.31382011e-01 -2.05658791e-01 -2.38575231e+00] [-2.66819988e-01 -2.05881513e-03 9.63744186e-01 -7.03522502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.07864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:129.29, Y:-2.40, Z:-70.36 [[ 6.05851635e-01 7.78384986e-01 1.64501095e-01 1.29287869e+02] [-7.47448204e-01 6.27725805e-01 -2.17443088e-01 -2.40260967e+00] [-2.72516018e-01 8.78220250e-03 9.62111165e-01 -7.03595926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.10864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:129.30, Y:-2.43, Z:-70.37 [[ 6.06049545e-01 7.75500876e-01 1.76924673e-01 1.29295266e+02] [-7.47585564e-01 6.31305163e-01 -2.06324055e-01 -2.43438335e+00] [-2.71697944e-01 -7.22373176e-03 9.62355467e-01 -7.03688403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.13864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:129.32, Y:-2.45, Z:-70.38 [[ 6.05359880e-01 7.76879582e-01 1.73197953e-01 1.29319235e+02] [-7.47492295e-01 6.29647785e-01 -2.11657593e-01 -2.45476525e+00] [-2.73486170e-01 -1.33512042e-03 9.61875009e-01 -7.03768417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.16864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:129.35, Y:-2.47, Z:-70.38 [[ 6.03990535e-01 7.78829016e-01 1.69176820e-01 1.29345530e+02] [-7.46568675e-01 6.27188225e-01 -2.21968792e-01 -2.47313370e+00] [-2.78981446e-01 7.76493493e-03 9.60265098e-01 -7.03843967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.19864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:129.34, Y:-2.51, Z:-70.39 [[ 6.06151631e-01 7.72519439e-01 1.89192805e-01 1.29343065e+02] [-7.46929967e-01 6.34640222e-01 -1.98311403e-01 -2.51155584e+00] [-2.73268778e-01 -2.11069948e-02 9.61706125e-01 -7.03941319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.22864 meters Centerline goodness : 0.863076 Centerline is valid? [True, False] Translation: X:129.31, Y:-2.49, Z:-70.38 [[ 6.14975470e-01 7.61104908e-01 2.06214669e-01 1.29312241e+02] [-7.33512424e-01 6.48131258e-01 -2.04659219e-01 -2.49083199e+00] [-2.89421309e-01 -2.54006226e-02 9.56864732e-01 -7.03836275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.25864 meters Centerline goodness : 0.779644 Centerline is valid? [False, False] Translation: X:129.28, Y:-2.48, Z:-70.37 [[ 6.23712476e-01 7.48868681e-01 2.24005460e-01 1.29281356e+02] [-7.21450970e-01 6.61817706e-01 -2.03729776e-01 -2.47529265e+00] [-3.00817628e-01 -3.45401537e-02 9.53055996e-01 -7.03746327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.28864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [False, True] Translation: X:129.25, Y:-2.46, Z:-70.36 [[ 6.31169391e-01 7.36773166e-01 2.42467528e-01 1.29250430e+02] [-7.09320258e-01 6.74752507e-01 -2.03896606e-01 -2.45701303e+00] [-3.13831120e-01 -4.32938324e-02 9.48491261e-01 -7.03630262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.31864000000002 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:129.31, Y:-2.45, Z:-70.36 [[ 6.26913408e-01 7.52940666e-01 2.00149777e-01 1.29311836e+02] [-7.13984916e-01 6.58050915e-01 -2.39153787e-01 -2.44925329e+00] [-3.11777355e-01 7.02479385e-03 9.50129219e-01 -7.03640583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.34864000000002 meters Centerline goodness : 0.962979 Centerline is valid? [True, True] Translation: X:129.27, Y:-2.49, Z:-70.38 [[ 6.85909609e-01 6.89046636e-01 2.33971670e-01 1.29266081e+02] [-6.47962032e-01 7.24657590e-01 -2.34556137e-01 -2.49188930e+00] [-3.31169464e-01 9.27954982e-03 9.43525663e-01 -7.03847384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.37864000000002 meters Centerline goodness : 0.815136 Centerline is valid? [True, False] Translation: X:129.22, Y:-2.48, Z:-70.37 [[ 6.90038918e-01 6.76109069e-01 2.58307604e-01 1.29222673e+02] [-6.36291950e-01 7.36772399e-01 -2.28689714e-01 -2.47539384e+00] [-3.44933103e-01 -6.55424594e-03 9.38604388e-01 -7.03714987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.40864000000002 meters Centerline goodness : 0.998871 Centerline is valid? [False, True] Translation: X:129.18, Y:-2.45, Z:-70.36 [[ 6.93861482e-01 6.62937786e-01 2.81193412e-01 1.29181502e+02] [-6.22350264e-01 7.48500753e-01 -2.28968932e-01 -2.45308025e+00] [-3.62265637e-01 -1.61280720e-02 9.31935348e-01 -7.03551571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.43864000000002 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:129.21, Y:-2.47, Z:-70.37 [[ 6.92058258e-01 6.67412535e-01 2.74983408e-01 1.29213371e+02] [-6.24124977e-01 7.44646320e-01 -2.36579523e-01 -2.46603132e+00] [-3.62661522e-01 -7.89720042e-03 9.31887469e-01 -7.03660413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.46864000000002 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:129.24, Y:-2.48, Z:-70.38 [[ 6.91339930e-01 6.68364245e-01 2.74478302e-01 1.29241037e+02] [-6.25198860e-01 7.43789565e-01 -2.36439143e-01 -2.48398201e+00] [-3.62181566e-01 -8.14370105e-03 9.32071989e-01 -7.03757454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.49864 meters Centerline goodness : 0.898852 Centerline is valid? [True, False] Translation: X:129.19, Y:-2.47, Z:-70.36 [[ 6.94182349e-01 6.54436628e-01 2.99705801e-01 1.29194977e+02] [-6.12482737e-01 7.55774662e-01 -2.31666908e-01 -2.46635377e+00] [-3.78121360e-01 -2.27455505e-02 9.25476567e-01 -7.03589514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.52864 meters Centerline goodness : 0.999166 Centerline is valid? [False, True] Translation: X:129.16, Y:-2.45, Z:-70.34 [[ 6.96882037e-01 6.40644677e-01 3.22381490e-01 1.29156000e+02] [-6.01697146e-01 7.66878212e-01 -2.23289840e-01 -2.45497861e+00] [-3.90276788e-01 -3.83693436e-02 9.19897724e-01 -7.03444657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.55864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:129.20, Y:-2.45, Z:-70.35 [[ 6.97071104e-01 6.50119537e-01 3.02384628e-01 1.29203036e+02] [-6.01182544e-01 7.59776554e-01 -2.47627011e-01 -2.44995615e+00] [-3.90731909e-01 -9.17472640e-03 9.20458799e-01 -7.03539552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.58864 meters Centerline goodness : 0.927146 Centerline is valid? [True, False] Translation: X:129.15, Y:-2.44, Z:-70.34 [[ 6.99001164e-01 6.34471621e-01 3.29913829e-01 1.29151971e+02] [-5.90906684e-01 7.72287124e-01 -2.33242125e-01 -2.43931060e+00] [-4.02773712e-01 -3.19117699e-02 9.14743120e-01 -7.03363355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.61864 meters Centerline goodness : 0.999019 Centerline is valid? [False, True] Translation: X:129.11, Y:-2.43, Z:-70.32 [[ 7.01466399e-01 6.18724504e-01 3.53729953e-01 1.29106656e+02] [-5.77945124e-01 7.84252217e-01 -2.25672095e-01 -2.42617314e+00] [-4.17042355e-01 -4.61351096e-02 9.07715388e-01 -7.03179232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.64864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:129.25, Y:-2.32, Z:-70.30 [[ 0.68284759 0.68088678 0.26478741 129.2549363 ] [ -0.55953209 0.72046799 -0.40969466 -2.32076221] [ -0.46972653 0.13160196 0.87294783 -70.29927356] [ 0. 0. 0. 1. ]] SLAMing on 161.67864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:129.14, Y:-2.49, Z:-70.35 [[ 6.98275872e-01 6.00994313e-01 3.88865841e-01 1.29135369e+02] [-5.75933293e-01 7.94291768e-01 -1.93394492e-01 -2.49184417e+00] [-4.25101926e-01 -8.89180768e-02 9.00767411e-01 -7.03475141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.70864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:129.23, Y:-2.43, Z:-70.35 [[ 6.93027282e-01 6.46285131e-01 3.19419343e-01 1.29234662e+02] [-5.75485609e-01 7.62820618e-01 -2.94823709e-01 -2.42949647e+00] [-4.34199840e-01 2.04996389e-02 9.00583291e-01 -7.03510898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.73864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:129.24, Y:-2.47, Z:-70.37 [[ 6.92410924e-01 6.36001156e-01 3.40689950e-01 1.29238610e+02] [-5.75915209e-01 7.71632646e-01 -2.70008764e-01 -2.46616078e+00] [-4.34613374e-01 -9.25150599e-03 9.00569611e-01 -7.03714073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.76864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:129.30, Y:-2.45, Z:-70.38 [[ 6.76998109e-01 6.56195366e-01 3.33288467e-01 1.29301081e+02] [-5.61949759e-01 7.53305793e-01 -3.41676529e-01 -2.44595628e+00] [-4.75274688e-01 4.40229902e-02 8.78735425e-01 -7.03792210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:129.29, Y:-2.50, Z:-70.40 [[ 6.75186976e-01 6.36891210e-01 3.72145314e-01 1.29294507e+02] [-5.64199185e-01 7.70884392e-01 -2.95662871e-01 -2.49844607e+00] [-4.75186098e-01 -1.03363633e-02 8.79824603e-01 -7.04048967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.82864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:129.29, Y:-2.55, Z:-70.43 [[ 6.89226171e-01 6.17767370e-01 3.78590493e-01 1.29289963e+02] [-5.76351390e-01 7.84104349e-01 -2.30216082e-01 -2.55211245e+00] [-4.39074436e-01 -5.95302083e-02 8.96476321e-01 -7.04267150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.85864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:129.33, Y:-2.55, Z:-70.44 [[ 6.90142419e-01 6.28259103e-01 3.59157265e-01 1.29332213e+02] [-5.76900689e-01 7.77264753e-01 -2.51087833e-01 -2.55177837e+00] [-4.36908499e-01 -3.39117093e-02 8.98866486e-01 -7.04368370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.88864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:129.38, Y:-2.55, Z:-70.45 [[ 6.89001972e-01 6.41361336e-01 3.37538025e-01 1.29379433e+02] [-5.76584554e-01 7.67238196e-01 -2.80883967e-01 -2.54529681e+00] [-4.39120182e-01 -1.08960439e-03 8.98427670e-01 -7.04461578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.91864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:129.41, Y:-2.56, Z:-70.46 [[ 6.87150347e-01 6.45695329e-01 3.33019432e-01 1.29413492e+02] [-5.76217404e-01 7.63548872e-01 -2.91490350e-01 -2.55581004e+00] [-4.42490569e-01 8.40610274e-03 8.96733758e-01 -7.04579416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.94864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:129.43, Y:-2.58, Z:-70.48 [[ 6.85928279e-01 6.41548674e-01 3.43391460e-01 1.29433787e+02] [-5.73223231e-01 7.67081937e-01 -2.88097951e-01 -2.57508432e+00] [-4.48238245e-01 7.74569449e-04 8.93913796e-01 -7.04765953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.97864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:129.46, Y:-2.59, Z:-70.49 [[ 6.84924331e-01 6.43238905e-01 3.42231460e-01 1.29461095e+02] [-5.71966195e-01 7.65643058e-01 -2.94355872e-01 -2.58944407e+00] [-4.51368290e-01 5.86667296e-03 8.92318468e-01 -7.04910186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.00864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:129.47, Y:-2.62, Z:-70.51 [[ 6.86571279e-01 6.33476506e-01 3.56829644e-01 1.29470325e+02] [-5.71736018e-01 7.73588321e-01 -2.73274652e-01 -2.62378166e+00] [-4.49152317e-01 -1.63898324e-02 8.93304858e-01 -7.05072676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.03864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:129.51, Y:-2.63, Z:-70.52 [[ 6.85126909e-01 6.41042040e-01 3.45928057e-01 1.29509775e+02] [-5.68180960e-01 7.67475040e-01 -2.96904799e-01 -2.62539709e+00] [-4.55819608e-01 6.86773200e-03 8.90045684e-01 -7.05205265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.06864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:129.53, Y:-2.65, Z:-70.53 [[ 6.87771431e-01 6.36689402e-01 3.48707706e-01 1.29529475e+02] [-5.68055149e-01 7.71120293e-01 -2.87553197e-01 -2.64983488e+00] [-4.51977661e-01 -3.14334215e-04 8.92029201e-01 -7.05345821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.09864000000002 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:129.56, Y:-2.66, Z:-70.55 [[ 6.87805492e-01 6.38873362e-01 3.44622159e-01 1.29560594e+02] [-5.65045330e-01 7.69240859e-01 -2.98315734e-01 -2.66199457e+00] [-4.55683421e-01 1.04560589e-02 8.90080497e-01 -7.05491915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.12864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:129.57, Y:-2.70, Z:-70.57 [[ 6.90348123e-01 6.26536312e-01 3.61761964e-01 1.29565455e+02] [-5.64983115e-01 7.79205479e-01 -2.71353829e-01 -2.70080046e+00] [-4.51899932e-01 -1.70607950e-02 8.91905477e-01 -7.05688328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.15864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:129.60, Y:-2.70, Z:-70.58 [[ 6.89979490e-01 6.33695683e-01 3.49797205e-01 1.29603579e+02] [-5.63658144e-01 7.73577893e-01 -2.89597548e-01 -2.70497169e+00] [-4.54112101e-01 2.65032521e-03 8.90940613e-01 -7.05821418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.18864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:129.66, Y:-2.69, Z:-70.59 [[ 6.73502202e-01 6.50294752e-01 3.51442057e-01 1.29657094e+02] [-5.47592224e-01 7.58300810e-01 -3.53726783e-01 -2.69308033e+00] [-4.96525467e-01 4.57888298e-02 8.66813615e-01 -7.05928228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.21864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:129.62, Y:-2.77, Z:-70.62 [[ 6.88549059e-01 6.15128479e-01 3.84079612e-01 1.29622863e+02] [-5.61678178e-01 7.87371866e-01 -2.54092836e-01 -2.77336239e+00] [-4.58713220e-01 -4.07737535e-02 8.87648400e-01 -7.06226845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.24864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:129.68, Y:-2.76, Z:-70.63 [[ 6.86231834e-01 6.34923367e-01 3.54905887e-01 1.29678486e+02] [-5.63123396e-01 7.72573831e-01 -2.93294590e-01 -2.76226551e+00] [-4.60410589e-01 1.41227610e-03 8.87704959e-01 -7.06317009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.27864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:129.71, Y:-2.78, Z:-70.65 [[ 6.85279947e-01 6.36914507e-01 3.53173195e-01 1.29706531e+02] [-5.61425246e-01 7.70893947e-01 -3.00872423e-01 -2.77677272e+00] [-4.63889089e-01 7.90149011e-03 8.85858047e-01 -7.06461241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.30864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:129.75, Y:-2.78, Z:-70.66 [[ 6.71494175e-01 6.44654096e-01 3.65399328e-01 1.29745167e+02] [-5.47762617e-01 7.63927320e-01 -3.41132180e-01 -2.78247518e+00] [-4.99050786e-01 2.89161797e-02 8.66090161e-01 -7.06606285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.33864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:129.75, Y:-2.82, Z:-70.68 [[ 6.70974595e-01 6.33126617e-01 3.85932352e-01 1.29751029e+02] [-5.48648992e-01 7.74048201e-01 -3.15964659e-01 -2.82351206e+00] [-4.98775878e-01 2.62863328e-04 8.66730958e-01 -7.06846159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.36864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:129.75, Y:-2.87, Z:-70.70 [[ 6.88778288e-01 6.15649387e-01 3.82831949e-01 1.29748357e+02] [-5.60715360e-01 7.87120010e-01 -2.56983217e-01 -2.87041728e+00] [-4.59546248e-01 -3.76552935e-02 8.87355242e-01 -7.07045464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.39864 meters Centerline goodness : 0.945813 Centerline is valid? [True, False] Translation: X:129.68, Y:-2.84, Z:-70.67 [[ 6.80183925e-01 6.07224538e-01 4.10643627e-01 1.29682840e+02] [-5.56382242e-01 7.92385400e-01 -2.50128324e-01 -2.84175390e+00] [-4.77272070e-01 -5.83415569e-02 8.76816762e-01 -7.06706223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.42864 meters Centerline goodness : 0.998872 Centerline is valid? [False, True] Translation: X:129.62, Y:-2.81, Z:-70.64 [[ 6.71366908e-01 5.99238510e-01 4.36095956e-01 1.29621191e+02] [-5.51444101e-01 7.97035397e-01 -2.46259983e-01 -2.81352132e+00] [-4.95152379e-01 -7.51517392e-02 8.65549732e-01 -7.06384186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.45864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:130.58, Y:-2.58, Z:-69.95 [[ 0.63874038 0.57701564 -0.50898299 130.5829191 ] [ -0.5166136 -0.1686021 -0.83945442 -2.58250967] [ -0.57019393 0.79914097 0.19040115 -69.9515843 ] [ 0. 0. 0. 1. ]] SLAMing on 162.48864 meters Centerline goodness : 0.892890 Centerline is valid? [True, False] Translation: X:130.51, Y:-2.54, Z:-69.97 [[ 6.35066882e-01 6.22411911e-01 -4.57486031e-01 1.30510533e+02] [-5.11581532e-01 -1.04852758e-01 -8.52813130e-01 -2.53634244e+00] [-5.78769722e-01 7.75634780e-01 2.51825925e-01 -6.99722176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.51864 meters Centerline goodness : 0.998915 Centerline is valid? [False, True] Translation: X:130.43, Y:-2.50, Z:-69.99 [[ 6.30390698e-01 6.63883218e-01 -4.02326536e-01 1.30434126e+02] [-5.07201154e-01 -4.01058756e-02 -8.60894017e-01 -2.49563024e+00] [-5.87668748e-01 7.46760063e-01 3.11439964e-01 -6.99912797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.54864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:129.71, Y:-2.78, Z:-70.57 [[ 6.46442309e-01 6.21591298e-01 4.42421292e-01 1.29706085e+02] [-4.98450911e-01 7.83089065e-01 -3.71911556e-01 -2.78430096e+00] [-5.77632263e-01 1.98940684e-02 8.16054652e-01 -7.05726526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.57864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:130.71, Y:-2.71, Z:-69.82 [[ 6.19786217e-01 5.38237822e-01 -5.71108652e-01 1.30714900e+02] [-4.48177199e-01 -3.54628841e-01 -8.20594653e-01 -2.71175725e+00] [-6.44206678e-01 7.64551131e-01 2.14318519e-02 -6.98233549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.60864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:129.81, Y:-2.88, Z:-70.61 [[ 5.90121230e-01 6.12191401e-01 5.26287585e-01 1.29805353e+02] [-4.54626338e-01 7.90705049e-01 -4.10000509e-01 -2.88191657e+00] [-6.67137037e-01 2.68580669e-03 7.44930171e-01 -7.06100565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.63864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:129.80, Y:-2.94, Z:-70.64 [[ 6.15220385e-01 5.83597729e-01 5.30016573e-01 1.29798254e+02] [-4.71916956e-01 8.11170530e-01 -3.45393629e-01 -2.93710318e+00] [-6.31504762e-01 -3.76306062e-02 7.74458309e-01 -7.06437447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.66864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:130.42, Y:-2.69, Z:-70.50 [[ 5.51343062e-01 8.34134881e-01 1.54863882e-02 1.30418878e+02] [-5.04988979e-01 3.48446325e-01 -7.89665303e-01 -2.69074112e+00] [-6.64083548e-01 4.27556031e-01 6.13342385e-01 -7.04979389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.69864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:131.13, Y:-3.19, Z:-69.81 [[ 0.51390835 0.29749126 -0.80460994 131.1297257 ] [ -0.45745897 -0.69841389 -0.55040833 -3.19071437] [ -0.72569243 0.65093547 -0.22283068 -69.81076984] [ 0. 0. 0. 1. ]] SLAMing on 162.72864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:130.68, Y:-4.30, Z:-69.70 [[ 0.57743719 -0.70900184 -0.40482425 130.68258171] [ -0.413229 -0.68144628 0.60404699 -4.30487604] [ -0.70413641 -0.18151408 -0.68647255 -69.70234762] [ 0. 0. 0. 1. ]] SLAMing on 162.75864 meters Centerline goodness : 0.980426 Centerline is valid? [True, True] Translation: X:129.98, Y:-3.30, Z:-70.94 [[ 5.93504983e-01 4.67381286e-01 6.55214902e-01 1.29982698e+02] [-3.57100888e-01 8.82505188e-01 -3.06045012e-01 -3.29902499e+00] [-7.21270262e-01 -5.23385835e-02 6.90673499e-01 -7.09371909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.78864000000002 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:131.27, Y:-3.86, Z:-69.86 [[ 6.02401079e-01 -1.09677264e-01 -7.90622437e-01 1.31266933e+02] [-3.26067684e-01 -9.37911182e-01 -1.18332073e-01 -3.86336625e+00] [-7.28555287e-01 3.29079795e-01 -6.00760920e-01 -6.98626690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.81864000000002 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:130.12, Y:-3.38, Z:-71.03 [[ 5.72410604e-01 4.69223958e-01 6.72439572e-01 1.30124211e+02] [-2.96820487e-01 8.83038446e-01 -3.63511625e-01 -3.37614593e+00] [-7.64358358e-01 8.48406754e-03 6.44735854e-01 -7.10306680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.84864000000002 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:130.15, Y:-3.39, Z:-71.07 [[ 5.69574712e-01 4.74646442e-01 6.71040537e-01 1.30154846e+02] [-3.00896211e-01 8.80147028e-01 -3.67154843e-01 -3.38871951e+00] [-7.64883075e-01 7.20855928e-03 6.44128806e-01 -7.10682853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.87864000000002 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:130.19, Y:-3.40, Z:-71.11 [[ 5.67854854e-01 4.79048488e-01 6.69367919e-01 1.30185092e+02] [-3.04500077e-01 8.77766464e-01 -3.69872596e-01 -3.40173396e+00] [-7.64735620e-01 6.21136581e-03 6.44314249e-01 -7.11051235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.90864000000002 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:130.17, Y:-3.48, Z:-71.14 [[ 6.02115593e-01 4.22464172e-01 6.77481244e-01 1.30169702e+02] [-3.27087007e-01 9.04586322e-01 -2.73381923e-01 -3.48046794e+00] [-7.28334334e-01 -5.69877935e-02 6.82848072e-01 -7.11425590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.93864000000002 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:131.30, Y:-3.19, Z:-70.63 [[ 5.36910794e-01 7.47211591e-01 -3.91665211e-01 1.31298438e+02] [-2.82788979e-01 -2.77995569e-01 -9.18013539e-01 -3.18605418e+00] [-7.94831550e-01 6.03649983e-01 6.20443818e-02 -7.06263684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.96864000000002 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:131.43, Y:-3.27, Z:-70.70 [[ 4.69325079e-01 7.68147236e-01 -4.35527030e-01 1.31432748e+02] [-2.93529400e-01 -3.29460152e-01 -8.97383140e-01 -3.27340578e+00] [-8.32811180e-01 5.49004401e-01 7.08498855e-02 -7.07018226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.99864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:131.60, Y:-4.53, Z:-70.41 [[ 5.29000307e-01 -4.01549199e-01 -7.47607461e-01 1.31595150e+02] [-2.10157921e-01 -9.15513791e-01 3.43027909e-01 -4.53435595e+00] [-8.22187523e-01 -2.43462394e-02 -5.68695822e-01 -7.04060892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.02864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:130.42, Y:-3.69, Z:-71.41 [[ 4.88633565e-01 3.66832286e-01 7.91625741e-01 1.30424105e+02] [-1.96732065e-01 9.30276527e-01 -3.09648312e-01 -3.69092368e+00] [-8.50019843e-01 -4.43360762e-03 5.26732009e-01 -7.14115880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.05864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:130.44, Y:-3.75, Z:-71.47 [[ 5.23366422e-01 3.25286803e-01 7.87576081e-01 1.30437289e+02] [-2.21113545e-01 9.44452112e-01 -2.43144006e-01 -3.74702601e+00] [-8.22919430e-01 -4.68903307e-02 5.66219841e-01 -7.14721200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.08864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:131.45, Y:-3.31, Z:-71.17 [[ 4.36515458e-01 8.90083666e-01 -1.31169060e-01 1.31445408e+02] [-2.25455550e-01 -3.29228490e-02 -9.73697017e-01 -3.31080411e+00] [-8.70990270e-01 4.54606592e-01 1.86302970e-01 -7.11740726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.11864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:132.06, Y:-4.23, Z:-70.84 [[ 4.24172168e-01 1.15346782e-01 -8.98205484e-01 1.32056344e+02] [-1.29989507e-01 -9.73828022e-01 -1.86444930e-01 -4.22547409e+00] [-8.96203493e-01 1.95842038e-01 -3.98076872e-01 -7.08402508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.14864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:131.57, Y:-5.06, Z:-71.13 [[ 4.91171503e-01 -7.30883664e-01 -4.73877225e-01 1.31574577e+02] [-7.31342712e-02 -5.76703135e-01 8.13673689e-01 -5.06431827e+00] [-8.67987288e-01 -3.64996664e-01 -3.36712790e-01 -7.11306941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.17864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:130.58, Y:-4.21, Z:-71.90 [[ 5.10470601e-01 -4.23112645e-02 8.58853609e-01 1.30582673e+02] [-1.22911411e-01 9.84942548e-01 1.21576978e-01 -4.20866039e+00] [-8.51065538e-01 -1.67624382e-01 4.97583678e-01 -7.18984384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.20864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:130.69, Y:-3.96, Z:-71.97 [[ 5.03779170e-01 2.18290257e-01 8.35796573e-01 1.30692342e+02] [-1.36462415e-01 9.75506429e-01 -1.72525985e-01 -3.95870176e+00] [-8.52985672e-01 -2.71398210e-02 5.21228235e-01 -7.19652162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.23864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:131.87, Y:-3.51, Z:-71.56 [[ 4.28177792e-01 8.71651506e-01 -2.38510861e-01 1.31872424e+02] [-8.15912581e-02 -2.25562861e-01 -9.70805986e-01 -3.50908852e+00] [-9.00003692e-01 4.35137965e-01 -2.54618646e-02 -7.15580442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.26864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:132.03, Y:-3.57, Z:-71.66 [[ 3.59324737e-01 8.81160852e-01 -3.07313011e-01 1.32030859e+02] [-9.75128820e-02 -2.92051647e-01 -9.51418453e-01 -3.57106561e+00] [-9.28103966e-01 3.71835163e-01 -1.90168473e-02 -7.16634253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.29864 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:132.49, Y:-4.57, Z:-71.57 [[ 3.76197244e-01 6.46670311e-02 -9.24280157e-01 1.32486111e+02] [ 5.54585324e-02 -9.97344427e-01 -4.72064187e-02 -4.56982506e+00] [-9.24878362e-01 -3.35002964e-02 -3.78784563e-01 -7.15655081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.32864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:131.44, Y:-5.23, Z:-72.15 [[ 4.49077522e-01 -8.90105511e-01 7.77274603e-02 1.31444290e+02] [-2.09988807e-02 7.64545794e-02 9.96851917e-01 -5.23451187e+00] [-8.93246005e-01 -4.49295978e-01 1.56428136e-02 -7.21488283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:130.94, Y:-4.50, Z:-72.55 [[ 4.63814698e-01 -2.71665822e-01 8.43251805e-01 1.30936884e+02] [-6.58896174e-02 9.38610371e-01 3.38628307e-01 -4.50436043e+00] [-8.83478627e-01 -2.12622325e-01 4.17441329e-01 -7.25480288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:131.02, Y:-4.10, Z:-72.62 [[ 4.57743091e-01 1.31645015e-01 8.79284285e-01 1.31024481e+02] [-7.78508239e-02 9.91113267e-01 -1.07859820e-01 -4.10469992e+00] [-8.85669528e-01 -1.90809187e-02 4.63923923e-01 -7.26216374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.09, Y:-4.08, Z:-72.73 [[ 4.49927464e-01 1.57473198e-01 8.79071936e-01 1.31094940e+02] [-1.01185858e-01 9.86981642e-01 -1.25014637e-01 -4.08063140e+00] [-8.87314318e-01 -3.27021295e-02 4.60004208e-01 -7.27316343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.44864 meters Centerline goodness : 0.993727 Centerline is valid? [True, True] Translation: X:131.14, Y:-4.05, Z:-72.82 [[ 4.14453540e-01 1.92637778e-01 8.89448677e-01 1.31138783e+02] [-1.60285947e-01 9.77513730e-01 -1.37023077e-01 -4.05099996e+00] [-8.95844115e-01 -8.57764240e-02 4.36011154e-01 -7.28236369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.67, Y:-3.97, Z:-72.30 [[ 3.66580535e-01 6.35619925e-01 -6.79415942e-01 1.32668881e+02] [-6.52227702e-02 -7.10898276e-01 -7.00263972e-01 -3.97467715e+00] [-9.28097356e-01 3.01016531e-01 -2.19144578e-01 -7.23034783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:132.76, Y:-4.85, Z:-72.42 [[ 3.75812036e-01 -1.61694139e-01 -9.12480311e-01 1.32762607e+02] [ 3.31488757e-02 -9.81684108e-01 1.87609871e-01 -4.85225032e+00] [-9.26102837e-01 -1.00753744e-01 -3.63568725e-01 -7.24173355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.88, Y:-5.36, Z:-73.04 [[ 4.76765703e-01 -8.79021711e-01 3.91104166e-03 1.31878424e+02] [ 1.30700171e-02 1.15375798e-02 9.99848018e-01 -5.35632907e+00] [-8.78933239e-01 -4.76642126e-01 1.69895511e-02 -7.30425507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:131.91, Y:-5.34, Z:-73.24 [[ 5.33893216e-01 -8.45347016e-01 1.86133298e-02 1.31906587e+02] [ 1.19097103e-02 2.95291817e-02 9.99492965e-01 -5.34450913e+00] [-8.45468032e-01 -5.33400834e-01 2.58332678e-02 -7.32365826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.59864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:132.32, Y:-3.62, Z:-73.10 [[ 4.95712665e-01 8.67597175e-01 3.92949771e-02 1.32323681e+02] [-7.08095817e-03 4.92813563e-02 -9.98759835e-01 -3.61683643e+00] [-8.68457721e-01 4.94819654e-01 3.05728118e-02 -7.30994840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.62864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:133.05, Y:-4.28, Z:-72.93 [[ 4.36563772e-01 4.70512234e-01 -7.66831344e-01 1.33049767e+02] [ 8.63404766e-02 -8.70321153e-01 -4.84857105e-01 -4.27955556e+00] [-8.95520740e-01 1.45462463e-01 -4.20574936e-01 -7.29293998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.03, Y:-5.06, Z:-73.23 [[ 0.46465196 -0.26762466 -0.84408269 133.03006139] [ 0.17306828 -0.90740286 0.38297183 -5.06132163] [ -0.86841576 -0.32403255 -0.37530918 -73.22623805] [ 0. 0. 0. 1. ]] SLAMing on 163.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:131.81, Y:-4.97, Z:-74.08 [[ 0.52091478 -0.65486067 0.54754479 131.81012335] [ 0.1769609 0.71035865 0.68123082 -4.96767962] [ -0.83506445 -0.25796919 0.48592105 -74.0829316 ] [ 0. 0. 0. 1. ]] SLAMing on 163.71864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:131.71, Y:-4.46, Z:-74.17 [[ 4.85624784e-01 -2.30901749e-01 8.43120959e-01 1.31709603e+02] [ 1.35388613e-01 9.72713354e-01 1.88410865e-01 -4.46003565e+00] [-8.63619414e-01 2.26519915e-02 5.03635180e-01 -7.41651610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:132.58, Y:-3.58, Z:-73.72 [[ 4.66487228e-01 8.58742919e-01 2.12014775e-01 1.32577493e+02] [ 9.81165188e-02 1.87976570e-01 -9.77260435e-01 -3.58485566e+00] [-8.79069289e-01 4.76681663e-01 3.43180335e-03 -7.37174687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.32, Y:-3.96, Z:-73.58 [[ 0.40073889 0.73250357 -0.55031524 133.32131949] [ 0.15622193 -0.64648958 -0.74675694 -3.96401278] [ -0.90277519 0.21328324 -0.37350664 -73.58363666] [ 0. 0. 0. 1. ]] SLAMing on 163.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:133.53, Y:-4.85, Z:-73.86 [[ 3.95976004e-01 -8.60118061e-02 -9.14223700e-01 1.33527799e+02] [ 2.39183251e-01 -9.51574972e-01 1.93122876e-01 -4.85284819e+00] [-8.86563239e-01 -2.95139021e-01 -3.56228272e-01 -7.38586913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.83864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:132.23, Y:-4.98, Z:-74.65 [[ 0.43823431 -0.75438708 0.48872367 132.22809382] [ 0.26919299 0.62890776 0.72939027 -4.9825449 ] [ -0.8576047 -0.18808286 0.47868467 -74.64648724] [ 0. 0. 0. 1. ]] SLAMing on 163.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:132.09, Y:-4.61, Z:-74.72 [[ 4.14440785e-01 -4.59479150e-01 7.85568423e-01 1.32085034e+02] [ 2.31473359e-01 8.88022262e-01 3.97286480e-01 -4.60977253e+00] [-8.80147101e-01 1.71864407e-02 4.74389825e-01 -7.47235981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.89864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:132.16, Y:-4.62, Z:-74.85 [[ 4.63402684e-01 -4.93392006e-01 7.36085784e-01 1.32155253e+02] [ 2.03284982e-01 8.67694984e-01 4.53630500e-01 -4.61883910e+00] [-8.62515605e-01 -6.05784057e-02 5.02391370e-01 -7.48511853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:132.71, Y:-3.52, Z:-74.51 [[ 4.17405164e-01 7.49650663e-01 5.13611538e-01 1.32706040e+02] [ 1.67814123e-01 4.91892363e-01 -8.54330336e-01 -3.51914206e+00] [-8.93090896e-01 4.42793164e-01 7.95164443e-02 -7.45050082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.95864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:133.85, Y:-4.03, Z:-74.33 [[ 3.69644059e-01 5.89641328e-01 -7.18113064e-01 1.33851248e+02] [ 2.43511374e-01 -8.07313622e-01 -5.37537837e-01 -4.03303512e+00] [-8.96696983e-01 2.38289690e-02 -4.42003055e-01 -7.43250039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:132.44, Y:-4.74, Z:-75.10 [[ 3.50168539e-01 -6.72063014e-01 6.52467087e-01 1.32440422e+02] [ 2.73212241e-01 7.39561861e-01 6.15144963e-01 -4.74045391e+00] [-8.95955951e-01 -3.71424178e-02 4.42587138e-01 -7.51025714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.01864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:132.36, Y:-4.30, Z:-75.19 [[ 3.63933475e-01 -3.07481326e-01 8.79208541e-01 1.32361790e+02] [ 2.04067495e-01 9.47327530e-01 2.46833968e-01 -4.30373550e+00] [-9.08795292e-01 8.95867407e-02 4.07511144e-01 -7.51935133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:132.76, Y:-3.49, Z:-75.07 [[ 3.37237261e-01 6.08387342e-01 7.18425968e-01 1.32757408e+02] [ 1.18130214e-01 7.29751597e-01 -6.73429922e-01 -3.49109896e+00] [-9.33978738e-01 3.11973476e-01 1.74230503e-01 -7.50670666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.80, Y:-3.47, Z:-74.92 [[ 0.23023901 0.92059823 -0.31541861 133.80343088] [ 0.14838987 -0.35354905 -0.92357106 -3.47091057] [ -0.96175384 0.16583716 -0.21800824 -74.92140669] [ 0. 0. 0. 1. ]] SLAMing on 164.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:134.24, Y:-4.44, Z:-75.18 [[ 2.01546131e-01 6.22697252e-03 -9.79459229e-01 1.34237175e+02] [ 2.37710178e-01 -9.70395146e-01 4.27449570e-02 -4.43862638e+00] [-9.50196311e-01 -2.41442508e-01 -1.97059602e-01 -7.51779222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:132.84, Y:-4.79, Z:-75.71 [[ 2.30814480e-01 -8.40583607e-01 4.90044769e-01 1.32842081e+02] [ 2.30809461e-01 5.36570267e-01 8.11676870e-01 -4.79457772e+00] [-9.45225724e-01 -7.42398053e-02 3.17862836e-01 -7.57120381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:132.78, Y:-4.69, Z:-75.76 [[ 2.56712717e-01 -7.67703736e-01 5.87136743e-01 1.32775548e+02] [ 2.60663934e-01 6.39979552e-01 7.22828117e-01 -4.69147899e+00] [-9.30673356e-01 -3.25137965e-02 3.64403565e-01 -7.57597104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.19864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:132.82, Y:-3.53, Z:-75.64 [[ 2.35341281e-01 4.37033090e-01 8.68110915e-01 1.32824320e+02] [ 1.80367006e-01 8.58044053e-01 -4.80861879e-01 -3.52537858e+00] [-9.55029960e-01 2.69745217e-01 1.23106837e-01 -7.56404733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:134.07, Y:-3.39, Z:-75.53 [[ 1.65268480e-01 9.15433885e-01 -3.66970205e-01 1.34071276e+02] [ 2.24944277e-01 -3.97267537e-01 -8.89707017e-01 -3.38635986e+00] [-9.60253301e-01 6.44926791e-02 -2.71577415e-01 -7.55323700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.25864 meters Centerline goodness : 0.906521 Centerline is valid? [True, False] Translation: X:134.02, Y:-3.36, Z:-75.52 [[ 1.51987757e-01 9.41072114e-01 -3.02130763e-01 1.34015483e+02] [ 2.22032748e-01 -3.30377828e-01 -9.17361406e-01 -3.36077960e+00] [-9.63120543e-01 7.23447788e-02 -2.59162213e-01 -7.55237481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.28864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [False, True] Translation: X:133.96, Y:-3.34, Z:-75.52 [[ 1.38856274e-01 9.62136229e-01 -2.34548103e-01 1.33956350e+02] [ 2.18908215e-01 -2.60804447e-01 -9.40244773e-01 -3.33963028e+00] [-9.65814748e-01 7.92143798e-02 -2.46833858e-01 -7.55152987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.31864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:134.44, Y:-4.39, Z:-75.92 [[ 1.52001894e-01 -1.02093090e-01 -9.83093294e-01 1.34436857e+02] [ 2.99741761e-01 -9.43047391e-01 1.44279224e-01 -4.38827643e+00] [-9.41833478e-01 -3.16604830e-01 -1.12743427e-01 -7.59232824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.34864000000002 meters Centerline goodness : 0.983898 Centerline is valid? [True, True] Translation: X:133.19, Y:-4.79, Z:-76.36 [[ 1.96026444e-01 -9.47181441e-01 2.53812827e-01 1.33189349e+02] [ 3.15512215e-01 3.05993574e-01 8.98231582e-01 -4.79258021e+00] [-9.28453378e-01 -9.59960952e-02 3.58830147e-01 -7.63589991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.37864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:133.32, Y:-3.20, Z:-76.01 [[ 8.65938600e-02 8.13378718e-01 5.75253478e-01 1.33323182e+02] [ 3.05877696e-01 5.27825830e-01 -7.92362750e-01 -3.19952567e+00] [-9.48124643e-01 2.44570958e-01 -2.03087933e-01 -7.60053077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.40864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:133.37, Y:-4.74, Z:-76.51 [[ 6.03392579e-02 -9.83250112e-01 1.71983695e-01 1.33371131e+02] [ 3.01262014e-01 1.82201721e-01 9.35972078e-01 -4.73850768e+00] [-9.51630376e-01 -4.66370631e-03 3.07209826e-01 -7.65126314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.43864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:133.29, Y:-4.66, Z:-76.61 [[ 7.65945737e-02 -9.55863188e-01 2.83652669e-01 1.33285675e+02] [ 2.88818769e-01 2.93561783e-01 9.11265712e-01 -4.66045613e+00] [-9.54314932e-01 1.21262059e-02 2.98556469e-01 -7.66127833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.46864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:133.29, Y:-4.64, Z:-76.69 [[ 9.34125508e-02 -9.56256175e-01 2.77215119e-01 1.33293134e+02] [ 2.79310192e-01 2.92421004e-01 9.14590495e-01 -4.64065417e+00] [-9.55646332e-01 -8.00522280e-03 2.94407888e-01 -7.66926008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:133.11, Y:-4.46, Z:-76.84 [[ 1.29054888e-01 -8.57151873e-01 4.98633636e-01 1.33112363e+02] [ 2.41786058e-01 5.14861887e-01 8.22469902e-01 -4.45977264e+00] [-9.61709071e-01 1.44188999e-02 2.73692816e-01 -7.68370281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.52864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:132.98, Y:-3.28, Z:-76.79 [[ 1.07468565e-01 3.60541389e-01 9.26531389e-01 1.32977744e+02] [ 1.83840036e-01 9.08651365e-01 -3.74907374e-01 -3.27824233e+00] [-9.77063636e-01 2.10624321e-01 3.13695166e-02 -7.67913847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:133.16, Y:-4.38, Z:-76.99 [[ 1.00619261e-01 -8.56232934e-01 5.06696089e-01 1.33164083e+02] [ 1.81459251e-01 5.16531882e-01 8.36819786e-01 -4.37643287e+00] [-9.78237346e-01 7.74450473e-03 2.07344443e-01 -7.69918340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.58864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:133.10, Y:-4.28, Z:-77.10 [[ 1.15880795e-01 -7.85969325e-01 6.07308703e-01 1.33100142e+02] [ 1.56490788e-01 6.18238469e-01 7.70254392e-01 -4.27827376e+00] [-9.80857928e-01 5.78052622e-03 1.94638924e-01 -7.70970179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.61864 meters Centerline goodness : 0.908564 Centerline is valid? [True, False] Translation: X:133.03, Y:-4.18, Z:-77.03 [[ 1.14243189e-01 -6.92559024e-01 7.12257321e-01 1.33026188e+02] [ 1.65359097e-01 7.20206177e-01 6.73765116e-01 -4.17957415e+00] [-9.79594234e-01 4.08051521e-02 1.96799586e-01 -7.70277671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.64864 meters Centerline goodness : 0.999656 Centerline is valid? [False, True] Translation: X:132.97, Y:-4.08, Z:-76.96 [[ 1.13638735e-01 -5.94274335e-01 7.96193602e-01 1.32971073e+02] [ 1.73740146e-01 8.00922952e-01 5.73006795e-01 -4.08316478e+00] [-9.78212962e-01 7.32150257e-02 1.94265181e-01 -7.69626348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.67864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:133.00, Y:-4.08, Z:-77.13 [[ 1.47746295e-01 -6.43841485e-01 7.50759065e-01 1.32997172e+02] [ 1.20533463e-01 7.65153202e-01 6.32465225e-01 -4.07517597e+00] [-9.81653053e-01 -2.95280404e-03 1.90652995e-01 -7.71266701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:133.19, Y:-2.94, Z:-77.19 [[ 9.15971193e-02 6.02981404e-01 7.92479271e-01 1.33192617e+02] [ 5.42629538e-02 7.91619994e-01 -6.08599472e-01 -2.94128042e+00] [-9.94316599e-01 9.87482245e-02 3.97905590e-02 -7.71889631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:133.68, Y:-2.70, Z:-77.31 [[ 5.85010759e-02 9.30175507e-01 3.62423994e-01 1.33677120e+02] [-1.04702836e-02 3.63597507e-01 -9.31497303e-01 -2.70383153e+00] [-9.98232436e-01 5.06989125e-02 3.10100467e-02 -7.73127810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.76864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:134.66, Y:-3.16, Z:-77.46 [[ 1.57661794e-02 6.26931413e-01 -7.78914906e-01 1.34660326e+02] [ 6.92947782e-02 -7.77823801e-01 -6.24650597e-01 -3.16268236e+00] [-9.97471634e-01 -4.41263823e-02 -5.57063828e-02 -7.74626896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.79864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:133.95, Y:-4.47, Z:-77.55 [[-1.28425187e-02 -9.77246974e-01 -2.11715427e-01 1.33951043e+02] [ 3.23975249e-02 -2.12028390e-01 9.76726350e-01 -4.46790602e+00] [-9.99392551e-01 5.68457060e-03 3.43833617e-02 -7.75458634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.82864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:134.75, Y:-3.37, Z:-77.58 [[-2.99469562e-02 4.16073123e-01 -9.08837904e-01 1.34746755e+02] [ 1.25736927e-01 -9.00454983e-01 -4.16378491e-01 -3.36720116e+00] [-9.91611519e-01 -1.26743753e-01 -2.53498698e-02 -7.75781852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.85864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:134.26, Y:-4.39, Z:-77.69 [[-1.65690788e-02 -8.34298982e-01 -5.51063221e-01 1.34264098e+02] [ 1.02176752e-01 -5.49666402e-01 8.29112029e-01 -4.39495686e+00] [-9.94628261e-01 -4.25682277e-02 9.43534265e-02 -7.76856499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.88864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:134.02, Y:-4.45, Z:-77.75 [[-5.57636204e-03 -9.54944106e-01 -2.96733313e-01 1.34022361e+02] [ 1.19381366e-01 -2.95251470e-01 9.47931780e-01 -4.45489706e+00] [-9.92832813e-01 -3.01384174e-02 1.15648961e-01 -7.77490998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:133.83, Y:-4.45, Z:-77.86 [[ 2.17187021e-02 -9.95350481e-01 -9.38387833e-02 1.33829412e+02] [ 1.06492497e-01 -9.10237194e-02 9.90138390e-01 -4.44924097e+00] [-9.94076278e-01 -3.14976471e-02 1.04020441e-01 -7.78624232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.94864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:133.66, Y:-4.41, Z:-77.94 [[ 3.36977550e-02 -9.94160257e-01 1.02517529e-01 1.33657299e+02] [ 1.02994983e-01 1.05484007e-01 9.89072878e-01 -4.41079497e+00] [-9.94110907e-01 -2.27707444e-02 1.05948093e-01 -7.79423283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:133.54, Y:-4.36, Z:-78.04 [[ 4.69860171e-02 -9.70721995e-01 2.35565537e-01 1.33541239e+02] [ 9.77837943e-02 2.39163158e-01 9.66043122e-01 -4.36058067e+00] [-9.94097905e-01 -2.23560266e-02 1.06158204e-01 -7.80359900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.00864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:133.45, Y:-4.30, Z:-78.12 [[ 5.58851134e-02 -9.35085039e-01 3.49989749e-01 1.33446009e+02] [ 9.25741065e-02 3.53880393e-01 9.30697965e-01 -4.30336774e+00] [-9.94136253e-01 -1.96121730e-02 1.06341308e-01 -7.81154292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.03864000000002 meters Centerline goodness : 0.897836 Centerline is valid? [True, False] Translation: X:133.34, Y:-4.21, Z:-78.05 [[ 4.86831734e-02 -8.64916698e-01 4.99548851e-01 1.33336748e+02] [ 1.08347110e-01 5.01763593e-01 8.58192403e-01 -4.20517458e+00] [-9.92920366e-01 1.23451445e-02 1.18138668e-01 -7.80537773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:133.25, Y:-4.11, Z:-77.98 [[ 4.25634742e-02 -7.78767584e-01 6.25866919e-01 1.33248574e+02] [ 1.18460979e-01 6.25949433e-01 7.70814053e-01 -4.10529717e+00] [-9.92046041e-01 4.13322841e-02 1.18896153e-01 -7.79799608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.09864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:133.43, Y:-4.25, Z:-78.07 [[ 7.07693021e-02 -9.19558170e-01 3.86528754e-01 1.33433216e+02] [ 1.51418753e-01 3.92913116e-01 9.07023508e-01 -4.24533901e+00] [-9.85933095e-01 -5.66171878e-03 1.67044538e-01 -7.80728675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:133.08, Y:-3.19, Z:-78.14 [[ 3.94513773e-02 1.26604533e-01 9.91168442e-01 1.33083357e+02] [ 7.26911647e-02 9.88948761e-01 -1.29214327e-01 -3.18595493e+00] [-9.96573923e-01 7.71468717e-02 2.98123597e-02 -7.81399375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.15864000000002 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:134.56, Y:-4.04, Z:-78.27 [[ 8.72483381e-02 -5.11434100e-01 -8.54881798e-01 1.34559803e+02] [ 1.13886386e-01 -8.47407187e-01 5.18585529e-01 -4.04404765e+00] [-9.89655303e-01 -1.42605124e-01 -1.56894874e-02 -7.82670523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.18864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:133.63, Y:-4.29, Z:-78.48 [[ 1.06055585e-01 -9.82102949e-01 1.55647067e-01 1.33627851e+02] [ 8.49753624e-02 1.64908757e-01 9.82641486e-01 -4.28537721e+00] [-9.90722666e-01 -9.09884520e-02 1.00944049e-01 -7.84777797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.21864000000002 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:133.20, Y:-3.95, Z:-78.54 [[ 1.21620567e-01 -7.02774034e-01 7.00940150e-01 1.33199405e+02] [ 1.24964526e-01 7.11404620e-01 6.91583208e-01 -3.95064013e+00] [-9.84678783e-01 3.48191203e-03 1.74343258e-01 -7.85448219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.24864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:133.26, Y:-2.85, Z:-78.60 [[ 7.11380072e-02 4.69657136e-01 8.79978158e-01 1.33258194e+02] [ 6.94625223e-02 8.77738897e-01 -4.74077405e-01 -2.85382967e+00] [-9.95044894e-01 9.48504243e-02 2.98170267e-02 -7.86020715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.27864 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:133.15, Y:-3.71, Z:-78.72 [[ 1.06955043e-01 -5.22735606e-01 8.45758893e-01 1.33150896e+02] [ 6.60972161e-02 8.52494746e-01 5.18540130e-01 -3.71128955e+00] [-9.92064402e-01 4.41826298e-04 1.25729981e-01 -7.87167248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.30864 meters Centerline goodness : 0.946836 Centerline is valid? [True, False] Translation: X:133.13, Y:-3.61, Z:-78.69 [[ 1.13884054e-01 -4.22778151e-01 8.99048974e-01 1.33125454e+02] [ 8.18761350e-02 9.05852090e-01 4.15605931e-01 -3.61418211e+00] [-9.90114499e-01 2.62797667e-02 1.37777549e-01 -7.86896129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.33864 meters Centerline goodness : 0.999705 Centerline is valid? [False, True] Translation: X:133.11, Y:-3.53, Z:-78.69 [[ 1.29463983e-01 -3.32929791e-01 9.34021858e-01 1.33112767e+02] [ 9.40668174e-02 9.41824738e-01 3.22672586e-01 -3.52681407e+00] [-9.87112208e-01 4.60859855e-02 1.53250028e-01 -7.86885883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.36864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:133.16, Y:-3.65, Z:-78.79 [[ 1.33403042e-01 -4.73921911e-01 8.70403154e-01 1.33160768e+02] [ 7.90182617e-02 8.80543368e-01 4.67332314e-01 -3.64641987e+00] [-9.87906748e-01 6.43419175e-03 1.54915650e-01 -7.87877444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.39864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:134.22, Y:-2.51, Z:-78.70 [[ 1.14273767e-01 9.92631462e-01 -4.03024428e-02 1.34219537e+02] [ 6.94812921e-02 -4.84545156e-02 -9.96405796e-01 -2.50886042e+00] [-9.91016577e-01 1.11062778e-01 -7.45063966e-02 -7.86995675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.42864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:134.94, Y:-3.47, Z:-78.89 [[ 1.19572901e-01 8.27105828e-02 -9.89374186e-01 1.34941231e+02] [ 1.41814694e-01 -9.87728215e-01 -6.54336679e-02 -3.46720963e+00] [-9.82644856e-01 -1.32483704e-01 -1.29835104e-01 -7.88909575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.45864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:133.54, Y:-4.06, Z:-79.17 [[ 6.52428582e-02 -8.66021973e-01 4.95731087e-01 1.33536060e+02] [ 1.40312027e-01 4.99815618e-01 8.54691104e-01 -4.05524238e+00] [-9.87955416e-01 1.37945434e-02 1.54122698e-01 -7.91730608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.48864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:133.53, Y:-4.03, Z:-79.23 [[ 6.77051302e-02 -8.54957906e-01 5.14259657e-01 1.33528316e+02] [ 1.38888181e-01 5.18500224e-01 8.43722461e-01 -4.03496598e+00] [-9.87990935e-01 1.43002495e-02 1.53848674e-01 -7.92302485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.51864 meters Centerline goodness : 0.908993 Centerline is valid? [True, False] Translation: X:133.44, Y:-3.94, Z:-79.16 [[ 6.38003963e-02 -7.68811971e-01 6.36284263e-01 1.33441250e+02] [ 1.51179722e-01 6.37670654e-01 7.55328292e-01 -3.93884916e+00] [-9.86445235e-01 4.80030338e-02 1.56912421e-01 -7.91630574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.54864 meters Centerline goodness : 0.999262 Centerline is valid? [False, True] Translation: X:133.37, Y:-3.84, Z:-79.10 [[ 6.33286583e-02 -6.72965975e-01 7.36957447e-01 1.33374109e+02] [ 1.63288778e-01 7.35475481e-01 6.57580864e-01 -3.84147202e+00] [-9.84543679e-01 7.86931669e-02 1.56464467e-01 -7.90998844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.57864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:133.58, Y:-4.04, Z:-79.18 [[ 7.30946349e-02 -8.76194576e-01 4.76382450e-01 1.33578374e+02] [ 1.51094585e-01 4.81875541e-01 8.63114355e-01 -4.03788049e+00] [-9.85813167e-01 8.88977977e-03 1.67610772e-01 -7.91836470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.60864 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:133.56, Y:-4.01, Z:-79.24 [[ 7.76701183e-02 -8.60711743e-01 5.03132833e-01 1.33561367e+02] [ 1.49072751e-01 5.09010236e-01 8.47753440e-01 -4.01106257e+00] [-9.85771103e-01 9.15828538e-03 1.67843552e-01 -7.92392459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.63864 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:133.55, Y:-3.99, Z:-79.29 [[ 8.08205850e-02 -8.49688975e-01 5.21053432e-01 1.33552082e+02] [ 1.46270609e-01 5.27214665e-01 8.37048150e-01 -3.98972671e+00] [-9.85937595e-01 8.56408171e-03 1.66894322e-01 -7.92949738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.66864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:133.54, Y:-3.97, Z:-79.36 [[ 8.65420746e-02 -8.37973190e-01 5.38805533e-01 1.33544658e+02] [ 1.40270518e-01 5.45696142e-01 8.26159732e-01 -3.96697119e+00] [-9.86323806e-01 4.08095393e-03 1.64768609e-01 -7.93635091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.69864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:133.53, Y:-3.94, Z:-79.42 [[ 8.95775302e-02 -8.19609946e-01 5.65875783e-01 1.33529386e+02] [ 1.37820198e-01 5.72894420e-01 8.07958895e-01 -3.93862944e+00] [-9.86398225e-01 5.61415016e-03 1.64277272e-01 -7.94185337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.72864 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:133.56, Y:-3.95, Z:-79.47 [[ 1.15621042e-01 -8.38205709e-01 5.32956812e-01 1.33558792e+02] [ 1.69990366e-01 5.45337202e-01 8.20798764e-01 -3.94763692e+00] [-9.78639387e-01 -4.30408517e-03 2.05539351e-01 -7.94685582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.75864 meters Centerline goodness : 0.997100 Centerline is valid? [True, True] Translation: X:133.52, Y:-3.87, Z:-79.60 [[ 1.39720543e-01 -7.97971261e-01 5.86276417e-01 1.33521279e+02] [ 1.52961005e-01 6.02370735e-01 7.83423531e-01 -3.87453312e+00] [-9.78305219e-01 -1.97829314e-02 2.06222052e-01 -7.96032458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.78864000000002 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:133.46, Y:-3.78, Z:-79.71 [[ 1.45099611e-01 -7.23849204e-01 6.74528304e-01 1.33463921e+02] [ 1.27057090e-01 6.89730419e-01 7.12831288e-01 -3.77989903e+00] [-9.81225050e-01 -1.77279393e-02 1.92049789e-01 -7.97080016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.81864000000002 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:133.44, Y:-3.71, Z:-79.79 [[ 1.55193004e-01 -6.71655989e-01 7.24426231e-01 1.33435329e+02] [ 1.13894201e-01 7.40585906e-01 6.62239101e-01 -3.71454262e+00] [-9.81296715e-01 -2.02669284e-02 1.91431473e-01 -7.97927517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.84864000000002 meters Centerline goodness : 0.997438 Centerline is valid? [True, True] Translation: X:133.40, Y:-3.63, Z:-79.90 [[ 1.61048209e-01 -5.98136023e-01 7.85045714e-01 1.33402443e+02] [ 9.37425272e-02 8.01103186e-01 5.91139598e-01 -3.62514270e+00] [-9.82484510e-01 -2.16098042e-02 1.85087016e-01 -7.98989269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.87864000000002 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:133.60, Y:-2.52, Z:-79.95 [[ 8.70500947e-02 6.14166496e-01 7.84360757e-01 1.33603285e+02] [ 4.70580979e-02 7.83935571e-01 -6.19056181e-01 -2.52212355e+00] [-9.95091863e-01 9.07994245e-02 3.93401587e-02 -7.99520522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.90864000000002 meters Centerline goodness : 0.997095 Centerline is valid? [True, True] Translation: X:134.43, Y:-4.00, Z:-80.08 [[ 1.66648259e-01 -8.94569809e-01 -4.14696533e-01 1.34428214e+02] [ 6.01252399e-02 -4.10575654e-01 9.09842067e-01 -4.00125599e+00] [-9.84181545e-01 -1.76557325e-01 -1.46354938e-02 -8.00761169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.93864000000002 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:133.38, Y:-3.45, Z:-80.30 [[ 1.48663105e-01 -4.64278403e-01 8.73123614e-01 1.33379911e+02] [ 3.31344694e-02 8.84777759e-01 4.64833760e-01 -3.45497743e+00] [-9.88332630e-01 -4.01731424e-02 1.46917427e-01 -8.02970613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.96864000000002 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:133.34, Y:-3.25, Z:-80.35 [[ 1.49174692e-01 -2.52172671e-01 9.56114980e-01 1.33342910e+02] [ 3.73358233e-02 9.67681081e-01 2.49397999e-01 -3.25215892e+00] [-9.88105737e-01 -1.50652958e-03 1.53768601e-01 -8.03517577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.99864 meters Centerline goodness : 0.989831 Centerline is valid? [True, True] Translation: X:134.28, Y:-2.27, Z:-80.32 [[ 1.51663795e-01 9.80379900e-01 1.25910064e-01 1.34278883e+02] [ 4.66652175e-02 1.20139656e-01 -9.91659629e-01 -2.26975269e+00] [-9.87329960e-01 1.56274483e-01 -2.75288052e-02 -8.03183076e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.02864 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:134.76, Y:-2.38, Z:-80.46 [[ 4.10348879e-02 9.43614838e-01 -3.28492276e-01 1.34759648e+02] [ 8.87228254e-02 -3.30911696e-01 -9.39481618e-01 -2.38294774e+00] [-9.95210731e-01 9.40675997e-03 -9.72990989e-02 -8.04559880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.05864 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:133.90, Y:-3.89, Z:-80.63 [[ 3.15914060e-02 -9.21473696e-01 3.87153988e-01 1.33898467e+02] [ 6.84101592e-02 3.88432426e-01 9.18934329e-01 -3.89272913e+00] [-9.97156975e-01 -2.54516152e-03 7.53092887e-02 -8.06320879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.08864 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:133.52, Y:-2.88, Z:-80.75 [[ 1.31183623e-02 8.40219285e-02 9.96377551e-01 1.33518953e+02] [-4.84525869e-03 9.96456939e-01 -8.39648301e-02 -2.88090794e+00] [-9.99902211e-01 -3.72622593e-03 1.34789912e-02 -8.07540406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.11864 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:134.75, Y:-2.29, Z:-80.91 [[-3.89836543e-02 9.73376768e-01 -2.25871519e-01 1.34750275e+02] [ 3.97597780e-02 -2.24353322e-01 -9.73696435e-01 -2.28965818e+00] [-9.98448514e-01 -4.69388467e-02 -2.99551319e-02 -8.09097874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.14864 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:135.24, Y:-3.41, Z:-81.02 [[-1.55089049e-02 -1.94922899e-01 -9.80695945e-01 1.35237408e+02] [ 2.58267418e-02 -9.80564757e-01 1.94488395e-01 -3.40568192e+00] [-9.99546124e-01 -2.23118790e-02 2.02417090e-02 -8.10171157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.17864 meters Centerline goodness : 0.964014 Centerline is valid? [True, True] Translation: X:134.59, Y:-2.22, Z:-81.01 [[-1.83287464e-01 9.82923936e-01 1.63168940e-02 1.34588636e+02] [ 7.98873548e-02 3.14358038e-02 -9.96308085e-01 -2.21793395e+00] [-9.79808000e-01 -1.81307269e-01 -8.42849820e-02 -8.10148698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.20864 meters Centerline goodness : 0.995572 Centerline is valid? [True, True] Translation: X:135.29, Y:-3.21, Z:-81.18 [[-8.43565288e-02 3.10627116e-02 -9.95951346e-01 1.35285810e+02] [ 3.58798888e-02 -9.98771095e-01 -3.41896635e-02 -3.21078372e+00] [-9.95789440e-01 -3.86187449e-02 8.31383360e-02 -8.11801777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.23864 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:135.17, Y:-3.53, Z:-81.22 [[-9.32697452e-02 -3.52193086e-01 -9.31268374e-01 1.35173555e+02] [ 3.45944757e-02 -9.35927244e-01 3.50490251e-01 -3.53303769e+00] [-9.95039686e-01 4.73395263e-04 9.94776307e-02 -8.12187918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.26864 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:133.97, Y:-3.85, Z:-81.20 [[-6.85507700e-02 -9.34716729e-01 3.48719699e-01 1.33967107e+02] [ 9.40342224e-03 3.48921050e-01 9.37104944e-01 -3.85070349e+00] [-9.97603312e-01 6.75184241e-02 -1.51292706e-02 -8.11976579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.29864 meters Centerline goodness : 0.996362 Centerline is valid? [True, True] Translation: X:133.81, Y:-3.73, Z:-81.28 [[-1.67159632e-02 -8.42741903e-01 5.38058233e-01 1.33805895e+02] [-1.95864299e-02 5.38306157e-01 8.42521723e-01 -3.73477510e+00] [-9.99668419e-01 3.54492226e-03 -2.55046111e-02 -8.12802933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.32864 meters Centerline goodness : 0.995285 Centerline is valid? [True, True] Translation: X:134.00, Y:-3.87, Z:-81.46 [[ 5.19705344e-02 -9.69328230e-01 2.40212084e-01 1.33996556e+02] [-4.62402543e-02 2.37943422e-01 9.70177699e-01 -3.87234703e+00] [-9.97577517e-01 -6.15281213e-02 -3.24559371e-02 -8.14622440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.35864 meters Centerline goodness : 0.994686 Centerline is valid? [True, True] Translation: X:135.11, Y:-3.51, Z:-81.56 [[ 8.81011946e-02 -2.87527734e-01 -9.53711687e-01 1.35108873e+02] [ 2.11771732e-02 -9.56677601e-01 2.90378194e-01 -3.50636336e+00] [-9.95886393e-01 -4.57795833e-02 -7.81954149e-02 -8.15621371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.38864 meters Centerline goodness : 0.995230 Centerline is valid? [True, True] Translation: X:133.61, Y:-3.59, Z:-81.80 [[ 7.35396847e-02 -6.57420970e-01 7.49926385e-01 1.33605590e+02] [ 3.75665218e-02 7.53254891e-01 6.56655028e-01 -3.58636156e+00] [-9.96584503e-01 -2.01180778e-02 8.00911464e-02 -8.18009863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.41864 meters Centerline goodness : 0.995527 Centerline is valid? [True, True] Translation: X:134.23, Y:-3.98, Z:-81.93 [[ 1.56142667e-01 -9.85771674e-01 -6.22388531e-02 1.34230735e+02] [ 1.10503894e-02 -6.12643871e-02 9.98060401e-01 -3.98346953e+00] [-9.87672697e-01 -1.56527577e-01 1.32717600e-03 -8.19330073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.44864 meters Centerline goodness : 0.995775 Centerline is valid? [True, True] Translation: X:134.63, Y:-2.29, Z:-81.98 [[ 1.40982254e-01 9.79105443e-01 -1.46548748e-01 1.34634494e+02] [ 8.02317569e-02 -1.58839827e-01 -9.84039011e-01 -2.28924599e+00] [-9.86755729e-01 1.26974174e-01 -1.00948947e-01 -8.19766383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.47864 meters Centerline goodness : 0.995426 Centerline is valid? [True, True] Translation: X:134.54, Y:-2.24, Z:-82.17 [[ 6.51279001e-02 9.96361540e-01 5.49730702e-02 1.34536982e+02] [ 8.26938471e-02 4.95116029e-02 -9.95344327e-01 -2.24256303e+00] [-9.94444611e-01 6.93706205e-02 -7.91683821e-02 -8.21722997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.50864 meters Centerline goodness : 0.994730 Centerline is valid? [True, True] Translation: X:133.84, Y:-3.69, Z:-82.41 [[ 4.95218183e-02 -7.86676447e-01 6.15376111e-01 1.33836556e+02] [ 4.95603870e-02 6.17308572e-01 7.85158516e-01 -3.68802033e+00] [-9.97542660e-01 -8.38419917e-03 6.95582321e-02 -8.24109312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.53864000000002 meters Centerline goodness : 0.996555 Centerline is valid? [True, True] Translation: X:133.89, Y:-2.43, Z:-82.55 [[-1.85564833e-03 6.05549403e-01 7.95805552e-01 1.33887423e+02] [ 5.54209424e-03 7.95800928e-01 -6.05532962e-01 -2.42654372e+00] [-9.99982921e-01 3.28677314e-03 -4.83273852e-03 -8.25486051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.56864000000002 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:134.26, Y:-2.21, Z:-82.73 [[-4.83801814e-02 8.86548383e-01 4.60099253e-01 1.34255438e+02] [-2.36451892e-02 4.59493020e-01 -8.87866583e-01 -2.20586903e+00] [-9.98549079e-01 -5.38342803e-02 -1.26775138e-03 -8.27278620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.59864000000002 meters Centerline goodness : 0.996607 Centerline is valid? [True, True] Translation: X:135.15, Y:-2.40, Z:-82.77 [[-2.27046211e-02 8.03634171e-01 -5.94690355e-01 1.35152197e+02] [-3.03017788e-02 -5.95123578e-01 -8.03062718e-01 -2.40133609e+00] [-9.99282894e-01 -2.13059153e-04 3.78636002e-02 -8.27741159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.62864000000002 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:135.22, Y:-2.47, Z:-82.78 [[-2.70838815e-02 7.34056911e-01 -6.78547651e-01 1.35215451e+02] [-2.47800642e-02 -6.79081081e-01 -7.33644896e-01 -2.46816784e+00] [-9.99325979e-01 -3.05549709e-03 3.65821290e-02 -8.27815919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.65864000000002 meters Centerline goodness : 0.996952 Centerline is valid? [True, True] Translation: X:135.24, Y:-2.51, Z:-82.82 [[-4.48964258e-02 6.93308190e-01 -7.19241312e-01 1.35243195e+02] [-2.98636359e-02 -7.20576971e-01 -6.92731544e-01 -2.50942874e+00] [-9.98545179e-01 -9.62200970e-03 5.30560338e-02 -8.28166409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.68864000000002 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:135.06, Y:-3.73, Z:-82.82 [[ 1.94134579e-02 -7.13004824e-01 -7.00890319e-01 1.35059260e+02] [-2.07245753e-02 -7.01158788e-01 7.12703898e-01 -3.72693102e+00] [-9.99596724e-01 6.89607078e-04 -2.83886387e-02 -8.28247561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.71864000000002 meters Centerline goodness : 0.997098 Centerline is valid? [True, True] Translation: X:135.20, Y:-3.59, Z:-82.87 [[ 1.44551700e-02 -5.32265752e-01 -8.46453907e-01 1.35200467e+02] [ 8.84111162e-03 -8.46441225e-01 5.32408759e-01 -3.59068614e+00] [-9.99856431e-01 -1.51796526e-02 -7.52963087e-03 -8.28706675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.74864 meters Centerline goodness : 0.995774 Centerline is valid? [True, True] Translation: X:135.12, Y:-3.67, Z:-82.98 [[ 2.29585939e-02 -6.28758158e-01 -7.77261913e-01 1.35121425e+02] [ 2.74386721e-02 -7.76777664e-01 6.29176907e-01 -3.67224244e+00] [-9.99359806e-01 -3.57720519e-02 -5.81433995e-04 -8.29778005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.77864 meters Centerline goodness : 0.996949 Centerline is valid? [True, True] Translation: X:134.90, Y:-3.82, Z:-83.05 [[ 5.20234963e-02 -8.28348010e-01 -5.57793089e-01 1.34903526e+02] [ 1.78527916e-02 -5.57688755e-01 8.29858139e-01 -3.82048322e+00] [-9.98486271e-01 -5.31302856e-02 -1.42245946e-02 -8.30505461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.80864 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:134.64, Y:-3.90, Z:-83.13 [[ 6.78245336e-02 -9.58009179e-01 -2.78600514e-01 1.34641818e+02] [ 4.79618106e-03 -2.78927232e-01 9.60300263e-01 -3.89740757e+00] [-9.97685737e-01 -6.64681360e-02 -1.43233239e-02 -8.31292454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.83864 meters Centerline goodness : 0.996646 Centerline is valid? [True, True] Translation: X:134.28, Y:-3.87, Z:-83.21 [[ 7.19060823e-02 -9.88132317e-01 1.35735181e-01 1.34282648e+02] [-1.25899556e-02 1.35177414e-01 9.90741419e-01 -3.86759932e+00] [-9.97331945e-01 -7.29492339e-02 -2.72046373e-03 -8.32115154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.86864 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:133.96, Y:-3.69, Z:-83.30 [[ 7.03798447e-02 -8.43535138e-01 5.32442625e-01 1.33959529e+02] [-3.32469934e-02 5.31486042e-01 8.46414334e-01 -3.68714980e+00] [-9.96966055e-01 -7.72726258e-02 9.36089797e-03 -8.32963711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.89864 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:133.74, Y:-3.39, Z:-83.38 [[ 2.63827877e-02 -5.35790282e-01 8.43938814e-01 1.33738455e+02] [-1.17442795e-02 8.44008287e-01 5.36201532e-01 -3.39429360e+00] [-9.99582923e-01 -2.40579445e-02 1.59748206e-02 -8.33755009e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.92864 meters Centerline goodness : 0.993857 Centerline is valid? [True, True] Translation: X:134.02, Y:-3.72, Z:-83.43 [[ 3.03408314e-02 -8.79184712e-01 4.75514118e-01 1.34015583e+02] [-5.43197228e-02 4.73579793e-01 8.79074256e-01 -3.72492732e+00] [-9.98062524e-01 -5.25016389e-02 -3.33882651e-02 -8.34289409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.95864 meters Centerline goodness : 0.997252 Centerline is valid? [True, True] Translation: X:133.74, Y:-3.38, Z:-83.65 [[ 9.36296728e-02 -5.74623778e-01 8.13044278e-01 1.33739206e+02] [-1.70236435e-01 7.95365247e-01 5.81733341e-01 -3.38054265e+00] [-9.80944973e-01 -1.92877262e-01 -2.33521158e-02 -8.36486773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.98864 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:133.70, Y:-3.28, Z:-83.84 [[ 1.11720608e-01 -4.71224814e-01 8.74908956e-01 1.33697948e+02] [-1.64041165e-01 8.59597089e-01 4.83924932e-01 -3.27591680e+00] [-9.80106628e-01 -1.97585472e-01 1.87344417e-02 -8.38365026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.01864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:133.69, Y:-2.80, Z:-84.03 [[ 1.25544729e-01 5.20698557e-02 9.90720572e-01 1.33687261e+02] [-2.35572549e-01 9.71625198e-01 -2.12143490e-02 -2.80161527e+00] [-9.63713700e-01 -2.30723221e-01 1.34248651e-01 -8.40261874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.04864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:134.10, Y:-2.26, Z:-84.17 [[ 7.54793099e-02 7.51897351e-01 6.54945225e-01 1.34101429e+02] [-2.01853924e-01 6.54741796e-01 -7.28401108e-01 -2.26053652e+00] [-9.76502876e-01 -7.72240508e-02 2.01192890e-01 -8.41667187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.07864 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:134.21, Y:-2.22, Z:-84.22 [[ 1.00837102e-01 8.30771613e-01 5.47403330e-01 1.34213943e+02] [-2.33162973e-01 5.54618066e-01 -7.98770198e-01 -2.21913532e+00] [-9.67195382e-01 -4.70885159e-02 2.49631258e-01 -8.42166510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.10864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:135.29, Y:-2.52, Z:-84.20 [[ 5.12815299e-02 7.57024769e-01 -6.51370635e-01 1.35287793e+02] [-1.46399922e-01 -6.39484301e-01 -7.54736306e-01 -2.51625637e+00] [-9.87895373e-01 1.34064643e-01 7.80346341e-02 -8.41950936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.13864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:135.29, Y:-3.64, Z:-84.18 [[ 1.12013827e-01 -4.27207770e-01 -8.97188065e-01 1.35290863e+02] [-7.79794185e-02 -9.03864867e-01 4.20651295e-01 -3.63811589e+00] [-9.90642273e-01 2.28434422e-02 -1.34558776e-01 -8.41847776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.16864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:134.24, Y:-3.94, Z:-84.44 [[ 1.94867063e-01 -9.62387066e-01 1.89309172e-01 1.34239585e+02] [-1.19221544e-01 1.68337027e-01 9.78493162e-01 -3.94461938e+00] [-9.73556907e-01 -2.13245821e-01 -8.19339302e-02 -8.44408002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.19864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:133.81, Y:-2.76, Z:-84.73 [[ 1.75354735e-01 2.74317501e-01 9.45516063e-01 1.33808676e+02] [-1.41801804e-01 9.57420335e-01 -2.51472762e-01 -2.75946595e+00] [-9.74239686e-01 -8.99789438e-02 2.06786905e-01 -8.47279981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.22864 meters Centerline goodness : 0.997394 Centerline is valid? [True, True] Translation: X:133.98, Y:-2.55, Z:-84.81 [[ 1.60039629e-01 5.42204721e-01 8.24864448e-01 1.33979590e+02] [-1.47132685e-01 8.39403401e-01 -5.23214969e-01 -2.55209855e+00] [-9.76083649e-01 -3.76293915e-02 2.14113846e-01 -8.48149539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.25864 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:135.10, Y:-2.43, Z:-84.82 [[ 8.25931795e-02 9.44178730e-01 -3.18912045e-01 1.35103254e+02] [-1.08706617e-01 -3.09560473e-01 -9.44645534e-01 -2.42629875e+00] [-9.90636784e-01 1.12689128e-01 7.70708921e-02 -8.48241792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.28864000000002 meters Centerline goodness : 0.996998 Centerline is valid? [True, True] Translation: X:135.50, Y:-3.51, Z:-84.85 [[ 9.85639245e-02 -1.00762276e-01 -9.90016220e-01 1.35504439e+02] [-3.06857802e-02 -9.94695123e-01 9.81834760e-02 -3.50573774e+00] [-9.94657497e-01 2.07020714e-02 -1.01133024e-01 -8.48506088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.31864000000002 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:134.66, Y:-4.14, Z:-85.09 [[ 1.73570037e-01 -9.61376949e-01 -2.13606659e-01 1.34663103e+02] [-1.88018482e-02 -2.20094168e-01 9.75297415e-01 -4.14164537e+00] [-9.84642033e-01 -1.65266209e-01 -5.62774163e-02 -8.50932638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.34864000000002 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:133.80, Y:-3.27, Z:-85.33 [[ 1.82239019e-01 -1.89022922e-01 9.64914128e-01 1.33796506e+02] [-2.12775252e-02 9.80359583e-01 1.96067218e-01 -3.26654288e+00] [-9.83024011e-01 -5.62620821e-02 1.74637829e-01 -8.53342111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.37864000000002 meters Centerline goodness : 0.722487 Centerline is valid? [True, False] Translation: X:133.83, Y:-3.22, Z:-85.44 [[ 2.19873842e-01 -1.37508185e-01 9.65788275e-01 1.33825723e+02] [-6.96312547e-03 9.89769185e-01 1.42507811e-01 -3.22021098e+00] [-9.75503464e-01 -3.80586449e-02 2.16666866e-01 -8.54441747e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.40864000000002 meters Centerline goodness : 0.995876 Centerline is valid? [False, True] Translation: X:133.86, Y:-3.18, Z:-85.56 [[ 2.58425573e-01 -9.41710336e-02 9.61430205e-01 1.33859584e+02] [ 3.25848674e-03 9.95316562e-01 9.66143071e-02 -3.18128007e+00] [-9.66025675e-01 -2.18348001e-02 2.57522108e-01 -8.55561327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.43864000000002 meters Centerline goodness : 0.908546 Centerline is valid? [True, False] Translation: X:133.90, Y:-3.15, Z:-85.67 [[ 2.90981470e-01 -6.21047582e-02 9.54710837e-01 1.33898704e+02] [ 1.19652438e-02 9.98049071e-01 6.12771215e-02 -3.15325576e+00] [-9.56653865e-01 -6.40715901e-03 2.91156885e-01 -8.56707743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.46864000000002 meters Centerline goodness : 0.995532 Centerline is valid? [False, True] Translation: X:133.94, Y:-3.13, Z:-85.79 [[ 3.24906044e-01 -3.83304208e-02 9.44969228e-01 1.33939679e+02] [ 1.69905660e-02 9.99253666e-01 3.46905221e-02 -3.13085709e+00] [-9.45593667e-01 4.78440173e-03 3.25314811e-01 -8.57854454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.49864 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:133.96, Y:-3.13, Z:-85.83 [[ 3.59434226e-01 -3.46910626e-02 9.32525371e-01 1.33958406e+02] [ 1.64350371e-02 9.99389091e-01 3.08437235e-02 -3.12689077e+00] [-9.33025684e-01 4.23979915e-03 3.59784793e-01 -8.58332865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.52864 meters Centerline goodness : 0.995474 Centerline is valid? [True, True] Translation: X:134.00, Y:-3.12, Z:-85.92 [[ 3.57375029e-01 -2.81915712e-02 9.33535390e-01 1.33996573e+02] [ 4.31845817e-03 9.99583524e-01 2.85329526e-02 -3.11864158e+00] [-9.33950984e-01 -6.16553122e-03 3.57347935e-01 -8.59203843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.55864 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:134.84, Y:-2.38, Z:-85.80 [[ 2.92529076e-01 9.18947076e-01 2.64505221e-01 1.34837378e+02] [ 9.34388879e-03 2.73844773e-01 -9.61728513e-01 -2.37618630e+00] [-9.56210976e-01 2.83805060e-01 7.15210192e-02 -8.58046513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.58864 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:135.07, Y:-2.38, Z:-85.92 [[ 2.35725142e-01 9.65573914e-01 1.10003061e-01 1.35069798e+02] [-3.24298594e-02 1.20945470e-01 -9.92129275e-01 -2.37661473e+00] [-9.71278519e-01 2.30302430e-01 5.98233142e-02 -8.59227906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.61864 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:135.72, Y:-2.72, Z:-85.93 [[ 1.75593350e-01 7.72127045e-01 -6.10726454e-01 1.35723930e+02] [-1.43527103e-03 -6.20163757e-01 -7.84471067e-01 -2.71799603e+00] [-9.84461739e-01 1.38624461e-01 -1.07788420e-01 -8.59306596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.64864 meters Centerline goodness : 0.922288 Centerline is valid? [True, False] Translation: X:135.67, Y:-2.68, Z:-85.90 [[ 1.63509883e-01 8.20069973e-01 -5.48406562e-01 1.35671429e+02] [ 8.51650048e-03 -5.57040500e-01 -8.30441660e-01 -2.67651355e+00] [-9.86504935e-01 1.31114914e-01 -9.80657536e-02 -8.59025140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.67864 meters Centerline goodness : 0.983852 Centerline is valid? [False, True] Translation: X:135.62, Y:-2.64, Z:-85.87 [[ 1.50806001e-01 8.62885249e-01 -4.82375991e-01 1.35615850e+02] [ 1.71988025e-02 -4.90172846e-01 -8.71455554e-01 -2.63887124e+00] [-9.88413755e-01 1.23124437e-01 -8.87615997e-02 -8.58729007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.70864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:135.82, Y:-3.74, Z:-86.00 [[ 2.53458166e-01 -2.52340664e-01 -9.33853922e-01 1.35824199e+02] [ 4.62861974e-02 -9.61107666e-01 2.72267595e-01 -3.74469263e+00] [-9.66238349e-01 -1.12232992e-01 -2.31920696e-01 -8.60003624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.73864 meters Centerline goodness : 0.993865 Centerline is valid? [True, True] Translation: X:134.23, Y:-3.50, Z:-86.39 [[ 2.31231531e-01 -3.48638076e-01 9.08286007e-01 1.34229088e+02] [ 6.39836760e-02 9.37015731e-01 3.43376774e-01 -3.50233666e+00] [-9.70792495e-01 -2.12840596e-02 2.38974728e-01 -8.63872838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.76864 meters Centerline goodness : 0.993901 Centerline is valid? [True, True] Translation: X:134.24, Y:-3.39, Z:-86.50 [[ 2.19239176e-01 -2.44943397e-01 9.44424119e-01 1.34242664e+02] [ 3.39273220e-02 9.69302339e-01 2.43519839e-01 -3.39042221e+00] [-9.75081084e-01 -2.13473077e-02 2.20819320e-01 -8.64979384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.79864 meters Centerline goodness : 0.994895 Centerline is valid? [True, True] Translation: X:134.26, Y:-3.31, Z:-86.61 [[ 2.15293277e-01 -1.71434468e-01 9.61383913e-01 1.34264925e+02] [ 1.12908884e-02 9.84841477e-01 1.73088940e-01 -3.30705934e+00] [-9.76484163e-01 -2.64100068e-02 2.13965397e-01 -8.66101972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.82864 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:134.30, Y:-3.20, Z:-86.73 [[ 2.09463501e-01 -6.44237376e-02 9.75691869e-01 1.34298923e+02] [-1.44777348e-02 9.97513489e-01 6.89727018e-02 -3.19700814e+00] [-9.77709280e-01 -2.85730718e-02 2.08009958e-01 -8.67315157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.85864 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:134.34, Y:-3.09, Z:-86.84 [[ 2.06429054e-01 4.01356383e-02 9.77638060e-01 1.34342492e+02] [-3.65761218e-02 9.98776554e-01 -3.32803740e-02 -3.09430255e+00] [-9.77777701e-01 -2.88881727e-02 2.07644505e-01 -8.68440074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.88864 meters Centerline goodness : 0.994894 Centerline is valid? [True, True] Translation: X:134.36, Y:-3.10, Z:-86.90 [[ 2.06159960e-01 2.69052082e-02 9.78148343e-01 1.34355930e+02] [-4.30579314e-02 9.98903108e-01 -1.84009663e-02 -3.10254534e+00] [-9.77570501e-01 -3.83235018e-02 2.07092308e-01 -8.69046012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.91864 meters Centerline goodness : 0.995139 Centerline is valid? [True, True] Translation: X:134.40, Y:-3.01, Z:-86.96 [[ 1.85933384e-01 1.27274191e-01 9.74284382e-01 1.34395728e+02] [-5.22389044e-02 9.91453199e-01 -1.19547690e-01 -3.01282212e+00] [-9.81172703e-01 -2.86676421e-02 1.90992913e-01 -8.69630112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.94864 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:134.49, Y:-2.85, Z:-87.05 [[ 1.67902660e-01 3.14710599e-01 9.34219426e-01 1.34492115e+02] [-6.67669340e-02 9.49127296e-01 -3.07732923e-01 -2.85108281e+00] [-9.83539970e-01 -1.07057905e-02 1.80373259e-01 -8.70496899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.97864 meters Centerline goodness : 0.849968 Centerline is valid? [True, False] Translation: X:134.52, Y:-2.84, Z:-87.14 [[ 1.92259668e-01 3.37833827e-01 9.21360150e-01 1.34521418e+02] [-9.02234181e-02 9.40984393e-01 -3.26202554e-01 -2.83765241e+00] [-9.77187779e-01 -2.04126671e-02 2.11393870e-01 -8.71372261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.00864 meters Centerline goodness : 0.994294 Centerline is valid? [False, True] Translation: X:134.55, Y:-2.83, Z:-87.22 [[ 2.15608595e-01 3.57211825e-01 9.08797362e-01 1.34551001e+02] [-1.15919697e-01 9.33469290e-01 -3.39407879e-01 -2.82982424e+00] [-9.69574937e-01 -3.21682586e-02 2.42671889e-01 -8.72225096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.03864000000002 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:134.66, Y:-2.73, Z:-87.33 [[ 1.94558564e-01 4.86594208e-01 8.51688348e-01 1.34658459e+02] [-1.26943080e-01 8.73469135e-01 -4.70039493e-01 -2.73038268e+00] [-9.72641979e-01 -1.66657328e-02 2.31710668e-01 -8.73324117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.06864000000002 meters Centerline goodness : 0.995484 Centerline is valid? [True, True] Translation: X:134.81, Y:-2.63, Z:-87.47 [[ 1.59935347e-01 6.24353709e-01 7.64593441e-01 1.34811358e+02] [-1.53574809e-01 7.80870661e-01 -6.05521089e-01 -2.63149059e+00] [-9.75107924e-01 -2.05780658e-02 2.20773822e-01 -8.74709579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.09864000000002 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:134.85, Y:-2.62, Z:-87.54 [[ 1.51064034e-01 6.54094260e-01 7.41174984e-01 1.34853826e+02] [-1.63333394e-01 7.55989740e-01 -6.33878313e-01 -2.61633145e+00] [-9.74936849e-01 -2.53024106e-02 2.21038296e-01 -8.75444645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.12864000000002 meters Centerline goodness : 0.958223 Centerline is valid? [True, True] Translation: X:136.09, Y:-2.72, Z:-87.56 [[-9.94874810e-03 8.38365622e-01 -5.45017528e-01 1.36094786e+02] [-1.00804272e-01 -5.43108781e-01 -8.33589438e-01 -2.72396264e+00] [-9.94856533e-01 4.66469239e-02 8.99140889e-02 -8.75586339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.15864000000002 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:136.24, Y:-2.97, Z:-87.71 [[ 3.56369443e-02 6.88045748e-01 -7.24791733e-01 1.36238710e+02] [-3.05333363e-02 -7.24164207e-01 -6.88951316e-01 -2.97265985e+00] [-9.98898255e-01 4.66824295e-02 -4.79866732e-03 -8.77072766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.18864000000002 meters Centerline goodness : 0.943059 Centerline is valid? [True, False] Translation: X:136.21, Y:-2.93, Z:-87.73 [[ 1.15570894e-02 7.35501886e-01 -6.77424099e-01 1.36205237e+02] [-3.42162762e-02 -6.76781714e-01 -7.35388169e-01 -2.93456810e+00] [-9.99347627e-01 3.16778769e-02 1.73445089e-02 -8.77315729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.21864000000002 meters Centerline goodness : 0.995294 Centerline is valid? [False, True] Translation: X:136.17, Y:-2.89, Z:-87.72 [[-2.11394698e-04 7.81240129e-01 -6.24230579e-01 1.36166073e+02] [-3.16674432e-02 -6.23922747e-01 -7.80844145e-01 -2.89275366e+00] [-9.99498438e-01 1.96027201e-02 2.48717713e-02 -8.77194114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.24864 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:136.03, Y:-4.14, Z:-87.89 [[ 6.38441986e-02 -5.67064283e-01 -8.21195481e-01 1.36034679e+02] [ 1.66103934e-02 -8.22156434e-01 5.69019237e-01 -4.13534010e+00] [-9.97821634e-01 -4.99689572e-02 -4.30707578e-02 -8.78910421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.27864 meters Centerline goodness : 0.996072 Centerline is valid? [True, True] Translation: X:134.80, Y:-4.07, Z:-88.00 [[ 4.31491450e-02 -8.31850815e-01 5.53319413e-01 1.34801208e+02] [ 7.08623109e-02 5.54988601e-01 8.28834233e-01 -4.07078306e+00] [-9.96552399e-01 3.44600377e-03 8.28941546e-02 -8.79978026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.30864 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:134.74, Y:-3.98, Z:-88.10 [[ 4.89249250e-02 -7.69503644e-01 6.36765650e-01 1.34740477e+02] [ 4.75003415e-02 6.38600340e-01 7.68071171e-01 -3.98201806e+00] [-9.97672326e-01 -7.33123856e-03 6.77951597e-02 -8.81022943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.33864 meters Centerline goodness : 0.830867 Centerline is valid? [True, False] Translation: X:134.68, Y:-3.85, Z:-88.04 [[ 4.67817942e-02 -6.62313957e-01 7.47764459e-01 1.34676714e+02] [ 6.05950610e-02 7.49087075e-01 6.59694470e-01 -3.85418015e+00] [-9.97065546e-01 1.44491421e-02 7.51765919e-02 -8.80435026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.36864 meters Centerline goodness : 0.998774 Centerline is valid? [False, True] Translation: X:134.63, Y:-3.73, Z:-87.99 [[ 4.79010691e-02 -5.50156880e-01 8.33686329e-01 1.34633024e+02] [ 7.16210119e-02 8.34387835e-01 5.46504685e-01 -3.73110685e+00] [-9.96281044e-01 3.35312998e-02 7.93708618e-02 -8.79891856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.39864 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:134.88, Y:-2.76, Z:-88.12 [[ 1.10426029e-02 5.20651917e-01 8.53697629e-01 1.34883076e+02] [-2.06963890e-02 8.53685799e-01 -5.20376994e-01 -2.76499789e+00] [-9.99724822e-01 -1.19221418e-02 2.02025279e-02 -8.81230736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.42864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:134.97, Y:-2.69, Z:-88.13 [[-7.60857377e-03 6.25045996e-01 7.80550839e-01 1.34967835e+02] [-1.41580312e-02 7.80427856e-01 -6.25085523e-01 -2.68865988e+00] [-9.99870822e-01 -1.58070725e-02 2.91147783e-03 -8.81338900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.45864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:136.15, Y:-2.78, Z:-88.21 [[-2.32759954e-02 8.51402684e-01 -5.23995894e-01 1.36147626e+02] [ 1.70115057e-02 -5.23724704e-01 -8.51717701e-01 -2.78298904e+00] [-9.99584332e-01 -2.87385365e-02 -2.29342782e-03 -8.82147954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.48864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:135.18, Y:-2.57, Z:-88.26 [[-1.23545923e-01 7.92736342e-01 5.96913307e-01 1.35181741e+02] [-2.03869813e-02 5.99367059e-01 -8.00214659e-01 -2.57430128e+00] [-9.92129415e-01 -1.11032519e-01 -5.78878555e-02 -8.82571351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.51864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:136.24, Y:-2.89, Z:-88.38 [[-8.40013940e-02 7.52123252e-01 -6.53646984e-01 1.36241459e+02] [-1.82010060e-02 -6.57014070e-01 -7.53658567e-01 -2.89249619e+00] [-9.96299397e-01 -5.14113375e-02 6.88794976e-02 -8.83769556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.54864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:136.39, Y:-3.27, Z:-88.41 [[-7.39401059e-02 3.81530240e-01 -9.21394344e-01 1.36391120e+02] [-1.39932597e-02 -9.24229380e-01 -3.81581238e-01 -3.27129696e+00] [-9.97164505e-01 -1.53208468e-02 7.36764700e-02 -8.84071040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.57864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:136.40, Y:-3.38, Z:-88.44 [[-6.99375902e-02 2.66046090e-01 -9.61419893e-01 1.36396838e+02] [-1.62382106e-04 -9.63782858e-01 -2.66688163e-01 -3.38206385e+00] [-9.97551356e-01 -1.84954100e-02 6.74478517e-02 -8.84383364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.60864 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:135.84, Y:-4.22, Z:-88.49 [[-4.60077200e-02 -7.97635898e-01 -6.01381962e-01 1.35836533e+02] [ 3.14784861e-02 -6.02878104e-01 7.97212078e-01 -4.22124863e+00] [-9.98444988e-01 1.77473163e-02 5.28454175e-02 -8.84868620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.63864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:134.93, Y:-4.10, Z:-88.52 [[ 1.27273319e-02 -9.16392762e-01 4.00077895e-01 1.34933459e+02] [-7.72119806e-03 4.00008304e-01 9.16478990e-01 -4.09638413e+00] [-9.99889193e-01 -1.47534129e-02 -1.98461157e-03 -8.85191020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.66864 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:134.84, Y:-4.00, Z:-88.59 [[ 2.52242780e-02 -8.46753772e-01 5.31386663e-01 1.34835484e+02] [-7.75288693e-03 5.31374112e-01 8.47101792e-01 -4.00457125e+00] [-9.99651754e-01 -2.54873118e-02 6.83874204e-03 -8.85879766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.69864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:134.70, Y:-2.97, Z:-88.82 [[-4.21874406e-02 2.11133867e-01 9.76546317e-01 1.34699270e+02] [-1.20009034e-01 9.69269022e-01 -2.14744951e-01 -2.96587678e+00] [-9.91876026e-01 -1.26253920e-01 -1.55530079e-02 -8.88185100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.72864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:135.81, Y:-2.55, Z:-88.91 [[-1.60673805e-02 9.92201849e-01 -1.23601497e-01 1.35813504e+02] [-9.74119705e-02 -1.24582747e-01 -9.87415843e-01 -2.54913998e+00] [-9.95114439e-01 -3.82492069e-03 9.86540557e-02 -8.89059616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.75864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:135.84, Y:-2.56, Z:-88.92 [[-1.93846724e-02 9.87374271e-01 -1.57214133e-01 1.35840968e+02] [-9.68800503e-02 -1.58358711e-01 -9.82617308e-01 -2.56253051e+00] [-9.95107276e-01 -3.81680148e-03 9.87266007e-02 -8.89203011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.78864000000002 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:135.87, Y:-2.58, Z:-88.94 [[-2.20154776e-02 9.81432920e-01 -1.90538033e-01 1.35867782e+02] [-9.75582354e-02 -1.91783597e-01 -9.76576389e-01 -2.57752274e+00] [-9.94986286e-01 -2.91124127e-03 9.99690713e-02 -8.89396361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.81864000000002 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:135.83, Y:-2.56, Z:-88.96 [[-3.10429044e-02 9.88455431e-01 -1.48297671e-01 1.35832734e+02] [-1.09137565e-01 -1.50834124e-01 -9.82516188e-01 -2.55876226e+00] [-9.93541811e-01 -1.43153093e-02 1.12559948e-01 -8.89639488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.84864000000002 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:136.34, Y:-3.63, Z:-88.94 [[-9.47381907e-03 -2.22189297e-02 -9.99708240e-01 1.36335922e+02] [-5.54541865e-02 -9.98202907e-01 2.27109893e-02 -3.63022259e+00] [-9.98416286e-01 5.56531670e-02 8.22466106e-03 -8.89435034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.87864000000002 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:136.12, Y:-2.78, Z:-89.00 [[-1.73857223e-02 8.50309880e-01 -5.25995100e-01 1.36119062e+02] [-3.46907224e-02 -5.26270867e-01 -8.49609045e-01 -2.77975101e+00] [-9.99246862e-01 3.47608309e-03 3.86474632e-02 -8.89995502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.90864000000002 meters Centerline goodness : 0.956022 Centerline is valid? [True, True] Translation: X:136.10, Y:-2.75, Z:-88.98 [[ 8.06740814e-02 8.43034431e-01 -5.31774991e-01 1.36101270e+02] [-7.75855063e-02 -5.26584003e-01 -8.46575323e-01 -2.74573054e+00] [-9.93716349e-01 1.09554718e-01 2.29255724e-02 -8.89802323e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.93864000000002 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:136.35, Y:-3.21, Z:-89.11 [[ 7.85818807e-03 4.70655906e-01 -8.82281852e-01 1.36348682e+02] [ 1.86511067e-02 -8.82224595e-01 -4.70459243e-01 -3.20584748e+00] [-9.99795172e-01 -1.27585757e-02 -1.57109403e-02 -8.91095256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:136.37, Y:-3.41, Z:-89.20 [[ 8.22347826e-03 2.52900428e-01 -9.67457362e-01 1.36374733e+02] [ 3.92193821e-02 -9.66827233e-01 -2.52402339e-01 -3.41278897e+00] [-9.99196785e-01 -3.58674548e-02 -1.78692812e-02 -8.91981995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.99864 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:136.17, Y:-3.98, Z:-89.31 [[ 8.60283496e-03 -4.31540369e-01 -9.02052604e-01 1.36172107e+02] [ 6.97330752e-02 -8.99630962e-01 4.31046901e-01 -3.98094277e+00] [-9.97528591e-01 -6.66111274e-02 2.23532603e-02 -8.93075963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.02864 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:135.56, Y:-4.29, Z:-89.43 [[ 5.15585836e-02 -9.48009359e-01 -3.14038163e-01 1.35560502e+02] [ 4.64668255e-02 -3.11838568e-01 9.48998178e-01 -4.29314703e+00] [-9.97588365e-01 -6.35213584e-02 2.79730306e-02 -8.94307704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.05864 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:134.86, Y:-4.01, Z:-89.54 [[ 6.77829170e-02 -8.42877407e-01 5.33819401e-01 1.34856782e+02] [ 8.57667365e-02 5.37992022e-01 8.38575370e-01 -4.00638965e+00] [-9.94006812e-01 -1.10571368e-02 1.08757513e-01 -8.95375910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.08864 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:134.73, Y:-3.82, Z:-89.68 [[ 8.89377892e-02 -6.97449325e-01 7.11093882e-01 1.34732180e+02] [ 4.99713998e-02 7.16148392e-01 6.96156836e-01 -3.81856550e+00] [-9.94782855e-01 -2.63802932e-02 9.85451737e-02 -8.96759895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.11864 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:134.66, Y:-3.64, Z:-89.76 [[ 9.43772381e-02 -5.34572452e-01 8.39836431e-01 1.34662365e+02] [ 3.43823645e-02 8.44848810e-01 5.33899187e-01 -3.64475659e+00] [-9.94942606e-01 -2.15123684e-02 9.81143622e-02 -8.97559637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.14864 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:134.63, Y:-3.49, Z:-89.84 [[ 9.78093977e-02 -3.77804129e-01 9.20704818e-01 1.34634863e+02] [ 1.88064271e-02 9.25677179e-01 3.77846633e-01 -3.48552219e+00] [-9.95027457e-01 -1.96417836e-02 9.76450732e-02 -8.98354669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.17864 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:134.64, Y:-3.30, Z:-89.92 [[ 1.00650526e-01 -1.84328431e-01 9.77697551e-01 1.34635838e+02] [ 1.58600495e-03 9.82716272e-01 1.85111352e-01 -3.29951634e+00] [-9.94920578e-01 -1.70809218e-02 9.92032551e-02 -8.99243788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.20864 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:134.68, Y:-3.10, Z:-90.03 [[ 8.25191551e-02 3.41233533e-02 9.96005113e-01 1.34678435e+02] [-2.20748159e-02 9.99231014e-01 -3.24049719e-02 -3.10161736e+00] [-9.96344966e-01 -1.93125986e-02 8.32089658e-02 -9.00303199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.23864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:135.77, Y:-2.49, Z:-90.17 [[-8.92959993e-03 9.99241169e-01 3.79123712e-02 1.35768062e+02] [-1.78875694e-02 3.77481960e-02 -9.99127173e-01 -2.48840007e+00] [-9.99800129e-01 -9.59996611e-03 1.75369195e-02 -9.01734920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.26864 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:134.82, Y:-2.90, Z:-90.24 [[-4.00085982e-02 2.68444024e-01 9.62464087e-01 1.34821372e+02] [-8.59051862e-02 9.58744713e-01 -2.70977628e-01 -2.90083891e+00] [-9.95499679e-01 -9.35220916e-02 -1.52972981e-02 -9.02444060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.29864 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:135.80, Y:-2.49, Z:-90.35 [[-3.04431802e-02 9.99528593e-01 3.97537140e-03 1.35798365e+02] [-9.58849636e-02 1.03849874e-03 -9.95391880e-01 -2.49478759e+00] [-9.94926774e-01 -3.06840727e-02 9.58081476e-02 -9.03511293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.32864 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:136.43, Y:-3.58, Z:-90.37 [[-3.41468157e-02 -1.18900954e-03 -9.99416120e-01 1.36434790e+02] [-5.02793334e-02 -9.98730966e-01 2.90607658e-03 -3.58013940e+00] [-9.98151283e-01 5.03492096e-02 3.40436997e-02 -9.03736745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.35864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:135.18, Y:-2.58, Z:-90.44 [[-8.66924947e-02 7.51549892e-01 6.53955022e-01 1.35182674e+02] [-4.65253772e-02 6.52655909e-01 -7.56224606e-01 -2.57502658e+00] [-9.95148130e-01 -9.59845017e-02 -2.16142267e-02 -9.04422109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.38864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:136.39, Y:-3.02, Z:-90.56 [[-7.63499013e-02 5.97363028e-01 -7.98328319e-01 1.36389658e+02] [-8.28436345e-02 -8.01697523e-01 -5.91961159e-01 -3.02378621e+00] [-9.93633547e-01 2.09402435e-02 1.10697251e-01 -9.05605490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.41864 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:134.80, Y:-2.94, Z:-90.51 [[-1.18743553e-01 2.46948222e-01 9.61725815e-01 1.34804201e+02] [-1.01359347e-01 9.60504007e-01 -2.59149252e-01 -2.93508226e+00] [-9.87737947e-01 -1.28252204e-01 -8.90231477e-02 -9.05073968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.44864 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:136.14, Y:-2.71, Z:-90.74 [[-9.99632095e-02 8.85377873e-01 -4.53997112e-01 1.36140186e+02] [-1.41211160e-01 -4.64288077e-01 -8.74354613e-01 -2.70624409e+00] [-9.84919674e-01 -2.32938344e-02 1.71436963e-01 -9.07354430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.47864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:136.22, Y:-3.95, Z:-90.68 [[-1.03554822e-01 -4.50218550e-01 -8.86893261e-01 1.36224823e+02] [-1.00144751e-01 -8.82436272e-01 4.59649057e-01 -3.95135156e+00] [-9.89569314e-01 1.36416582e-01 4.62935066e-02 -9.06758757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.50864 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:136.37, Y:-3.07, Z:-90.80 [[-8.28585283e-02 5.65120781e-01 -8.20836748e-01 1.36366714e+02] [-6.92894166e-02 -8.24942686e-01 -5.60953244e-01 -3.06778516e+00] [-9.94149607e-01 1.03955392e-02 1.07510426e-01 -9.08027456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.53864000000002 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:136.40, Y:-3.21, Z:-90.88 [[-1.04025659e-01 4.22761492e-01 -9.00250734e-01 1.36400288e+02] [-3.71481665e-02 -9.06181553e-01 -4.21254089e-01 -3.20958018e+00] [-9.93880615e-01 -1.03785702e-02 1.09970948e-01 -9.08788871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.56864000000002 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:135.81, Y:-2.56, Z:-90.90 [[-1.65221974e-01 9.82155960e-01 -8.98408040e-02 1.35814772e+02] [-8.69418158e-04 -9.12377535e-02 -9.95828759e-01 -2.56055178e+00] [-9.86256023e-01 -1.64454684e-01 1.59283859e-02 -9.09048021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.59864000000002 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:135.10, Y:-4.16, Z:-90.83 [[-1.51541903e-01 -9.46240147e-01 2.85770249e-01 1.35099812e+02] [-3.38859384e-02 2.93912569e-01 9.55231462e-01 -4.15576971e+00] [-9.87869827e-01 1.35074000e-01 -7.66043053e-02 -9.08323831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.62864000000002 meters Centerline goodness : 0.996459 Centerline is valid? [True, True] Translation: X:135.24, Y:-4.23, Z:-90.95 [[-8.24426833e-02 -9.93056287e-01 8.39190949e-02 1.35241773e+02] [-4.13365444e-02 8.75406739e-02 9.95302929e-01 -4.23125152e+00] [-9.95738165e-01 7.85865188e-02 -4.82666034e-02 -9.09452214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.65864000000002 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:134.69, Y:-3.04, Z:-91.04 [[-8.02533186e-02 1.82486601e-01 9.79927572e-01 1.34694984e+02] [-8.93497394e-02 9.77823905e-01 -1.89412339e-01 -3.03742956e+00] [-9.92761819e-01 -1.02757242e-01 -6.21684832e-02 -9.10373451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.68864000000002 meters Centerline goodness : 0.997533 Centerline is valid? [True, True] Translation: X:136.14, Y:-2.79, Z:-91.18 [[-6.09863238e-02 8.25845775e-01 -5.60588462e-01 1.36136700e+02] [-1.03228123e-01 -5.63840767e-01 -8.19406825e-01 -2.79035222e+00] [-9.92786293e-01 7.89588455e-03 1.19637085e-01 -9.11811150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71864 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:136.14, Y:-2.80, Z:-91.21 [[-7.03429557e-02 8.24681454e-01 -5.61206173e-01 1.36135373e+02] [-1.09226893e-01 -5.65584715e-01 -8.17424869e-01 -2.79541327e+00] [-9.91524762e-01 3.79872511e-03 1.29862293e-01 -9.12127667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.74864 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:135.97, Y:-4.13, Z:-91.13 [[-3.01970489e-02 -6.94676533e-01 -7.18688147e-01 1.35969121e+02] [-6.69621558e-02 -7.15994790e-01 6.94886704e-01 -4.13402292e+00] [-9.97298455e-01 6.91084354e-02 -2.48961085e-02 -9.11311764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.77864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:136.11, Y:-2.79, Z:-91.24 [[-3.12913434e-02 8.39138306e-01 -5.43017270e-01 1.36107104e+02] [-3.66095961e-02 -5.43880990e-01 -8.38363409e-01 -2.79045992e+00] [-9.98839621e-01 -6.35387436e-03 4.77392813e-02 -9.12391953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.80864 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:136.22, Y:-2.93, Z:-91.26 [[-3.70795215e-02 7.09294607e-01 -7.03936268e-01 1.36219687e+02] [-3.34334671e-02 -7.04906854e-01 -7.08511489e-01 -2.93222062e+00] [-9.98752879e-01 -2.73623695e-03 4.98517868e-02 -9.12604011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.83864 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:136.27, Y:-3.03, Z:-91.28 [[-4.30849004e-02 6.14633659e-01 -7.87635167e-01 1.36274145e+02] [-2.64665224e-02 -7.88792730e-01 -6.14089205e-01 -3.03009726e+00] [-9.98720789e-01 -5.61200846e-03 5.02522716e-02 -9.12800477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.86864 meters Centerline goodness : 0.997983 Centerline is valid? [True, True] Translation: X:136.31, Y:-3.14, Z:-91.35 [[-6.34585497e-02 5.13024174e-01 -8.56025238e-01 1.36312940e+02] [ 8.43904252e-03 -8.57447545e-01 -5.14502177e-01 -3.13536300e+00] [-9.97948794e-01 -3.98735953e-02 5.00829448e-02 -9.13516996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.89864 meters Centerline goodness : 0.997351 Centerline is valid? [True, True] Translation: X:135.29, Y:-4.27, Z:-91.37 [[-3.48584840e-03 -9.99902533e-01 -1.35193730e-02 1.35286703e+02] [-1.26278790e-02 -1.34743621e-02 9.99829475e-01 -4.27374678e+00] [-9.99914189e-01 3.65597498e-03 -1.25796786e-02 -9.13680695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.92864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:135.13, Y:-4.23, Z:-91.47 [[ 6.69748024e-02 -9.85644953e-01 1.54978719e-01 1.35131671e+02] [-2.40162469e-02 1.53689940e-01 9.87827223e-01 -4.22845417e+00] [-9.97465586e-01 -6.98815403e-02 -1.33781392e-02 -9.14676408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.95864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:135.81, Y:-2.59, Z:-91.62 [[-1.73375744e-02 9.93742673e-01 -1.10339963e-01 1.35805771e+02] [ 1.54776000e-02 -1.10076582e-01 -9.93802591e-01 -2.58969478e+00] [-9.99729890e-01 -1.89379242e-02 -1.34722906e-02 -9.16235070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.98864 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:135.56, Y:-2.54, Z:-91.72 [[-9.21152074e-02 9.77278349e-01 1.90897401e-01 1.35555366e+02] [-1.98367135e-03 1.91532011e-01 -9.81484362e-01 -2.53870872e+00] [-9.95746380e-01 -9.07883133e-02 -1.57044119e-02 -9.17224656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.01864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:135.67, Y:-2.55, Z:-91.82 [[-1.58748243e-01 9.85331655e-01 6.26140972e-02 1.35673587e+02] [-3.97074818e-03 6.27806256e-02 -9.98019452e-01 -2.54942490e+00] [-9.87311110e-01 -1.58682459e-01 -6.05381011e-03 -9.18240746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.04864 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:135.71, Y:-2.56, Z:-91.92 [[-2.25445197e-01 9.74076591e-01 1.86884471e-02 1.35710720e+02] [-5.01262297e-03 1.80223047e-02 -9.99825020e-01 -2.55812732e+00] [-9.74242956e-01 -2.25499427e-01 8.19636649e-04 -9.19220982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.07864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:135.27, Y:-4.27, Z:-91.89 [[-1.23816974e-01 -9.91489122e-01 4.02327981e-02 1.35268602e+02] [-3.99451682e-02 4.54920682e-02 9.98165745e-01 -4.26802339e+00] [-9.91500752e-01 1.21982756e-01 -4.52378899e-02 -9.18907201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.10864 meters Centerline goodness : 0.997642 Centerline is valid? [True, True] Translation: X:135.65, Y:-2.55, Z:-92.09 [[-2.30330434e-01 9.70783181e-01 6.72897281e-02 1.35645877e+02] [-1.40262723e-02 6.58297937e-02 -9.97732280e-01 -2.55190538e+00] [-9.73011385e-01 -2.30751933e-01 -1.54613574e-03 -9.20852027e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.13864 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:135.29, Y:-4.29, Z:-92.06 [[-1.18571197e-01 -9.92621538e-01 -2.53643944e-02 1.35289604e+02] [-4.12414531e-02 -2.05993711e-02 9.98936839e-01 -4.28648739e+00] [-9.92088713e-01 1.19491202e-01 -3.84946625e-02 -9.20573989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.16864 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:135.27, Y:-4.29, Z:-92.16 [[-4.70604845e-02 -9.98041709e-01 -4.12074911e-02 1.35271997e+02] [-3.79412103e-02 -3.94374380e-02 9.98501454e-01 -4.29345942e+00] [-9.98171215e-01 4.85534243e-02 -3.60109655e-02 -9.21592959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.19864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:135.56, Y:-2.55, Z:-92.32 [[-1.68650533e-01 9.77773837e-01 1.24560515e-01 1.35563653e+02] [-1.91998916e-02 1.23087891e-01 -9.92210026e-01 -2.54788315e+00] [-9.85488895e-01 -1.69728298e-01 -1.98568682e-03 -9.23209577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.22864 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:135.08, Y:-4.24, Z:-92.29 [[-5.03158682e-02 -9.86834206e-01 1.53709346e-01 1.35083080e+02] [-6.46998546e-02 1.56801727e-01 9.85508573e-01 -4.24026393e+00] [-9.96635461e-01 3.96417472e-02 -7.17376447e-02 -9.22936275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.25864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:135.48, Y:-4.32, Z:-92.41 [[ 1.94730107e-02 -9.46612190e-01 -3.21785897e-01 1.35478191e+02] [-3.01178842e-02 -3.22256250e-01 9.46173252e-01 -4.32182991e+00] [-9.99356651e-01 -8.73333146e-03 -3.47852557e-02 -9.24094486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.28864000000002 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:135.98, Y:-2.75, Z:-92.46 [[-2.77816345e-02 9.10542308e-01 -4.12481377e-01 1.35982750e+02] [ 6.35705314e-03 -4.12471371e-01 -9.10948383e-01 -2.74806856e+00] [-9.99593802e-01 -2.79298010e-02 5.67076302e-03 -9.24633520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.31864000000002 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:136.11, Y:-2.88, Z:-92.51 [[-3.21116567e-02 8.07797295e-01 -5.88585059e-01 1.36113745e+02] [ 1.63248724e-02 -5.88386300e-01 -8.08415153e-01 -2.87952383e+00] [-9.99350959e-01 -3.55681258e-02 5.70687112e-03 -9.25053279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.34864000000002 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:135.42, Y:-2.54, Z:-92.57 [[-1.12027976e-01 9.53807891e-01 2.78747627e-01 1.35416212e+02] [-1.53189318e-02 2.78822429e-01 -9.60220487e-01 -2.54170931e+00] [-9.93586968e-01 -1.11841674e-01 -1.66245945e-02 -9.25744135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.37864000000002 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:136.31, Y:-3.37, Z:-92.67 [[-9.88530170e-02 3.44297317e-01 -9.33642029e-01 1.36310126e+02] [-1.09809413e-02 -9.38557769e-01 -3.44947435e-01 -3.36689783e+00] [-9.95041456e-01 -2.38468263e-02 9.65599758e-02 -9.26688705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.40864000000002 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:135.58, Y:-4.32, Z:-92.64 [[-1.19477661e-02 -8.90338640e-01 -4.55142128e-01 1.35581084e+02] [-6.02993981e-03 -4.55102188e-01 8.90418799e-01 -4.31979400e+00] [-9.99910441e-01 1.33829952e-02 6.87661066e-05 -9.26427909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.43864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:136.19, Y:-3.87, Z:-92.69 [[-7.02957745e-03 -2.18314600e-01 -9.75853124e-01 1.36191262e+02] [ 2.28084133e-02 -9.75658358e-01 2.18106727e-01 -3.87497231e+00] [-9.99715140e-01 -2.07244632e-02 1.18378756e-02 -9.26945905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:134.70, Y:-4.00, Z:-92.77 [[ 3.25421627e-02 -8.25729341e-01 5.63127039e-01 1.34704667e+02] [-1.78972984e-02 5.62853682e-01 8.26362765e-01 -4.00309862e+00] [-9.99310109e-01 -3.69700842e-02 3.53815173e-03 -9.27677746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.49864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:134.50, Y:-3.35, Z:-92.87 [[-3.59999718e-03 -1.92752036e-01 9.81240894e-01 1.34503488e+02] [-5.48847338e-02 9.79806282e-01 1.92268863e-01 -3.35485879e+00] [-9.98486207e-01 -5.31629779e-02 -1.41064440e-02 -9.28736381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.52864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:135.41, Y:-2.54, Z:-92.98 [[ 9.35923199e-03 9.60280072e-01 2.78880957e-01 1.35405547e+02] [-3.75871226e-02 2.79033919e-01 -9.59545351e-01 -2.54295870e+00] [-9.99249525e-01 -1.50172517e-03 3.87057080e-02 -9.29811300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.55864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:135.53, Y:-2.55, Z:-93.06 [[ 5.79877896e-03 9.88131083e-01 1.53503540e-01 1.35528872e+02] [-3.89421534e-02 1.53612821e-01 -9.87363464e-01 -2.55459400e+00] [-9.99224641e-01 -2.52255906e-04 3.93707190e-02 -9.30640946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.58864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:135.66, Y:-2.59, Z:-93.12 [[ 7.36045463e-03 9.99965310e-01 3.89907443e-03 1.35663526e+02] [-4.03278607e-02 4.19284507e-03 -9.99177704e-01 -2.58573062e+00] [-9.99159390e-01 7.19716083e-03 4.03573229e-02 -9.31197950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:135.72, Y:-2.61, Z:-93.14 [[ 5.75679076e-03 9.97972196e-01 -6.33904970e-02 1.35719125e+02] [-3.97906399e-02 -6.31127327e-02 -9.97212860e-01 -2.60517022e+00] [-9.99191455e-01 8.26309422e-03 3.93466255e-02 -9.31358515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:135.78, Y:-2.63, Z:-93.18 [[-9.18628817e-03 9.91121628e-01 -1.32640604e-01 1.35777642e+02] [-3.86130138e-02 -1.32898861e-01 -9.90377164e-01 -2.63165299e+00] [-9.99212013e-01 -3.97623656e-03 3.94910404e-02 -9.31849077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.67864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:135.98, Y:-2.76, Z:-93.20 [[-8.10555013e-03 9.20010782e-01 -3.91809216e-01 1.35980957e+02] [-4.29934301e-02 -3.91780399e-01 -9.19053689e-01 -2.75992710e+00] [-9.99042474e-01 9.39578640e-03 4.27300149e-02 -9.32021300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.70864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:136.03, Y:-2.80, Z:-93.22 [[-1.06693535e-02 8.89953503e-01 -4.55926449e-01 1.36027491e+02] [-4.36633944e-02 -4.55932151e-01 -8.88942845e-01 -2.80311262e+00] [-9.98989326e-01 1.04228509e-02 4.37228921e-02 -9.32190722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.08, Y:-2.86, Z:-93.24 [[-1.32934118e-02 8.49010138e-01 -5.28209305e-01 1.36078058e+02] [-4.33540333e-02 -5.28248604e-01 -8.47982217e-01 -2.85642832e+00] [-9.98971327e-01 1.16274270e-02 4.38302400e-02 -9.32378744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.11, Y:-2.90, Z:-93.25 [[-1.49727807e-02 8.12484360e-01 -5.82790683e-01 1.36112056e+02] [-4.26247378e-02 -5.82844827e-01 -8.11464750e-01 -2.89953198e+00] [-9.98978953e-01 1.26914163e-02 4.33587406e-02 -9.32544597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.15, Y:-2.96, Z:-93.28 [[-1.82398140e-02 7.62503918e-01 -6.46726437e-01 1.36152932e+02] [-4.26628822e-02 -6.46838471e-01 -7.61432775e-01 -2.95805108e+00] [-9.98923014e-01 1.37028216e-02 4.43288282e-02 -9.32783678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.19, Y:-3.02, Z:-93.30 [[-2.13776189e-02 7.03564631e-01 -7.10309656e-01 1.36190570e+02] [-4.12482846e-02 -7.10487758e-01 -7.02499626e-01 -3.02486315e+00] [-9.98920205e-01 1.42812856e-02 4.42093707e-02 -9.32995000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.85864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:136.22, Y:-3.10, Z:-93.34 [[-2.44315683e-02 6.31852547e-01 -7.74703464e-01 1.36223770e+02] [-3.98338190e-02 -7.74934647e-01 -6.30784876e-01 -3.10030337e+00] [-9.98907586e-01 1.54483338e-02 4.41019687e-02 -9.33393491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.88864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:135.14, Y:-4.32, Z:-93.33 [[-1.14493137e-02 -9.99801161e-01 1.63264255e-02 1.35139532e+02] [-6.09599086e-02 1.69950279e-02 9.97995520e-01 -4.31751172e+00] [-9.98074548e-01 1.04311064e-02 -6.11423688e-02 -9.33287617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.91864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:134.69, Y:-4.02, Z:-93.44 [[ 1.13492136e-02 -8.01553281e-01 5.97815634e-01 1.34687038e+02] [-6.89695432e-02 5.95802828e-01 8.00163854e-01 -4.01526447e+00] [-9.97554208e-01 -5.03123017e-02 -4.85208702e-02 -9.34354510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.94864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:134.73, Y:-2.89, Z:-93.63 [[ 4.66249073e-03 4.46234175e-01 8.94904085e-01 1.34725174e+02] [-8.21244785e-02 8.92061668e-01 -4.44388963e-01 -2.88563801e+00] [-9.96611174e-01 -7.14215719e-02 4.08059782e-02 -9.36333969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.55, Y:-2.60, Z:-93.71 [[ 2.79572458e-02 9.95533430e-01 9.01752837e-02 1.35546313e+02] [-9.20621988e-02 9.23914577e-02 -9.91457700e-01 -2.60459747e+00] [-9.95360710e-01 1.94166917e-02 9.42340073e-02 -9.37143354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.58, Y:-2.62, Z:-93.77 [[ 2.27400376e-02 9.98162102e-01 5.61721268e-02 1.35577573e+02] [-9.40801960e-02 5.80738778e-02 -9.93869378e-01 -2.61595992e+00] [-9.95304882e-01 1.73159423e-02 9.52278884e-02 -9.37697901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.61, Y:-2.63, Z:-93.83 [[ 1.49324643e-02 9.99638297e-01 2.23673037e-02 1.35606839e+02] [-9.11318209e-02 2.36373265e-02 -9.95558270e-01 -2.62976538e+00] [-9.95726877e-01 1.28277652e-02 9.14518218e-02 -9.38253056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.63, Y:-2.64, Z:-93.84 [[ 1.06341517e-02 9.99873726e-01 -1.18087714e-02 1.35634823e+02] [-9.10668566e-02 -1.07919568e-02 -9.95786303e-01 -2.63857136e+00] [-9.95788001e-01 1.16647303e-02 9.09405939e-02 -9.38377819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.66, Y:-2.65, Z:-93.85 [[ 5.37837207e-03 9.98864072e-01 -4.73459462e-02 1.35663704e+02] [-9.22884305e-02 -4.66487527e-02 -9.94639000e-01 -2.64860460e+00] [-9.95717791e-01 9.71902168e-03 9.19327031e-02 -9.38502603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.12864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:135.70, Y:-2.66, Z:-93.86 [[ 1.05349964e-03 9.95744973e-01 -9.21457503e-02 1.35698129e+02] [-9.34022739e-02 -9.16450006e-02 -9.91401639e-01 -2.66173892e+00] [-9.95627895e-01 9.65106388e-03 9.29082967e-02 -9.38630238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.15864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.73, Y:-2.67, Z:-93.88 [[-2.34742629e-03 9.91841765e-01 -1.27453531e-01 1.35726210e+02] [-9.42111135e-02 -1.27106345e-01 -9.87404802e-01 -2.67458523e+00] [-9.95549474e-01 9.68967906e-03 9.37408899e-02 -9.38793890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.18864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:135.18, Y:-4.36, Z:-93.77 [[ 3.75117594e-02 -9.99234001e-01 -1.11480337e-02 1.35182458e+02] [-1.31749522e-01 -1.60038317e-02 9.91153843e-01 -4.36400097e+00] [-9.90573032e-01 -3.57111764e-02 -1.32248934e-01 -9.37653684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.24, Y:-2.64, Z:-94.02 [[ 4.71257959e-02 9.12859093e-01 4.05545848e-01 1.35241792e+02] [-8.79546514e-02 4.08212129e-01 -9.08640103e-01 -2.64035675e+00] [-9.95009115e-01 7.15074429e-03 9.95275249e-02 -9.40154974e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.17, Y:-2.67, Z:-94.07 [[ 6.27586394e-02 8.71631416e-01 4.86127583e-01 1.35166305e+02] [-1.29176593e-01 4.90084755e-01 -8.62050080e-01 -2.66661498e+00] [-9.89633650e-01 -8.69521468e-03 1.43351429e-01 -9.40664628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.29, Y:-3.33, Z:-94.14 [[ 2.57750360e-02 5.05888194e-01 -8.62213885e-01 1.36285462e+02] [-4.13116084e-02 -8.61224606e-01 -5.06542722e-01 -3.33183386e+00] [-9.98813796e-01 4.86755993e-02 -1.29904028e-03 -9.41351333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.30864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:134.54, Y:-3.44, Z:-94.32 [[-9.92622975e-03 -1.32439476e-01 9.91141390e-01 1.34543067e+02] [-1.07126666e-01 9.85626582e-01 1.30629701e-01 -3.43711532e+00] [-9.94195829e-01 -1.04881013e-01 -2.39713554e-02 -9.43236160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.56, Y:-2.67, Z:-94.48 [[ 8.43534790e-03 9.94819795e-01 1.01303606e-01 1.35559684e+02] [-9.18778699e-02 1.01649740e-01 -9.90568416e-01 -2.66838518e+00] [-9.95734554e-01 -9.51770290e-04 9.22593746e-02 -9.44834735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.63, Y:-2.69, Z:-94.54 [[ 6.99728460e-03 9.99713197e-01 2.29033085e-02 1.35630541e+02] [-9.08434812e-02 2.34446677e-02 -9.95589177e-01 -2.68687699e+00] [-9.95840600e-01 4.88580454e-03 9.09814760e-02 -9.45388221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.66, Y:-2.70, Z:-94.56 [[ 3.47820742e-03 9.99912337e-01 -1.27757982e-02 1.35660874e+02] [-9.09604556e-02 -1.24065571e-02 -9.95777220e-01 -2.69698043e+00] [-9.95848431e-01 4.62561215e-03 9.09093291e-02 -9.45600571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.71, Y:-2.71, Z:-94.58 [[ 3.27963564e-03 9.97814063e-01 -6.60025673e-02 1.35705847e+02] [-9.15099180e-02 -6.54265156e-02 -9.93652508e-01 -2.71251428e+00] [-9.95798764e-01 9.29870770e-03 9.10953079e-02 -9.45777000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.45864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:135.74, Y:-2.73, Z:-94.60 [[ 4.32086993e-03 9.94767225e-01 -1.02075944e-01 1.35735479e+02] [-9.20554192e-02 -1.01247773e-01 -9.90593099e-01 -2.72555622e+00] [-9.95744510e-01 1.36768678e-02 9.11362354e-02 -9.45998488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:135.76, Y:-2.74, Z:-94.62 [[ 1.96672437e-03 9.90491029e-01 -1.37563274e-01 1.35763632e+02] [-9.27574855e-02 -1.36789770e-01 -9.86247742e-01 -2.73969577e+00] [-9.95686789e-01 1.46997008e-02 9.16064295e-02 -9.46183624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.51864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:135.79, Y:-2.75, Z:-94.65 [[-4.28654211e-03 9.84990547e-01 -1.72555055e-01 1.35788645e+02] [-9.27776941e-02 -1.72204097e-01 -9.80682440e-01 -2.75419877e+00] [-9.95677621e-01 1.18055235e-02 9.21233118e-02 -9.46530664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.54864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:135.85, Y:-2.79, Z:-94.67 [[-8.12432114e-03 9.68543854e-01 -2.48710270e-01 1.35849758e+02] [-9.36102867e-02 -2.48362909e-01 -9.64133279e-01 -2.78636106e+00] [-9.95575768e-01 1.54489113e-02 9.26834478e-02 -9.46725350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:135.89, Y:-2.81, Z:-94.69 [[-1.09926946e-02 9.54267686e-01 -2.98751309e-01 1.35888531e+02] [-9.55824571e-02 -2.98404063e-01 -9.49641516e-01 -2.81046679e+00] [-9.95360816e-01 1.81162650e-02 9.44915148e-02 -9.46888504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:135.91, Y:-2.83, Z:-94.71 [[-1.74924715e-02 9.43265359e-01 -3.31578764e-01 1.35912932e+02] [-9.35946847e-02 -3.31718121e-01 -9.38724200e-01 -2.82849141e+00] [-9.95456703e-01 1.46134036e-02 9.40871936e-02 -9.47145776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:135.96, Y:-2.86, Z:-94.74 [[-2.15970267e-02 9.18737162e-01 -3.94278577e-01 1.35958028e+02] [-9.48480255e-02 -3.94474666e-01 -9.13998682e-01 -2.86371063e+00] [-9.95257464e-01 1.76568906e-02 9.56598856e-02 -9.47357237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.66864 meters Centerline goodness : 0.981787 Centerline is valid? [True, True] Translation: X:135.99, Y:-2.87, Z:-94.76 [[-6.07780523e-02 9.18513185e-01 -3.90691127e-01 1.35992673e+02] [-6.90325984e-02 -3.94345574e-01 -9.16365685e-01 -2.86799689e+00] [-9.95761281e-01 -2.87244978e-02 8.73749077e-02 -9.47622398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.69864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:135.59, Y:-4.45, Z:-94.69 [[-5.18901901e-03 -9.10423987e-01 -4.13643855e-01 1.35592371e+02] [-9.67594738e-02 -4.11251319e-01 9.06371865e-01 -4.45384118e+00] [-9.95294267e-01 4.47271426e-02 -8.59581550e-02 -9.46855936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.72864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:135.43, Y:-2.71, Z:-94.86 [[ 2.67883527e-02 9.77459520e-01 2.09416502e-01 1.35432764e+02] [-9.69466929e-02 2.11044505e-01 -9.72656957e-01 -2.71023333e+00] [-9.94929004e-01 5.75364026e-03 1.00415003e-01 -9.48635752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.75864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:136.31, Y:-3.75, Z:-94.97 [[ 1.66189852e-02 1.10169235e-01 -9.93773892e-01 1.36306289e+02] [-1.71169480e-02 -9.93734154e-01 -1.10451078e-01 -3.75478908e+00] [-9.99715369e-01 1.88459609e-02 -1.46290921e-02 -9.49742844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.78864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:135.76, Y:-4.47, Z:-95.07 [[ 1.68531814e-02 -8.16388342e-01 -5.77257347e-01 1.35763256e+02] [ 2.13530252e-02 -5.76913798e-01 8.16525883e-01 -4.47470461e+00] [-9.99629941e-01 -2.60872495e-02 7.70952790e-03 -9.50747167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.81864000000002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:135.03, Y:-4.45, Z:-95.19 [[ 4.27058278e-02 -9.67824543e-01 2.47975534e-01 1.35027199e+02] [-9.98271882e-03 2.47776224e-01 9.68765858e-01 -4.45086708e+00] [-9.99037816e-01 -4.38474180e-02 9.19968466e-04 -9.51945947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.84864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:135.45, Y:-2.77, Z:-95.35 [[ 3.86653380e-02 9.67392113e-01 2.50314786e-01 1.35454199e+02] [-4.93962839e-02 2.52046263e-01 -9.66453666e-01 -2.77419434e+00] [-9.98030560e-01 2.50036374e-02 5.75310293e-02 -9.53474557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.87864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:135.32, Y:-2.79, Z:-95.43 [[ 2.06792301e-02 9.15560726e-01 4.01647765e-01 1.35319865e+02] [-2.98347824e-02 4.02119866e-01 -9.15100814e-01 -2.79423575e+00] [-9.99340910e-01 6.94050667e-03 3.56310842e-02 -9.54324742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.90864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:136.36, Y:-3.46, Z:-95.48 [[ 5.26303550e-03 4.40018382e-01 -8.97973343e-01 1.36361513e+02] [-6.56638924e-03 -8.97951212e-01 -4.40046023e-01 -3.45743186e+00] [-9.99964591e-01 8.21242033e-03 -1.83661714e-03 -9.54761759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.93864000000002 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:136.32, Y:-4.01, Z:-95.51 [[-5.24146350e-03 -1.78313685e-01 -9.83959733e-01 1.36324365e+02] [-7.75373608e-03 -9.83936423e-01 1.78350764e-01 -4.00513397e+00] [-9.99956202e-01 8.56418311e-03 3.77466959e-03 -9.55060607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:136.09, Y:-4.33, Z:-95.52 [[-1.08163345e-02 -5.97213231e-01 -8.02009579e-01 1.36094767e+02] [-3.60195911e-03 -8.02028024e-01 5.97275544e-01 -4.33172835e+00] [-9.99935014e-01 9.34913780e-03 6.52386578e-03 -9.55198624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.99864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:135.92, Y:-4.45, Z:-95.53 [[-1.07394786e-02 -7.70359812e-01 -6.37518959e-01 1.35923142e+02] [-5.05304206e-04 -6.37551465e-01 7.70407603e-01 -4.45029784e+00] [-9.99942202e-01 8.59591694e-03 6.45770423e-03 -9.55303966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.02864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:135.77, Y:-4.51, Z:-95.54 [[-7.74183421e-03 -8.76745570e-01 -4.80892160e-01 1.35771780e+02] [ 1.24760175e-03 -4.80914666e-01 8.76766518e-01 -4.51233496e+00] [-9.99969253e-01 6.18781913e-03 4.81699093e-03 -9.55413109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.05864 meters Centerline goodness : 0.886222 Centerline is valid? [True, False] Translation: X:136.07, Y:-4.09, Z:-96.32 [[ 2.20171827e-01 7.67754555e-01 -6.01728602e-01 1.36067768e+02] [-2.63770828e-01 6.40744054e-01 7.21021503e-01 -4.09163338e+00] [ 9.39121567e-01 -3.01701553e-05 3.43585044e-01 -9.63164178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.08864 meters Centerline goodness : 0.999068 Centerline is valid? [False, True] Translation: X:136.12, Y:-4.02, Z:-96.31 [[ 2.36981686e-01 6.97154668e-01 -6.76620314e-01 1.36117599e+02] [-2.42663401e-01 7.16860511e-01 6.53624878e-01 -4.01654247e+00] [ 9.40720019e-01 9.29386098e-03 3.39056736e-01 -9.63107742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.11864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:136.10, Y:-4.06, Z:-96.29 [[ 2.35210870e-01 7.29978227e-01 -6.41722397e-01 1.36097807e+02] [-2.43694029e-01 6.83448513e-01 6.88121610e-01 -4.05952781e+00] [ 9.40898011e-01 -5.46976606e-03 3.38645855e-01 -9.62879309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.14864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:136.06, Y:-4.11, Z:-96.27 [[ 2.07462160e-01 7.71144693e-01 -6.01909723e-01 1.36064697e+02] [-2.11976217e-01 6.36115372e-01 7.41905194e-01 -4.10914741e+00] [ 9.55000280e-01 -2.63267078e-02 2.95434204e-01 -9.62654375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.17864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:136.15, Y:-4.02, Z:-96.23 [[ 2.38858242e-01 6.77507128e-01 -6.95651372e-01 1.36146246e+02] [-2.45395237e-01 7.35249772e-01 6.31814015e-01 -4.01657425e+00] [ 9.39536012e-01 1.97955479e-02 3.41877490e-01 -9.62304426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.20864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:136.11, Y:-4.08, Z:-96.21 [[ 2.40177849e-01 7.27685886e-01 -6.42485683e-01 1.36113075e+02] [-2.45223282e-01 6.85874733e-01 6.85157932e-01 -4.07801748e+00] [ 9.39244453e-01 -7.00731068e-03 3.43177439e-01 -9.62083326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.23864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:136.12, Y:-4.08, Z:-96.18 [[ 2.40605786e-01 7.26516219e-01 -6.43648227e-01 1.36119632e+02] [-2.44252948e-01 6.87109193e-01 6.84267093e-01 -4.08462254e+00] [ 9.39387755e-01 -7.42564506e-03 3.42776175e-01 -9.61817788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.26864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:136.13, Y:-4.09, Z:-96.16 [[ 2.42053892e-01 7.25309809e-01 -6.44465355e-01 1.36125724e+02] [-2.44226349e-01 6.88376955e-01 6.83001213e-01 -4.09095556e+00] [ 9.39022579e-01 -7.92768098e-03 3.43764088e-01 -9.61553924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.29864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:136.10, Y:-4.13, Z:-96.13 [[ 2.14318730e-01 7.57214107e-01 -6.17004277e-01 1.36100258e+02] [-2.08837595e-01 6.52598204e-01 7.28355986e-01 -4.12929903e+00] [ 9.54177311e-01 -2.72466410e-02 2.97998792e-01 -9.61342299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.32864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:136.16, Y:-4.07, Z:-96.10 [[ 2.12690872e-01 6.96357114e-01 -6.85455588e-01 1.36156265e+02] [-2.13314799e-01 7.17676438e-01 6.62900691e-01 -4.06977710e+00] [ 9.53550937e-01 5.22489474e-03 3.01186506e-01 -9.61018458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.35864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:136.18, Y:-4.05, Z:-96.07 [[ 2.43222051e-01 6.67601676e-01 -7.03669693e-01 1.36184953e+02] [-2.46569940e-01 7.44178282e-01 6.20807498e-01 -4.04506750e+00] [ 9.38107829e-01 2.25097207e-02 3.45611073e-01 -9.60704454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.38864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:136.15, Y:-4.11, Z:-96.05 [[ 2.42762084e-01 7.24133433e-01 -6.45520985e-01 1.36151577e+02] [-2.48078166e-01 6.89641631e-01 6.80332010e-01 -4.11156446e+00] [ 9.37829299e-01 -5.01915425e-03 3.47060533e-01 -9.60497687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.41864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:136.14, Y:-4.14, Z:-96.03 [[ 2.18447347e-01 7.46723949e-01 -6.28238888e-01 1.36138623e+02] [-2.20645581e-01 6.64910002e-01 7.13589669e-01 -4.13999769e+00] [ 9.50576816e-01 -1.72636355e-02 3.10009166e-01 -9.60266371e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.44864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:136.19, Y:-4.08, Z:-95.99 [[ 2.44284675e-01 6.85458896e-01 -6.85908958e-01 1.36194053e+02] [-2.46350973e-01 7.28000828e-01 6.39785895e-01 -4.08227906e+00] [ 9.37889223e-01 1.26844493e-02 3.46702912e-01 -9.59927133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.47864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:136.17, Y:-4.13, Z:-95.97 [[ 2.45283918e-01 7.21676179e-01 -6.47316996e-01 1.36173613e+02] [-2.46551972e-01 6.92197646e-01 6.78287950e-01 -4.12812716e+00] [ 9.37575557e-01 -6.77584408e-03 3.47715636e-01 -9.59698903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.18, Y:-4.13, Z:-95.94 [[ 2.46245125e-01 7.20165015e-01 -6.48633710e-01 1.36180576e+02] [-2.44122547e-01 6.93750693e-01 6.77579632e-01 -4.13380410e+00] [ 9.37959232e-01 -8.50456782e-03 3.46641244e-01 -9.59439260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.53864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:136.19, Y:-4.14, Z:-95.92 [[ 2.47864554e-01 7.18719896e-01 -6.49619022e-01 1.36187752e+02] [-2.42443375e-01 6.95224510e-01 6.76671331e-01 -4.14064890e+00] [ 9.37968215e-01 -1.02270096e-02 3.46570391e-01 -9.59182296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.56864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:136.19, Y:-4.15, Z:-95.89 [[ 2.48210798e-01 7.17653979e-01 -6.50664403e-01 1.36194791e+02] [-2.42087809e-01 6.96325309e-01 6.75666009e-01 -4.14657142e+00] [ 9.37968492e-01 -1.01896794e-02 3.46570740e-01 -9.58913351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.20, Y:-4.15, Z:-95.86 [[ 2.49889414e-01 7.16253076e-01 -6.51564894e-01 1.36201578e+02] [-2.40770096e-01 6.97742253e-01 6.74674373e-01 -4.15248152e+00] [ 9.37861952e-01 -1.17166412e-02 3.46810725e-01 -9.58644403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.62864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:-4.16, Z:-95.84 [[ 2.50891498e-01 7.14339477e-01 -6.53278324e-01 1.36208225e+02] [-2.36007098e-01 6.99638099e-01 6.74393935e-01 -4.15832585e+00] [ 9.38804615e-01 -1.50213832e-02 3.44122438e-01 -9.58375490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.65864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.22, Y:-4.17, Z:-95.81 [[ 2.52051885e-01 7.12996432e-01 -6.54298048e-01 1.36215098e+02] [-2.34799495e-01 7.00982621e-01 6.73418564e-01 -4.16574017e+00] [ 9.38796594e-01 -1.61075674e-02 3.44095193e-01 -9.58111178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.22, Y:-4.17, Z:-95.78 [[ 2.52330809e-01 7.11783827e-01 -6.55509685e-01 1.36221478e+02] [-2.33401486e-01 7.02199325e-01 6.72636495e-01 -4.17222690e+00] [ 9.39070237e-01 -1.67299769e-02 3.43317926e-01 -9.57843008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.23, Y:-4.18, Z:-95.76 [[ 2.54915976e-01 7.10119093e-01 -6.56314497e-01 1.36227517e+02] [-2.31973660e-01 7.03827599e-01 6.71427533e-01 -4.17928399e+00] [ 9.38725767e-01 -1.89099292e-02 3.44145824e-01 -9.57581882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.74864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:136.20, Y:-4.22, Z:-95.74 [[ 2.31725638e-01 7.47694811e-01 -6.22298721e-01 1.36198057e+02] [-2.02722717e-01 6.62782684e-01 7.20848537e-01 -4.22453688e+00] [ 9.51423527e-01 -4.08849996e-02 3.05158464e-01 -9.57373189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:-4.23, Z:-95.71 [[ 2.30193242e-01 7.44237314e-01 -6.26994332e-01 1.36205387e+02] [-1.98421378e-01 6.66657078e-01 7.18468717e-01 -4.22837551e+00] [ 9.52701437e-01 -4.09775634e-02 3.01132548e-01 -9.57107842e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.27, Y:-4.15, Z:-95.67 [[ 2.32172789e-01 6.63383721e-01 -7.11349306e-01 1.36271284e+02] [-2.06490755e-01 7.48279206e-01 6.30428266e-01 -4.15106588e+00] [ 9.50503742e-01 5.18766898e-04 3.10712676e-01 -9.56744577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:-4.18, Z:-95.65 [[ 2.65700779e-01 6.76083261e-01 -6.87251424e-01 1.36266048e+02] [-2.28142540e-01 7.36721898e-01 6.36546798e-01 -4.17501601e+00] [ 9.36671809e-01 -1.23396947e-02 3.49990935e-01 -9.56541174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.25, Y:-4.21, Z:-95.63 [[ 2.66318054e-01 7.02106533e-01 -6.60394662e-01 1.36252116e+02] [-2.27909702e-01 7.11579073e-01 6.64614468e-01 -4.21142224e+00] [ 9.36553181e-01 -2.64884813e-02 3.49523245e-01 -9.56306390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.26, Y:-4.22, Z:-95.60 [[ 2.68425346e-01 7.00924720e-01 -6.60796769e-01 1.36258081e+02] [-2.28702197e-01 7.12728960e-01 6.63108388e-01 -4.21834160e+00] [ 9.35758056e-01 -2.68694254e-02 3.51617542e-01 -9.56040410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.26, Y:-4.23, Z:-95.58 [[ 2.69625540e-01 6.99649643e-01 -6.61658859e-01 1.36263714e+02] [-2.27889566e-01 7.13947872e-01 6.62076115e-01 -4.22511495e+00] [ 9.35611252e-01 -2.77274798e-02 3.51941434e-01 -9.55774195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.27, Y:-4.23, Z:-95.55 [[ 2.71311220e-01 6.98304140e-01 -6.62390784e-01 1.36269269e+02] [-2.27282012e-01 7.15223090e-01 6.60907572e-01 -4.23272654e+00] [ 9.35271677e-01 -2.87621293e-02 3.52760019e-01 -9.55507196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.21, Y:-4.31, Z:-95.53 [[ 2.46249769e-01 7.65811674e-01 -5.94048425e-01 1.36212036e+02] [-1.96391702e-01 6.39633996e-01 7.43167983e-01 -4.31039339e+00] [ 9.49100285e-01 -6.63387625e-02 3.07908782e-01 -9.55303483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:-4.13, Z:-95.49 [[ 2.70925072e-01 5.82890148e-01 -7.66053967e-01 1.36350904e+02] [-2.21626694e-01 8.12208776e-01 5.39628125e-01 -4.13112510e+00] [ 9.36739673e-01 2.35792196e-02 3.49231737e-01 -9.54852259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.28, Y:-4.26, Z:-95.47 [[ 2.73880786e-01 6.96945753e-01 -6.62763858e-01 1.36280095e+02] [-2.28185911e-01 7.16524855e-01 6.59183830e-01 -4.25805781e+00] [ 9.34302149e-01 -2.93044108e-02 3.55275592e-01 -9.54693188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.22, Y:-4.34, Z:-95.45 [[ 2.51248587e-01 7.71457275e-01 -5.84574906e-01 1.36216041e+02] [-2.01763752e-01 6.32423440e-01 7.47885005e-01 -4.34224902e+00] [ 9.46660201e-01 -6.99590241e-02 3.14547610e-01 -9.54498409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.37, Y:-4.15, Z:-95.40 [[ 2.71372442e-01 5.72859755e-01 -7.73426596e-01 1.36367843e+02] [-2.26724185e-01 8.19015921e-01 5.27075958e-01 -4.14706746e+00] [ 9.35389300e-01 3.23206252e-02 3.52139511e-01 -9.54041141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.30, Y:-4.28, Z:-95.39 [[ 2.73260822e-01 6.96959328e-01 -6.63005443e-01 1.36295610e+02] [-2.33113632e-01 7.16672734e-01 6.57296149e-01 -4.28191218e+00] [ 9.33266606e-01 -2.50576785e-02 3.58309301e-01 -9.53903422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.30, Y:-4.29, Z:-95.36 [[ 2.71635883e-01 6.96601637e-01 -6.64048271e-01 1.36301631e+02] [-2.34217858e-01 7.17096358e-01 6.56441017e-01 -4.28870583e+00] [ 9.33464484e-01 -2.27809715e-02 3.57945645e-01 -9.53635954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.31, Y:-4.30, Z:-95.34 [[ 2.68125640e-01 6.96867084e-01 -6.65195391e-01 1.36307564e+02] [-2.36735334e-01 7.16966041e-01 6.55679860e-01 -4.29574200e+00] [ 9.33844218e-01 -1.83293291e-02 3.57210040e-01 -9.53371971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.25, Y:-4.37, Z:-95.31 [[ 2.41620796e-01 7.64272048e-01 -5.97919416e-01 1.36253271e+02] [-2.13653835e-01 6.42955523e-01 7.35499990e-01 -4.37017006e+00] [ 9.46557674e-01 -4.99643173e-02 3.18641079e-01 -9.53144461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.25864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:136.38, Y:-4.22, Z:-95.28 [[ 2.66154414e-01 6.11468820e-01 -7.45162875e-01 1.36377264e+02] [-2.40577343e-01 7.90720495e-01 5.62924187e-01 -4.21943358e+00] [ 9.33426146e-01 2.94445475e-02 3.57559294e-01 -9.52764954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-4.31, Z:-95.26 [[ 2.63490438e-01 6.97927053e-01 -6.65935896e-01 1.36326780e+02] [-2.45944437e-01 7.16120394e-01 6.53209702e-01 -4.31313880e+00] [ 9.32782999e-01 -8.33128140e-03 3.60342153e-01 -9.52573070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.33, Y:-4.32, Z:-95.23 [[ 2.63534358e-01 6.97413091e-01 -6.66456767e-01 1.36334480e+02] [-2.48157795e-01 7.16640920e-01 6.51800200e-01 -4.31862387e+00] [ 9.32184183e-01 -6.38530518e-03 3.61928000e-01 -9.52307277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.34, Y:-4.32, Z:-95.20 [[ 2.62616136e-01 6.97243294e-01 -6.66996667e-01 1.36342590e+02] [-2.51294042e-01 7.16827458e-01 6.50391958e-01 -4.32399865e+00] [ 9.31602957e-01 -3.19113418e-03 3.63463543e-01 -9.52047286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.35, Y:-4.33, Z:-95.18 [[ 2.62231085e-01 6.96648210e-01 -6.67769518e-01 1.36350135e+02] [-2.52668093e-01 7.17411291e-01 6.49214814e-01 -4.32942959e+00] [ 9.31339730e-01 -1.52025458e-03 3.64148316e-01 -9.51785247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-4.33, Z:-95.15 [[ 2.60304255e-01 6.96482943e-01 -6.68695151e-01 1.36358139e+02] [-2.54910380e-01 7.17571243e-01 6.48160636e-01 -4.33449121e+00] [ 9.31269238e-01 1.73836425e-03 3.64327579e-01 -9.51516862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.43864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.35, Y:-4.36, Z:-95.13 [[ 2.35119908e-01 7.19874399e-01 -6.53069275e-01 1.36346597e+02] [-2.33795025e-01 6.94064829e-01 6.80891988e-01 -4.36307316e+00] [ 9.43429126e-01 -7.40691397e-03 3.31491511e-01 -9.51267246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:-4.33, Z:-95.10 [[ 2.58011650e-01 6.81728205e-01 -6.84599622e-01 1.36386114e+02] [-2.59556983e-01 7.31451739e-01 6.30562071e-01 -4.32762496e+00] [ 9.30623533e-01 1.50002525e-02 3.65670386e-01 -9.50981419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.36, Y:-4.38, Z:-95.07 [[ 2.31557568e-01 7.25908796e-01 -6.47639956e-01 1.36358451e+02] [-2.36860574e-01 6.87769024e-01 6.86200290e-01 -4.37773219e+00] [ 9.43545527e-01 -5.49449803e-03 3.31197297e-01 -9.50745564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.38, Y:-4.37, Z:-95.05 [[ 2.31858976e-01 7.08421226e-01 -6.66618918e-01 1.36380634e+02] [-2.35797061e-01 7.05786148e-01 6.68031181e-01 -4.36533896e+00] [ 9.43737867e-01 2.29775588e-03 3.30686496e-01 -9.50485358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.39, Y:-4.37, Z:-95.02 [[ 2.32942490e-01 7.10349425e-01 -6.64184832e-01 1.36385014e+02] [-2.35442858e-01 7.03849151e-01 6.70196265e-01 -4.37287301e+00] [ 9.43559461e-01 2.60388360e-04 3.31203073e-01 -9.50226541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.43, Y:-4.33, Z:-94.99 [[ 2.65811824e-01 6.65553052e-01 -6.97411793e-01 1.36425069e+02] [-2.60886594e-01 7.46105796e-01 6.12588219e-01 -4.33213456e+00] [ 9.28052940e-01 1.91121953e-02 3.71957611e-01 -9.49934733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:-4.37, Z:-94.97 [[ 2.65965387e-01 6.90606534e-01 -6.72551134e-01 1.36415114e+02] [-2.60277937e-01 7.23213999e-01 6.39700639e-01 -4.36537257e+00] [ 9.28179836e-01 4.91199376e-03 3.72099535e-01 -9.49692287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.42, Y:-4.37, Z:-94.94 [[ 2.66813473e-01 6.89112093e-01 -6.73747055e-01 1.36422349e+02] [-2.58116934e-01 7.24646673e-01 6.38954495e-01 -4.37107367e+00] [ 9.28539832e-01 3.42385644e-03 3.71216996e-01 -9.49431394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.43, Y:-4.38, Z:-94.92 [[ 2.68531069e-01 6.87826308e-01 -6.74378259e-01 1.36430409e+02] [-2.57922119e-01 7.25870254e-01 6.37642968e-01 -4.37830017e+00] [ 9.28098726e-01 2.71012139e-03 3.72324334e-01 -9.49171073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.44, Y:-4.38, Z:-94.89 [[ 2.69393446e-01 6.86314690e-01 -6.75573325e-01 1.36437095e+02] [-2.55758316e-01 7.27303703e-01 6.36880685e-01 -4.38358035e+00] [ 9.28447551e-01 1.21201343e-03 3.71461540e-01 -9.48903122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.44, Y:-4.39, Z:-94.86 [[ 2.69534618e-01 6.85421584e-01 -6.76423197e-01 1.36444970e+02] [-2.56103466e-01 7.28144050e-01 6.35780825e-01 -4.38723283e+00] [ 9.28311426e-01 1.86938344e-03 3.71798872e-01 -9.48631369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.45, Y:-4.39, Z:-94.84 [[ 2.69063432e-01 6.84628406e-01 -6.77413327e-01 1.36452853e+02] [-2.56350746e-01 7.28886717e-01 6.34829464e-01 -4.39280580e+00] [ 9.28379860e-01 2.84601790e-03 3.71621764e-01 -9.48368268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-4.40, Z:-94.81 [[ 2.69230965e-01 6.83964444e-01 -6.78017203e-01 1.36461040e+02] [-2.57518991e-01 7.29504351e-01 6.33646093e-01 -4.39900394e+00] [ 9.28007897e-01 4.00515734e-03 3.72538994e-01 -9.48107646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.47, Y:-4.40, Z:-94.78 [[ 2.68705399e-01 6.83035147e-01 -6.79161540e-01 1.36469419e+02] [-2.57088898e-01 7.30371257e-01 6.32821558e-01 -4.40444605e+00] [ 9.28279434e-01 4.56232300e-03 3.71855453e-01 -9.47842775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-4.44, Z:-94.76 [[ 2.41199620e-01 7.10167999e-01 -6.61425851e-01 1.36456683e+02] [-2.31216804e-01 7.03974197e-01 6.71534898e-01 -4.43582650e+00] [ 9.42529328e-01 -9.04119088e-03 3.34001083e-01 -9.47598702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:-4.39, Z:-94.73 [[ 2.71378783e-01 6.58725343e-01 -7.01736759e-01 1.36501937e+02] [-2.57357727e-01 7.52213691e-01 6.06581869e-01 -4.38896334e+00] [ 9.27426847e-01 1.59839279e-02 3.73662892e-01 -9.47306097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.46, Y:-4.46, Z:-94.71 [[ 2.41412373e-01 7.17744888e-01 -6.53117403e-01 1.36462859e+02] [-2.27221438e-01 6.96122229e-01 6.81017078e-01 -4.45628163e+00] [ 9.43446069e-01 -1.60036731e-02 3.31139545e-01 -9.47093109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.51, Y:-4.40, Z:-94.68 [[ 2.45042433e-01 6.61079820e-01 -7.09173940e-01 1.36511455e+02] [-2.32214774e-01 7.50203341e-01 6.19089045e-01 -4.40304054e+00] [ 9.41291934e-01 1.29775801e-02 3.37344153e-01 -9.46788601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.50, Y:-4.44, Z:-94.66 [[ 2.45559052e-01 6.91927487e-01 -6.78923489e-01 1.36496847e+02] [-2.30054964e-01 7.21955608e-01 6.52575523e-01 -4.44139654e+00] [ 9.41687562e-01 -4.05610845e-03 3.36464088e-01 -9.46554194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-4.40, Z:-94.63 [[ 2.78035084e-01 6.44785444e-01 -7.12002966e-01 1.36535881e+02] [-2.55191226e-01 7.64174668e-01 5.92380381e-01 -4.40131142e+00] [ 9.26052877e-01 1.69943815e-02 3.77010956e-01 -9.46256071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.52, Y:-4.44, Z:-94.60 [[ 2.77870025e-01 6.76221794e-01 -6.82284643e-01 1.36522018e+02] [-2.55373355e-01 7.36698054e-01 6.26147289e-01 -4.44289522e+00] [ 9.26052212e-01 2.49755482e-04 3.77395335e-01 -9.46021726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.53, Y:-4.45, Z:-94.58 [[ 2.79034764e-01 6.75006480e-01 -6.83012338e-01 1.36528343e+02] [-2.54964891e-01 7.37811757e-01 6.25001372e-01 -4.44809942e+00] [ 9.25814509e-01 -2.52943757e-04 3.77978083e-01 -9.45757782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:-4.50, Z:-94.55 [[ 2.46947241e-01 7.22610035e-01 -6.45640610e-01 1.36495701e+02] [-2.20929363e-01 6.90712841e-01 6.88553548e-01 -4.50342431e+00] [ 9.43507963e-01 -2.73954301e-02 3.30215405e-01 -9.45545291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-4.42, Z:-94.52 [[ 2.49766397e-01 6.37939111e-01 -7.28457574e-01 1.36562948e+02] [-2.27451996e-01 7.69904271e-01 5.96249111e-01 -4.42323823e+00] [ 9.41213226e-01 1.67661365e-02 3.37396740e-01 -9.45229225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.50, Y:-4.53, Z:-94.51 [[ 2.53004887e-01 7.30250289e-01 -6.34604635e-01 1.36496770e+02] [-2.22936667e-01 6.82298989e-01 6.96252348e-01 -4.53038293e+00] [ 9.41428579e-01 -3.46786045e-02 3.35424544e-01 -9.45054419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:-4.32, Z:-94.45 [[ 2.88718556e-01 5.14881215e-01 -8.07179614e-01 1.36635525e+02] [-2.53555381e-01 8.54100307e-01 4.54117093e-01 -4.31850582e+00] [ 9.23228717e-01 7.35527035e-02 3.77145510e-01 -9.44539572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-4.49, Z:-94.44 [[ 2.86295912e-01 6.73181475e-01 -6.81807417e-01 1.36555957e+02] [-2.56814926e-01 7.39470998e-01 6.22277058e-01 -4.48629436e+00] [ 9.23082198e-01 -3.05705691e-03 3.84590574e-01 -9.44448084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.56, Y:-4.49, Z:-94.42 [[ 2.86341690e-01 6.72946378e-01 -6.82020241e-01 1.36562149e+02] [-2.59967894e-01 7.39691143e-01 6.20704202e-01 -4.49372404e+00] [ 9.22184976e-01 -4.30124617e-04 3.86748865e-01 -9.44180447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.54, Y:-4.53, Z:-94.40 [[ 2.57023766e-01 7.05932362e-01 -6.59998700e-01 1.36540669e+02] [-2.31190866e-01 7.08026545e-01 6.67269957e-01 -4.53401092e+00] [ 9.38344056e-01 -1.89185659e-02 3.45184763e-01 -9.43959441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.58, Y:-4.49, Z:-94.37 [[ 2.55854509e-01 6.56677189e-01 -7.09445938e-01 1.36583990e+02] [-2.35092376e-01 7.54106966e-01 6.13232630e-01 -4.48906758e+00] [ 9.37694004e-01 9.88699755e-03 3.47321468e-01 -9.43652354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.59, Y:-4.51, Z:-94.34 [[ 2.49978064e-01 6.70565303e-01 -6.98464847e-01 1.36585522e+02] [-2.37868537e-01 7.41790958e-01 6.27028495e-01 -4.50712210e+00] [ 9.38578461e-01 9.39944222e-03 3.44937855e-01 -9.43384131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.60, Y:-4.50, Z:-94.31 [[ 2.54252257e-01 6.59803372e-01 -7.07117600e-01 1.36601352e+02] [-2.44115845e-01 7.51252513e-01 6.13210499e-01 -4.50206879e+00] [ 9.35822229e-01 1.67084567e-02 3.52076104e-01 -9.43121065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.62, Y:-4.49, Z:-94.28 [[ 2.82029207e-01 6.45123091e-01 -7.10123739e-01 1.36620263e+02] [-2.68791582e-01 7.63658937e-01 5.87006059e-01 -4.49466541e+00] [ 9.20983503e-01 2.53224296e-02 3.88777780e-01 -9.42844503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.59, Y:-4.56, Z:-94.26 [[ 2.54209483e-01 6.99929519e-01 -6.67440040e-01 1.36586984e+02] [-2.42317506e-01 7.14193002e-01 6.56666264e-01 -4.55592003e+00] [ 9.36301108e-01 -5.19838553e-03 3.51159809e-01 -9.42630925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.62, Y:-4.53, Z:-94.23 [[ 2.54965016e-01 6.68246523e-01 -6.98884414e-01 1.36617317e+02] [-2.43716913e-01 7.43848553e-01 6.22327403e-01 -4.52957779e+00] [ 9.35732284e-01 1.16582357e-02 3.52518338e-01 -9.42345069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.63, Y:-4.53, Z:-94.21 [[ 2.57427168e-01 6.67204266e-01 -6.98977625e-01 1.36626190e+02] [-2.44896607e-01 7.44787830e-01 6.20738866e-01 -4.53396200e+00] [ 9.34749649e-01 1.13822005e-02 3.55124682e-01 -9.42081453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.63, Y:-4.55, Z:-94.18 [[ 2.56885412e-01 6.78141102e-01 -6.88574275e-01 1.36626285e+02] [-2.40498969e-01 7.34926701e-01 6.34068600e-01 -4.55153006e+00] [ 9.36039599e-01 2.71842987e-03 3.51884184e-01 -9.41825854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.64, Y:-4.55, Z:-94.16 [[ 2.60734838e-01 6.69857537e-01 -6.95203729e-01 1.36640081e+02] [-2.43556504e-01 7.42460218e-01 6.24045714e-01 -4.54959055e+00] [ 9.34182837e-01 6.61093159e-03 3.56733405e-01 -9.41569130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.65, Y:-4.56, Z:-94.13 [[ 2.61821757e-01 6.73342795e-01 -6.91417998e-01 1.36646731e+02] [-2.44715541e-01 7.39313823e-01 6.27319197e-01 -4.55628565e+00] [ 9.33575745e-01 4.95491497e-03 3.58345891e-01 -9.41301890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.67, Y:-4.54, Z:-94.10 [[ 2.90080402e-01 6.55588829e-01 -6.97177630e-01 1.36668592e+02] [-2.67436132e-01 7.55009902e-01 5.98696887e-01 -4.54400215e+00] [ 9.18875006e-01 1.27802545e-02 3.94341716e-01 -9.41043758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.64, Y:-4.61, Z:-94.09 [[ 2.74333545e-01 7.07124021e-01 -6.51702942e-01 1.36636051e+02] [-2.37990868e-01 7.06545592e-01 6.66448552e-01 -4.61274443e+00] [ 9.31719621e-01 -2.77298452e-02 3.62118217e-01 -9.40875505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.71, Y:-4.52, Z:-94.05 [[ 2.62065142e-01 6.19904570e-01 -7.39621650e-01 1.36708430e+02] [-2.49945318e-01 7.83855423e-01 5.68417113e-01 -4.51625152e+00] [ 9.32120807e-01 3.59026568e-02 3.60363427e-01 -9.40475800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.69, Y:-4.57, Z:-94.03 [[ 2.89279021e-01 6.63043432e-01 -6.90428168e-01 1.36690861e+02] [-2.69841926e-01 7.48498994e-01 6.05751261e-01 -4.56793210e+00] [ 9.18424185e-01 1.10753351e-02 3.95441973e-01 -9.40280805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.70, Y:-4.57, Z:-94.00 [[ 2.88943787e-01 6.63821833e-01 -6.89820311e-01 1.36699834e+02] [-2.69140373e-01 7.47819845e-01 6.06901095e-01 -4.57384233e+00] [ 9.18735515e-01 1.02981949e-02 3.94739154e-01 -9.40020971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.69, Y:-4.61, Z:-93.98 [[ 2.62629445e-01 6.89663856e-01 -6.74825563e-01 1.36687727e+02] [-2.44947166e-01 7.24118481e-01 6.44711805e-01 -4.60710359e+00] [ 9.33288091e-01 -4.02369416e-03 3.59106041e-01 -9.39780260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.73, Y:-4.57, Z:-93.95 [[ 2.94114091e-01 6.43925391e-01 -7.06298090e-01 1.36727599e+02] [-2.66336460e-01 7.64928755e-01 5.86471559e-01 -4.56629770e+00] [ 9.17911647e-01 1.56233833e-02 3.96477135e-01 -9.39498648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.81864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:136.71, Y:-4.61, Z:-93.93 [[ 2.69851797e-01 6.81522231e-01 -6.80226033e-01 1.36708709e+02] [-2.42824800e-01 7.31766974e-01 6.36830600e-01 -4.61270989e+00] [ 9.31781157e-01 -6.67413176e-03 3.62959133e-01 -9.39268147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.73, Y:-4.60, Z:-93.90 [[ 2.71283652e-01 6.65336192e-01 -6.95509117e-01 1.36726132e+02] [-2.39875907e-01 7.46542323e-01 6.20591741e-01 -4.60382739e+00] [ 9.32129138e-01 -1.52051341e-03 3.62122850e-01 -9.39012927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.75, Y:-4.58, Z:-93.87 [[ 3.01426123e-01 6.35643678e-01 -7.10703460e-01 1.36752904e+02] [-2.60446835e-01 7.71913938e-01 5.79927857e-01 -4.58229697e+00] [ 9.17229382e-01 1.02950617e-02 3.98226410e-01 -9.38732703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.90864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.75, Y:-4.61, Z:-93.85 [[ 3.03603470e-01 6.53905042e-01 -6.92988549e-01 1.36746308e+02] [-2.56999535e-01 7.56563487e-01 6.01301030e-01 -4.61321168e+00] [ 9.17483609e-01 -4.45934438e-03 3.97748591e-01 -9.38494377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.93864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.74, Y:-4.64, Z:-93.82 [[ 2.83137082e-01 6.68886351e-01 -6.87331392e-01 1.36739190e+02] [-2.32623213e-01 7.43152822e-01 6.27383713e-01 -4.63935313e+00] [ 9.30440666e-01 -1.77463573e-02 3.66012614e-01 -9.38246595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.76, Y:-4.63, Z:-93.80 [[ 2.80976029e-01 6.48127454e-01 -7.07801720e-01 1.36759149e+02] [-2.29748556e-01 7.61493152e-01 6.06088921e-01 -4.62506127e+00] [ 9.31809032e-01 -7.68003540e-03 3.62867669e-01 -9.37975532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.78, Y:-4.62, Z:-93.77 [[ 2.85475214e-01 6.34361244e-01 -7.18393843e-01 1.36775623e+02] [-2.33531078e-01 7.73036507e-01 5.89811661e-01 -4.61943310e+00] [ 9.29498326e-01 -6.09321680e-04 3.68825827e-01 -9.37700013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-4.64, Z:-93.75 [[ 2.85104821e-01 6.43467755e-01 -7.10397416e-01 1.36776287e+02] [-2.32752340e-01 7.65452035e-01 5.99924604e-01 -4.63664438e+00] [ 9.29807286e-01 -5.69473653e-03 3.68002691e-01 -9.37455296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.78, Y:-4.64, Z:-93.72 [[ 2.84727496e-01 6.41107689e-01 -7.12678878e-01 1.36784391e+02] [-2.34544844e-01 7.67446063e-01 5.96670140e-01 -4.64249711e+00] [ 9.29472415e-01 -2.73323879e-03 3.68881499e-01 -9.37193816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.79, Y:-4.65, Z:-93.69 [[ 2.83278793e-01 6.40688676e-01 -7.13632360e-01 1.36792777e+02] [-2.35753275e-01 7.67800594e-01 5.95737057e-01 -4.64912527e+00] [ 9.29609337e-01 -5.18508859e-04 3.68546079e-01 -9.36929741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:-4.66, Z:-93.67 [[ 2.77991834e-01 6.48944449e-01 -7.08231348e-01 1.36795025e+02] [-2.35658903e-01 7.60834869e-01 6.04644676e-01 -4.66358024e+00] [ 9.31227911e-01 -1.18526018e-03 3.64435418e-01 -9.36681867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:-4.64, Z:-93.64 [[ 3.05055769e-01 6.23640418e-01 -7.19731622e-01 1.36820652e+02] [-2.60508381e-01 7.81575237e-01 5.66811726e-01 -4.64470234e+00] [ 9.16011114e-01 1.45869330e-02 4.00887590e-01 -9.36393656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.80, Y:-4.70, Z:-93.62 [[ 2.80219714e-01 6.70759092e-01 -6.86701648e-01 1.36796662e+02] [-2.42281157e-01 7.41621735e-01 6.25537403e-01 -4.69900538e+00] [ 9.28857768e-01 -8.91304282e-03 3.70329319e-01 -9.36173848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.82, Y:-4.68, Z:-93.59 [[ 2.77984475e-01 6.52400721e-01 -7.05051722e-01 1.36817452e+02] [-2.46157750e-01 7.57853551e-01 6.04205559e-01 -4.68326029e+00] [ 9.28510094e-01 5.59418101e-03 3.71265015e-01 -9.35889590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.82, Y:-4.69, Z:-93.56 [[ 2.76683477e-01 6.54022982e-01 -7.04059793e-01 1.36824724e+02] [-2.46865088e-01 7.56449045e-01 6.05675219e-01 -4.69031604e+00] [ 9.28710871e-01 6.22745751e-03 3.70752393e-01 -9.35622050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.84, Y:-4.69, Z:-93.54 [[ 2.81023437e-01 6.45174367e-01 -7.10475801e-01 1.36840965e+02] [-2.51785417e-01 7.63942348e-01 5.94134827e-01 -4.68568813e+00] [ 9.26083113e-01 1.19216349e-02 3.77131202e-01 -9.35361218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.86, Y:-4.69, Z:-93.51 [[ 3.02541952e-01 6.39511740e-01 -7.06748259e-01 1.36855416e+02] [-2.71205031e-01 7.68606721e-01 5.79388936e-01 -4.68576262e+00] [ 9.13737489e-01 1.63842240e-02 4.05974579e-01 -9.35103057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.84, Y:-4.73, Z:-93.49 [[ 2.75122198e-01 6.72442931e-01 -6.87115914e-01 1.36840948e+02] [-2.48447729e-01 7.40147999e-01 6.24863717e-01 -4.72530909e+00] [ 9.28752659e-01 -1.20149085e-03 3.70698064e-01 -9.34858127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.88, Y:-4.69, Z:-93.46 [[ 3.03084197e-01 6.31719616e-01 -7.13491623e-01 1.36879895e+02] [-2.73200521e-01 7.74880092e-01 5.70019577e-01 -4.68616135e+00] [ 9.12963003e-01 2.21623575e-02 4.07440039e-01 -9.34571380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.38864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:136.87, Y:-4.72, Z:-93.43 [[ 2.77471866e-01 6.64263206e-01 -6.94092038e-01 1.36867350e+02] [-2.52872237e-01 7.47481536e-01 6.14269473e-01 -4.72280592e+00] [ 9.26857592e-01 5.07410979e-03 3.75378819e-01 -9.34322759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.89, Y:-4.71, Z:-93.40 [[ 2.81207939e-01 6.50395853e-01 -7.05625489e-01 1.36887938e+02] [-2.55472056e-01 7.59500061e-01 5.98242164e-01 -4.71164033e+00] [ 9.25016823e-01 1.20371488e-02 3.79735413e-01 -9.34049716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.90, Y:-4.72, Z:-93.38 [[ 3.03891397e-01 6.47977980e-01 -6.98408589e-01 1.36900171e+02] [-2.72095271e-01 7.61575421e-01 5.88189631e-01 -4.71634924e+00] [ 9.13024743e-01 1.12879053e-02 4.07747963e-01 -9.33804467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.47864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.89, Y:-4.75, Z:-93.36 [[ 2.77671014e-01 6.76553613e-01 -6.82036668e-01 1.36888144e+02] [-2.47296260e-01 7.36367251e-01 6.29768078e-01 -4.75161874e+00] [ 9.28301334e-01 -6.20322372e-03 3.71777020e-01 -9.33575296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:136.92, Y:-4.72, Z:-93.33 [[ 2.78604417e-01 6.43255502e-01 -7.13163331e-01 1.36920833e+02] [-2.47856067e-01 7.65567375e-01 5.93695178e-01 -4.71886855e+00] [ 9.27872270e-01 1.13557592e-02 3.72725231e-01 -9.33295466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.53864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.94, Y:-4.70, Z:-93.30 [[ 3.10689138e-01 6.21099205e-01 -7.19519310e-01 1.36944758e+02] [-2.71452655e-01 7.83433629e-01 5.59057426e-01 -4.70261391e+00] [ 9.10925747e-01 2.16223571e-02 4.12003347e-01 -9.33020757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:136.94, Y:-4.73, Z:-93.28 [[ 3.10519365e-01 6.42498782e-01 -7.00551953e-01 1.36941020e+02] [-2.69728121e-01 7.66246331e-01 5.83192336e-01 -4.73010339e+00] [ 9.11495729e-01 7.86604787e-03 4.11234313e-01 -9.32775971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.59864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:136.90, Y:-4.81, Z:-93.26 [[ 2.71649498e-01 7.12151935e-01 -6.47337757e-01 1.36898609e+02] [-2.31199228e-01 7.01223717e-01 6.74412496e-01 -4.81026368e+00] [ 9.34212753e-01 -3.35398261e-02 3.55136048e-01 -9.32582461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.62864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:136.98, Y:-4.70, Z:-93.22 [[ 2.80312263e-01 6.02692557e-01 -7.47118945e-01 1.36978137e+02] [-2.43250073e-01 7.97517212e-01 5.52083054e-01 -4.69769902e+00] [ 9.28576565e-01 2.69810878e-02 3.70158863e-01 -9.32231542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.65864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.00, Y:-4.69, Z:-93.20 [[ 3.18365734e-01 5.91836774e-01 -7.40521770e-01 1.36996006e+02] [-2.69878807e-01 8.05428162e-01 5.27684475e-01 -4.69388177e+00] [ 9.08740166e-01 3.18544768e-02 4.16144931e-01 -9.31981620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.68864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:136.98, Y:-4.75, Z:-93.18 [[ 3.17335486e-01 6.38769824e-01 -7.00907484e-01 1.36979412e+02] [-2.71195730e-01 7.69370069e-01 5.78379264e-01 -4.75128431e+00] [ 9.08708460e-01 6.54285185e-03 4.17380073e-01 -9.31782513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:136.96, Y:-4.79, Z:-93.16 [[ 2.85415935e-01 6.73013665e-01 -6.82341814e-01 1.36963280e+02] [-2.43533278e-01 7.39516898e-01 6.27539879e-01 -4.79326912e+00] [ 9.26946215e-01 -1.29369426e-02 3.74971131e-01 -9.31554077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.00, Y:-4.75, Z:-93.13 [[ 2.88437715e-01 6.28797374e-01 -7.22092478e-01 1.36999912e+02] [-2.50024245e-01 7.77441780e-01 5.77124039e-01 -4.75003055e+00] [ 9.24278941e-01 1.40762875e-02 3.81458119e-01 -9.31257636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.00, Y:-4.77, Z:-93.10 [[ 2.87435585e-01 6.41599450e-01 -7.11147615e-01 1.37002855e+02] [-2.51324754e-01 7.66986725e-01 5.90395826e-01 -4.76948517e+00] [ 9.24238418e-01 9.02822981e-03 3.81709102e-01 -9.31036013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.01, Y:-4.77, Z:-93.08 [[ 2.88375433e-01 6.41320569e-01 -7.11018662e-01 1.37013034e+02] [-2.53834540e-01 7.67199611e-01 5.89043956e-01 -4.77321482e+00] [ 9.23259246e-01 1.06152888e-02 3.84030832e-01 -9.30778049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.83864 meters Centerline goodness : 0.862695 Centerline is valid? [True, False] Translation: X:137.04, Y:-4.70, Z:-93.09 [[ 3.02075937e-01 5.72820234e-01 -7.61988916e-01 1.37039485e+02] [-2.41260832e-01 8.19246305e-01 5.20219861e-01 -4.69620800e+00] [ 9.22249066e-01 2.66921780e-02 3.85673682e-01 -9.30907287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.86864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:137.06, Y:-4.61, Z:-93.10 [[ 3.17897256e-01 4.92139597e-01 -8.10394935e-01 1.37062462e+02] [-2.25881500e-01 8.69435075e-01 4.39386160e-01 -4.60968169e+00] [ 9.20825109e-01 4.33735690e-02 3.87556256e-01 -9.31021845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.05, Y:-4.67, Z:-93.08 [[ 3.18565835e-01 5.51314002e-01 -7.71082797e-01 1.37049624e+02] [-2.24428187e-01 8.34202927e-01 5.03723599e-01 -4.67377721e+00] [ 9.20949400e-01 1.25835857e-02 3.89478954e-01 -9.30829770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.05, Y:-4.71, Z:-93.06 [[ 3.17363963e-01 5.77249941e-01 -7.52371331e-01 1.37048460e+02] [-2.21074699e-01 8.16562354e-01 5.33246565e-01 -4.70735752e+00] [ 9.22174654e-01 -2.90297790e-03 3.86762822e-01 -9.30620586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.08, Y:-4.65, Z:-93.03 [[ 3.20326372e-01 5.25068956e-01 -7.88475495e-01 1.37079068e+02] [-2.20956651e-01 8.50788384e-01 4.76798998e-01 -4.65296369e+00] [ 9.21178144e-01 2.14876115e-02 3.88547435e-01 -9.30289983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.09, Y:-4.65, Z:-93.00 [[ 3.51979078e-01 5.18298552e-01 -7.79408326e-01 1.37093550e+02] [-2.38262025e-01 8.54877328e-01 4.60886061e-01 -4.65088611e+00] [ 9.05175086e-01 2.34811552e-02 4.24389796e-01 -9.30032303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.01864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.03, Y:-4.82, Z:-92.99 [[ 3.10375140e-01 6.65405185e-01 -6.78898529e-01 1.37025451e+02] [-1.99611303e-01 7.43865634e-01 6.37823836e-01 -4.81714894e+00] [ 9.29420572e-01 -6.24488427e-02 3.63699796e-01 -9.29943111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.15, Y:-4.52, Z:-92.93 [[ 3.28746320e-01 3.76878883e-01 -8.65960834e-01 1.37149530e+02] [-2.21237928e-01 9.22143290e-01 3.17341348e-01 -4.51595466e+00] [ 9.18139225e-01 8.72585804e-02 3.86531116e-01 -9.29305507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.10, Y:-4.72, Z:-92.93 [[ 3.29244455e-01 5.65001215e-01 -7.56552520e-01 1.37101146e+02] [-2.14560576e-01 8.25031965e-01 5.22767650e-01 -4.71837277e+00] [ 9.19544370e-01 -9.79200512e-03 3.92864185e-01 -9.29343286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.11, Y:-4.71, Z:-92.91 [[ 3.28891850e-01 5.52413342e-01 -7.65943634e-01 1.37114560e+02] [-2.08855070e-01 8.33529513e-01 5.11476402e-01 -4.71102732e+00] [ 9.20983013e-01 -8.24920824e-03 3.89515391e-01 -9.29075406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.14, Y:-4.66, Z:-92.87 [[ 3.38273734e-01 4.95520014e-01 -8.00019248e-01 1.37144715e+02] [-2.13923519e-01 8.68370851e-01 4.47402272e-01 -4.65764486e+00] [ 9.16410175e-01 1.97984956e-02 3.99750435e-01 -9.28747982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.13, Y:-4.72, Z:-92.86 [[ 3.40223070e-01 5.46585294e-01 -7.65174999e-01 1.37133497e+02] [-2.11480386e-01 8.37347373e-01 5.04108543e-01 -4.72057554e+00] [ 9.16255591e-01 -9.68985141e-03 4.00476963e-01 -9.28576349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.19864 meters Centerline goodness : 0.870895 Centerline is valid? [True, False] Translation: X:137.15, Y:-4.64, Z:-92.87 [[ 3.52395070e-01 4.70481198e-01 -8.08990208e-01 1.37149309e+02] [-1.95613489e-01 8.82378645e-01 4.27952439e-01 -4.64305037e+00] [ 9.15179260e-01 7.44106755e-03 4.02978353e-01 -9.28680254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.22864 meters Centerline goodness : 0.978399 Centerline is valid? [False, True] Translation: X:137.16, Y:-4.57, Z:-92.88 [[ 3.61376223e-01 3.98390195e-01 -8.43025787e-01 1.37157115e+02] [-1.82312370e-01 9.16865457e-01 3.55133683e-01 -4.56830471e+00] [ 9.14423001e-01 2.53571605e-02 4.03964837e-01 -9.28809792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.11, Y:-4.70, Z:-92.88 [[ 4.19404638e-01 4.44886042e-01 -7.91312934e-01 1.37111950e+02] [-1.11238756e-01 8.90299527e-01 4.41579769e-01 -4.69538650e+00] [ 9.00958206e-01 -9.71759367e-02 4.22884320e-01 -9.28751357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.13, Y:-4.64, Z:-92.85 [[ 3.72023447e-01 3.91980022e-01 -8.41397776e-01 1.37131263e+02] [-8.66266558e-02 9.17165985e-01 3.88976065e-01 -4.64408226e+00] [ 9.24172266e-01 -7.18207411e-02 3.75163170e-01 -9.28526822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.31864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:137.16, Y:-4.37, Z:-92.80 [[ 3.83924690e-01 1.15386027e-01 -9.16126573e-01 1.37161095e+02] [-1.03558169e-01 9.91282528e-01 8.14533897e-02 -4.36964849e+00] [ 9.17538848e-01 6.36004228e-02 3.92527003e-01 -9.27964218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.34864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.17, Y:-4.53, Z:-92.79 [[ 3.81395932e-01 2.72567632e-01 -8.83314230e-01 1.37169579e+02] [-9.90573164e-02 9.62090550e-01 2.54105139e-01 -4.52905785e+00] [ 9.19089109e-01 -9.41592933e-03 3.93937240e-01 -9.27918315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.37864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.18, Y:-4.51, Z:-92.76 [[ 3.82632164e-01 2.52446848e-01 -8.88742491e-01 1.37181602e+02] [-9.97893951e-02 9.67610762e-01 2.31886802e-01 -4.51189328e+00] [ 9.18495892e-01 -4.02734359e-05 3.95430518e-01 -9.27643297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.40864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.19, Y:-4.54, Z:-92.74 [[ 3.83781123e-01 2.77587043e-01 -8.80714189e-01 1.37188735e+02] [-9.96933264e-02 9.60628932e-01 2.59332404e-01 -4.53996016e+00] [ 9.18026846e-01 -1.17255541e-02 3.96344826e-01 -9.27399276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.43864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.20, Y:-4.50, Z:-92.71 [[ 3.83506290e-01 2.34444352e-01 -8.93285381e-01 1.37203249e+02] [-9.70311845e-02 9.72117657e-01 2.13476486e-01 -4.50309558e+00] [ 9.18426848e-01 4.80696334e-03 3.95561649e-01 -9.27122181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.21, Y:-4.49, Z:-92.68 [[ 3.96867500e-01 2.17084455e-01 -8.91835482e-01 1.37214256e+02] [-9.98635888e-02 9.76073975e-01 1.93149833e-01 -4.48886596e+00] [ 9.12427231e-01 1.24070005e-02 4.09050871e-01 -9.26842781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.22, Y:-4.54, Z:-92.66 [[ 3.98874310e-01 2.59455495e-01 -8.79535179e-01 1.37221187e+02] [-9.41542528e-02 9.65656751e-01 2.42161136e-01 -4.53750170e+00] [ 9.12159121e-01 -1.37798783e-02 4.09604509e-01 -9.26633870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.23, Y:-4.54, Z:-92.64 [[ 3.93418149e-01 2.55183351e-01 -8.83234747e-01 1.37232456e+02] [-8.92611762e-02 9.66769903e-01 2.39558756e-01 -4.53919882e+00] [ 9.15016176e-01 -1.54081898e-02 4.03122792e-01 -9.26384880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.25, Y:-4.51, Z:-92.61 [[ 4.05826120e-01 2.21361659e-01 -8.86737941e-01 1.37245138e+02] [-8.89311559e-02 9.75185791e-01 2.02741024e-01 -4.51255267e+00] [ 9.09613330e-01 -3.41897307e-03 4.15441814e-01 -9.26108659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.26, Y:-4.52, Z:-92.59 [[ 4.06058189e-01 2.27417190e-01 -8.85097830e-01 1.37255625e+02] [-8.57053804e-02 9.73748409e-01 2.10875848e-01 -4.52498294e+00] [ 9.09819397e-01 -9.77021866e-03 4.14889392e-01 -9.25858172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.61864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:137.27, Y:-4.54, Z:-92.56 [[ 4.03683677e-01 2.36817473e-01 -8.83717700e-01 1.37266300e+02] [-8.36418482e-02 9.71426521e-01 2.22113833e-01 -4.53822656e+00] [ 9.11067248e-01 -1.57479471e-02 4.11956882e-01 -9.25617206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.64864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.28, Y:-4.52, Z:-92.53 [[ 4.08933204e-01 2.18912372e-01 -8.85918172e-01 1.37277140e+02] [-8.45847842e-02 9.75714197e-01 2.02057468e-01 -4.52467585e+00] [ 9.08635818e-01 -7.69281036e-03 4.17518589e-01 -9.25345230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.67864 meters Centerline goodness : 0.930649 Centerline is valid? [True, False] Translation: X:137.27, Y:-4.47, Z:-92.54 [[ 4.14830336e-01 1.54778115e-01 -8.96637902e-01 1.37273183e+02] [-6.63699748e-02 9.87948115e-01 1.39834004e-01 -4.47072148e+00] [ 9.07474969e-01 1.50244802e-03 4.20103468e-01 -9.25374283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.70864 meters Centerline goodness : 0.999755 Centerline is valid? [False, True] Translation: X:137.27, Y:-4.42, Z:-92.54 [[ 4.18261178e-01 9.19424690e-02 -9.03661535e-01 1.37267349e+02] [-4.90080666e-02 9.95699044e-01 7.86233054e-02 -4.41566954e+00] [ 9.07003747e-01 1.14016284e-02 4.20968177e-01 -9.25374838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.73864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:137.28, Y:-4.40, Z:-92.51 [[ 4.57328300e-01 8.04179141e-02 -8.85654439e-01 1.37280023e+02] [-5.79299811e-02 9.96481653e-01 6.05675913e-02 -4.40163816e+00] [ 8.87409118e-01 2.36066713e-02 4.60377869e-01 -9.25093762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.76864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:137.30, Y:-4.47, Z:-92.49 [[ 4.58347864e-01 1.48908507e-01 -8.76209731e-01 1.37297209e+02] [-6.09156791e-02 9.88809632e-01 1.36179262e-01 -4.47057352e+00] [ 8.86682872e-01 -9.04256324e-03 4.62289645e-01 -9.24914178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.79864 meters Centerline goodness : 0.995091 Centerline is valid? [True, True] Translation: X:137.32, Y:-4.53, Z:-92.48 [[ 4.25748155e-01 2.37979706e-01 -8.72985778e-01 1.37317670e+02] [-9.69660594e-02 9.71237679e-01 2.17474031e-01 -4.52666159e+00] [ 8.99631087e-01 -7.93917675e-03 4.36578604e-01 -9.24786383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.32, Y:-4.44, Z:-92.44 [[ 4.16344116e-01 1.16117804e-01 -9.01761738e-01 1.37315293e+02] [-5.39175910e-02 9.93218879e-01 1.03000736e-01 -4.44223557e+00] [ 9.07607002e-01 5.73707007e-03 4.19781628e-01 -9.24405133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.33, Y:-4.44, Z:-92.41 [[ 4.18760293e-01 1.19213690e-01 -9.00237698e-01 1.37327339e+02] [-5.78117813e-02 9.92834353e-01 1.04583676e-01 -4.44414914e+00] [ 9.06254719e-01 8.24885394e-03 4.22651561e-01 -9.24131203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.34, Y:-4.42, Z:-92.38 [[ 4.62875138e-01 8.45256948e-02 -8.82384278e-01 1.37338557e+02] [-6.07160524e-02 9.96128617e-01 6.35715230e-02 -4.41621231e+00] [ 8.84341658e-01 2.41492125e-02 4.66215238e-01 -9.23835775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.91864 meters Centerline goodness : 0.992111 Centerline is valid? [True, True] Translation: X:137.39, Y:-4.59, Z:-92.34 [[ 4.45753593e-01 2.53782167e-01 -8.58427834e-01 1.37386610e+02] [-7.39906871e-02 9.66134545e-01 2.47203196e-01 -4.59007300e+00] [ 8.92092547e-01 -4.66760475e-02 4.49435461e-01 -9.23417669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.30, Y:-4.85, Z:-92.35 [[ 4.65803988e-01 4.94162127e-01 -7.34050704e-01 1.37295934e+02] [-6.99234900e-02 8.47502033e-01 5.26166333e-01 -4.84821233e+00] [ 8.82120938e-01 -1.93762989e-01 4.29323368e-01 -9.23510660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.97864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:137.36, Y:-4.53, Z:-92.33 [[ 4.27788955e-01 1.87710625e-01 -8.84172682e-01 1.37362607e+02] [-5.18097812e-02 9.81682427e-01 1.83344920e-01 -4.52896548e+00] [ 9.02392574e-01 -3.26241383e-02 4.29678145e-01 -9.23315867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.00864 meters Centerline goodness : 0.835285 Centerline is valid? [True, False] Translation: X:137.36, Y:-4.47, Z:-92.34 [[ 4.33425604e-01 1.23172434e-01 -8.92732209e-01 1.37357438e+02] [-3.35006889e-02 9.92133041e-01 1.20622269e-01 -4.47458748e+00] [ 9.00566460e-01 -2.23736359e-02 4.34142225e-01 -9.23357023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:137.34, Y:-4.43, Z:-92.37 [[ 4.47325661e-01 7.00245255e-02 -8.91625661e-01 1.37338310e+02] [-2.02964622e-02 9.97468318e-01 6.81542938e-02 -4.42960452e+00] [ 8.94140820e-01 -1.23903180e-02 4.47614425e-01 -9.23674778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.35, Y:-4.45, Z:-92.34 [[ 4.42050497e-01 8.68107300e-02 -8.92779511e-01 1.37351587e+02] [-2.02969501e-02 9.96019012e-01 8.67995509e-02 -4.44718830e+00] [ 8.96760499e-01 -2.02490834e-02 4.42052692e-01 -9.23433943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.36, Y:-4.38, Z:-92.31 [[ 4.80847152e-01 1.61729016e-02 -8.76655265e-01 1.37356186e+02] [-2.03461872e-02 9.99766459e-01 7.28418411e-03 -4.38171213e+00] [ 8.76568337e-01 1.43340130e-02 4.81063912e-01 -9.23103797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.38, Y:-4.52, Z:-92.30 [[ 4.34762373e-01 1.51139109e-01 -8.87771733e-01 1.37375703e+02] [-1.68658878e-02 9.87009485e-01 1.59774270e-01 -4.51547839e+00] [ 9.00387262e-01 -5.44907824e-02 4.31663681e-01 -9.22974160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.38, Y:-4.40, Z:-92.26 [[ 4.44084956e-01 2.71099021e-02 -8.95574455e-01 1.37378543e+02] [-2.42788435e-02 9.99539216e-01 1.82179618e-02 -4.39571486e+00] [ 8.95655676e-01 1.36531893e-02 4.44538525e-01 -9.22614919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:-4.44, Z:-92.24 [[ 4.48656798e-01 7.48886298e-02 -8.90560931e-01 1.37396877e+02] [-2.55894114e-02 9.97150856e-01 7.09602182e-02 -4.44188857e+00] [ 8.93337708e-01 -9.04785427e-03 4.49294866e-01 -9.22430380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.40, Y:-4.38, Z:-92.21 [[ 4.83929476e-01 1.63045394e-02 -8.74955098e-01 1.37403682e+02] [-2.83961554e-02 9.99592479e-01 2.92147371e-03 -4.38479069e+00] [ 8.74646169e-01 2.34315737e-02 4.84195251e-01 -9.22117130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.42, Y:-4.51, Z:-92.20 [[ 4.44409985e-01 1.48546342e-01 -8.83421615e-01 1.37424630e+02] [-3.07383170e-02 9.88103765e-01 1.50685452e-01 -4.51209925e+00] [ 8.95295997e-01 -3.98112257e-02 4.43689244e-01 -9.21977844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.43, Y:-4.42, Z:-92.16 [[ 4.49819826e-01 5.87639576e-02 -8.91184000e-01 1.37431247e+02] [-3.58765746e-02 9.98216575e-01 4.77131119e-02 -4.42310793e+00] [ 8.92398451e-01 1.05103255e-02 4.51125855e-01 -9.21644526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.44, Y:-4.41, Z:-92.14 [[ 4.56433271e-01 4.46216950e-02 -8.88638044e-01 1.37442127e+02] [-3.81911449e-02 9.98803739e-01 3.05373001e-02 -4.40906190e+00] [ 8.88937628e-01 1.99998646e-02 4.57591411e-01 -9.21388462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.46, Y:-4.41, Z:-92.12 [[ 4.89405401e-01 4.79015615e-02 -8.70739797e-01 1.37457188e+02] [-3.98765971e-02 9.98675058e-01 3.25266777e-02 -4.41249811e+00] [ 8.71144196e-01 1.88034083e-02 4.90667119e-01 -9.21150672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.36864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.47, Y:-4.44, Z:-92.09 [[ 4.88340901e-01 7.13702339e-02 -8.69729530e-01 1.37472419e+02] [-4.00719222e-02 9.97432628e-01 5.93497629e-02 -4.43692153e+00] [ 8.71732416e-01 5.86881738e-03 4.89947090e-01 -9.20926474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.49, Y:-4.48, Z:-92.07 [[ 4.53228980e-01 1.14379095e-01 -8.84025404e-01 1.37486183e+02] [-3.68360146e-02 9.93289583e-01 1.09630802e-01 -4.48029640e+00] [ 8.90632696e-01 -1.71238840e-02 4.54400895e-01 -9.20722605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.42864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:137.49, Y:-4.39, Z:-92.04 [[ 4.89719415e-01 2.28021385e-02 -8.71581870e-01 1.37491272e+02] [-3.92100870e-02 9.99222535e-01 4.11030775e-03 -4.39067097e+00] [ 8.70997970e-01 3.21619035e-02 4.90232749e-01 -9.20384386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.51, Y:-4.48, Z:-92.02 [[ 4.54888705e-01 1.12398241e-01 -8.83426795e-01 1.37510258e+02] [-3.65284510e-02 9.93523327e-01 1.07596798e-01 -4.47978182e+00] [ 8.89798819e-01 -1.66743558e-02 4.56048274e-01 -9.20231714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.52, Y:-4.42, Z:-91.99 [[ 4.60096004e-01 4.99426739e-02 -8.86463421e-01 1.37517195e+02] [-3.71575943e-02 9.98625096e-01 3.69760851e-02 -4.41906229e+00] [ 8.87091303e-01 1.59262991e-02 4.61319166e-01 -9.19922918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.53, Y:-4.45, Z:-91.97 [[ 4.55346479e-01 8.39242534e-02 -8.86349990e-01 1.37533137e+02] [-3.52148460e-02 9.96465948e-01 7.62596101e-02 -4.45297767e+00] [ 8.89617614e-01 -3.51186650e-03 4.56692640e-01 -9.19715089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.54, Y:-4.43, Z:-91.94 [[ 4.59862848e-01 5.34717187e-02 -8.86378552e-01 1.37541245e+02] [-3.30031775e-02 9.98524870e-01 4.31146554e-02 -4.42521277e+00] [ 8.87376443e-01 9.42648046e-03 4.60949227e-01 -9.19445335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.57864 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:137.55, Y:-4.48, Z:-91.95 [[ 4.84852178e-01 3.01741470e-02 -8.74075446e-01 1.37546987e+02] [ 4.00186467e-02 9.97592506e-01 5.66365651e-02 -4.47619698e+00] [ 8.73680075e-01 -6.24396784e-02 4.82477371e-01 -9.19540420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.50, Y:-4.17, Z:-91.85 [[ 5.02518844e-01 -2.13913190e-01 -8.37684880e-01 1.37495642e+02] [-3.43447574e-02 9.63203705e-01 -2.66569053e-01 -4.16821476e+00] [ 8.63883817e-01 1.62726056e-01 4.76681216e-01 -9.18469688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.58, Y:-4.57, Z:-91.89 [[ 4.65351311e-01 1.93560420e-01 -8.63702797e-01 1.37580098e+02] [-3.13486597e-02 9.78788339e-01 2.02461474e-01 -4.56549196e+00] [ 8.84570754e-01 -6.71397875e-02 4.61548297e-01 -9.18861281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.57, Y:-4.30, Z:-91.83 [[ 5.05865971e-01 -7.52776263e-02 -8.59321185e-01 1.37565214e+02] [-3.54587855e-02 9.93528301e-01 -1.07908250e-01 -4.29957455e+00] [ 8.61882993e-01 8.50575971e-02 4.99922905e-01 -9.18257714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.61, Y:-4.45, Z:-91.82 [[ 5.05158507e-01 8.07474019e-02 -8.59240793e-01 1.37605142e+02] [-3.86190807e-02 9.96731035e-01 7.09634422e-02 -4.45230258e+00] [ 8.62162078e-01 -2.66469696e-03 5.06625552e-01 -9.18228294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:137.62, Y:-4.45, Z:-91.80 [[ 5.05515323e-01 7.95293668e-02 -8.59144539e-01 1.37619005e+02] [-3.77684738e-02 9.96828118e-01 7.00517365e-02 -4.45208677e+00] [ 8.61990604e-01 -2.96364819e-03 5.06915591e-01 -9.17985999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.63, Y:-4.45, Z:-91.77 [[ 5.05840941e-01 7.85227901e-02 -8.59045466e-01 1.37632835e+02] [-3.73279397e-02 9.96908073e-01 6.91441903e-02 -4.45144053e+00] [ 8.61818755e-01 -2.90956495e-03 5.07208012e-01 -9.17740418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.65, Y:-4.45, Z:-91.75 [[ 5.05121100e-01 7.71702405e-02 -8.59591431e-01 1.37646364e+02] [-3.61128083e-02 9.97011960e-01 6.82862917e-02 -4.45147754e+00] [ 8.62292606e-01 -3.45058624e-03 5.06398612e-01 -9.17498359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.81864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.66, Y:-4.45, Z:-91.73 [[ 5.03949646e-01 7.59999415e-02 -8.60382916e-01 1.37660561e+02] [-3.51260004e-02 9.97100596e-01 6.75023300e-02 -4.45039987e+00] [ 8.63018492e-01 -3.79596465e-03 5.05158067e-01 -9.17257245e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.67, Y:-4.45, Z:-91.70 [[ 5.03642195e-01 7.45156327e-02 -8.60692721e-01 1.37674388e+02] [-3.37097389e-02 9.97209541e-01 6.66091993e-02 -4.45003902e+00] [ 8.63254420e-01 -4.53347644e-03 5.04748705e-01 -9.17017635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.69, Y:-4.45, Z:-91.68 [[ 5.04132404e-01 7.31414336e-02 -8.60523590e-01 1.37688226e+02] [-3.25615022e-02 9.97308552e-01 6.56917131e-02 -4.44988438e+00] [ 8.63012322e-01 -5.09738052e-03 5.05157153e-01 -9.16769898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.70, Y:-4.45, Z:-91.65 [[ 5.01825697e-01 7.22362816e-02 -8.61947150e-01 1.37703086e+02] [-3.20993038e-02 9.97375513e-01 6.48977643e-02 -4.44880656e+00] [ 8.64372954e-01 -4.89946246e-03 5.02827397e-01 -9.16535358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.72, Y:-4.45, Z:-91.63 [[ 5.01424134e-01 7.15705560e-02 -8.62236332e-01 1.37716708e+02] [-3.22709920e-02 9.97426363e-01 6.40252598e-02 -4.44801958e+00] [ 8.64599572e-01 -4.27858867e-03 5.02443303e-01 -9.16286695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.73, Y:-4.45, Z:-91.60 [[ 5.02346276e-01 7.11417892e-02 -8.61734916e-01 1.37729959e+02] [-3.30252635e-02 9.97460962e-01 6.30948547e-02 -4.44656400e+00] [ 8.64035619e-01 -3.23644262e-03 5.03420276e-01 -9.16036901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.74, Y:-4.44, Z:-91.58 [[ 5.02560012e-01 7.10457412e-02 -8.61618208e-01 1.37743710e+02] [-3.43907520e-02 9.97471740e-01 6.21884518e-02 -4.44472482e+00] [ 8.63858039e-01 -1.62173097e-03 5.03732726e-01 -9.15791608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.76, Y:-4.44, Z:-91.55 [[ 5.04473582e-01 7.03629044e-02 -8.60555325e-01 1.37756758e+02] [-3.46127651e-02 9.97520827e-01 6.12711762e-02 -4.44468018e+00] [ 8.62733077e-01 -1.12349041e-03 5.05658359e-01 -9.15548008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.77, Y:-4.44, Z:-91.53 [[ 5.04382721e-01 6.97325228e-02 -8.60659890e-01 1.37770470e+02] [-3.49108398e-02 9.97565644e-01 6.03657092e-02 -4.44353646e+00] [ 8.62774190e-01 -4.01061155e-04 5.05589295e-01 -9.15305060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.78, Y:-4.44, Z:-91.51 [[ 5.04298589e-01 6.86132216e-02 -8.60799140e-01 1.37783627e+02] [-3.42235826e-02 9.97643194e-01 5.94710273e-02 -4.44292190e+00] [ 8.62850902e-01 -5.31524693e-04 5.05458246e-01 -9.15062317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:-4.44, Z:-91.48 [[ 5.02927727e-01 6.73982911e-02 -8.61696682e-01 1.37796533e+02] [-3.32502365e-02 9.97725800e-01 5.86314756e-02 -4.44267502e+00] [ 8.63688672e-01 -8.35776380e-04 5.04024978e-01 -9.14819613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.81, Y:-4.53, Z:-91.47 [[ 4.64791995e-01 1.55589639e-01 -8.71642281e-01 1.37813973e+02] [-2.49988334e-02 9.86353005e-01 1.62735395e-01 -4.53488938e+00] [ 8.85066924e-01 -5.38480688e-02 4.62338540e-01 -9.14667100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.80, Y:-4.34, Z:-91.42 [[ 5.06099831e-01 -4.32527963e-02 -8.61389666e-01 1.37802295e+02] [-2.64831978e-02 9.97491425e-01 -6.56467539e-02 -4.34036230e+00] [ 8.62068211e-01 5.60361639e-02 5.03684770e-01 -9.14168303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.83, Y:-4.45, Z:-91.41 [[ 5.07449676e-01 6.25707476e-02 -8.59406614e-01 1.37834548e+02] [-2.63771141e-02 9.98020643e-01 5.70880407e-02 -4.44556679e+00] [ 8.61277582e-01 -6.30064150e-03 5.08095688e-01 -9.14068833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.85, Y:-4.45, Z:-91.38 [[ 5.06932273e-01 6.10942248e-02 -8.59818101e-01 1.37847738e+02] [-2.49193573e-02 9.98106908e-01 5.62283363e-02 -4.44537343e+00] [ 8.61625613e-01 -7.07784382e-03 5.07495032e-01 -9.13827998e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.86, Y:-4.45, Z:-91.36 [[ 5.07537480e-01 5.97788830e-02 -8.59553484e-01 1.37861460e+02] [-2.38599575e-02 9.98182909e-01 5.53315617e-02 -4.44701727e+00] [ 8.61299256e-01 -7.57393177e-03 5.08041560e-01 -9.13582395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.88, Y:-4.45, Z:-91.33 [[ 5.07559740e-01 5.87705043e-02 -8.59609876e-01 1.37875184e+02] [-2.33753304e-02 9.98243035e-01 5.44466406e-02 -4.44741714e+00] [ 8.61299428e-01 -7.54125788e-03 5.08041755e-01 -9.13333792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.89, Y:-4.45, Z:-91.31 [[ 5.08903252e-01 5.77835394e-02 -8.58882147e-01 1.37887674e+02] [-2.29225163e-02 9.98300359e-01 5.35812570e-02 -4.44914793e+00] [ 8.60518471e-01 -7.57993594e-03 5.09362843e-01 -9.13089029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:-4.45, Z:-91.28 [[ 5.08438141e-01 5.70685364e-02 -8.59205353e-01 1.37901352e+02] [-2.29562478e-02 9.98345133e-01 5.27257697e-02 -4.44865627e+00] [ 8.60792465e-01 -7.08366136e-03 5.08906823e-01 -9.12843506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-4.49, Z:-91.27 [[ 4.70379367e-01 9.49766819e-02 -8.77338407e-01 1.37915244e+02] [-1.83638119e-02 9.95029592e-01 9.78717563e-02 -4.48620260e+00] [ 8.82273212e-01 -2.99255773e-02 4.69785524e-01 -9.12666447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.93, Y:-4.52, Z:-91.25 [[ 4.59705239e-01 1.23346868e-01 -8.79463838e-01 1.37928941e+02] [-1.44704589e-02 9.91216314e-01 1.31456550e-01 -4.51504712e+00] [ 8.87953658e-01 -4.77050196e-02 4.57452218e-01 -9.12456600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.93, Y:-4.38, Z:-91.21 [[ 4.72155436e-01 -9.36006622e-03 -8.81465617e-01 1.37925001e+02] [-1.94700893e-02 9.99588959e-01 -2.10435064e-02 -4.38441237e+00] [ 8.81300266e-01 2.70980202e-02 4.71779120e-01 -9.12056005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.47864 meters Centerline goodness : 0.764230 Centerline is valid? [True, False] Translation: X:137.90, Y:-4.36, Z:-91.25 [[ 4.95559019e-01 -3.79429355e-02 -8.67745119e-01 1.37897042e+02] [-9.27881101e-03 9.98757121e-01 -4.89705728e-02 -4.35988187e+00] [ 8.68524705e-01 3.23194520e-02 4.94591034e-01 -9.12488201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.50864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:137.87, Y:-4.36, Z:-91.30 [[ 5.11803010e-01 -3.89881295e-02 -8.58217691e-01 1.37869899e+02] [-6.54265134e-03 9.98763831e-01 -4.92747735e-02 -4.35894859e+00] [ 8.59077920e-01 3.08339965e-02 5.10915249e-01 -9.12957390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.53864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.90, Y:-4.44, Z:-91.28 [[ 5.12113139e-01 3.51476743e-02 -8.58198563e-01 1.37899206e+02] [-5.60590603e-03 9.99277883e-01 3.75803885e-02 -4.43512115e+00] [ 8.58899707e-01 -1.44344302e-02 5.11940368e-01 -9.12816946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.56864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.92, Y:-4.57, Z:-91.27 [[ 4.64898672e-01 1.61102230e-01 -8.70583308e-01 1.37918430e+02] [ 9.48200660e-03 9.82343268e-01 1.86846982e-01 -4.56885239e+00] [ 8.85313117e-01 -9.51197905e-02 4.55162509e-01 -9.12707200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.89, Y:-4.32, Z:-91.21 [[ 4.72525975e-01 -1.01825762e-01 -8.75414597e-01 1.37894983e+02] [ 2.91378498e-03 9.93478107e-01 -1.13985792e-01 -4.31576399e+00] [ 8.81311927e-01 5.13104774e-02 4.69740909e-01 -9.12125921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.93, Y:-4.38, Z:-91.20 [[ 5.15717930e-01 -3.97756543e-02 -8.55834630e-01 1.37927078e+02] [ 6.25593037e-03 9.99069939e-01 -4.26628741e-02 -4.37825358e+00] [ 8.56735595e-01 1.66479673e-02 5.15487115e-01 -9.11974351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.65864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.95, Y:-4.45, Z:-91.18 [[ 5.18167143e-01 2.78149419e-02 -8.54826966e-01 1.37953290e+02] [ 5.76644004e-03 9.99334704e-01 3.60124537e-02 -4.44794334e+00] [ 8.55259937e-01 -2.35897787e-02 5.17662015e-01 -9.11814962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:137.97, Y:-4.45, Z:-91.16 [[ 5.18640425e-01 2.67684094e-02 -8.54573322e-01 1.37967814e+02] [ 6.38621674e-03 9.99360606e-01 3.51794787e-02 -4.45383364e+00] [ 8.54968611e-01 -2.37029902e-02 5.18137860e-01 -9.11575077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:137.98, Y:-4.46, Z:-91.13 [[ 5.18024475e-01 2.60278157e-02 -8.54969705e-01 1.37981948e+02] [ 6.50405186e-03 9.99388180e-01 3.43651352e-02 -4.45749109e+00] [ 8.55341067e-01 -2.33627484e-02 5.17538251e-01 -9.11331074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.74864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:138.01, Y:-4.52, Z:-91.11 [[ 4.85504084e-01 1.23040527e-01 -8.65532676e-01 1.38012869e+02] [-3.70875875e-02 9.92053938e-01 1.20222688e-01 -4.51593213e+00] [ 8.73447363e-01 -2.62680869e-02 4.86209514e-01 -9.11099970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:-4.48, Z:-91.09 [[ 5.19542848e-01 3.42303086e-02 -8.53758464e-01 1.38007160e+02] [ 6.48047387e-03 9.99010618e-01 4.39976026e-02 -4.47799855e+00] [ 8.54419822e-01 -2.83913992e-02 5.18806993e-01 -9.10857965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.02, Y:-4.47, Z:-91.06 [[ 5.20255398e-01 2.20904510e-02 -8.53724975e-01 1.38019033e+02] [ 6.47931690e-03 9.99534530e-01 2.98117882e-02 -4.46985528e+00] [ 8.53986147e-01 -2.10412984e-02 5.19870103e-01 -9.10602605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.03, Y:-4.60, Z:-91.05 [[ 4.76768983e-01 1.47938754e-01 -8.66490313e-01 1.38034341e+02] [ 1.22735827e-02 9.84519718e-01 1.74843599e-01 -4.60192154e+00] [ 8.78942942e-01 -9.39949451e-02 4.67572726e-01 -9.10450574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.01, Y:-4.32, Z:-90.99 [[ 5.19495062e-01 -1.41531520e-01 -8.42670582e-01 1.38012278e+02] [ 7.92681891e-03 9.86942775e-01 -1.60876113e-01 -4.31688764e+00] [ 8.54436684e-01 7.68946492e-02 5.13833793e-01 -9.09868313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.89864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.06, Y:-4.48, Z:-90.99 [[ 5.22347820e-01 2.29740041e-02 -8.52422988e-01 1.38060017e+02] [ 3.91215500e-03 9.99561925e-01 2.93368970e-02 -4.48054973e+00] [ 8.52723548e-01 -1.86588751e-02 5.22029115e-01 -9.09854531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.07, Y:-4.48, Z:-90.96 [[ 5.24056281e-01 2.28416072e-02 -8.51377281e-01 1.38073405e+02] [ 2.68791098e-03 9.99590961e-01 2.84725483e-02 -4.48444944e+00] [ 8.51679394e-01 -1.72096441e-02 5.23780525e-01 -9.09611469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.09, Y:-4.54, Z:-90.94 [[ 4.85033190e-01 7.52688584e-02 -8.71250483e-01 1.38085800e+02] [ 7.27912460e-03 9.95906981e-01 9.00905080e-02 -4.53965322e+00] [ 8.74465448e-01 -5.00388272e-02 4.82500048e-01 -9.09434800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.09, Y:-4.41, Z:-90.90 [[ 5.23987839e-01 -5.39232592e-02 -8.50017075e-01 1.38087808e+02] [ 3.58704365e-03 9.98124734e-01 -6.11076802e-02 -4.41239841e+00] [ 8.51718192e-01 2.89706329e-02 5.23198647e-01 -9.09048295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.11, Y:-4.49, Z:-90.89 [[ 5.24573348e-01 2.34353695e-02 -8.51042646e-01 1.38113024e+02] [-6.02869435e-05 9.99622086e-01 2.74896776e-02 -4.49260397e+00] [ 8.51365256e-01 -1.43690455e-02 5.24376517e-01 -9.08891772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.13, Y:-4.49, Z:-90.87 [[ 5.24760390e-01 2.29847703e-02 -8.50939618e-01 1.38127044e+02] [-5.35051989e-05 9.99636290e-01 2.69682274e-02 -4.49444714e+00] [ 8.51249981e-01 -1.41063278e-02 5.24570760e-01 -9.08653761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.14, Y:-4.58, Z:-90.85 [[ 4.78875645e-01 1.08429114e-01 -8.71160860e-01 1.38141025e+02] [ 3.28017453e-03 9.92115143e-01 1.25286805e-01 -4.58084337e+00] [ 8.77876618e-01 -6.28543595e-02 4.74744113e-01 -9.08457441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.14, Y:-4.41, Z:-90.81 [[ 5.26687157e-01 -7.08720215e-02 -8.47099637e-01 1.38138568e+02] [-6.99125843e-04 9.96481955e-01 -8.38046767e-02 -4.40591194e+00] [ 8.50058910e-01 4.47310762e-02 5.24784700e-01 -9.08060692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:-4.56, Z:-90.80 [[ 4.87465309e-01 8.29988498e-02 -8.69188566e-01 1.38165884e+02] [ 5.80859162e-04 9.95440724e-01 9.53804354e-02 -4.56150131e+00] [ 8.73142162e-01 -4.69995296e-02 4.85194609e-01 -9.07977450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:138.18, Y:-4.54, Z:-90.77 [[ 4.74300609e-01 6.07896423e-02 -8.78261664e-01 1.38177006e+02] [-1.61748851e-03 9.97671644e-01 6.81811914e-02 -4.54170679e+00] [ 8.80361469e-01 -3.09178025e-02 4.73294595e-01 -9.07688376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.17, Y:-4.39, Z:-90.73 [[ 5.29855964e-01 -9.27049612e-02 -8.43005603e-01 1.38171811e+02] [-2.77190947e-03 9.93813031e-01 -1.11031422e-01 -4.39213028e+00] [ 8.48083117e-01 6.11673966e-02 5.26320792e-01 -9.07293646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.20, Y:-4.51, Z:-90.72 [[ 5.30587168e-01 2.35860358e-02 -8.47302163e-01 1.38204035e+02] [-5.68881179e-03 9.99689361e-01 2.42656037e-02 -4.50940289e+00] [ 8.47611288e-01 -8.05487540e-03 5.30556523e-01 -9.07179644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-4.56, Z:-90.70 [[ 4.95091061e-01 7.46794440e-02 -8.65625683e-01 1.38217851e+02] [-3.26700251e-03 9.96452168e-01 8.40975858e-02 -4.56307135e+00] [ 8.68834949e-01 -3.88079617e-02 4.93578539e-01 -9.06975235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.22, Y:-4.45, Z:-90.66 [[ 5.30587894e-01 -3.75803214e-02 -8.46796438e-01 1.38223339e+02] [-5.45232135e-03 9.98844702e-01 -4.77444623e-02 -4.45172281e+00] [ 8.47612387e-01 2.99496400e-02 5.29770006e-01 -9.06634936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.24, Y:-4.51, Z:-90.65 [[ 5.30014398e-01 2.40997697e-02 -8.47646117e-01 1.38244955e+02] [-8.85371370e-03 9.99698857e-01 2.28868110e-02 -4.51428134e+00] [ 8.47942421e-01 -4.62552332e-03 5.30068160e-01 -9.06453692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.26, Y:-4.51, Z:-90.62 [[ 5.29279752e-01 2.38644722e-02 -8.48111686e-01 1.38258538e+02] [-9.65417911e-03 9.99709034e-01 2.21053043e-02 -4.51357869e+00] [ 8.48392445e-01 -3.51206786e-03 5.29356141e-01 -9.06215056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.27, Y:-4.56, Z:-90.60 [[ 4.93298199e-01 7.29257583e-02 -8.66797970e-01 1.38273428e+02] [-1.03183691e-02 9.96900013e-01 7.79993249e-02 -4.56058334e+00] [ 8.69799068e-01 -2.95329851e-02 4.92521456e-01 -9.05999106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.28, Y:-4.51, Z:-90.57 [[ 4.92459959e-01 2.80414139e-02 -8.69883250e-01 1.38284660e+02] [-1.35437334e-02 9.99606714e-01 2.45557542e-02 -4.51405389e+00] [ 8.70229715e-01 -3.11258899e-04 4.92646066e-01 -9.05718229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.30, Y:-4.50, Z:-90.55 [[ 5.01310537e-01 1.77360037e-02 -8.65085649e-01 1.38298218e+02] [-1.90641186e-02 9.99773604e-01 9.44986754e-03 -4.49990417e+00] [ 8.65057400e-01 1.17547773e-02 5.01535163e-01 -9.05474084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.31, Y:-4.52, Z:-90.52 [[ 4.99093334e-01 3.95959654e-02 -8.65643116e-01 1.38313238e+02] [-2.08597504e-02 9.99214993e-01 3.36789139e-02 -4.51962088e+00] [ 8.66297129e-01 1.24817798e-03 4.99527504e-01 -9.05240990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.33, Y:-4.51, Z:-90.50 [[ 5.02041690e-01 3.05998720e-02 -8.64301909e-01 1.38326379e+02] [-2.43278116e-02 9.99478065e-01 2.12545235e-02 -4.50621120e+00] [ 8.64501185e-01 1.03559171e-02 5.02524085e-01 -9.04985940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.34, Y:-4.51, Z:-90.48 [[ 5.04179323e-01 3.29626154e-02 -8.62969684e-01 1.38340188e+02] [-2.44994489e-02 9.99415047e-01 2.38608825e-02 -4.50743864e+00] [ 8.63251404e-01 9.11211807e-03 5.04691968e-01 -9.04756272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.35, Y:-4.47, Z:-90.45 [[ 5.35483515e-01 -3.91317448e-03 -8.44536614e-01 1.38350954e+02] [-2.40230140e-02 9.99514056e-01 -1.98632014e-02 -4.46937233e+00] [ 8.44203944e-01 3.09247318e-02 5.35129294e-01 -9.04489949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.37, Y:-4.54, Z:-90.43 [[ 4.99950788e-01 7.51958658e-02 -8.62783166e-01 1.38370870e+02] [-2.38752191e-02 9.97041557e-01 7.30623534e-02 -4.54487008e+00] [ 8.65724658e-01 -1.59284440e-02 5.00267030e-01 -9.04319352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.38, Y:-4.49, Z:-90.40 [[ 5.04269518e-01 2.20455203e-02 -8.63264877e-01 1.38381592e+02] [-2.61445130e-02 9.99605570e-01 1.02551883e-02 -4.49009313e+00] [ 8.63150461e-01 1.73982609e-02 5.04646988e-01 -9.04031106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.40, Y:-4.50, Z:-90.38 [[ 5.04735643e-01 3.48636222e-02 -8.62569683e-01 1.38395806e+02] [-2.47721820e-02 9.99357640e-01 2.58968341e-02 -4.50312172e+00] [ 8.62918461e-01 8.29667797e-03 5.05275069e-01 -9.03812087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.41, Y:-4.50, Z:-90.36 [[ 5.08001413e-01 3.08064052e-02 -8.60805164e-01 1.38409252e+02] [-2.52014608e-02 9.99463975e-01 2.08961508e-02 -4.49744007e+00] [ 8.60987486e-01 1.10782734e-02 5.08505478e-01 -9.03572311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.70864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:138.42, Y:-4.49, Z:-90.33 [[ 5.10999447e-01 2.69919652e-02 -8.59157144e-01 1.38423197e+02] [-2.47845809e-02 9.99553957e-01 1.66616998e-02 -4.49302629e+00] [ 8.59223655e-01 1.27797304e-02 5.11440504e-01 -9.03332169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.44, Y:-4.51, Z:-90.31 [[ 5.08839346e-01 4.05457638e-02 -8.59906135e-01 1.38438669e+02] [-2.27605397e-02 9.99174673e-01 3.36441862e-02 -4.50596896e+00] [ 8.60560560e-01 2.45244206e-03 5.09342230e-01 -9.03107475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.45, Y:-4.45, Z:-90.28 [[ 5.42336101e-01 -1.45552359e-02 -8.40035534e-01 1.38447623e+02] [-2.09842409e-02 9.99303341e-01 -3.08625126e-02 -4.45066670e+00] [ 8.39899527e-01 3.43653628e-02 5.41652847e-01 -9.02822348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.47, Y:-4.51, Z:-90.26 [[ 5.16389782e-01 4.55266850e-02 -8.55142628e-01 1.38469466e+02] [-2.05350438e-02 9.98956994e-01 4.07828033e-02 -4.51104127e+00] [ 8.56107415e-01 -3.49943160e-03 5.16786076e-01 -9.02632893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.48, Y:-4.50, Z:-90.24 [[ 5.16073831e-01 3.00986075e-02 -8.56015114e-01 1.38481691e+02] [-1.64762808e-02 9.99546337e-01 2.52121431e-02 -4.49832030e+00] [ 8.56385622e-01 1.09261811e-03 5.16335621e-01 -9.02378979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.49, Y:-4.49, Z:-90.21 [[ 5.16577353e-01 1.81931931e-02 -8.56047222e-01 1.38493711e+02] [-1.27982009e-02 9.99826614e-01 1.35258635e-02 -4.49059774e+00] [ 8.56144873e-01 3.96870951e-03 5.16720626e-01 -9.02135194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.51, Y:-4.50, Z:-90.19 [[ 5.13796042e-01 1.99208835e-02 -8.57681051e-01 1.38508230e+02] [-4.90610265e-03 9.99782254e-01 2.02823762e-02 -4.50035927e+00] [ 8.57898337e-01 -6.21313333e-03 5.13781899e-01 -9.01920550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.52, Y:-4.45, Z:-90.16 [[ 5.47002777e-01 -3.00149521e-02 -8.36592532e-01 1.38518423e+02] [-1.12145071e-03 9.99329848e-01 -3.65868364e-02 -4.45344204e+00] [ 8.37130041e-01 2.09512984e-02 5.46602541e-01 -9.01629055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.54, Y:-4.49, Z:-90.14 [[ 5.45580081e-01 7.22431698e-03 -8.38027556e-01 1.38538814e+02] [ 7.42804151e-04 9.99958283e-01 9.10384712e-03 -4.49479782e+00] [ 8.38058365e-01 -5.58936800e-03 5.45551955e-01 -9.01431476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.55, Y:-4.50, Z:-90.12 [[ 5.45771553e-01 4.20094189e-03 -8.37923484e-01 1.38553963e+02] [ 5.03102588e-03 9.99952980e-01 8.29017840e-03 -4.50072597e+00] [ 8.37918911e-01 -8.74015827e-03 5.45724755e-01 -9.01192764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.57, Y:-4.50, Z:-90.10 [[ 5.45902711e-01 2.61852799e-03 -8.37844481e-01 1.38568265e+02] [ 6.67632083e-03 9.99949773e-01 7.47515590e-03 -4.50441127e+00] [ 8.37821972e-01 -9.67442642e-03 5.45857810e-01 -9.00952453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.58, Y:-4.55, Z:-90.07 [[ 5.11512426e-01 4.70886568e-02 -8.57984672e-01 1.38583506e+02] [ 8.89917387e-03 9.98153472e-01 6.00870226e-02 -4.55330174e+00] [ 8.59229797e-01 -3.83706134e-02 5.10148854e-01 -9.00748805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.06864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:138.59, Y:-4.46, Z:-90.04 [[ 5.45275564e-01 -4.89370299e-02 -8.36827178e-01 1.38590258e+02] [ 1.02808232e-02 9.98609793e-01 -5.16989849e-02 -4.46164577e+00] [ 8.38193811e-01 1.95869209e-02 5.45020631e-01 -9.00435178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.61, Y:-4.52, Z:-90.02 [[ 5.45360833e-01 -4.80514176e-04 -8.38201247e-01 1.38612349e+02] [ 9.66452962e-03 9.99936967e-01 5.71482332e-03 -4.51936462e+00] [ 8.38145667e-01 -1.12174616e-02 5.45331101e-01 -9.00247626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.63, Y:-4.52, Z:-90.00 [[ 5.46351636e-01 -9.97417113e-04 -8.37555309e-01 1.38627373e+02] [ 9.36149431e-03 9.99944097e-01 4.91586208e-03 -4.52325836e+00] [ 8.37503583e-01 -1.05265585e-02 5.46330431e-01 -9.00013831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.64, Y:-4.57, Z:-89.98 [[ 5.15030354e-01 4.01998884e-02 -8.56228768e-01 1.38640546e+02] [ 6.74683895e-03 9.98678610e-01 5.09461923e-02 -4.56918227e+00] [ 8.57145387e-01 -3.20156731e-02 5.14078576e-01 -8.99782419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.18864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.65, Y:-4.53, Z:-89.95 [[ 5.15723192e-01 -2.76578763e-03 -8.56750804e-01 1.38651817e+02] [ 6.09113884e-03 9.99981353e-01 4.38406960e-04 -4.52621705e+00] [ 8.56733615e-01 -5.44468473e-03 5.15730422e-01 -8.99517741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.66, Y:-4.49, Z:-89.93 [[ 5.50416266e-01 -3.84218119e-02 -8.34005815e-01 1.38664761e+02] [ 5.86387060e-03 9.99093778e-01 -4.21572881e-02 -4.49262700e+00] [ 8.34869780e-01 1.83135549e-02 5.50142767e-01 -8.99252610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.68, Y:-4.53, Z:-89.90 [[ 5.50977476e-01 5.94209270e-04 -8.34519903e-01 1.38683871e+02] [ 3.14827036e-03 9.99991150e-01 2.79062256e-03 -4.53350960e+00] [ 8.34514176e-01 -4.16486445e-03 5.50970729e-01 -8.99044771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.70, Y:-4.56, Z:-89.88 [[ 5.21228325e-01 2.94903053e-02 -8.52907589e-01 1.38698923e+02] [-2.95019664e-03 9.99459071e-01 3.27545767e-02 -4.56150383e+00] [ 8.53412169e-01 -1.45563680e-02 5.21033379e-01 -8.98810698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.71, Y:-4.51, Z:-89.85 [[ 5.50523757e-01 -2.05984639e-02 -8.34565334e-01 1.38711621e+02] [-3.87889894e-03 9.99621640e-01 -2.72310572e-02 -4.51081414e+00] [ 8.34810486e-01 1.82285385e-02 5.50235562e-01 -8.98541706e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:138.73, Y:-4.57, Z:-89.83 [[ 5.18448187e-01 3.94980710e-02 -8.54196335e-01 1.38728377e+02] [-7.39277858e-03 9.99102344e-01 4.17115377e-02 -4.57007303e+00] [ 8.55077086e-01 -1.53103868e-02 5.18274800e-01 -8.98348786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.74, Y:-4.54, Z:-89.81 [[ 5.18338226e-01 1.00442084e-02 -8.55116716e-01 1.38740685e+02] [-9.31678462e-03 9.99938005e-01 6.09781101e-03 -4.53948529e+00] [ 8.55124950e-01 4.80620972e-03 5.18399672e-01 -8.98096826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.75, Y:-4.49, Z:-89.78 [[ 5.53555982e-01 -3.43062882e-02 -8.32105074e-01 1.38752327e+02] [-8.22357393e-03 9.98877317e-01 -4.66527400e-02 -4.49377184e+00] [ 8.32771366e-01 3.26677809e-02 5.52652393e-01 -8.97829163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.77, Y:-4.53, Z:-89.76 [[ 5.54129880e-01 4.81185491e-03 -8.32416316e-01 1.38772048e+02] [-9.37356403e-03 9.99955962e-01 -4.59540371e-04 -4.53191965e+00] [ 8.32377446e-01 8.05735269e-03 5.54150581e-01 -8.97617949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.79, Y:-4.53, Z:-89.74 [[ 5.53000249e-01 4.68761010e-03 -8.33167900e-01 1.38787233e+02] [-1.04013578e-02 9.99945088e-01 -1.27777459e-03 -4.52836647e+00] [ 8.33116160e-01 9.37268712e-03 5.53018641e-01 -8.97381362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.80, Y:-4.53, Z:-89.71 [[ 5.52562819e-01 3.48282405e-03 -8.33463977e-01 1.38802225e+02] [-9.47164787e-03 9.99952936e-01 -2.10089500e-03 -4.52689633e+00] [ 8.33417434e-01 9.05515376e-03 5.52569801e-01 -8.97143474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.82, Y:-4.52, Z:-89.69 [[ 5.51214655e-01 2.52931872e-03 -8.34359639e-01 1.38817068e+02] [-9.01372428e-03 9.99955102e-01 -2.92354957e-03 -4.52274074e+00] [ 8.34314783e-01 9.13219110e-03 5.51212705e-01 -8.96906587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.83, Y:-4.52, Z:-89.67 [[ 5.52059312e-01 1.71052508e-03 -8.33803088e-01 1.38831263e+02] [-8.73904866e-03 9.99954839e-01 -3.73472515e-03 -4.51972937e+00] [ 8.33759045e-01 9.34843556e-03 5.52049329e-01 -8.96670236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.85, Y:-4.52, Z:-89.64 [[ 5.51642070e-01 7.91886364e-04 -8.34080571e-01 1.38845520e+02] [-8.32324528e-03 9.99954985e-01 -4.55543705e-03 -4.51679140e+00] [ 8.34039418e-01 9.45522791e-03 5.51623829e-01 -8.96435233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.86, Y:-4.51, Z:-89.62 [[ 5.52401028e-01 1.79595263e-04 -8.33578474e-01 1.38860352e+02] [-8.43048842e-03 9.99950037e-01 -5.37132894e-03 -4.51354664e+00] [ 8.33535861e-01 9.99460130e-03 5.52374942e-01 -8.96203152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:138.87, Y:-4.51, Z:-89.60 [[ 5.52862047e-01 -5.98131742e-04 -8.33272584e-01 1.38874685e+02] [-8.24222126e-03 9.99946896e-01 -6.18634453e-03 -4.50807558e+00] [ 8.33232034e-01 1.02882121e-02 5.52827758e-01 -8.95959416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:138.89, Y:-4.51, Z:-89.57 [[ 5.52360406e-01 -2.01719700e-03 -8.33602971e-01 1.38888367e+02] [-6.92578639e-03 9.99951453e-01 -7.00888729e-03 -4.50557315e+00] [ 8.33576640e-01 9.64478794e-03 5.52319620e-01 -8.95721196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.90, Y:-4.50, Z:-89.55 [[ 5.52085185e-01 -4.10119897e-03 -8.33777625e-01 1.38903279e+02] [-4.38913325e-03 9.99959753e-01 -7.82487938e-03 -4.50035760e+00] [ 8.33776159e-01 7.97956107e-03 5.52044964e-01 -8.95487499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.92, Y:-4.56, Z:-89.53 [[ 5.11446255e-01 5.85006912e-02 -8.57321641e-01 1.38920786e+02] [-1.82941449e-03 9.97751848e-01 6.69918066e-02 -4.56244966e+00] [ 8.59313320e-01 -3.26943120e-02 5.10403469e-01 -8.95290618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:138.93, Y:-4.47, Z:-89.50 [[ 5.18255578e-01 -3.24234165e-02 -8.54610951e-01 1.38926219e+02] [-3.88728399e-03 9.99181447e-01 -4.02656704e-02 -4.46907825e+00] [ 8.55216958e-01 2.41900237e-02 5.17705319e-01 -8.94982523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.78864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:138.94, Y:-4.49, Z:-89.48 [[ 5.21010245e-01 -7.64307407e-03 -8.53516203e-01 1.38944661e+02] [ 6.45960699e-04 9.99963152e-01 -8.56016591e-03 -4.49315652e+00] [ 8.53550179e-01 3.90859622e-03 5.20995984e-01 -8.94783786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.81864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:138.96, Y:-4.49, Z:-89.46 [[ 5.23781081e-01 -1.11758937e-02 -8.51779595e-01 1.38958161e+02] [ 2.63317171e-03 9.99930400e-01 -1.15005224e-02 -4.48879041e+00] [ 8.51848839e-01 3.78087415e-03 5.23774054e-01 -8.94552942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.84864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:138.97, Y:-4.50, Z:-89.43 [[ 5.19119738e-01 2.38029309e-03 -8.54698211e-01 1.38973572e+02] [ 6.59592849e-03 9.99955187e-01 6.79100883e-03 -4.50040893e+00] [ 8.54676074e-01 -9.16287501e-03 5.19080774e-01 -8.94320703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:138.98, Y:-4.45, Z:-89.40 [[ 5.54457951e-01 -4.73997968e-02 -8.30860783e-01 1.38983105e+02] [ 9.23933965e-03 9.98665740e-01 -5.08072215e-02 -4.44920316e+00] [ 8.32160450e-01 2.04938629e-02 5.54156103e-01 -8.94048740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.90864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.01, Y:-4.52, Z:-89.39 [[ 5.19897209e-01 2.09390758e-02 -8.53972158e-01 1.39006517e+02] [ 9.97872238e-03 9.99482450e-01 3.05819674e-02 -4.51828344e+00] [ 8.54170544e-01 -2.44210306e-02 5.19419191e-01 -8.93883664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.93864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.01, Y:-4.44, Z:-89.36 [[ 5.54642055e-01 -5.58871885e-02 -8.30210102e-01 1.39011148e+02] [ 1.27303711e-02 9.98195048e-01 -5.86905839e-02 -4.44015198e+00] [ 8.31991664e-01 2.19833834e-02 5.54352417e-01 -8.93575487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.03, Y:-4.48, Z:-89.34 [[ 5.54479615e-01 -1.86987471e-02 -8.31987208e-01 1.39032307e+02] [ 1.33707775e-02 9.99818661e-01 -1.35597430e-02 -4.47746414e+00] [ 8.32089886e-01 -3.60571471e-03 5.54629083e-01 -8.93379707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.99864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.05, Y:-4.56, Z:-89.32 [[ 5.22618306e-01 6.51807643e-02 -8.50071511e-01 1.39053938e+02] [ 1.67264269e-02 9.96097446e-01 8.66608618e-02 -4.56137299e+00] [ 8.52402682e-01 -5.95092118e-02 5.19488519e-01 -8.93197801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.04, Y:-4.39, Z:-89.28 [[ 5.56932561e-01 -1.09527994e-01 -8.23304161e-01 1.39042493e+02] [ 1.87213996e-02 9.92670276e-01 -1.19395276e-01 -4.38548381e+00] [ 8.30346694e-01 5.10817103e-02 5.54900916e-01 -8.92786094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.08, Y:-4.53, Z:-89.27 [[ 5.18442182e-01 3.17234603e-02 -8.54524035e-01 1.39078660e+02] [ 1.93499156e-02 9.98620506e-01 4.88125655e-02 -4.52855524e+00] [ 8.54893727e-01 -4.18414609e-02 5.17113147e-01 -8.92709238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.08, Y:-4.41, Z:-89.23 [[ 5.59032378e-01 -8.53252156e-02 -8.24743844e-01 1.39075989e+02] [ 2.00545337e-02 9.95791391e-01 -8.94277442e-02 -4.40798833e+00] [ 8.28903261e-01 3.34531512e-02 5.58390786e-01 -8.92335130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.11864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:139.10, Y:-4.47, Z:-89.22 [[ 5.59236324e-01 -2.35233945e-02 -8.28674474e-01 1.39103004e+02] [ 1.89453524e-02 9.99698923e-01 -1.55928333e-02 -4.46918648e+00] [ 8.28791776e-01 -6.97945119e-03 5.59513610e-01 -8.92172712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.14864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:139.12, Y:-4.47, Z:-89.19 [[ 5.59512476e-01 -2.41005016e-02 -8.28471457e-01 1.39119642e+02] [ 1.88358965e-02 9.99688726e-01 -1.63603472e-02 -4.47014548e+00] [ 8.28607868e-01 -6.45118424e-03 5.59792268e-01 -8.91948203e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.14, Y:-4.47, Z:-89.17 [[ 5.58202201e-01 -2.47307684e-02 -8.29336296e-01 1.39135307e+02] [ 1.88051874e-02 9.99676016e-01 -1.71530645e-02 -4.47014260e+00] [ 8.29491813e-01 -6.02094610e-03 5.58486419e-01 -8.91713515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.15, Y:-4.47, Z:-89.15 [[ 5.56995437e-01 -2.48708888e-02 -8.30143073e-01 1.39150656e+02] [ 1.78763450e-02 9.99678962e-01 -1.79557744e-02 -4.46892652e+00] [ 8.30323142e-01 -4.83863955e-03 5.57261220e-01 -8.91476024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.23864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:139.17, Y:-4.51, Z:-89.13 [[ 5.23155468e-01 1.69268612e-02 -8.52069151e-01 1.39166411e+02] [ 1.76702545e-02 9.99372367e-01 3.07023528e-02 -4.50876190e+00] [ 8.52054058e-01 -3.11183825e-02 5.22528017e-01 -8.91279337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.26864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:139.17, Y:-4.41, Z:-89.09 [[ 5.60730870e-01 -7.44631906e-02 -8.24643029e-01 1.39167854e+02] [ 1.50566402e-02 9.96700257e-01 -7.97614919e-02 -4.41337261e+00] [ 8.27861214e-01 3.23083773e-02 5.60001767e-01 -8.90936332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.29864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:139.19, Y:-4.46, Z:-89.08 [[ 5.61797459e-01 -2.28332626e-02 -8.26959647e-01 1.39193035e+02] [ 1.26907602e-02 9.99739273e-01 -1.89823924e-02 -4.46437957e+00] [ 8.27177466e-01 1.69513182e-04 5.61940754e-01 -8.90756831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.21, Y:-4.51, Z:-89.06 [[ 5.26429299e-01 2.03112914e-02 -8.49976261e-01 1.39212382e+02] [ 1.35576445e-02 9.99386956e-01 3.22785262e-02 -4.50812021e+00] [ 8.50110807e-01 -2.85160379e-02 5.25831201e-01 -8.90570033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.22, Y:-4.46, Z:-89.03 [[ 5.27244665e-01 -3.14774133e-02 -8.49130282e-01 1.39218984e+02] [ 1.24123552e-02 9.99492296e-01 -2.93442414e-02 -4.45525520e+00] [ 8.49622856e-01 4.93188810e-03 5.27367689e-01 -8.90292366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.38864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:139.23, Y:-4.46, Z:-89.01 [[ 5.25205509e-01 -3.07772804e-02 -8.50418680e-01 1.39233531e+02] [ 1.26100587e-02 9.99517509e-01 -2.83854987e-02 -4.45551163e+00] [ 8.50881989e-01 4.18439083e-03 5.25340205e-01 -8.90073679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.41864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:139.25, Y:-4.45, Z:-88.98 [[ 5.28867407e-01 -3.04511780e-02 -8.48157999e-01 1.39248201e+02] [ 1.16715306e-02 9.99522570e-01 -2.86078155e-02 -4.45388354e+00] [ 8.48624205e-01 5.23043914e-03 5.28970321e-01 -8.89836841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.44864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:139.26, Y:-4.41, Z:-88.95 [[ 5.63222271e-01 -6.72109038e-02 -8.23567464e-01 1.39257585e+02] [ 1.26144168e-02 9.97269710e-01 -7.27598900e-02 -4.41414694e+00] [ 8.26209144e-01 3.05911673e-02 5.62532338e-01 -8.89548990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.28, Y:-4.49, Z:-88.94 [[ 5.33003491e-01 1.13115884e-02 -8.46037427e-01 1.39284586e+02] [ 1.05138620e-02 9.99744889e-01 1.99904014e-02 -4.49105156e+00] [ 8.46047716e-01 -1.95500745e-02 5.32748587e-01 -8.89404611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.29, Y:-4.45, Z:-88.91 [[ 5.33704955e-01 -2.15280846e-02 -8.45396689e-01 1.39292665e+02] [ 8.21291510e-03 9.99760726e-01 -2.02741035e-02 -4.45353775e+00] [ 8.45630870e-01 3.87721828e-03 5.33754062e-01 -8.89144107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.53864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:139.31, Y:-4.46, Z:-88.89 [[ 5.29297591e-01 -1.56007453e-02 -8.48292801e-01 1.39306139e+02] [ 1.08774509e-02 9.99873537e-01 -1.16013761e-02 -4.45933656e+00] [ 8.48366513e-01 -3.08668292e-03 5.29400351e-01 -8.88938384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.56864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.32, Y:-4.43, Z:-88.87 [[ 5.27378654e-01 -4.34194680e-02 -8.48520186e-01 1.39316453e+02] [ 8.49573069e-03 9.98912903e-01 -4.58348552e-02 -4.42756196e+00] [ 8.49587887e-01 1.69635252e-02 5.27174222e-01 -8.88663632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.33, Y:-4.43, Z:-88.84 [[ 5.28083020e-01 -3.65919716e-02 -8.48404003e-01 1.39330923e+02] [ 1.08140797e-02 9.99279947e-01 -3.63681589e-02 -4.43492457e+00] [ 8.49123890e-01 1.00306986e-02 5.28098481e-01 -8.88448995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.62864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:139.33, Y:-4.36, Z:-88.81 [[ 5.70669239e-01 -1.05154472e-01 -8.14419521e-01 1.39334077e+02] [ 1.10193039e-02 9.92658640e-01 -1.20446668e-01 -4.36209019e+00] [ 8.21106080e-01 5.97608720e-02 5.67638480e-01 -8.88095374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.65864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:139.37, Y:-4.44, Z:-88.80 [[ 5.70796483e-01 -2.38881763e-02 -8.20744010e-01 1.39368582e+02] [ 1.10631735e-02 9.99709716e-01 -2.14030456e-02 -4.44361453e+00] [ 8.21017041e-01 3.13674973e-03 5.70895069e-01 -8.87974232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.68864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:139.38, Y:-4.44, Z:-88.77 [[ 5.69966584e-01 -2.49670902e-02 -8.21288462e-01 1.39384592e+02] [ 1.18250175e-02 9.99683973e-01 -2.21838439e-02 -4.44272076e+00] [ 8.21582779e-01 2.93229927e-03 5.70081695e-01 -8.87741229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:139.40, Y:-4.44, Z:-88.75 [[ 5.70920662e-01 -2.53118900e-02 -8.20614956e-01 1.39400185e+02] [ 1.13558291e-02 9.99672475e-01 -2.29344130e-02 -4.44151253e+00] [ 8.20926697e-01 3.77496710e-03 5.71021109e-01 -8.87508301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.74864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:139.42, Y:-4.49, Z:-88.73 [[ 5.33966833e-01 2.16474764e-02 -8.45228258e-01 1.39418310e+02] [ 1.33608752e-02 9.99331332e-01 3.40349076e-02 -4.48672795e+00] [ 8.45399851e-01 -2.94665011e-02 5.33320558e-01 -8.87325369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.77864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:139.42, Y:-4.37, Z:-88.70 [[ 5.71654291e-01 -8.50069808e-02 -8.16079154e-01 1.39415494e+02] [ 1.29029757e-02 9.95426953e-01 -9.46503758e-02 -4.37476308e+00] [ 8.20393129e-01 4.35774440e-02 5.70136932e-01 -8.86956172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.45, Y:-4.43, Z:-88.68 [[ 5.71567570e-01 -2.79787114e-02 -8.20077865e-01 1.39445285e+02] [ 1.42861179e-02 9.99606343e-01 -2.41467507e-02 -4.43308501e+00] [ 8.20430631e-01 2.08577055e-03 5.71742275e-01 -8.86807716e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.46, Y:-4.43, Z:-88.66 [[ 5.72902269e-01 -2.97197550e-02 -8.19084688e-01 1.39460815e+02] [ 1.62705820e-02 9.99557837e-01 -2.48877325e-02 -4.43251352e+00] [ 8.19462177e-01 9.31253851e-04 5.73132510e-01 -8.86576902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.49, Y:-4.56, Z:-88.65 [[ 5.33060620e-01 8.67940890e-02 -8.41613428e-01 1.39487673e+02] [ 2.34279104e-02 9.92828720e-01 1.17227408e-01 -4.55553529e+00] [ 8.45752628e-01 -8.22065588e-02 5.27204489e-01 -8.86452108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.45, Y:-4.29, Z:-88.59 [[ 5.74423262e-01 -1.76935788e-01 -7.99206884e-01 1.39449770e+02] [ 2.36779567e-02 9.79542057e-01 -1.99841718e-01 -4.28527432e+00] [ 8.18215907e-01 9.58701452e-02 5.66861222e-01 -8.85852166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.92864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.51, Y:-4.43, Z:-88.59 [[ 5.73280901e-01 -3.52928251e-02 -8.18598452e-01 1.39506162e+02] [ 2.51062734e-02 9.99359414e-01 -2.55036764e-02 -4.43038178e+00] [ 8.18974165e-01 -5.93118594e-03 5.73799736e-01 -8.85867496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.52, Y:-4.43, Z:-88.56 [[ 5.73019159e-01 -3.64549364e-02 -8.18730775e-01 1.39521518e+02] [ 2.60706449e-02 9.99315417e-01 -2.62491672e-02 -4.42958034e+00] [ 8.19127197e-01 -6.30356365e-03 5.73577283e-01 -8.85638531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.98864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:139.54, Y:-4.43, Z:-88.54 [[ 5.72130293e-01 -3.80628084e-02 -8.19279043e-01 1.39536993e+02] [ 2.77980777e-02 9.99248536e-01 -2.70116554e-02 -4.42823812e+00] [ 8.19691524e-01 -7.32019618e-03 5.72758431e-01 -8.85411392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.01864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:139.56, Y:-4.52, Z:-88.53 [[ 5.36101514e-01 4.82940284e-02 -8.42770938e-01 1.39561915e+02] [ 2.75164849e-02 9.96831880e-01 7.46260384e-02 -4.51548886e+00] [ 8.43704931e-01 -6.31972259e-02 5.33074198e-01 -8.85250403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.04864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.54, Y:-4.34, Z:-88.48 [[ 5.76341255e-01 -1.23893586e-01 -8.07763045e-01 1.39543966e+02] [ 2.76238277e-02 9.90829741e-01 -1.32262424e-01 -4.33820464e+00] [ 8.16742114e-01 5.39147842e-02 5.74478472e-01 -8.84813346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.59, Y:-4.50, Z:-88.48 [[ 5.36670650e-01 3.36124874e-02 -8.43122063e-01 1.39589530e+02] [ 2.74132763e-02 9.97984265e-01 5.72356442e-02 -4.49881467e+00] [ 8.43346385e-01 -5.38294285e-02 5.34667436e-01 -8.84774780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.59, Y:-4.42, Z:-88.45 [[ 5.38159014e-01 -4.42022692e-02 -8.41683453e-01 1.39591359e+02] [ 2.43776168e-02 9.99022376e-01 -3.68784983e-02 -4.41801287e+00] [ 8.42490716e-01 -6.71740372e-04 5.38710443e-01 -8.84461511e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:-4.35, Z:-88.42 [[ 5.78415348e-01 -1.06247282e-01 -8.08793670e-01 1.39593730e+02] [ 2.88674435e-02 9.93526678e-01 -1.09869971e-01 -4.35444569e+00] [ 8.15231474e-01 4.02026717e-02 5.77738166e-01 -8.84150874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.63, Y:-4.42, Z:-88.40 [[ 5.79231811e-01 -4.23199634e-02 -8.14063591e-01 1.39626110e+02] [ 3.14825219e-02 9.99067780e-01 -2.95368003e-02 -4.42273326e+00] [ 8.14554700e-01 -8.52012043e-03 5.80024179e-01 -8.84017133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.65, Y:-4.47, Z:-88.38 [[ 5.47953526e-01 -2.34615082e-03 -8.36505486e-01 1.39646452e+02] [ 3.18180740e-02 9.99330867e-01 1.80396246e-02 -4.46562966e+00] [ 8.35903430e-01 -3.65008694e-02 5.47661522e-01 -8.83829536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.65, Y:-4.41, Z:-88.35 [[ 5.52506135e-01 -5.77533399e-02 -8.31505576e-01 1.39652601e+02] [ 3.73734085e-02 9.98309810e-01 -4.45056406e-02 -4.41494140e+00] [ 8.32670522e-01 -6.48655803e-03 5.53730734e-01 -8.83546365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.67, Y:-4.40, Z:-88.33 [[ 5.80951502e-01 -7.75016759e-02 -8.10239991e-01 1.39667088e+02] [ 4.28282678e-02 9.96988117e-01 -6.46562796e-02 -4.39652719e+00] [ 8.12810612e-01 2.86098746e-03 5.82521006e-01 -8.83301504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.28864000000002 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:139.72, Y:-4.47, Z:-88.30 [[ 5.63968191e-01 5.33121526e-02 -8.24073840e-01 1.39719367e+02] [-1.97155162e-02 9.98498730e-01 5.11036640e-02 -4.46963841e+00] [ 8.25561129e-01 -1.25737998e-02 5.64172600e-01 -8.82989411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.71, Y:-4.61, Z:-88.30 [[ 5.43120132e-01 1.22423302e-01 -8.30682284e-01 1.39709238e+02] [ 5.25397162e-02 9.82420110e-01 1.79137673e-01 -4.61221314e+00] [ 8.38009606e-01 -1.40937088e-01 5.27140054e-01 -8.83043662e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.34864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.68, Y:-4.30, Z:-88.25 [[ 5.81689834e-01 -1.76635668e-01 -7.94000490e-01 1.39679864e+02] [ 4.59481398e-02 9.81714042e-01 -1.84733072e-01 -4.30191722e+00] [ 8.12111880e-01 7.09745044e-02 5.79169159e-01 -8.82479326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.37864000000002 meters Centerline goodness : 0.924083 Centerline is valid? [True, False] Translation: X:139.67, Y:-4.36, Z:-88.30 [[ 5.89241794e-01 -1.19889537e-01 -7.99012269e-01 1.39667746e+02] [ 4.35031638e-02 9.92202772e-01 -1.16795264e-01 -4.36452256e+00] [ 8.06784719e-01 3.40610894e-02 5.89862916e-01 -8.82951865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:139.64, Y:-4.41, Z:-88.35 [[ 6.03811565e-01 -8.18923257e-02 -7.92909352e-01 1.39642797e+02] [ 4.33455604e-02 9.96610260e-01 -6.99224712e-02 -4.40851890e+00] [ 7.95947710e-01 7.85089656e-03 6.05314469e-01 -8.83483305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.43864000000002 meters Centerline goodness : 0.931041 Centerline is valid? [True, False] Translation: X:139.60, Y:-4.44, Z:-88.41 [[ 6.28660421e-01 -6.02232813e-02 -7.75344589e-01 1.39603960e+02] [ 4.18546805e-02 9.98172179e-01 -4.35945815e-02 -4.43508983e+00] [ 7.76552806e-01 -5.04561205e-03 6.30031968e-01 -8.84076302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46864 meters Centerline goodness : 1.000000 Centerline is valid? [False, True] Translation: X:139.57, Y:-4.45, Z:-88.45 [[ 6.42774990e-01 -5.09084355e-02 -7.64361592e-01 1.39570185e+02] [ 4.08039333e-02 9.98648210e-01 -3.21992503e-02 -4.44792767e+00] [ 7.64967549e-01 -1.04920867e-02 6.43983357e-01 -8.84499472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.59, Y:-4.46, Z:-88.43 [[ 6.41292362e-01 -4.31409536e-02 -7.66082871e-01 1.39589715e+02] [ 4.23209940e-02 9.98887031e-01 -2.08238683e-02 -4.46307127e+00] [ 7.66128606e-01 -1.90672009e-02 6.42404391e-01 -8.84292649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.61, Y:-4.47, Z:-88.41 [[ 6.41045688e-01 -4.40475245e-02 -7.66237719e-01 1.39608326e+02] [ 4.30218318e-02 9.98844349e-01 -2.14263287e-02 -4.46584631e+00] [ 7.66295993e-01 -1.92296946e-02 6.42199868e-01 -8.84080715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.63, Y:-4.47, Z:-88.39 [[ 6.41096611e-01 -4.51024089e-02 -7.66133741e-01 1.39627031e+02] [ 4.39526984e-02 9.98790918e-01 -2.20195894e-02 -4.47183625e+00] [ 7.66200559e-01 -1.95569611e-02 6.42303845e-01 -8.83873637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.65, Y:-4.47, Z:-88.37 [[ 6.40084436e-01 -4.56076876e-02 -7.66949707e-01 1.39645024e+02] [ 4.40341348e-02 9.98773388e-01 -2.26431801e-02 -4.47396959e+00] [ 7.67041661e-01 -1.92784196e-02 6.41307596e-01 -8.83653496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.66, Y:-4.48, Z:-88.34 [[ 6.41557229e-01 -4.42944892e-02 -7.65795221e-01 1.39662295e+02] [ 4.12648989e-02 9.98878717e-01 -2.32059797e-02 -4.47865094e+00] [ 7.65964444e-01 -1.67124983e-02 6.42665669e-01 -8.83431764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.68, Y:-4.48, Z:-88.32 [[ 6.41225496e-01 -4.34302889e-02 -7.66122493e-01 1.39679971e+02] [ 3.91986177e-02 9.98947472e-01 -2.38205045e-02 -4.48013981e+00] [ 7.66350659e-01 -1.47566279e-02 6.42252995e-01 -8.83213307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.70, Y:-4.53, Z:-88.30 [[ 6.09964552e-01 -1.82309619e-03 -7.92426603e-01 1.39697418e+02] [ 3.68038275e-02 9.98983412e-01 2.60311646e-02 -4.52574900e+00] [ 7.91573574e-01 -4.50424197e-02 6.09411566e-01 -8.83033721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.71, Y:-4.58, Z:-88.29 [[ 6.01996094e-01 3.97830827e-02 -7.97507373e-01 1.39714567e+02] [ 3.85275989e-02 9.96147677e-01 7.87745562e-02 -4.57502096e+00] [ 7.97569011e-01 -7.81480193e-02 5.98144263e-01 -8.82857458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.69, Y:-4.31, Z:-88.23 [[ 6.47640624e-01 -1.95800955e-01 -7.36358343e-01 1.39690407e+02] [ 3.11146385e-02 9.72408159e-01 -2.31201756e-01 -4.31081069e+00] [ 7.61310385e-01 1.26824126e-01 6.35863302e-01 -8.82274000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.75, Y:-4.53, Z:-88.24 [[ 6.15882996e-01 3.46358729e-03 -7.87830019e-01 1.39746177e+02] [ 2.61497073e-02 9.99349473e-01 2.48359338e-02 -4.53167585e+00] [ 7.87403536e-01 -3.58975537e-02 6.15391775e-01 -8.82361431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.76, Y:-4.44, Z:-88.21 [[ 6.51064040e-01 -7.85981399e-02 -7.54942348e-01 1.39755470e+02] [ 2.47335574e-02 9.96292769e-01 -8.23952038e-02 -4.43894122e+00] [ 7.58619712e-01 3.49721444e-02 6.50594407e-01 -8.82063341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.78, Y:-4.49, Z:-88.19 [[ 6.51080033e-01 -3.27753306e-02 -7.58301107e-01 1.39780738e+02] [ 2.29392996e-02 9.99460554e-01 -2.35029727e-02 -4.48906765e+00] [ 7.58662362e-01 -2.09258003e-03 6.51480653e-01 -8.81893448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.85864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:139.80, Y:-4.53, Z:-88.17 [[ 6.14987718e-01 6.78945836e-03 -7.88507457e-01 1.39799142e+02] [ 2.27829136e-02 9.99392476e-01 2.63745707e-02 -4.53134617e+00] [ 7.88207489e-01 -3.41845343e-02 6.14459414e-01 -8.81715195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.81, Y:-4.48, Z:-88.15 [[ 6.15041229e-01 -3.96548251e-02 -7.87497163e-01 1.39809660e+02] [ 2.09598149e-02 9.99203873e-01 -3.39456518e-02 -4.47839720e+00] [ 7.88216323e-01 4.37218068e-03 6.15382736e-01 -8.81473985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:139.83, Y:-4.47, Z:-88.12 [[ 6.16529247e-01 -4.24681951e-02 -7.86185818e-01 1.39827493e+02] [ 1.77739268e-02 9.99040470e-01 -4.00278144e-02 -4.47154594e+00] [ 7.87131358e-01 1.07047091e-02 6.16692496e-01 -8.81244069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.84, Y:-4.47, Z:-88.10 [[ 6.19522218e-01 -3.74452893e-02 -7.84085500e-01 1.39844642e+02] [ 1.57306807e-02 9.99253237e-01 -3.52918404e-02 -4.46990924e+00] [ 7.84821487e-01 9.52988061e-03 6.19648622e-01 -8.81031906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.86, Y:-4.46, Z:-88.08 [[ 6.22062291e-01 -4.27798398e-02 -7.81798178e-01 1.39861189e+02] [ 1.47520795e-02 9.98969360e-01 -4.29254477e-02 -4.46047960e+00] [ 7.82828770e-01 1.51691535e-02 6.22052260e-01 -8.80810751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.88, Y:-4.46, Z:-88.06 [[ 6.23602329e-01 -4.09292392e-02 -7.80669542e-01 1.39878950e+02] [ 1.46116611e-02 9.99064263e-01 -4.07074602e-02 -4.45873036e+00] [ 7.81605166e-01 1.39783882e-02 6.23616845e-01 -8.80590880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.89, Y:-4.42, Z:-88.03 [[ 6.58004725e-01 -7.02157608e-02 -7.49732972e-01 1.39894233e+02] [ 1.63770696e-02 9.96741995e-01 -7.89758628e-02 -4.42306447e+00] [ 7.52835688e-01 3.96880618e-02 6.57010871e-01 -8.80332085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.92, Y:-4.50, Z:-88.02 [[ 6.24348511e-01 -5.11864476e-04 -7.81145745e-01 1.39920413e+02] [ 1.84315395e-02 9.99731026e-01 1.40767297e-02 -4.50102143e+00] [ 7.80928432e-01 -2.31865039e-02 6.24190012e-01 -8.80201949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.09864000000002 meters Centerline goodness : 0.959585 Centerline is valid? [True, True] Translation: X:139.97, Y:-4.44, Z:-87.98 [[ 6.43534378e-01 5.56968885e-02 -7.63388080e-01 1.39973398e+02] [-8.02020221e-02 9.96765510e-01 5.11401621e-03 -4.44403466e+00] [ 7.61203744e-01 5.79342225e-02 6.45919876e-01 -8.79750877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:139.94, Y:-4.72, Z:-87.99 [[ 6.30437484e-01 1.93577639e-01 -7.51715556e-01 1.39943015e+02] [ 2.79151329e-02 9.62125810e-01 2.71172769e-01 -4.72374397e+00] [ 7.75737922e-01 -1.91941718e-01 6.01156430e-01 -8.79889373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.94, Y:-4.37, Z:-87.95 [[ 6.29937049e-01 -1.16108059e-01 -7.67918116e-01 1.39938456e+02] [ 1.48761738e-02 9.90384298e-01 -1.37541417e-01 -4.36836080e+00] [ 7.76503711e-01 7.52187511e-02 6.25607006e-01 -8.79464011e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.18864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:139.97, Y:-4.45, Z:-87.94 [[ 6.35586419e-01 -4.23037947e-02 -7.70869829e-01 1.39971875e+02] [ 1.77635937e-02 9.99034592e-01 -4.01788397e-02 -4.44784466e+00] [ 7.71825342e-01 1.18437064e-02 6.35724286e-01 -8.79378822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:139.99, Y:-4.42, Z:-87.91 [[ 6.68458903e-01 -6.32025395e-02 -7.41058792e-01 1.39989464e+02] [ 1.63554958e-02 9.97391019e-01 -7.03111130e-02 -4.41917650e+00] [ 7.43569225e-01 3.48797056e-02 6.67748616e-01 -8.79125347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:140.02, Y:-4.50, Z:-87.90 [[ 6.36986042e-01 5.67198919e-03 -7.70854468e-01 1.40015122e+02] [ 1.74104061e-02 9.99612005e-01 2.17420731e-02 -4.49756790e+00] [ 7.70678701e-01 -2.72702864e-02 6.36640143e-01 -8.79007742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.27864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:140.03, Y:-4.46, Z:-87.87 [[ 6.36409234e-01 -2.64807372e-02 -7.70896917e-01 1.40027990e+02] [ 1.42328534e-02 9.99643530e-01 -2.25884653e-02 -4.46031832e+00] [ 7.71220275e-01 3.40344508e-03 6.36559270e-01 -8.78743335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.04, Y:-4.42, Z:-87.85 [[ 6.71418191e-01 -6.54202933e-02 -7.38185477e-01 1.40041914e+02] [ 1.56245615e-02 9.97124179e-01 -7.41568931e-02 -4.41591887e+00] [ 7.40913953e-01 3.82564626e-02 6.70509476e-01 -8.78471149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.33864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:140.07, Y:-4.46, Z:-87.83 [[ 6.70571972e-01 -2.45674955e-02 -7.41437568e-01 1.40068026e+02] [ 1.55483300e-02 9.99697386e-01 -1.90626795e-02 -4.46259152e+00] [ 7.41681521e-01 1.25478258e-03 6.70751032e-01 -8.78320152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:140.09, Y:-4.51, Z:-87.82 [[ 6.35589702e-01 1.31407444e-02 -7.71915184e-01 1.40088275e+02] [ 1.76000944e-02 9.99348647e-01 3.15042694e-02 -4.50727011e+00] [ 7.71826384e-01 -3.36095693e-02 6.34944430e-01 -8.78153988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:140.10, Y:-4.41, Z:-87.78 [[ 6.70242483e-01 -6.83913656e-02 -7.38984191e-01 1.40095745e+02] [ 1.81747516e-02 9.96958740e-01 -7.57822424e-02 -4.41491854e+00] [ 7.41919599e-01 3.73616242e-02 6.69447098e-01 -8.77841833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.42864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:140.12, Y:-4.49, Z:-87.77 [[ 6.39921905e-01 3.92475379e-03 -7.68429927e-01 1.40123386e+02] [ 1.76530641e-02 9.99647973e-01 1.98065615e-02 -4.49388879e+00] [ 7.68237154e-01 -2.62397953e-02 6.39627351e-01 -8.77730735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.45864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:140.14, Y:-4.45, Z:-87.75 [[ 6.42573199e-01 -3.57545601e-02 -7.65389636e-01 1.40135727e+02] [ 1.58717674e-02 9.99317454e-01 -3.33573677e-02 -4.44613372e+00] [ 7.66059901e-01 9.28646420e-03 6.42702101e-01 -8.77478308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.16, Y:-4.51, Z:-87.73 [[ 6.34450237e-01 1.71070642e-02 -7.72774382e-01 1.40159501e+02] [ 1.77869903e-02 9.99167214e-01 3.67219444e-02 -4.50503912e+00] [ 7.72759031e-01 -3.70435768e-02 6.33617592e-01 -8.77320302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:140.17, Y:-4.41, Z:-87.70 [[ 6.40935588e-01 -6.09811478e-02 -7.65168525e-01 1.40165367e+02] [ 1.44810310e-02 9.97622494e-01 -6.73769960e-02 -4.41419005e+00] [ 7.67458058e-01 3.21038855e-02 6.40294830e-01 -8.77014312e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.54864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:140.18, Y:-4.41, Z:-87.68 [[ 6.74597432e-01 -6.80119206e-02 -7.35046042e-01 1.40184580e+02] [ 1.86067223e-02 9.96996895e-01 -7.51730143e-02 -4.40574801e+00] [ 7.37951282e-01 3.70347248e-02 6.73837024e-01 -8.76790452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.21, Y:-4.49, Z:-87.67 [[ 6.40844728e-01 7.56417186e-03 -7.67633257e-01 1.40212866e+02] [ 2.23719219e-02 9.99342717e-01 2.85242048e-02 -4.49221785e+00] [ 7.67344467e-01 -3.54530176e-02 6.40254287e-01 -8.76685610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:140.22, Y:-4.40, Z:-87.64 [[ 6.73699195e-01 -7.23607177e-02 -7.35454500e-01 1.40219941e+02] [ 2.46882307e-02 9.96842907e-01 -7.54633048e-02 -4.40216606e+00] [ 7.38593181e-01 3.26824973e-02 6.73358722e-01 -8.76368106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.25, Y:-4.50, Z:-87.63 [[ 6.37401593e-01 1.80432587e-02 -7.70320485e-01 1.40250931e+02] [ 2.41082913e-02 9.98769346e-01 4.33426316e-02 -4.50370760e+00] [ 7.70154530e-01 -4.61977731e-02 6.36182180e-01 -8.76256615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.25, Y:-4.39, Z:-87.59 [[ 6.75636457e-01 -8.16995119e-02 -7.32694047e-01 1.40254696e+02] [ 2.93846058e-02 9.96035166e-01 -8.39672114e-02 -4.39220147e+00] [ 7.36649118e-01 3.52013835e-02 6.75358379e-01 -8.75926302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.69864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:140.28, Y:-4.44, Z:-87.58 [[ 6.75598231e-01 -3.65089805e-02 -7.36365483e-01 1.40283226e+02] [ 2.98677732e-02 9.99308569e-01 -2.21427032e-02 -4.44292991e+00] [ 7.36664745e-01 -7.03402613e-03 6.76221544e-01 -8.75792376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:140.30, Y:-4.44, Z:-87.56 [[ 6.75295189e-01 -3.85882988e-02 -7.36537406e-01 1.40301306e+02] [ 3.23239485e-02 9.99219306e-01 -2.27143470e-02 -4.44234914e+00] [ 7.36838904e-01 -8.46890790e-03 6.76015316e-01 -8.75584390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.75864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:140.32, Y:-4.44, Z:-87.54 [[ 6.75736070e-01 -3.89211980e-02 -7.36115415e-01 1.40318859e+02] [ 3.22118097e-02 9.99210319e-01 -2.32623588e-02 -4.44170528e+00] [ 7.36439518e-01 -7.99239480e-03 6.76456176e-01 -8.75372211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:140.34, Y:-4.47, Z:-87.52 [[ 6.49159392e-01 -1.71932751e-02 -7.60458069e-01 1.40337559e+02] [ 3.20819760e-02 9.99473766e-01 4.78933524e-03 -4.46550093e+00] [ 7.59975546e-01 -2.75060395e-02 6.49369377e-01 -8.75187830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:140.35, Y:-4.44, Z:-87.50 [[ 6.46533658e-01 -3.88017203e-02 -7.61898061e-01 1.40351079e+02] [ 3.37338670e-02 9.99182923e-01 -2.22601115e-02 -4.44026158e+00] [ 7.62139263e-01 -1.13098565e-02 6.47314322e-01 -8.74962025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.84864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:140.37, Y:-4.40, Z:-87.47 [[ 6.75642420e-01 -7.41836895e-02 -7.33487628e-01 1.40366132e+02] [ 3.55180725e-02 9.97044536e-01 -6.81223839e-02 -4.40031999e+00] [ 7.36373402e-01 1.99743056e-02 6.76280445e-01 -8.74704062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.87864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:140.39, Y:-4.44, Z:-87.45 [[ 6.76125212e-01 -4.33048532e-02 -7.35513009e-01 1.40392055e+02] [ 3.71920213e-02 9.99004576e-01 -2.46294532e-02 -4.43864008e+00] [ 7.35847437e-01 -1.07026213e-02 6.77062776e-01 -8.74546336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.90864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:140.41, Y:-4.44, Z:-87.43 [[ 6.76637326e-01 -4.41436633e-02 -7.34992018e-01 1.40410165e+02] [ 3.78325784e-02 9.98967071e-01 -2.51691596e-02 -4.43704918e+00] [ 7.35343883e-01 -1.07762503e-02 6.77608476e-01 -8.74334255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.93864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:140.43, Y:-4.44, Z:-87.41 [[ 6.76839904e-01 -4.57047855e-02 -7.34710022e-01 1.40428766e+02] [ 3.95350304e-02 9.98887172e-01 -2.57176807e-02 -4.43629885e+00] [ 7.35067838e-01 -1.16400305e-02 6.77893638e-01 -8.74129898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:140.45, Y:-4.44, Z:-87.39 [[ 6.76811475e-01 -4.64431045e-02 -7.34689911e-01 1.40447666e+02] [ 4.00109854e-02 9.98853501e-01 -2.62831478e-02 -4.43542281e+00] [ 7.35068261e-01 -1.16069313e-02 6.77893746e-01 -8.73917875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.99864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:140.47, Y:-4.44, Z:-87.37 [[ 6.75813911e-01 -4.90502814e-02 -7.35438392e-01 1.40466453e+02] [ 4.32912657e-02 9.98702241e-01 -2.68272456e-02 -4.43774928e+00] [ 7.35799853e-01 -1.37078330e-02 6.77060316e-01 -8.73713744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.02864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:140.49, Y:-4.49, Z:-87.36 [[ 6.41481883e-01 -4.39162991e-03 -7.67125614e-01 1.40487760e+02] [ 4.50989229e-02 9.98469989e-01 3.19963652e-02 -4.49073920e+00] [ 7.65811388e-01 -5.51216275e-02 6.40698466e-01 -8.73551003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.05864 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:140.49, Y:-4.38, Z:-87.32 [[ 6.75518145e-01 -1.03491082e-01 -7.30044404e-01 1.40492929e+02] [ 4.97772704e-02 9.94243014e-01 -9.48844152e-02 -4.38398072e+00] [ 7.35661239e-01 2.77565264e-02 6.76780700e-01 -8.73212641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.08864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:140.52, Y:-4.44, Z:-87.31 [[ 6.77368261e-01 -5.48368794e-02 -7.33597407e-01 1.40522656e+02] [ 5.07986123e-02 9.98324136e-01 -2.77203986e-02 -4.44219396e+00] [ 7.33888097e-01 -1.84888120e-02 6.79018722e-01 -8.73084791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.11864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:140.54, Y:-4.44, Z:-87.29 [[ 6.78191026e-01 -5.65391271e-02 -7.32707485e-01 1.40540489e+02] [ 5.27181320e-02 9.98210307e-01 -2.82308777e-02 -4.44399616e+00] [ 7.32992313e-01 -1.94810420e-02 6.79957909e-01 -8.72875626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.14864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:140.56, Y:-4.45, Z:-87.27 [[ 6.77726432e-01 -5.87722388e-02 -7.32961600e-01 1.40558832e+02] [ 5.54277076e-02 9.98047912e-01 -2.87773434e-02 -4.44828124e+00] [ 7.33222103e-01 -2.11232150e-02 6.79661061e-01 -8.72666055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.17864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:140.58, Y:-4.52, Z:-87.25 [[ 6.40710847e-01 2.21260632e-03 -7.67779080e-01 1.40578367e+02] [ 5.81359664e-02 9.96985220e-01 5.13875425e-02 -4.51993389e+00] [ 7.65578096e-01 -7.75601347e-02 6.38650613e-01 -8.72500727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.20864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:140.59, Y:-4.45, Z:-87.22 [[ 6.39664525e-01 -6.79371225e-02 -7.65646030e-01 1.40586800e+02] [ 5.65864356e-02 9.97545671e-01 -4.12384390e-02 -4.44537963e+00] [ 7.66568504e-01 -1.69464133e-02 6.41938897e-01 -8.72229690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.23864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:140.60, Y:-4.43, Z:-87.20 [[ 6.44711720e-01 -8.06721593e-02 -7.60157089e-01 1.40602365e+02] [ 5.70360401e-02 9.96720478e-01 -5.74036476e-02 -4.43383290e+00] [ 7.62295014e-01 -6.34754582e-03 6.47198595e-01 -8.72010951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.26864 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:140.62, Y:-4.45, Z:-87.18 [[ 6.47273963e-01 -7.15222893e-02 -7.58894577e-01 1.40621845e+02] [ 5.78262388e-02 9.97326677e-01 -4.46724345e-02 -4.44817912e+00] [ 7.60060881e-01 -1.49687153e-02 6.49679456e-01 -8.71815783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.29864 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:140.64, Y:-4.40, Z:-87.15 [[ 6.81644916e-01 -1.19043275e-01 -7.21934143e-01 1.40636524e+02] [ 6.02991191e-02 9.92459263e-01 -1.06717509e-01 -4.39509464e+00] [ 7.29194230e-01 2.92114545e-02 6.83683016e-01 -8.71543667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.32864 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:140.67, Y:-4.53, Z:-87.14 [[ 6.48404738e-01 -5.38176151e-03 -7.61276778e-01 1.40667489e+02] [ 5.94234541e-02 9.97281876e-01 4.35627579e-02 -4.52577550e+00] [ 7.58973088e-01 -7.34839943e-02 6.46962096e-01 -8.71445962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.35864 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:140.67, Y:-4.39, Z:-87.11 [[ 6.83234897e-01 -1.25314686e-01 -7.19365210e-01 1.40673033e+02] [ 5.83420698e-02 9.91382643e-01 -1.17288779e-01 -4.39066915e+00] [ 7.27864190e-01 3.81665313e-02 6.84658336e-01 -8.71101260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.38864 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:140.70, Y:-4.47, Z:-87.10 [[ 6.85368471e-01 -6.03504467e-02 -7.25691313e-01 1.40704208e+02] [ 5.67155264e-02 9.97956565e-01 -2.94286159e-02 -4.46581442e+00] [ 7.25984440e-01 -2.09885193e-02 6.87390773e-01 -8.70983819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.41864 meters Centerline goodness : 0.996315 Centerline is valid? [True, True] Translation: X:140.72, Y:-4.52, Z:-87.08 [[ 6.53614116e-01 -1.04806940e-02 -7.56755404e-01 1.40724926e+02] [ 5.45856596e-02 9.97952836e-01 3.33247958e-02 -4.52488657e+00] [ 7.54856935e-01 -6.30895498e-02 6.52848157e-01 -8.70809715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.44864 meters Centerline goodness : 0.997051 Centerline is valid? [True, True] Translation: X:140.73, Y:-4.41, Z:-87.05 [[ 6.85017302e-01 -1.12134492e-01 -7.19845228e-01 1.40733365e+02] [ 5.55499974e-02 9.93246417e-01 -1.01861443e-01 -4.41117308e+00] [ 7.26405874e-01 2.97894501e-02 6.86620051e-01 -8.70505592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.47864 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:140.76, Y:-4.47, Z:-87.04 [[ 6.86727084e-01 -5.93692085e-02 -7.24486860e-01 1.40761614e+02] [ 5.45931166e-02 9.98056720e-01 -3.00395589e-02 -4.47400626e+00] [ 7.24862404e-01 -1.89230169e-02 6.88633731e-01 -8.70360805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.50864 meters Centerline goodness : 0.995092 Centerline is valid? [True, True] Translation: X:140.78, Y:-4.53, Z:-87.02 [[ 6.55861853e-01 -1.13224843e-02 -7.54796020e-01 1.40780410e+02] [ 5.31107377e-02 9.98101819e-01 3.11770518e-02 -4.52829188e+00] [ 7.53010278e-01 -6.05356124e-02 6.55218254e-01 -8.70169049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.53864000000002 meters Centerline goodness : 0.995825 Centerline is valid? [True, True] Translation: X:140.79, Y:-4.41, Z:-86.99 [[ 6.87814837e-01 -1.11323967e-01 -7.17298908e-01 1.40788717e+02] [ 5.35801766e-02 9.93260512e-01 -1.02775091e-01 -4.41306384e+00] [ 7.23906012e-01 3.22572303e-02 6.89144076e-01 -8.69865146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.56864000000002 meters Centerline goodness : 0.995482 Centerline is valid? [True, True] Translation: X:140.82, Y:-4.48, Z:-86.97 [[ 6.89754655e-01 -5.85390147e-02 -7.21672848e-01 1.40816878e+02] [ 5.25610585e-02 9.98144815e-01 -3.07288535e-02 -4.47602073e+00] [ 7.22132849e-01 -1.67365190e-02 6.91551905e-01 -8.69720127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.59864000000002 meters Centerline goodness : 0.994992 Centerline is valid? [True, True] Translation: X:140.84, Y:-4.52, Z:-86.95 [[ 6.62090852e-01 -2.46476659e-02 -7.49018155e-01 1.40837249e+02] [ 5.08756383e-02 9.98631576e-01 1.21096628e-02 -4.51715593e+00] [ 7.47694706e-01 -4.61244737e-02 6.62438797e-01 -8.69535671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.62864000000002 meters Centerline goodness : 0.995578 Centerline is valid? [True, True] Translation: X:140.85, Y:-4.44, Z:-86.93 [[ 6.89269471e-01 -9.29719835e-02 -7.18515001e-01 1.40849979e+02] [ 5.32643502e-02 9.95551155e-01 -7.77226293e-02 -4.43941143e+00] [ 7.22544466e-01 1.53006010e-02 6.91155110e-01 -8.69280079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.65864000000002 meters Centerline goodness : 0.994491 Centerline is valid? [True, True] Translation: X:140.88, Y:-4.51, Z:-86.91 [[ 6.64776951e-01 -3.10477818e-02 -7.46396437e-01 1.40875153e+02] [ 5.12119101e-02 9.98679516e-01 4.06983949e-03 -4.51215743e+00] [ 7.45284473e-01 -4.09299227e-02 6.65489140e-01 -8.69123680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.68864000000002 meters Centerline goodness : 0.994596 Centerline is valid? [True, True] Translation: X:140.89, Y:-4.50, Z:-86.89 [[ 6.58154844e-01 -4.52542136e-02 -7.51521296e-01 1.40891305e+02] [ 5.21961727e-02 9.98532779e-01 -1.44169590e-02 -4.49783122e+00] [ 7.51071076e-01 -2.97379440e-02 6.59551282e-01 -8.68903501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71864 meters Centerline goodness : 0.995120 Centerline is valid? [True, True] Translation: X:140.90, Y:-4.43, Z:-86.86 [[ 6.90985009e-01 -1.04740249e-01 -7.15240657e-01 1.40904188e+02] [ 5.59236027e-02 9.94227253e-01 -9.15681158e-02 -4.43079481e+00] [ 7.20702621e-01 2.32733610e-02 6.92853579e-01 -8.68643505e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.74864 meters Centerline goodness : 0.994654 Centerline is valid? [True, True] Translation: X:140.93, Y:-4.48, Z:-86.85 [[ 6.91040020e-01 -6.14618602e-02 -7.20198675e-01 1.40930083e+02] [ 5.47452318e-02 9.97966798e-01 -3.26378686e-02 -4.48081065e+00] [ 7.20740349e-01 -1.68733701e-02 6.92999739e-01 -8.68485700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.77864 meters Centerline goodness : 0.994553 Centerline is valid? [True, True] Translation: X:140.95, Y:-4.48, Z:-86.83 [[ 6.90521221e-01 -6.21980533e-02 -7.20632948e-01 1.40949482e+02] [ 5.52516382e-02 9.97920748e-01 -3.31879070e-02 -4.48048773e+00] [ 7.21198794e-01 -1.68991969e-02 6.92521997e-01 -8.68283344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.80864 meters Centerline goodness : 0.994187 Centerline is valid? [True, True] Translation: X:140.97, Y:-4.51, Z:-86.81 [[ 6.64986002e-01 -3.63038014e-02 -7.45972956e-01 1.40969467e+02] [ 5.18200843e-02 9.98653537e-01 -2.40664087e-03 -4.50958344e+00] [ 7.45055901e-01 -3.70559990e-02 6.65971889e-01 -8.68093163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.83864 meters Centerline goodness : 0.994441 Centerline is valid? [True, True] Translation: X:140.98, Y:-4.45, Z:-86.79 [[ 6.91174196e-01 -8.60648503e-02 -7.17545171e-01 1.40984079e+02] [ 5.40893285e-02 9.96259246e-01 -6.73933247e-02 -4.45257382e+00] [ 7.20661207e-01 7.76899057e-03 6.93243873e-01 -8.67857290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.86864 meters Centerline goodness : 0.994500 Centerline is valid? [True, True] Translation: X:141.01, Y:-4.50, Z:-86.77 [[ 6.70249145e-01 -4.66718082e-02 -7.40667150e-01 1.41006657e+02] [ 5.17050666e-02 9.98532104e-01 -1.61314326e-02 -4.49637062e+00] [ 7.40332810e-01 -2.74841654e-02 6.71678458e-01 -8.67670633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.89864 meters Centerline goodness : 0.993917 Centerline is valid? [True, True] Translation: X:141.02, Y:-4.50, Z:-86.75 [[ 6.64055859e-01 -4.50473809e-02 -7.46324694e-01 1.41024929e+02] [ 5.09031722e-02 9.98591212e-01 -1.49819094e-02 -4.49669241e+00] [ 7.45948177e-01 -2.80414697e-02 6.65413400e-01 -8.67460154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.92864 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:141.04, Y:-4.45, Z:-86.72 [[ 6.93006825e-01 -9.13924474e-02 -7.15114649e-01 1.41039558e+02] [ 5.46665542e-02 9.95737951e-01 -7.42798840e-02 -4.44520414e+00] [ 7.18855415e-01 1.23836129e-02 6.95049306e-01 -8.67213567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.95864 meters Centerline goodness : 0.994451 Centerline is valid? [True, True] Translation: X:141.06, Y:-4.48, Z:-86.70 [[ 6.92591336e-01 -6.36269619e-02 -7.18518511e-01 1.41062657e+02] [ 5.53439346e-02 9.97853160e-01 -3.50159877e-02 -4.47791300e+00] [ 7.19203928e-01 -1.55138718e-02 6.94625820e-01 -8.67034863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.98864 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:141.08, Y:-4.48, Z:-86.68 [[ 6.92953214e-01 -6.45497821e-02 -7.18087160e-01 1.41081742e+02] [ 5.61373672e-02 9.97791015e-01 -3.55202335e-02 -4.47593756e+00] [ 7.18793739e-01 -1.56976627e-02 6.95046145e-01 -8.66826931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.01864 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:141.10, Y:-4.47, Z:-86.66 [[ 6.92439448e-01 -6.58512194e-02 -7.18464493e-01 1.41100833e+02] [ 5.74537389e-02 9.97696294e-01 -3.60717649e-02 -4.47462631e+00] [ 7.19184732e-01 -1.63009584e-02 6.94627670e-01 -8.66627452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.04864 meters Centerline goodness : 0.994891 Centerline is valid? [True, True] Translation: X:141.12, Y:-4.48, Z:-86.64 [[ 6.92656736e-01 -6.80309604e-02 -7.18051833e-01 1.41119995e+02] [ 6.00507892e-02 9.97524756e-01 -3.65822943e-02 -4.47710351e+00] [ 7.18763208e-01 -1.77806067e-02 6.95027554e-01 -8.66426890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.07864 meters Centerline goodness : 0.994443 Centerline is valid? [True, True] Translation: X:141.14, Y:-4.48, Z:-86.62 [[ 6.91921191e-01 -6.92603538e-02 -7.18643214e-01 1.41139127e+02] [ 6.12659147e-02 9.97430212e-01 -3.71410795e-02 -4.47749056e+00] [ 7.19368858e-01 -1.83296339e-02 6.94386399e-01 -8.66219209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.10864 meters Centerline goodness : 0.994403 Centerline is valid? [True, True] Translation: X:141.16, Y:-4.57, Z:-86.60 [[ 6.59007660e-01 4.63701226e-03 -7.52121933e-01 1.41158865e+02] [ 6.65656489e-02 9.95697487e-01 6.44633959e-02 -4.56699666e+00] [ 7.49184836e-01 -9.25473562e-02 6.55863605e-01 -8.66037804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.13864 meters Centerline goodness : 0.994207 Centerline is valid? [True, True] Translation: X:141.16, Y:-4.38, Z:-86.57 [[ 6.88276539e-01 -1.58587539e-01 -7.07902110e-01 1.41161320e+02] [ 6.66208095e-02 9.85507176e-01 -1.56004081e-01 -4.37699802e+00] [ 7.22382913e-01 6.02129373e-02 6.88866699e-01 -8.65701945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.16864 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:141.20, Y:-4.48, Z:-86.56 [[ 6.90799297e-01 -7.35560763e-02 -7.19295374e-01 1.41195979e+02] [ 6.66473584e-02 9.97054509e-01 -3.79530721e-02 -4.47793990e+00] [ 7.19968375e-01 -2.17211810e-02 6.93666872e-01 -8.65595392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.19864 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:141.22, Y:-4.48, Z:-86.54 [[ 6.91188926e-01 -7.48359872e-02 -7.18788873e-01 1.41215126e+02] [ 6.79577722e-02 9.96947093e-01 -3.84478132e-02 -4.48121660e+00] [ 7.19471758e-01 -2.22725878e-02 6.94164477e-01 -8.65389192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.22864 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:141.23, Y:-4.48, Z:-86.52 [[ 6.91678479e-01 -7.55867278e-02 -7.18239186e-01 1.41234025e+02] [ 6.85099006e-02 9.96890383e-01 -3.89353001e-02 -4.48244207e+00] [ 7.18948730e-01 -2.22757861e-02 6.94706063e-01 -8.65176958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.25864 meters Centerline goodness : 0.994700 Centerline is valid? [True, True] Translation: X:141.25, Y:-4.48, Z:-86.50 [[ 6.91623538e-01 -7.60880265e-02 -7.18239163e-01 1.41253509e+02] [ 6.86955074e-02 9.96857213e-01 -3.94540839e-02 -4.48165284e+00] [ 7.18983873e-01 -2.20524306e-02 6.94676817e-01 -8.64977896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.28864000000002 meters Centerline goodness : 0.994896 Centerline is valid? [True, True] Translation: X:141.27, Y:-4.57, Z:-86.48 [[ 6.66910564e-01 -1.53997654e-04 -7.45137756e-01 1.41274419e+02] [ 6.68203297e-02 9.95983408e-01 5.95994556e-02 -4.56715897e+00] [ 7.42135664e-01 -8.95378571e-02 6.64242146e-01 -8.64770680e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.31864000000002 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:141.28, Y:-4.40, Z:-86.45 [[ 6.91530131e-01 -1.49273975e-01 -7.06755515e-01 1.41278193e+02] [ 6.85383828e-02 9.87559795e-01 -1.41520819e-01 -4.39510054e+00] [ 7.19088707e-01 4.94260303e-02 6.93158351e-01 -8.64484102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.34864000000002 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:141.31, Y:-4.48, Z:-86.44 [[ 6.93063737e-01 -7.64648858e-02 -7.16809443e-01 1.41310213e+02] [ 6.82479715e-02 9.96852050e-01 -4.03510087e-02 -4.48109830e+00] [ 7.17638399e-01 -2.09549696e-02 6.96100580e-01 -8.64351726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.37864000000002 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:141.33, Y:-4.48, Z:-86.41 [[ 6.93038960e-01 -7.63702273e-02 -7.16843490e-01 1.41329939e+02] [ 6.75784214e-02 9.96876533e-01 -4.08697421e-02 -4.48148381e+00] [ 7.17725684e-01 -2.01188279e-02 6.96035254e-01 -8.64148709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.40864000000002 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:141.35, Y:-4.48, Z:-86.39 [[ 6.92737472e-01 -7.69244149e-02 -7.17075609e-01 1.41349601e+02] [ 6.78368304e-02 9.96837039e-01 -4.14014801e-02 -4.48088772e+00] [ 7.17992311e-01 -1.99637798e-02 6.95764679e-01 -8.63945682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.43864000000002 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:141.37, Y:-4.48, Z:-86.37 [[ 6.92977150e-01 -7.70040384e-02 -7.16835440e-01 1.41368438e+02] [ 6.74526051e-02 9.96843312e-01 -4.18755058e-02 -4.48011432e+00] [ 7.17797197e-01 -1.93336492e-02 6.95983760e-01 -8.63740527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46864 meters Centerline goodness : 0.997397 Centerline is valid? [True, True] Translation: X:141.39, Y:-4.48, Z:-86.35 [[ 6.94840176e-01 -7.57228595e-02 -7.15166539e-01 1.41387045e+02] [ 6.51074680e-02 9.96981104e-01 -4.23047974e-02 -4.47850386e+00] [ 7.16210966e-01 -1.71676097e-02 6.97672650e-01 -8.63531029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.49864 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:141.41, Y:-4.48, Z:-86.33 [[ 6.94369716e-01 -7.55899513e-02 -7.15637378e-01 1.41406897e+02] [ 6.43661628e-02 9.97005677e-01 -4.28564764e-02 -4.47670342e+00] [ 7.16734047e-01 -1.63045926e-02 6.97155984e-01 -8.63329457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.52864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:141.43, Y:-4.47, Z:-86.31 [[ 6.94199183e-01 -7.45184194e-02 -7.15915149e-01 1.41427076e+02] [ 6.22775487e-02 9.97114831e-01 -4.33995534e-02 -4.47485494e+00] [ 7.17083678e-01 -1.44575061e-02 6.96837125e-01 -8.63138083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.55864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:141.45, Y:-4.47, Z:-86.29 [[ 6.95144215e-01 -7.55887472e-02 -7.14885208e-01 1.41446030e+02] [ 6.33040729e-02 9.97029797e-01 -4.38654664e-02 -4.47339573e+00] [ 7.16077589e-01 -1.47623201e-02 6.97864571e-01 -8.62937582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.58864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:141.47, Y:-4.47, Z:-86.27 [[ 6.95901937e-01 -7.60742348e-02 -7.14096075e-01 1.41465144e+02] [ 6.34811615e-02 9.96997165e-01 -4.43485608e-02 -4.47171205e+00] [ 7.15325545e-01 -1.44693989e-02 6.98641540e-01 -8.62730044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.61864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:141.48, Y:-4.47, Z:-86.25 [[ 6.95709664e-01 -7.80681052e-02 -7.14068228e-01 1.41482666e+02] [ 6.58001002e-02 9.96823337e-01 -4.48729440e-02 -4.46989463e+00] [ 7.15303020e-01 -1.57672202e-02 6.98636518e-01 -8.62517488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.64864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:141.50, Y:-4.47, Z:-86.23 [[ 6.96019269e-01 -7.94404616e-02 -7.13615016e-01 1.41501209e+02] [ 6.72445030e-02 9.96704536e-01 -4.53678775e-02 -4.46790683e+00] [ 7.14867368e-01 -1.64097701e-02 6.99067497e-01 -8.62305266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.67864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:141.52, Y:-4.47, Z:-86.21 [[ 6.96978971e-01 -8.05113903e-02 -7.12557528e-01 1.41520063e+02] [ 6.82758867e-02 9.96613571e-01 -4.58235099e-02 -4.46503629e+00] [ 7.13833817e-01 -1.67124743e-02 7.00115687e-01 -8.62102682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.54, Y:-4.46, Z:-86.19 [[ 6.96837568e-01 -8.17213051e-02 -7.12558090e-01 1.41539503e+02] [ 6.94746017e-02 9.96506621e-01 -4.63447255e-02 -4.46293911e+00] [ 7.13856207e-01 -1.72099437e-02 7.00080806e-01 -8.61901751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.56, Y:-4.46, Z:-86.17 [[ 6.97777626e-01 -8.16768141e-02 -7.11642665e-01 1.41558800e+02] [ 6.89131715e-02 9.96524197e-01 -4.68027761e-02 -4.46149712e+00] [ 7.12991837e-01 -1.63836231e-02 7.00980896e-01 -8.61697212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.58, Y:-4.46, Z:-86.15 [[ 6.97787843e-01 -8.17946177e-02 -7.11619116e-01 1.41577898e+02] [ 6.85542786e-02 9.96524513e-01 -4.73202568e-02 -4.46066655e+00] [ 7.13016435e-01 -1.57650352e-02 7.00970061e-01 -8.61492995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.60, Y:-4.46, Z:-86.13 [[ 6.96908010e-01 -8.26936214e-02 -7.12377000e-01 1.41597640e+02] [ 6.92801521e-02 9.96446946e-01 -4.78930587e-02 -4.45926822e+00] [ 7.13806336e-01 -1.59765306e-02 7.00160885e-01 -8.61288765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:141.62, Y:-4.46, Z:-86.11 [[ 6.97030409e-01 -8.36313959e-02 -7.12147736e-01 1.41616288e+02] [ 7.00979423e-02 9.96365317e-01 -4.83987004e-02 -4.45845628e+00] [ 7.13606956e-01 -1.61847250e-02 7.00359313e-01 -8.61083313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.64, Y:-4.46, Z:-86.09 [[ 6.97927656e-01 -8.38717645e-02 -7.11240124e-01 1.41636105e+02] [ 6.99427125e-02 9.96353725e-01 -4.88597175e-02 -4.45719768e+00] [ 7.12744698e-01 -1.56455154e-02 7.01249038e-01 -8.60881616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.65, Y:-4.46, Z:-86.07 [[ 6.99038817e-01 -8.37664149e-02 -7.10160488e-01 1.41654301e+02] [ 6.93034143e-02 9.96376279e-01 -4.93087022e-02 -4.45576560e+00] [ 7.11717478e-01 -1.47478497e-02 7.02310994e-01 -8.60673404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.67, Y:-4.45, Z:-86.05 [[ 6.98990681e-01 -8.44736807e-02 -7.10124092e-01 1.41673782e+02] [ 6.97833817e-02 9.96316903e-01 -4.98287874e-02 -4.45422778e+00] [ 7.11717857e-01 -1.47250025e-02 7.02311089e-01 -8.60466517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.69, Y:-4.45, Z:-86.03 [[ 6.99400236e-01 -8.12796655e-02 -7.10093604e-01 1.41692883e+02] [ 6.47375512e-02 9.96633044e-01 -5.03152567e-02 -4.45040900e+00] [ 7.11792357e-01 -1.07792187e-02 7.02307232e-01 -8.60258865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.71, Y:-4.45, Z:-86.01 [[ 6.99864503e-01 -7.97672417e-02 -7.09807625e-01 1.41712727e+02] [ 6.20660227e-02 9.96777379e-01 -5.08199330e-02 -4.44694196e+00] [ 7.11573950e-01 -8.48786909e-03 7.02559940e-01 -8.60063057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.73, Y:-4.44, Z:-85.99 [[ 7.00319233e-01 -7.82067038e-02 -7.09532722e-01 1.41731783e+02] [ 5.93208731e-02 9.96918252e-01 -5.13325755e-02 -4.44294574e+00] [ 7.11360672e-01 -6.14091062e-03 7.02800316e-01 -8.59856549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:141.75, Y:-4.44, Z:-85.96 [[ 7.01641428e-01 -7.50690417e-02 -7.08564708e-01 1.41750067e+02] [ 5.43780040e-02 9.97175943e-01 -5.17993369e-02 -4.43639491e+00] [ 7.10452208e-01 -2.18577384e-03 7.03742057e-01 -8.59649697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.77, Y:-4.43, Z:-85.94 [[ 7.02395415e-01 -7.46584574e-02 -7.07860718e-01 1.41769704e+02] [ 5.33052174e-02 9.97208652e-01 -5.22824879e-02 -4.43242471e+00] [ 7.09788162e-01 -1.00968971e-03 7.04414470e-01 -8.59448293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.79, Y:-4.43, Z:-85.92 [[ 7.02442425e-01 -7.53405859e-02 -7.07741786e-01 1.41788568e+02] [ 5.37407275e-02 9.97157418e-01 -5.28111493e-02 -4.42865919e+00] [ 7.09708795e-01 -9.37766729e-04 7.04494533e-01 -8.59241610e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.81, Y:-4.46, Z:-85.91 [[ 6.69270513e-01 -4.38338660e-02 -7.41724728e-01 1.41808911e+02] [ 5.50518443e-02 9.98439898e-01 -9.33082629e-03 -4.46303182e+00] [ 7.40976568e-01 -3.45884674e-02 6.70639518e-01 -8.59066265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:141.82, Y:-4.37, Z:-85.88 [[ 7.01425551e-01 -1.16720253e-01 -7.03120601e-01 1.41818240e+02] [ 5.80730911e-02 9.92579024e-01 -1.06838179e-01 -4.37478887e+00] [ 7.10372939e-01 3.41066421e-02 7.02998595e-01 -8.58796318e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.84, Y:-4.41, Z:-85.86 [[ 7.00741437e-01 -8.15191521e-02 -7.08742596e-01 1.41844701e+02] [ 6.15481083e-02 9.96654104e-01 -5.37812853e-02 -4.41442875e+00] [ 7.10755422e-01 -5.93499093e-03 7.03414178e-01 -8.58630115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:141.86, Y:-4.41, Z:-85.84 [[ 7.00077240e-01 -8.32805425e-02 -7.09194056e-01 1.41863667e+02] [ 6.34851683e-02 9.96501738e-01 -5.43499816e-02 -4.41055085e+00] [ 7.11239405e-01 -6.97411882e-03 7.02915266e-01 -8.58426223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.88, Y:-4.41, Z:-85.82 [[ 7.00669294e-01 -8.49166157e-02 -7.08414927e-01 1.41882646e+02] [ 6.53298838e-02 9.96356959e-01 -5.48162044e-02 -4.40656010e+00] [ 7.10488949e-01 -7.87263358e-03 7.03664320e-01 -8.58224853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.27864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:141.90, Y:-4.44, Z:-85.81 [[ 6.70780230e-01 -5.37539566e-02 -7.39705614e-01 1.41902963e+02] [ 6.56305973e-02 9.97759414e-01 -1.29913968e-02 -4.43999265e+00] [ 7.38746579e-01 -3.98329491e-02 6.72805194e-01 -8.58054501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:141.91, Y:-4.39, Z:-85.78 [[ 6.73998304e-01 -9.83902243e-02 -7.32151385e-01 1.41914407e+02] [ 6.48065677e-02 9.95144827e-01 -7.40734869e-02 -4.38614362e+00] [ 7.35884771e-01 2.47718620e-03 6.77102258e-01 -8.57814973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.93, Y:-4.36, Z:-85.76 [[ 7.00625347e-01 -1.16735641e-01 -7.03915416e-01 1.41933120e+02] [ 6.96814605e-02 9.93004663e-01 -9.53217341e-02 -4.36422304e+00] [ 7.10118734e-01 1.77349688e-02 7.03858547e-01 -8.57590339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.36864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:141.96, Y:-4.40, Z:-85.74 [[ 7.00668509e-01 -8.88984518e-02 -7.07927049e-01 1.41957630e+02] [ 6.96251746e-02 9.95991102e-01 -5.61610124e-02 -4.39518639e+00] [ 7.10081669e-01 -9.93929159e-03 7.04049170e-01 -8.57409261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:141.98, Y:-4.39, Z:-85.72 [[ 7.00336072e-01 -9.08505071e-02 -7.08008172e-01 1.41977535e+02] [ 7.18638356e-02 9.95801841e-01 -5.66946365e-02 -4.39166673e+00] [ 7.10186578e-01 -1.11748839e-02 7.03924816e-01 -8.57209372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.00, Y:-4.52, Z:-85.70 [[ 6.67496752e-01 1.63512177e-02 -7.44433156e-01 1.42004774e+02] [ 7.52910942e-02 9.93152786e-01 8.93240954e-02 -4.51849035e+00] [ 7.40796421e-01 -1.15672730e-01 6.61695158e-01 -8.57041328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:141.98, Y:-4.25, Z:-85.66 [[ 6.99676445e-01 -2.13099957e-01 -6.81939352e-01 1.41982684e+02] [ 7.61251275e-02 9.71284760e-01 -2.25412688e-01 -4.24678857e+00] [ 7.10392734e-01 1.05803228e-01 6.95807329e-01 -8.56577117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.04, Y:-4.50, Z:-85.66 [[ 6.71322172e-01 7.23388046e-03 -7.41130361e-01 1.42040994e+02] [ 7.50304841e-02 9.94152050e-01 7.76667746e-02 -4.50420309e+00] [ 7.37358100e-01 -1.07746798e-01 6.66853552e-01 -8.56602997e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.02, Y:-4.26, Z:-85.62 [[ 7.02891619e-01 -1.98808035e-01 -6.82948561e-01 1.42024012e+02] [ 7.69978809e-02 9.75770030e-01 -2.04802770e-01 -4.25941472e+00] [ 7.07117174e-01 9.13685589e-02 7.01168374e-01 -8.56190743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.08, Y:-4.52, Z:-85.62 [[ 6.73348009e-01 2.13626890e-02 -7.39016978e-01 1.42077904e+02] [ 7.49441914e-02 9.92461325e-01 9.69736377e-02 -4.51653015e+00] [ 7.35517387e-01 -1.20682036e-01 6.66670848e-01 -8.56188582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.08, Y:-4.37, Z:-85.59 [[ 6.72922768e-01 -9.50053607e-02 -7.33586348e-01 1.42082801e+02] [ 6.91251324e-02 9.95454711e-01 -6.55105681e-02 -4.37458238e+00] [ 7.36475841e-01 -6.62570062e-03 6.76431398e-01 -8.55916570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.60864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:142.09, Y:-4.32, Z:-85.57 [[ 6.76444619e-01 -1.36491669e-01 -7.23735243e-01 1.42089423e+02] [ 6.49907256e-02 9.89906007e-01 -1.25945637e-01 -4.31787742e+00] [ 7.33620394e-01 3.81591701e-02 6.78487284e-01 -8.55671534e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.11, Y:-4.29, Z:-85.55 [[ 7.14339067e-01 -1.52139863e-01 -6.83061607e-01 1.42106629e+02] [ 7.14059462e-02 9.86833426e-01 -1.45124019e-01 -4.29491115e+00] [ 6.96147174e-01 5.48930957e-02 7.15797359e-01 -8.55456463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.14, Y:-4.37, Z:-85.53 [[ 7.14699046e-01 -8.94260379e-02 -6.93691760e-01 1.42140542e+02] [ 6.89289694e-02 9.95970198e-01 -5.73773574e-02 -4.36542967e+00] [ 6.96027349e-01 -6.80791552e-03 7.17982995e-01 -8.55345341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.16, Y:-4.36, Z:-85.52 [[ 7.15608820e-01 -8.96744138e-02 -6.92721095e-01 1.42160025e+02] [ 6.88512369e-02 9.95951012e-01 -5.78021530e-02 -4.35968036e+00] [ 6.95099650e-01 -6.33097369e-03 7.18885523e-01 -8.55152480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.18, Y:-4.36, Z:-85.50 [[ 7.15708438e-01 -9.07497050e-02 -6.92478103e-01 1.42179725e+02] [ 6.98742771e-02 9.95851404e-01 -5.82886466e-02 -4.35539832e+00] [ 6.94894968e-01 -6.66873061e-03 7.19080323e-01 -8.54957289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.75864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:142.21, Y:-4.42, Z:-85.48 [[ 6.79510637e-01 -3.25671397e-02 -7.32942478e-01 1.42205036e+02] [ 7.26125033e-02 9.97094654e-01 2.30146949e-02 -4.42266557e+00] [ 7.30063503e-01 -6.88595181e-02 6.79901205e-01 -8.54804527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.78864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:142.21, Y:-4.33, Z:-85.45 [[ 6.81881716e-01 -1.13394547e-01 -7.22619542e-01 1.42208986e+02] [ 7.14444108e-02 9.93511856e-01 -8.84866596e-02 -4.32517519e+00] [ 7.27964986e-01 8.71030789e-03 6.85558976e-01 -8.54523051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.22, Y:-4.28, Z:-85.43 [[ 7.15504433e-01 -1.48634023e-01 -6.82613605e-01 1.42223226e+02] [ 7.88693003e-02 9.88044229e-01 -1.32469751e-01 -4.28208291e+00] [ 6.94141945e-01 4.09454367e-02 7.18672688e-01 -8.54274831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.84864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.26, Y:-4.37, Z:-85.42 [[ 6.89571186e-01 -7.13487361e-02 -7.20694760e-01 1.42256710e+02] [ 7.82212939e-02 9.96651289e-01 -2.38251481e-02 -4.37459716e+00] [ 7.19981255e-01 -3.99445409e-02 6.92843002e-01 -8.54200127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.87864000000002 meters Centerline goodness : 0.986027 Centerline is valid? [True, True] Translation: X:142.30, Y:-4.35, Z:-85.39 [[ 7.01426682e-01 1.33652464e-03 -7.12740362e-01 1.42303879e+02] [-6.15937090e-03 9.99972267e-01 -4.18646071e-03 -4.34992830e+00] [ 7.12715001e-01 7.32652749e-03 7.01415462e-01 -8.53947508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.90864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.30, Y:-4.44, Z:-85.39 [[ 6.90112409e-01 -1.93068979e-02 -7.23444612e-01 1.42296301e+02] [ 8.17642750e-02 9.95323619e-01 5.14343858e-02 -4.43836122e+00] [ 7.19068471e-01 -9.46474321e-02 6.88463795e-01 -8.53854921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.93864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.30, Y:-4.31, Z:-85.35 [[ 6.88746921e-01 -1.23364069e-01 -7.14429132e-01 1.42297251e+02] [ 7.73670454e-02 9.92296351e-01 -9.67589341e-02 -4.31068421e+00] [ 7.20861997e-01 1.13691468e-02 6.92985370e-01 -8.53534889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:142.31, Y:-4.27, Z:-85.33 [[ 7.21413027e-01 -1.59759666e-01 -6.73824972e-01 1.42310768e+02] [ 8.40587183e-02 9.86032198e-01 -1.43786776e-01 -4.26839146e+00] [ 6.87384445e-01 4.70887901e-02 7.24765666e-01 -8.53285055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.35, Y:-4.34, Z:-85.32 [[ 7.22715246e-01 -1.01712298e-01 -6.83620715e-01 1.42346046e+02] [ 8.33699062e-02 9.94719094e-01 -5.98613558e-02 -4.33837906e+00] [ 6.86099214e-01 -1.37306804e-02 7.27378400e-01 -8.53188688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:142.37, Y:-4.39, Z:-85.30 [[ 6.90492321e-01 -6.05447180e-02 -7.20801423e-01 1.42368156e+02] [ 8.26566891e-02 9.96567799e-01 -4.52705435e-03 -4.38637271e+00] [ 7.18601577e-01 -5.64531628e-02 6.93126839e-01 -8.53025463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.05864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:142.37, Y:-4.28, Z:-85.27 [[ 7.21590713e-01 -1.49916516e-01 -6.75893394e-01 1.42371995e+02] [ 8.54366188e-02 9.88093672e-01 -1.27951081e-01 -4.27689976e+00] [ 6.87027966e-01 3.45822653e-02 7.25807578e-01 -8.52707887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.08864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:142.41, Y:-4.38, Z:-85.26 [[ 6.90506055e-01 -6.60341226e-02 -7.20306104e-01 1.42405572e+02] [ 8.48818374e-02 9.96341148e-01 -9.96949889e-03 -4.37951378e+00] [ 7.18328937e-01 -5.42569062e-02 6.93584693e-01 -8.52631193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.41, Y:-4.28, Z:-85.23 [[ 7.21356622e-01 -1.50194603e-01 -6.76081508e-01 1.42411509e+02] [ 8.76964757e-02 9.88152360e-01 -1.25953331e-01 -4.27803350e+00] [ 6.86989048e-01 3.15673038e-02 7.25981786e-01 -8.52317348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.45, Y:-4.40, Z:-85.22 [[ 6.92026087e-01 -4.70935420e-02 -7.20334710e-01 1.42448498e+02] [ 8.51227023e-02 9.96231408e-01 1.66465183e-02 -4.40081084e+00] [ 7.16836119e-01 -7.28366620e-02 6.93426852e-01 -8.52220536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.17864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:142.45, Y:-4.26, Z:-85.19 [[ 7.24153463e-01 -1.61390460e-01 -6.70488540e-01 1.42445330e+02] [ 8.78602084e-02 9.85899258e-01 -1.42419228e-01 -4.26101612e+00] [ 6.84019259e-01 4.42241144e-02 7.28122161e-01 -8.51886883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.20864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:142.49, Y:-4.41, Z:-85.18 [[ 6.90813816e-01 -3.88448900e-02 -7.21988467e-01 1.42487356e+02] [ 8.42451621e-02 9.96078759e-01 2.70158776e-02 -4.40658147e+00] [ 7.18107947e-01 -7.94869770e-02 6.91377463e-01 -8.51821587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.23864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:142.49, Y:-4.31, Z:-85.15 [[ 6.95083672e-01 -1.19462851e-01 -7.08933929e-01 1.42491803e+02] [ 8.02532429e-02 9.92827539e-01 -8.86165647e-02 -4.30655176e+00] [ 7.14435515e-01 4.70168037e-03 6.99685493e-01 -8.51541276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.51, Y:-4.27, Z:-85.13 [[ 7.27536897e-01 -1.51800037e-01 -6.69064132e-01 1.42505535e+02] [ 8.55547215e-02 9.87676377e-01 -1.31056336e-01 -4.26644371e+00] [ 6.80713195e-01 3.81067248e-02 7.31558217e-01 -8.51299441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.54, Y:-4.32, Z:-85.12 [[ 7.29446057e-01 -1.03442486e-01 -6.76171651e-01 1.42537446e+02] [ 8.46193353e-02 9.94552801e-01 -6.08629083e-02 -4.32449320e+00] [ 6.78784220e-01 -1.28209872e-02 7.34225854e-01 -8.51174547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.32864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:142.56, Y:-4.33, Z:-85.10 [[ 7.28630073e-01 -1.05260145e-01 -6.76770654e-01 1.42556224e+02] [ 8.66217936e-02 9.94347721e-01 -6.13944195e-02 -4.32504450e+00] [ 6.79407743e-01 -1.38892675e-02 7.33629475e-01 -8.50971499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.35864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:142.58, Y:-4.32, Z:-85.08 [[ 7.28254279e-01 -1.06603127e-01 -6.76964902e-01 1.42575809e+02] [ 8.80065011e-02 9.94195771e-01 -6.18839565e-02 -4.32455713e+00] [ 6.79632666e-01 -1.45100562e-02 7.33409093e-01 -8.50777033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.59, Y:-4.32, Z:-85.06 [[ 7.28410950e-01 -1.07740231e-01 -6.76616235e-01 1.42594815e+02] [ 8.91414319e-02 9.94067163e-01 -6.23240012e-02 -4.32421300e+00] [ 6.79316784e-01 -1.49170551e-02 7.33693525e-01 -8.50577728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.61, Y:-4.32, Z:-85.04 [[ 7.28454052e-01 -1.08119809e-01 -6.76509277e-01 1.42614383e+02] [ 8.92307145e-02 9.94030212e-01 -6.27838865e-02 -4.32269891e+00] [ 6.79258842e-01 -1.46302296e-02 7.33752944e-01 -8.50383160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.44864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:142.63, Y:-4.32, Z:-85.02 [[ 7.28465086e-01 -1.07248704e-01 -6.76636043e-01 1.42634613e+02] [ 8.75968215e-02 9.94144827e-01 -6.32681610e-02 -4.32054042e+00] [ 6.79459650e-01 -1.31825204e-02 7.33594442e-01 -8.50185769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.47864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:142.65, Y:-4.32, Z:-85.00 [[ 7.27113818e-01 -1.03836020e-01 -6.78618874e-01 1.42654765e+02] [ 8.23608911e-02 9.94549943e-01 -6.39303855e-02 -4.31701204e+00] [ 6.81558640e-01 -9.40698852e-03 7.31703034e-01 -8.49991497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.50864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:142.67, Y:-4.31, Z:-84.98 [[ 7.27394502e-01 -1.03127399e-01 -6.78426104e-01 1.42674629e+02] [ 8.09622354e-02 9.94635245e-01 -6.43882375e-02 -4.31381232e+00] [ 6.81426705e-01 -8.09124390e-03 7.31841634e-01 -8.49797198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.53864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:142.69, Y:-4.31, Z:-84.96 [[ 7.26771128e-01 -1.02169315e-01 -6.79238660e-01 1.42694394e+02] [ 7.91378775e-02 9.94745467e-01 -6.49511599e-02 -4.31024437e+00] [ 6.82305594e-01 -6.54887811e-03 7.31037748e-01 -8.49603673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.56864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:142.71, Y:-4.31, Z:-84.94 [[ 7.26052194e-01 -1.03244411e-01 -6.79844691e-01 1.42713489e+02] [ 8.01065530e-02 9.94632050e-01 -6.54982848e-02 -4.30831367e+00] [ 6.82957651e-01 -6.90484146e-03 7.30425336e-01 -8.49406307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.59864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:142.73, Y:-4.31, Z:-84.92 [[ 7.25377790e-01 -1.04399888e-01 -6.80387922e-01 1.42733031e+02] [ 8.11932693e-02 9.94508306e-01 -6.60369770e-02 -4.30629907e+00] [ 6.83545693e-01 -7.34116337e-03 7.29870805e-01 -8.49208830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.62864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:142.75, Y:-4.30, Z:-84.90 [[ 7.25012187e-01 -1.06367631e-01 -6.80472818e-01 1.42753097e+02] [ 8.34269477e-02 9.94290269e-01 -6.65342473e-02 -4.30410325e+00] [ 6.83664591e-01 -8.53163001e-03 7.29746489e-01 -8.49020432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.65864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:142.77, Y:-4.30, Z:-84.88 [[ 7.25211014e-01 -1.07019076e-01 -6.80158733e-01 1.42773244e+02] [ 8.38874791e-02 9.94220853e-01 -6.69909412e-02 -4.30183473e+00] [ 6.83397305e-01 -8.47423314e-03 7.29997473e-01 -8.48823104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.68864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:142.79, Y:-4.30, Z:-84.86 [[ 7.24847402e-01 -1.06436599e-01 -6.80637565e-01 1.42792404e+02] [ 8.25958024e-02 9.94292893e-01 -6.75246317e-02 -4.29766601e+00] [ 6.83940186e-01 -7.27275193e-03 7.29501836e-01 -8.48620238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:142.81, Y:-4.29, Z:-84.84 [[ 7.24376377e-01 -1.05360499e-01 -6.81306120e-01 1.42811992e+02] [ 8.06085135e-02 9.94418294e-01 -6.80773344e-02 -4.29315312e+00] [ 6.84675932e-01 -5.60546074e-03 7.28826075e-01 -8.48421801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.83, Y:-4.29, Z:-84.82 [[ 7.24341038e-01 -1.04319241e-01 -6.81503894e-01 1.42831250e+02] [ 7.87001923e-02 9.94536008e-01 -6.85886943e-02 -4.28898324e+00] [ 6.84935282e-01 -3.95288148e-03 7.28593188e-01 -8.48228477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:142.85, Y:-4.29, Z:-84.80 [[ 7.24287440e-01 -1.05012842e-01 -6.81454332e-01 1.42851555e+02] [ 7.91917585e-02 9.94463089e-01 -6.90784362e-02 -4.28678875e+00] [ 6.84935303e-01 -3.93292317e-03 7.28593277e-01 -8.48030724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.80864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:142.87, Y:-4.28, Z:-84.78 [[ 7.25824235e-01 -1.04147475e-01 -6.79950353e-01 1.42870314e+02] [ 7.77030734e-02 9.94558800e-01 -6.93903811e-02 -4.28220875e+00] [ 6.83477441e-01 -2.46901195e-03 7.29967459e-01 -8.47827960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.89, Y:-4.28, Z:-84.76 [[ 7.26211235e-01 -1.05618246e-01 -6.79309965e-01 1.42889912e+02] [ 7.93100016e-02 9.94401698e-01 -6.98225423e-02 -4.28012220e+00] [ 6.82881517e-01 -3.17015973e-03 7.30522268e-01 -8.47636994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.91, Y:-4.28, Z:-84.74 [[ 7.25026731e-01 -1.07834081e-01 -6.80226470e-01 1.42910326e+02] [ 8.18021772e-02 9.94158289e-01 -7.04109324e-02 -4.27833078e+00] [ 6.83845482e-01 -4.59419813e-03 7.29612397e-01 -8.47442853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.89864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:142.93, Y:-4.28, Z:-84.72 [[ 7.25021941e-01 -1.09972733e-01 -6.79889096e-01 1.42929666e+02] [ 8.43031613e-02 9.93916877e-01 -7.08676078e-02 -4.27628063e+00] [ 6.83546751e-01 -5.93622955e-03 7.29882593e-01 -8.47248388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:142.95, Y:-4.27, Z:-84.71 [[ 7.25092961e-01 -1.11825827e-01 -6.79510987e-01 1.42949554e+02] [ 8.64121761e-02 9.93703152e-01 -7.13230798e-02 -4.27389598e+00] [ 6.83207972e-01 -7.00215997e-03 7.30190274e-01 -8.47052973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:142.97, Y:-4.27, Z:-84.68 [[ 7.25454478e-01 -1.14623908e-01 -6.78658353e-01 1.42968945e+02] [ 8.98627730e-02 9.93368573e-01 -7.17186151e-02 -4.27177035e+00] [ 6.82378548e-01 -8.95753105e-03 7.30944102e-01 -8.46848968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:142.99, Y:-4.27, Z:-84.67 [[ 7.25746583e-01 -1.15941406e-01 -6.78122030e-01 1.42988214e+02] [ 9.12590814e-02 9.93210377e-01 -7.21451873e-02 -4.26968677e+00] [ 6.81882451e-01 -9.52567033e-03 7.31399743e-01 -8.46652226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.01, Y:-4.27, Z:-84.65 [[ 7.25504435e-01 -1.17624692e-01 -6.78091252e-01 1.43008514e+02] [ 9.31109366e-02 9.93003191e-01 -7.26293058e-02 -4.26867033e+00] [ 6.81889777e-01 -1.04448281e-02 7.31380365e-01 -8.46465519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.03, Y:-4.27, Z:-84.63 [[ 7.24364711e-01 -1.19194953e-01 -6.79034850e-01 1.43028403e+02] [ 9.47363401e-02 9.92806602e-01 -7.32125522e-02 -4.26778644e+00] [ 6.82876849e-01 -1.12966873e-02 7.30446161e-01 -8.46266094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.05, Y:-4.27, Z:-84.61 [[ 7.25723252e-01 -1.19952537e-01 -6.77449002e-01 1.43049009e+02] [ 9.54829288e-02 9.92714714e-01 -7.34881400e-02 -4.26855472e+00] [ 6.81328681e-01 -1.13527629e-02 7.31889570e-01 -8.46074047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.07, Y:-4.27, Z:-84.59 [[ 7.26411397e-01 -1.20329351e-01 -6.76644168e-01 1.43068972e+02] [ 9.56116277e-02 9.92672819e-01 -7.38856583e-02 -4.26726895e+00] [ 6.80576887e-01 -1.10236660e-02 7.32593734e-01 -8.45872699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.09, Y:-4.27, Z:-84.57 [[ 7.27736135e-01 -1.19761421e-01 -6.75320161e-01 1.43088956e+02] [ 9.45018498e-02 9.92754257e-01 -7.42185010e-02 -4.26692619e+00] [ 6.79315478e-01 -9.80751945e-03 7.33780821e-01 -8.45677348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.11, Y:-4.27, Z:-84.55 [[ 7.27868599e-01 -1.19607035e-01 -6.75204754e-01 1.43108668e+02] [ 9.38621850e-02 9.92780345e-01 -7.46798297e-02 -4.26578184e+00] [ 6.79262242e-01 -9.01909053e-03 7.33840216e-01 -8.45483235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.13, Y:-4.26, Z:-84.53 [[ 7.28520116e-01 -1.17935568e-01 -6.74796001e-01 1.43128845e+02] [ 9.11756300e-02 9.92997946e-01 -7.51138065e-02 -4.26366816e+00] [ 6.78929632e-01 -6.80303142e-03 7.34171828e-01 -8.45289838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.15, Y:-4.26, Z:-84.51 [[ 7.29719888e-01 -1.17582390e-01 -6.73560144e-01 1.43148713e+02] [ 9.03648058e-02 9.93046165e-01 -7.54553934e-02 -4.26098052e+00] [ 6.77748543e-01 -5.80483040e-03 7.35270846e-01 -8.45088779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.17, Y:-4.26, Z:-84.49 [[ 7.30214619e-01 -1.17098463e-01 -6.73108134e-01 1.43168881e+02] [ 8.93055080e-02 9.93109192e-01 -7.58858339e-02 -4.25759834e+00] [ 6.77355989e-01 -4.69931853e-03 7.35640388e-01 -8.44895431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.19, Y:-4.25, Z:-84.47 [[ 7.31481252e-01 -1.15587970e-01 -6.71993005e-01 1.43188681e+02] [ 8.69190813e-02 9.93293738e-01 -7.62405682e-02 -4.25256367e+00] [ 6.76298936e-01 -2.64046834e-03 7.36622547e-01 -8.44708212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.21, Y:-4.25, Z:-84.45 [[ 7.30860638e-01 -1.15632402e-01 -6.72660297e-01 1.43208460e+02] [ 8.64627185e-02 9.93290010e-01 -7.68059482e-02 -4.24896627e+00] [ 6.77028010e-01 -2.02559358e-03 7.35954463e-01 -8.44514111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.34864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.23, Y:-4.24, Z:-84.43 [[ 7.29934608e-01 -1.16716377e-01 -6.73478103e-01 1.43228917e+02] [ 8.74043791e-02 9.93162442e-01 -7.73875800e-02 -4.24481679e+00] [ 6.77905556e-01 -2.37706257e-03 7.35145160e-01 -8.44326693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.25, Y:-4.24, Z:-84.41 [[ 7.30522526e-01 -1.17924385e-01 -6.72629674e-01 1.43248520e+02] [ 8.86863206e-02 9.93018526e-01 -7.77749572e-02 -4.24098405e+00] [ 6.77105292e-01 -2.83669276e-03 7.35880681e-01 -8.44132373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.27, Y:-4.24, Z:-84.39 [[ 7.31130960e-01 -1.18703870e-01 -6.71831014e-01 1.43267913e+02] [ 8.93817827e-02 9.92925466e-01 -7.81659467e-02 -4.23644749e+00] [ 6.76356723e-01 -2.89991011e-03 7.36568513e-01 -8.43937769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.43864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.29, Y:-4.23, Z:-84.37 [[ 7.32282822e-01 -1.19547680e-01 -6.70425403e-01 1.43286273e+02] [ 9.02243780e-02 9.92823887e-01 -7.84875243e-02 -4.22962738e+00] [ 6.74997356e-01 -3.01364921e-03 7.37813992e-01 -8.43738623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:143.31, Y:-4.22, Z:-84.35 [[ 7.32252576e-01 -1.19747675e-01 -6.70422747e-01 1.43305929e+02] [ 9.00527252e-02 9.92801093e-01 -7.89714885e-02 -4.22474161e+00] [ 6.75053088e-01 -2.54631951e-03 7.37764762e-01 -8.43546013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.33, Y:-4.22, Z:-84.34 [[ 7.31620457e-01 -1.19555971e-01 -6.71146688e-01 1.43325790e+02] [ 8.92713154e-02 9.92825975e-01 -7.95437930e-02 -4.21658821e+00] [ 6.75841800e-01 -1.71828145e-03 7.37044713e-01 -8.43351276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.35, Y:-4.21, Z:-84.32 [[ 7.31587315e-01 -1.19250969e-01 -6.71237072e-01 1.43346013e+02] [ 8.83996219e-02 9.92863838e-01 -8.00431550e-02 -4.21172859e+00] [ 6.75992239e-01 -7.78546523e-04 7.36908330e-01 -8.43161084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.37, Y:-4.21, Z:-84.30 [[ 7.31158583e-01 -1.19541037e-01 -6.71652490e-01 1.43365955e+02] [ 8.82962644e-02 9.92829186e-01 -8.05852132e-02 -4.20736964e+00] [ 6.76469435e-01 -3.83835530e-04 7.36470608e-01 -8.42969485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.38, Y:-4.20, Z:-84.28 [[ 7.32032922e-01 -1.19697547e-01 -6.70671528e-01 1.43384250e+02] [ 8.81685482e-02 9.92810395e-01 -8.09557086e-02 -4.20117885e+00] [ 6.75539865e-01 1.30108876e-04 7.37323453e-01 -8.42767413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.61864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:143.40, Y:-4.20, Z:-84.26 [[ 7.31938969e-01 -1.20618546e-01 -6.70609060e-01 1.43404157e+02] [ 8.89782632e-02 9.92698928e-01 -8.14352897e-02 -4.19695399e+00] [ 6.75535502e-01 -6.39674691e-05 7.37327459e-01 -8.42572343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.42, Y:-4.19, Z:-84.24 [[ 7.31704598e-01 -1.21562543e-01 -6.70694364e-01 1.43423919e+02] [ 8.97993889e-02 9.92583736e-01 -8.19365422e-02 -4.19350177e+00] [ 6.75680732e-01 -2.74599392e-04 7.37194325e-01 -8.42384686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.44, Y:-4.19, Z:-84.22 [[ 7.31981356e-01 -1.22879677e-01 -6.70152132e-01 1.43444437e+02] [ 9.11975700e-02 9.92421229e-01 -8.23596258e-02 -4.18961331e+00] [ 6.75193526e-01 -8.30535390e-04 7.37640164e-01 -8.42199901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.70864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.46, Y:-4.19, Z:-84.20 [[ 7.32584385e-01 -1.23452775e-01 -6.69387429e-01 1.43463913e+02] [ 9.16118690e-02 9.92350202e-01 -8.27547090e-02 -4.18611989e+00] [ 6.74483049e-01 -6.99025833e-04 7.38290002e-01 -8.42001821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.50, Y:-4.29, Z:-84.19 [[ 7.02808097e-01 -3.40608307e-02 -7.10563606e-01 1.43501343e+02] [ 9.01821204e-02 9.95060281e-01 4.14996551e-02 -4.29187070e+00] [ 7.05640109e-01 -9.32464263e-02 7.02408101e-01 -8.41909578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.76864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:143.50, Y:-4.17, Z:-84.16 [[ 7.08581122e-01 -1.37959064e-01 -6.92011626e-01 1.43495361e+02] [ 8.90347865e-02 9.90343367e-01 -1.06267687e-01 -4.16528223e+00] [ 6.99989715e-01 1.36861698e-02 7.14021770e-01 -8.41596270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.79864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:143.49, Y:-4.09, Z:-84.13 [[ 7.36989346e-01 -2.01765156e-01 -6.45087224e-01 1.43493323e+02] [ 9.58002216e-02 9.75952767e-01 -1.95802233e-01 -4.08644745e+00] [ 6.69080729e-01 8.25046608e-02 7.38595937e-01 -8.41250671e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.54, Y:-4.18, Z:-84.12 [[ 7.37137701e-01 -1.26164408e-01 -6.63860341e-01 1.43540674e+02] [ 9.47397722e-02 9.92008260e-01 -8.33305940e-02 -4.17888681e+00] [ 6.69068297e-01 -1.46785496e-03 7.43199475e-01 -8.41221414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.56, Y:-4.18, Z:-84.10 [[ 7.36136736e-01 -1.27221872e-01 -6.64768607e-01 1.43561570e+02] [ 9.56285591e-02 9.91872671e-01 -8.39272519e-02 -4.17771275e+00] [ 6.70043196e-01 -1.78893082e-03 7.42319955e-01 -8.41030955e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.58, Y:-4.18, Z:-84.08 [[ 7.36311029e-01 -1.28163130e-01 -6.64394672e-01 1.43582471e+02] [ 9.65067250e-02 9.91751074e-01 -8.43579248e-02 -4.17722839e+00] [ 6.69725705e-01 -2.00488354e-03 7.42605858e-01 -8.40842794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.60, Y:-4.18, Z:-84.06 [[ 7.36091573e-01 -1.28176566e-01 -6.64635211e-01 1.43602774e+02] [ 9.60659375e-02 9.91750406e-01 -8.48673584e-02 -4.17516383e+00] [ 6.70030247e-01 -1.37865734e-03 7.42332518e-01 -8.40648053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.62, Y:-4.17, Z:-84.05 [[ 7.35696370e-01 -1.28102419e-01 -6.65086928e-01 1.43622437e+02] [ 9.54810802e-02 9.91760717e-01 -8.54051712e-02 -4.17307517e+00] [ 6.70547697e-01 -6.70943883e-04 7.41866117e-01 -8.40458126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.64, Y:-4.17, Z:-84.03 [[ 7.35052045e-01 -1.27904749e-01 -6.65836967e-01 1.43642892e+02] [ 9.46929359e-02 9.91786445e-01 -8.59819489e-02 -4.17269339e+00] [ 6.71365578e-01 1.51150161e-04 7.41126331e-01 -8.40263824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.66, Y:-4.17, Z:-84.01 [[ 7.36479389e-01 -1.28257394e-01 -6.64189845e-01 1.43663213e+02] [ 9.49271908e-02 9.91740802e-01 -8.62496947e-02 -4.17204017e+00] [ 6.69766331e-01 4.71446382e-04 7.42571774e-01 -8.40069964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.68, Y:-4.17, Z:-83.99 [[ 7.36455306e-01 -1.29319126e-01 -6.64010652e-01 1.43682801e+02] [ 9.59420853e-02 9.91603016e-01 -8.67097195e-02 -4.16975567e+00] [ 6.69648190e-01 1.51266395e-04 7.42678449e-01 -8.39876370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.06864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:143.70, Y:-4.17, Z:-83.97 [[ 7.36444266e-01 -1.30665295e-01 -6.63759312e-01 1.43703487e+02] [ 9.73499104e-02 9.91426445e-01 -8.71584689e-02 -4.16793129e+00] [ 6.69457122e-01 -4.29554897e-04 7.42850575e-01 -8.39682609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.72, Y:-4.17, Z:-83.95 [[ 7.35809476e-01 -1.32582650e-01 -6.64083019e-01 1.43723659e+02] [ 9.94584591e-02 9.91170773e-01 -8.76841733e-02 -4.16869437e+00] [ 6.69845079e-01 -1.52982816e-03 7.42499313e-01 -8.39493564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:143.74, Y:-4.17, Z:-83.93 [[ 7.34788650e-01 -1.34161104e-01 -6.64895810e-01 1.43743996e+02] [ 1.01057964e-01 9.90956791e-01 -8.82718932e-02 -4.16753326e+00] [ 6.70725673e-01 -2.33183169e-03 7.41701850e-01 -8.39301502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:143.78, Y:-4.24, Z:-83.92 [[ 7.01010562e-01 -7.00848126e-02 -7.09698747e-01 1.43776593e+02] [ 9.87723356e-02 9.95109806e-01 -7.06826418e-04 -4.24455264e+00] [ 7.06277720e-01 -6.96031100e-02 7.04504925e-01 -8.39158451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.18864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:143.78, Y:-4.17, Z:-83.89 [[ 7.06212715e-01 -1.26511603e-01 -6.96604920e-01 1.43783209e+02] [ 9.71578494e-02 9.91914503e-01 -8.16453975e-02 -4.17472166e+00] [ 7.01301613e-01 -1.00216180e-02 7.12794230e-01 -8.38911310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:143.78, Y:-4.09, Z:-83.86 [[ 7.37797037e-01 -1.97805501e-01 -6.45390205e-01 1.43781322e+02] [ 1.05800026e-01 9.78171088e-01 -1.78850989e-01 -4.08950422e+00] [ 6.66679748e-01 6.36734290e-02 7.42619558e-01 -8.38609304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.24864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:143.82, Y:-4.17, Z:-83.85 [[ 7.38946041e-01 -1.36618572e-01 -6.59768227e-01 1.43822425e+02] [ 1.03252342e-01 9.90621711e-01 -8.94850814e-02 -4.16540881e+00] [ 6.65806054e-01 -1.99796817e-03 7.46122179e-01 -8.38529728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.27864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:143.84, Y:-4.16, Z:-83.83 [[ 7.39016758e-01 -1.37151844e-01 -6.59578353e-01 1.43843269e+02] [ 1.03565624e-01 9.90548314e-01 -8.99344195e-02 -4.16496741e+00] [ 6.65678896e-01 -1.84660046e-03 7.46236020e-01 -8.38339153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.30864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:143.86, Y:-4.17, Z:-83.81 [[ 7.37961983e-01 -1.38133477e-01 -6.60553748e-01 1.43863682e+02] [ 1.04341053e-01 9.90411386e-01 -9.05440894e-02 -4.16696024e+00] [ 6.66727123e-01 -2.10477786e-03 7.45298942e-01 -8.38149626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.33864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:143.88, Y:-4.17, Z:-83.80 [[ 7.37518966e-01 -1.38897106e-01 -6.60888318e-01 1.43883717e+02] [ 1.04897880e-01 9.90304461e-01 -9.10687109e-02 -4.16651705e+00] [ 6.67129829e-01 -2.16088220e-03 7.44938334e-01 -8.37958996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.36864 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:143.91, Y:-4.21, Z:-83.78 [[ 7.08698459e-01 -1.00324211e-01 -6.98341998e-01 1.43913242e+02] [ 9.94728894e-02 9.94158824e-01 -4.18733458e-02 -4.21270059e+00] [ 6.98463770e-01 -3.97905207e-02 7.14538366e-01 -8.37783677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.39864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:143.93, Y:-4.22, Z:-83.76 [[ 7.14029546e-01 -9.45499595e-02 -6.93701746e-01 1.43933862e+02] [ 1.01003584e-01 9.94385071e-01 -3.15690790e-02 -4.22045007e+00] [ 6.92791516e-01 -4.75251072e-02 7.19570205e-01 -8.37598321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.42864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:143.92, Y:-4.08, Z:-83.73 [[ 7.38992030e-01 -2.09085969e-01 -6.40448153e-01 1.43922344e+02] [ 1.08031129e-01 9.75097666e-01 -1.93684839e-01 -4.08197178e+00] [ 6.64996282e-01 7.39432150e-02 7.43177197e-01 -8.37258981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.45864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:143.97, Y:-4.21, Z:-83.72 [[ 7.13422031e-01 -1.03686194e-01 -6.93021052e-01 1.43972330e+02] [ 1.00169021e-01 9.93925493e-01 -4.55881752e-02 -4.20768099e+00] [ 6.93538156e-01 -3.68956316e-02 7.19474488e-01 -8.37190148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.48864 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:143.99, Y:-4.19, Z:-83.70 [[ 7.12579587e-01 -1.18479814e-01 -6.91514907e-01 1.43987947e+02] [ 9.91357383e-02 9.92752115e-01 -6.79363266e-02 -4.18697797e+00] [ 6.94551969e-01 -2.01438013e-02 7.19160475e-01 -8.36982091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.51864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:144.00, Y:-4.16, Z:-83.68 [[ 7.16579804e-01 -1.38643741e-01 -6.83587081e-01 1.44002466e+02] [ 9.70811784e-02 9.90331439e-01 -9.90902931e-02 -4.15820149e+00] [ 6.90716026e-01 4.64266345e-03 7.23111206e-01 -8.36779606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.54864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:144.02, Y:-4.16, Z:-83.66 [[ 7.16727230e-01 -1.31500517e-01 -6.84842823e-01 1.44024754e+02] [ 9.54730095e-02 9.91315938e-01 -9.04301694e-02 -4.16301989e+00] [ 6.90787219e-01 -5.70240461e-04 7.23057876e-01 -8.36585904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.57864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:144.03, Y:-4.12, Z:-83.64 [[ 7.44155024e-01 -1.66320479e-01 -6.46970478e-01 1.44034932e+02] [ 1.02468519e-01 9.85467220e-01 -1.35479005e-01 -4.11888609e+00] [ 6.60101131e-01 3.45232752e-02 7.50382996e-01 -8.36371059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.60864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:144.08, Y:-4.24, Z:-83.62 [[ 7.18637093e-01 -6.35664037e-02 -6.92473855e-01 1.44077022e+02] [ 9.73618868e-02 9.95201923e-01 9.68477891e-03 -4.24194363e+00] [ 6.88535686e-01 -7.43804025e-02 7.21377962e-01 -8.36246054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.63864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:144.06, Y:-4.06, Z:-83.59 [[ 7.46698134e-01 -2.06881101e-01 -6.32172529e-01 1.44058937e+02] [ 1.04235464e-01 9.75053915e-01 -1.95971503e-01 -4.06271612e+00] [ 6.56945100e-01 8.04367585e-02 7.49635287e-01 -8.35895656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.66864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:144.11, Y:-4.20, Z:-83.58 [[ 7.17517460e-01 -9.03410798e-02 -6.90657067e-01 1.44110850e+02] [ 9.71350348e-02 9.94842270e-01 -2.92171650e-02 -4.20310382e+00] [ 6.89734355e-01 -4.61231722e-02 7.22591982e-01 -8.35846081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.69864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:144.12, Y:-4.13, Z:-83.56 [[ 7.21927782e-01 -1.45021278e-01 -6.76601142e-01 1.44118081e+02] [ 9.55457091e-02 9.89317254e-01 -1.10101722e-01 -4.13027724e+00] [ 6.85340276e-01 1.48391562e-02 7.28071772e-01 -8.35616334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.72864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:144.14, Y:-4.15, Z:-83.54 [[ 7.22605885e-01 -1.30591461e-01 -6.78812644e-01 1.44141925e+02] [ 9.67369106e-02 9.91433706e-01 -8.77563435e-02 -4.14638265e+00] [ 6.84457965e-01 -2.25298779e-03 7.29048845e-01 -8.35446300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.75864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:144.16, Y:-4.14, Z:-83.53 [[ 7.22415485e-01 -1.29014517e-01 -6.79316657e-01 1.44162111e+02] [ 9.73445023e-02 9.91630791e-01 -8.48081539e-02 -4.14324323e+00] [ 6.84572797e-01 -4.86101825e-03 7.28928293e-01 -8.35261393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.78864000000002 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:144.18, Y:-4.13, Z:-83.51 [[ 7.23861336e-01 -1.37043220e-01 -6.76198138e-01 1.44180480e+02] [ 9.87615860e-02 9.90563035e-01 -9.50316938e-02 -4.13103405e+00] [ 6.82840329e-01 2.00736828e-03 7.30564888e-01 -8.35060008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.81864000000002 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:144.20, Y:-4.13, Z:-83.49 [[ 7.25463931e-01 -1.38279341e-01 -6.74226155e-01 1.44199254e+02] [ 1.00530820e-01 9.90392652e-01 -9.49523520e-02 -4.12717047e+00] [ 6.80878578e-01 1.10399805e-03 7.32395482e-01 -8.34886248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.84864000000002 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:144.22, Y:-4.13, Z:-83.47 [[ 7.24036166e-01 -1.32660426e-01 -6.76884659e-01 1.44221055e+02] [ 1.02439276e-01 9.91128992e-01 -8.46729989e-02 -4.13222978e+00] [ 6.82112766e-01 -8.03326097e-03 7.31202873e-01 -8.34704626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.87864000000002 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:144.24, Y:-4.12, Z:-83.45 [[ 7.23686447e-01 -1.40210141e-01 -6.75735927e-01 1.44238821e+02] [ 1.07023546e-01 9.90099809e-01 -9.08203066e-02 -4.12231970e+00] [ 6.81779941e-01 -6.59423025e-03 7.31527599e-01 -8.34537527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.90864000000002 meters Centerline goodness : 0.997885 Centerline is valid? [True, True] Translation: X:144.26, Y:-4.11, Z:-83.43 [[ 7.22775171e-01 -1.47494954e-01 -6.75160196e-01 1.44256833e+02] [ 1.10636363e-01 9.89054171e-01 -9.76291010e-02 -4.11255392e+00] [ 6.82169808e-01 -4.13337824e-03 7.31182103e-01 -8.34341901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.93864000000002 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:144.28, Y:-4.12, Z:-83.42 [[ 7.20273641e-01 -1.41610265e-01 -6.79082038e-01 1.44278327e+02] [ 1.12369783e-01 9.89830675e-01 -8.72253838e-02 -4.11812822e+00] [ 6.84528241e-01 -1.34821562e-02 7.28861659e-01 -8.34165691e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:144.28, Y:-4.04, Z:-83.39 [[ 7.53940111e-01 -1.98326727e-01 -6.26291321e-01 1.44281284e+02] [ 1.20494050e-01 9.78915879e-01 -1.64939034e-01 -4.04393676e+00] [ 6.45798338e-01 4.88897761e-02 7.61941137e-01 -8.33897975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.99864 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:144.32, Y:-4.10, Z:-83.38 [[ 7.54165606e-01 -1.54204357e-01 -6.38322219e-01 1.44315750e+02] [ 1.19881869e-01 9.88033355e-01 -9.70485816e-02 -4.09576370e+00] [ 6.45648958e-01 -3.33255799e-03 7.63627080e-01 -8.33778745e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.02864 meters Centerline goodness : 0.997824 Centerline is valid? [True, True] Translation: X:144.34, Y:-4.09, Z:-83.36 [[ 7.54085197e-01 -1.54676094e-01 -6.38303080e-01 1.44336834e+02] [ 1.20121354e-01 9.87960202e-01 -9.74961471e-02 -4.09128270e+00] [ 6.45698363e-01 -3.15342861e-03 7.63586066e-01 -8.33596053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.05864 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:144.37, Y:-4.14, Z:-83.34 [[ 7.25395085e-01 -1.13844165e-01 -6.78853060e-01 1.44365895e+02] [ 1.16126020e-01 9.92332178e-01 -4.23272515e-02 -4.13868941e+00] [ 6.78466446e-01 -4.81285237e-02 7.33053154e-01 -8.33435362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.08864 meters Centerline goodness : 0.998085 Centerline is valid? [True, True] Translation: X:144.36, Y:-4.03, Z:-83.31 [[ 7.54882370e-01 -1.92193797e-01 -6.27067901e-01 1.44363817e+02] [ 1.19171822e-01 9.80378945e-01 -1.57019749e-01 -4.03186930e+00] [ 6.44942389e-01 4.38026159e-02 7.62974866e-01 -8.33144796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.11864 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:144.41, Y:-4.13, Z:-83.31 [[ 7.27824387e-01 -1.13872205e-01 -6.76243139e-01 1.44405866e+02] [ 1.12878252e-01 9.92559683e-01 -4.56483965e-02 -4.12528360e+00] [ 6.76409759e-01 -4.31091272e-02 7.35262838e-01 -8.33058253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.14864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:144.41, Y:-4.07, Z:-83.28 [[ 7.31225759e-01 -1.57761744e-01 -6.63641561e-01 1.44413183e+02] [ 1.12251751e-01 9.87454396e-01 -1.11055666e-01 -4.06578953e+00] [ 6.72836112e-01 6.71183677e-03 7.39761122e-01 -8.32818217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.17864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:144.43, Y:-4.07, Z:-83.26 [[ 7.32751365e-01 -1.55088224e-01 -6.62588167e-01 1.44433098e+02] [ 1.14091528e-01 9.87899651e-01 -1.05059043e-01 -4.06656726e+00] [ 6.70864040e-01 1.38646065e-03 7.41579071e-01 -8.32642512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.20864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:144.46, Y:-4.10, Z:-83.25 [[ 7.31519715e-01 -1.29039428e-01 -6.69498120e-01 1.44459660e+02] [ 1.16023568e-01 9.91165189e-01 -6.42658444e-02 -4.09757234e+00] [ 6.71876059e-01 -3.06658286e-02 7.40028492e-01 -8.32494342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.23864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:144.46, Y:-4.02, Z:-83.22 [[ 7.35876615e-01 -1.85046759e-01 -6.51339623e-01 1.44463167e+02] [ 1.15129231e-01 9.82119699e-01 -1.48950186e-01 -4.02152736e+00] [ 6.67256223e-01 3.46207284e-02 7.44023211e-01 -8.32217789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.26864 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:144.49, Y:-4.06, Z:-83.21 [[ 7.37290510e-01 -1.52943509e-01 -6.58035704e-01 1.44494368e+02] [ 1.15431982e-01 9.88232974e-01 -1.00354607e-01 -4.05831631e+00] [ 6.65641166e-01 -1.96786607e-03 7.46269365e-01 -8.32089676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.29864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:144.51, Y:-4.05, Z:-83.19 [[ 7.37688579e-01 -1.59459010e-01 -6.56039926e-01 1.44511464e+02] [ 1.17055546e-01 9.87199623e-01 -1.08327760e-01 -4.04765028e+00] [ 6.64916205e-01 3.11903979e-03 7.46911449e-01 -8.31895514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.32864 meters Centerline goodness : 0.998126 Centerline is valid? [True, True] Translation: X:144.53, Y:-4.03, Z:-83.17 [[ 7.41466272e-01 -1.65629121e-01 -6.50226701e-01 1.44530788e+02] [ 1.16589738e-01 9.86116788e-01 -1.18239221e-01 -4.03318982e+00] [ 6.60783324e-01 1.18606334e-02 7.50482994e-01 -8.31706221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.35864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:144.55, Y:-4.03, Z:-83.15 [[ 7.42535582e-01 -1.62909528e-01 -6.49693309e-01 1.44551499e+02] [ 1.15762804e-01 9.86587866e-01 -1.15079780e-01 -4.03184830e+00] [ 6.59727128e-01 1.02405127e-02 7.51435459e-01 -8.31518694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.38864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:144.57, Y:-4.00, Z:-83.13 [[ 7.65323227e-01 -1.80717673e-01 -6.17755194e-01 1.44567842e+02] [ 1.18091899e-01 9.82907051e-01 -1.41237505e-01 -4.00279371e+00] [ 6.32720049e-01 3.51404589e-02 7.73582890e-01 -8.31286089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.41864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:144.60, Y:-4.04, Z:-83.12 [[ 7.65029997e-01 -1.53501119e-01 -6.25433058e-01 1.44598969e+02] [ 1.18558122e-01 9.88148375e-01 -9.75026203e-02 -4.03632527e+00] [ 6.32987422e-01 4.42260727e-04 7.74161952e-01 -8.31150688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.44864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:144.62, Y:-4.03, Z:-83.10 [[ 7.64205964e-01 -1.54838807e-01 -6.26110364e-01 1.44619664e+02] [ 1.19843076e-01 9.87939741e-01 -9.80444045e-02 -4.03271365e+00] [ 6.33740390e-01 -1.08873293e-04 7.73545801e-01 -8.30960946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.47864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:144.65, Y:-4.07, Z:-83.08 [[ 7.38337684e-01 -1.26132229e-01 -6.62531603e-01 1.44646780e+02] [ 1.22743896e-01 9.91080748e-01 -5.18930413e-02 -4.07346627e+00] [ 6.63167702e-01 -4.30071222e-02 7.47234225e-01 -8.30841925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.65, Y:-3.98, Z:-83.05 [[ 7.64402991e-01 -1.99770063e-01 -6.13008963e-01 1.44647284e+02] [ 1.25899954e-01 9.78732857e-01 -1.61960475e-01 -3.97594341e+00] [ 6.32326869e-01 4.66252712e-02 7.73297365e-01 -8.30511493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.53864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:144.69, Y:-4.07, Z:-83.05 [[ 7.37224919e-01 -1.27089411e-01 -6.63586995e-01 1.44688583e+02] [ 1.25482835e-01 9.90817177e-01 -5.03525517e-02 -4.07254699e+00] [ 6.63892669e-01 -4.61476214e-02 7.46402653e-01 -8.30457421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:144.69, Y:-3.97, Z:-83.02 [[ 7.63071060e-01 -2.01400185e-01 -6.14133962e-01 1.44689151e+02] [ 1.29087223e-01 9.78555562e-01 -1.60516359e-01 -3.97364608e+00] [ 6.33292229e-01 4.32085409e-02 7.72705620e-01 -8.30150737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.59864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.73, Y:-4.03, Z:-83.00 [[ 7.63143640e-01 -1.63565345e-01 -6.25186502e-01 1.44725311e+02] [ 1.30758671e-01 9.86510487e-01 -9.84846598e-02 -4.02581460e+00] [ 6.32861718e-01 -6.59061433e-03 7.74236791e-01 -8.30042732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.62864000000002 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:144.76, Y:-4.14, Z:-82.99 [[ 7.36899823e-01 -8.20633870e-02 -6.71002423e-01 1.44763251e+02] [ 1.32497479e-01 9.90884818e-01 2.43248075e-02 -4.13582516e+00] [ 6.62889937e-01 -1.06831076e-01 7.41056039e-01 -8.29930072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.73, Y:-3.91, Z:-82.95 [[ 7.62999330e-01 -2.53872086e-01 -5.94458566e-01 1.44732246e+02] [ 1.34812346e-01 9.61921023e-01 -2.37767903e-01 -3.90982600e+00] [ 6.32184826e-01 1.01276397e-01 7.68170188e-01 -8.29472182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.79, Y:-4.02, Z:-82.95 [[ 7.65527846e-01 -1.65193880e-01 -6.21834463e-01 1.44787993e+02] [ 1.32875461e-01 9.86234211e-01 -9.84184602e-02 -4.02409542e+00] [ 6.29532548e-01 -7.28446893e-03 7.76939964e-01 -8.29476833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.81, Y:-4.02, Z:-82.93 [[ 7.65313240e-01 -1.65703048e-01 -6.21963138e-01 1.44809799e+02] [ 1.33171660e-01 9.86149660e-01 -9.88643314e-02 -4.02219582e+00] [ 6.29730858e-01 -7.16568194e-03 7.76780342e-01 -8.29298916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:144.84, Y:-4.06, Z:-82.91 [[ 7.41671791e-01 -1.36881903e-01 -6.56647774e-01 1.44836736e+02] [ 1.30906896e-01 9.89670412e-01 -5.84453615e-02 -4.05960217e+00] [ 6.57864986e-01 -4.26124463e-02 7.51929412e-01 -8.29149372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.84, Y:-3.98, Z:-82.89 [[ 7.64709244e-01 -1.97860196e-01 -6.13246374e-01 1.44841442e+02] [ 1.32185786e-01 9.79619829e-01 -1.51234615e-01 -3.97643235e+00] [ 6.30671618e-01 3.45880543e-02 7.75278644e-01 -8.28880892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.87, Y:-4.02, Z:-82.88 [[ 7.65008591e-01 -1.64603165e-01 -6.22629629e-01 1.44873833e+02] [ 1.31053491e-01 9.86345639e-01 -9.97359651e-02 -4.01881369e+00] [ 6.30544874e-01 -5.29891648e-03 7.76134707e-01 -8.28754096e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.83864 meters Centerline goodness : 0.999950 Centerline is valid? [True, True] Translation: X:144.90, Y:-4.06, Z:-82.86 [[ 7.41187926e-01 -1.35695071e-01 -6.57439963e-01 1.44899217e+02] [ 1.30976849e-01 9.89766937e-01 -5.66257564e-02 -4.05880800e+00] [ 6.58396175e-01 -4.41390879e-02 7.51376216e-01 -8.28604742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.91, Y:-4.01, Z:-82.84 [[ 7.43712232e-01 -1.68361564e-01 -6.46951698e-01 1.44910158e+02] [ 1.28536296e-01 9.85722697e-01 -1.08762061e-01 -4.01325951e+00] [ 6.56026323e-01 -2.26909965e-03 7.54734599e-01 -8.28382581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.92, Y:-3.97, Z:-82.81 [[ 7.68680345e-01 -2.01057240e-01 -6.07212083e-01 1.44923151e+02] [ 1.33641750e-01 9.78844358e-01 -1.54930973e-01 -3.96633984e+00] [ 6.25516115e-01 3.79435085e-02 7.79288060e-01 -8.28145728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:144.96, Y:-4.01, Z:-82.80 [[ 7.68830088e-01 -1.65987464e-01 -6.17534175e-01 1.44957514e+02] [ 1.32682841e-01 9.86114392e-01 -9.98682649e-02 -4.00980538e+00] [ 6.25536217e-01 -5.15446180e-03 7.80178103e-01 -8.28026183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:144.98, Y:-4.01, Z:-82.78 [[ 7.69025572e-01 -1.66611305e-01 -6.17122631e-01 1.44978443e+02] [ 1.33193168e-01 9.86009357e-01 -1.00225385e-01 -4.00763718e+00] [ 6.25187371e-01 -5.12063423e-03 7.80457898e-01 -8.27837538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.00, Y:-4.00, Z:-82.77 [[ 7.69629995e-01 -1.66540012e-01 -6.16387942e-01 1.44999393e+02] [ 1.32850138e-01 9.86024363e-01 -1.00532562e-01 -4.00484427e+00] [ 6.24516222e-01 -4.51434791e-03 7.80998790e-01 -8.27650193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.03, Y:-4.03, Z:-82.75 [[ 7.47997046e-01 -1.40517746e-01 -6.48656443e-01 1.45026276e+02] [ 1.28053735e-01 9.89522171e-01 -6.66941807e-02 -4.03370698e+00] [ 6.51231648e-01 -3.31758299e-02 7.58153484e-01 -8.27492510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.04, Y:-3.99, Z:-82.73 [[ 7.49407636e-01 -1.65420374e-01 -6.41111765e-01 1.45039570e+02] [ 1.26277086e-01 9.86222759e-01 -1.06858630e-01 -3.99457125e+00] [ 6.49955609e-01 -8.77052540e-04 7.59971669e-01 -8.27287201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.05, Y:-3.96, Z:-82.71 [[ 7.71720143e-01 -1.88011529e-01 -6.07535749e-01 1.45054831e+02] [ 1.30693115e-01 9.81796794e-01 -1.37820048e-01 -3.95950501e+00] [ 6.22388408e-01 2.69577676e-02 7.82244174e-01 -8.27075094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.08, Y:-3.99, Z:-82.69 [[ 7.73176356e-01 -1.64011877e-01 -6.12616051e-01 1.45083195e+02] [ 1.29232466e-01 9.86457770e-01 -1.00995237e-01 -3.98502328e+00] [ 6.20884282e-01 -1.08275387e-03 7.83901484e-01 -8.26930937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.11, Y:-4.01, Z:-82.68 [[ 7.52042061e-01 -1.40153774e-01 -6.44041658e-01 1.45109440e+02] [ 1.25014960e-01 9.89724589e-01 -6.94009890e-02 -4.01059867e+00] [ 6.47150676e-01 -2.83223794e-02 7.61835839e-01 -8.26765739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.12, Y:-3.97, Z:-82.66 [[ 7.55970303e-01 -1.63507179e-01 -6.33856690e-01 1.45122303e+02] [ 1.23401996e-01 9.86537875e-01 -1.07307822e-01 -3.97125537e+00] [ 6.42869231e-01 2.90234610e-03 7.65970449e-01 -8.26564722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.14, Y:-3.94, Z:-82.64 [[ 7.74866568e-01 -1.83577212e-01 -6.04881153e-01 1.45137795e+02] [ 1.27437762e-01 9.82620630e-01 -1.34967827e-01 -3.93825871e+00] [ 6.19145717e-01 2.74973569e-02 7.84794544e-01 -8.26353352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.17, Y:-3.96, Z:-82.62 [[ 7.73695308e-01 -1.62460763e-01 -6.12374127e-01 1.45166005e+02] [ 1.26301791e-01 9.86713496e-01 -1.02197531e-01 -3.95674369e+00] [ 6.20840904e-01 1.72580060e-03 7.83934687e-01 -8.26218757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.19, Y:-3.95, Z:-82.60 [[ 7.74241272e-01 -1.63215837e-01 -6.11482660e-01 1.45186534e+02] [ 1.27047523e-01 9.86589002e-01 -1.02474719e-01 -3.95056916e+00] [ 6.20007564e-01 1.65279947e-03 7.84594092e-01 -8.26042891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.21, Y:-3.94, Z:-82.59 [[ 7.74335687e-01 -1.63957654e-01 -6.11164571e-01 1.45207066e+02] [ 1.27699881e-01 9.86466093e-01 -1.02846424e-01 -3.94477221e+00] [ 6.19755585e-01 1.59201352e-03 7.84793273e-01 -8.25860936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.31864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.24, Y:-4.02, Z:-82.57 [[ 7.55852092e-01 -1.00642388e-01 -6.46961146e-01 1.45243569e+02] [ 1.28141428e-01 9.91745382e-01 -4.56852299e-03 -4.02360353e+00] [ 6.42080516e-01 -7.94493975e-02 7.62509281e-01 -8.25743913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.24, Y:-3.90, Z:-82.54 [[ 7.49803292e-01 -1.93837619e-01 -6.32631015e-01 1.45235234e+02] [ 1.27911839e-01 9.80553836e-01 -1.48837950e-01 -3.89746763e+00] [ 6.49179163e-01 3.06781880e-02 7.60016621e-01 -8.25440329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.37864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.26, Y:-3.91, Z:-82.53 [[ 7.52740488e-01 -1.80383754e-01 -6.33121994e-01 1.45262392e+02] [ 1.33891410e-01 9.83575844e-01 -1.21044000e-01 -3.91386272e+00] [ 6.44557871e-01 6.34512287e-03 7.64529195e-01 -8.25294178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.28, Y:-3.88, Z:-82.51 [[ 7.76326430e-01 -2.07577656e-01 -5.95171229e-01 1.45276157e+02] [ 1.41986711e-01 9.77541333e-01 -1.55732833e-01 -3.87597212e+00] [ 6.14131133e-01 3.63931091e-02 7.88364442e-01 -8.25063070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.31, Y:-3.92, Z:-82.49 [[ 7.76097798e-01 -1.76922976e-01 -6.05285443e-01 1.45309680e+02] [ 1.44072766e-01 9.84197570e-01 -1.02947473e-01 -3.91705055e+00] [ 6.13934236e-01 -7.30784064e-03 7.89323349e-01 -8.24946060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.33, Y:-3.91, Z:-82.48 [[ 7.75370357e-01 -1.81071837e-01 -6.04990744e-01 1.45330682e+02] [ 1.49055148e-01 9.83418213e-01 -1.03301414e-01 -3.91450596e+00] [ 6.13663892e-01 -1.00801312e-02 7.89503020e-01 -8.24759908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.35, Y:-3.91, Z:-82.46 [[ 7.75252138e-01 -1.82722739e-01 -6.04645783e-01 1.45352532e+02] [ 1.50876826e-01 9.83104316e-01 -1.03644040e-01 -3.91140455e+00] [ 6.13368002e-01 -1.08767734e-02 7.89722350e-01 -8.24585891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.37, Y:-3.91, Z:-82.44 [[ 7.74165311e-01 -1.84448245e-01 -6.05513763e-01 1.45374124e+02] [ 1.52654636e-01 9.82771732e-01 -1.04193498e-01 -3.91002035e+00] [ 6.14300117e-01 -1.17714918e-02 7.88984663e-01 -8.24406717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.40, Y:-3.91, Z:-82.42 [[ 7.73447936e-01 -1.85220010e-01 -6.06194554e-01 1.45395743e+02] [ 1.53243765e-01 9.82624946e-01 -1.04711811e-01 -3.90753841e+00] [ 6.15056614e-01 -1.19064016e-02 7.88393049e-01 -8.24235583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.42, Y:-3.90, Z:-82.41 [[ 7.73355496e-01 -1.85824636e-01 -6.06127447e-01 1.45417346e+02] [ 1.53708480e-01 9.82511008e-01 -1.05099106e-01 -3.90373551e+00] [ 6.15056892e-01 -1.18879570e-02 7.88393110e-01 -8.24054757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.44, Y:-3.90, Z:-82.39 [[ 7.72754712e-01 -1.86329685e-01 -6.06738332e-01 1.45438855e+02] [ 1.53986675e-01 9.82415904e-01 -1.05579809e-01 -3.90105855e+00] [ 6.15742039e-01 -1.18423234e-02 7.87858808e-01 -8.23874536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.46, Y:-3.90, Z:-82.37 [[ 7.72950869e-01 -1.85995884e-01 -6.06590871e-01 1.45460477e+02] [ 1.53266786e-01 9.82488132e-01 -1.05954534e-01 -3.90023786e+00] [ 6.15675439e-01 -1.10725837e-02 7.87922046e-01 -8.23697007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.48, Y:-3.90, Z:-82.35 [[ 7.73229625e-01 -1.86757117e-01 -6.06001424e-01 1.45483006e+02] [ 1.53989889e-01 9.82342733e-01 -1.06253798e-01 -3.89855665e+00] [ 6.15144748e-01 -1.11595079e-02 7.88335211e-01 -8.23523051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.51, Y:-3.90, Z:-82.34 [[ 7.73292118e-01 -1.87420298e-01 -6.05716875e-01 1.45505034e+02] [ 1.54553072e-01 9.82216206e-01 -1.06605221e-01 -3.89935658e+00] [ 6.14924913e-01 -1.11784266e-02 7.88506433e-01 -8.23351641e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.53, Y:-3.90, Z:-82.32 [[ 7.72922390e-01 -1.88573797e-01 -6.05830753e-01 1.45526898e+02] [ 1.55690647e-01 9.81990537e-01 -1.07028072e-01 -3.89666379e+00] [ 6.15102756e-01 -1.15977889e-02 7.88361649e-01 -8.23178112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.55, Y:-3.89, Z:-82.30 [[ 7.71100213e-01 -1.88451092e-01 -6.08186359e-01 1.45548208e+02] [ 1.54936074e-01 9.82020200e-01 -1.07847764e-01 -3.89291125e+00] [ 6.17575319e-01 -1.10685727e-02 7.86433857e-01 -8.23005919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.57, Y:-3.89, Z:-82.28 [[ 7.71284976e-01 -1.88091810e-01 -6.08063283e-01 1.45569066e+02] [ 1.54177945e-01 9.82097697e-01 -1.08227882e-01 -3.88918781e+00] [ 6.17534328e-01 -1.02754080e-02 7.86476808e-01 -8.22829423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.59, Y:-3.89, Z:-82.26 [[ 7.71398073e-01 -1.87798375e-01 -6.08010512e-01 1.45589870e+02] [ 1.53491241e-01 9.82161359e-01 -1.08625523e-01 -3.88635818e+00] [ 6.17564127e-01 -9.53076895e-03 7.86462786e-01 -8.22641254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.61, Y:-3.88, Z:-82.25 [[ 7.71745836e-01 -1.87750856e-01 -6.07583724e-01 1.45611265e+02] [ 1.53166403e-01 9.82175666e-01 -1.08954184e-01 -3.88289946e+00] [ 6.17210190e-01 -8.97647630e-03 7.86747103e-01 -8.22470570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.63, Y:-3.88, Z:-82.23 [[ 7.71274242e-01 -1.87401327e-01 -6.08290051e-01 1.45632706e+02] [ 1.52308753e-01 9.82249211e-01 -1.09492152e-01 -3.87943724e+00] [ 6.18011397e-01 -8.19942251e-03 7.86126378e-01 -8.22295946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.66, Y:-3.88, Z:-82.21 [[ 7.70856207e-01 -1.88365649e-01 -6.08522055e-01 1.45655802e+02] [ 1.53184736e-01 9.82062484e-01 -1.09944138e-01 -3.87759887e+00] [ 6.18316380e-01 -8.46516883e-03 7.85883704e-01 -8.22137269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.68, Y:-3.87, Z:-82.20 [[ 7.70296619e-01 -1.89766806e-01 -6.08795268e-01 1.45677081e+02] [ 1.54612196e-01 9.81787172e-01 -1.10403887e-01 -3.87498224e+00] [ 6.18658377e-01 -9.08343265e-03 7.85607601e-01 -8.21963550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.70, Y:-3.87, Z:-82.18 [[ 7.70067892e-01 -1.92437791e-01 -6.08245952e-01 1.45697610e+02] [ 1.57764483e-01 9.81250799e-01 -1.10712407e-01 -3.87293467e+00] [ 6.18147077e-01 -1.07035380e-02 7.85989583e-01 -8.21779996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.72, Y:-3.87, Z:-82.16 [[ 7.70165781e-01 -1.93908217e-01 -6.07654732e-01 1.45719155e+02] [ 1.59392643e-01 9.80953912e-01 -1.11010843e-01 -3.87053739e+00] [ 6.17607201e-01 -1.13589409e-02 7.86404679e-01 -8.21605146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.74, Y:-3.87, Z:-82.14 [[ 7.70463015e-01 -1.95076263e-01 -6.06903613e-01 1.45740942e+02] [ 1.60657125e-01 9.80717467e-01 -1.11276855e-01 -3.86878573e+00] [ 6.16908446e-01 -1.17686886e-02 7.86946928e-01 -8.21427397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.76, Y:-3.87, Z:-82.13 [[ 7.69806888e-01 -1.97556466e-01 -6.06933932e-01 1.45762721e+02] [ 1.63490102e-01 9.80202003e-01 -1.11691624e-01 -3.86937650e+00] [ 6.16983259e-01 -1.32467094e-02 7.86864780e-01 -8.21254457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.78, Y:-3.87, Z:-82.11 [[ 7.69535440e-01 -1.99054852e-01 -6.06788573e-01 1.45784663e+02] [ 1.65099436e-01 9.79889201e-01 -1.12068413e-01 -3.86704303e+00] [ 6.16893331e-01 -1.39398353e-02 7.86923312e-01 -8.21074704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.12864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.81, Y:-3.87, Z:-82.09 [[ 7.69642425e-01 -2.00924061e-01 -6.06036352e-01 1.45807005e+02] [ 1.67259662e-01 9.79493276e-01 -1.12325993e-01 -3.86763905e+00] [ 6.16177526e-01 -1.49145859e-02 7.87466070e-01 -8.20904257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.83, Y:-3.87, Z:-82.07 [[ 7.68967555e-01 -2.01742194e-01 -6.06620958e-01 1.45828898e+02] [ 1.67914772e-01 9.79322374e-01 -1.12837566e-01 -3.86665620e+00] [ 6.16841575e-01 -1.50921931e-02 7.86942627e-01 -8.20724506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.85, Y:-3.86, Z:-82.05 [[ 7.68105855e-01 -2.02147236e-01 -6.07577066e-01 1.45850767e+02] [ 1.67999047e-01 9.79240940e-01 -1.13417378e-01 -3.86462088e+00] [ 6.17891346e-01 -1.49558158e-02 7.86121242e-01 -8.20546695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.87, Y:-3.86, Z:-82.04 [[ 7.68521576e-01 -2.01955483e-01 -6.07114956e-01 1.45872792e+02] [ 1.67493693e-01 9.79290597e-01 -1.13735609e-01 -3.86487613e+00] [ 6.17511498e-01 -1.42796569e-02 7.86432223e-01 -8.20365422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.89, Y:-3.86, Z:-82.02 [[ 7.68411772e-01 -2.02056981e-01 -6.07220163e-01 1.45893835e+02] [ 1.67292734e-01 9.79275658e-01 -1.14159215e-01 -3.86371968e+00] [ 6.17702591e-01 -1.38622366e-02 7.86289608e-01 -8.20183056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.92, Y:-3.87, Z:-82.00 [[ 7.69113537e-01 -2.00983020e-01 -6.06687888e-01 1.45915364e+02] [ 1.65675798e-01 9.79515230e-01 -1.14461541e-01 -3.86528708e+00] [ 6.17264852e-01 -1.24795793e-02 7.86656445e-01 -8.20003458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:145.94, Y:-3.86, Z:-81.98 [[ 7.68668483e-01 -2.00206388e-01 -6.07508161e-01 1.45936627e+02] [ 1.64262835e-01 9.79687675e-01 -1.15020787e-01 -3.86291842e+00] [ 6.18196153e-01 -1.13781592e-02 7.85941508e-01 -8.19822467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:145.96, Y:-3.86, Z:-81.96 [[ 7.69290580e-01 -1.99338347e-01 -6.07005953e-01 1.45958167e+02] [ 1.62903309e-01 9.79878059e-01 -1.15332134e-01 -3.86009434e+00] [ 6.17781932e-01 -1.01593544e-02 7.86283837e-01 -8.19642854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:145.99, Y:-3.95, Z:-81.95 [[ 7.49607632e-01 -1.30160168e-01 -6.48958187e-01 1.45994208e+02] [ 1.59015174e-01 9.87172316e-01 -1.43176038e-02 -3.95001465e+00] [ 6.42497138e-01 -9.24616139e-02 7.60689344e-01 -8.19478969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:145.97, Y:-3.76, Z:-81.92 [[ 7.71485655e-01 -2.64532154e-01 -5.78647236e-01 1.45974208e+02] [ 1.59300172e-01 9.60812688e-01 -2.26853330e-01 -3.76386046e+00] [ 6.15981607e-01 8.28354857e-02 7.83393223e-01 -8.19154426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.42864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.02, Y:-3.86, Z:-81.91 [[ 7.72842326e-01 -1.93804206e-01 -6.04280290e-01 1.46022470e+02] [ 1.55836520e-01 9.81027288e-01 -1.15327535e-01 -3.85527979e+00] [ 6.15166415e-01 -5.03893710e-03 7.88381184e-01 -8.19078619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.05, Y:-3.89, Z:-81.89 [[ 7.47672056e-01 -1.66540942e-01 -6.42845713e-01 1.46048583e+02] [ 1.52599249e-01 9.85224469e-01 -7.77574096e-02 -3.89046497e+00] [ 6.46297119e-01 -3.99607306e-02 7.62038827e-01 -8.18922004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.06, Y:-3.86, Z:-81.87 [[ 7.45689908e-01 -1.89230019e-01 -6.38857230e-01 1.46061737e+02] [ 1.50939611e-01 9.81871900e-01 -1.14650802e-01 -3.85636692e+00] [ 6.48971336e-01 -1.09349160e-02 7.60734272e-01 -8.18719062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.51864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:146.08, Y:-3.83, Z:-81.85 [[ 7.51104529e-01 -2.02834456e-01 -6.28251677e-01 1.46078057e+02] [ 1.50233392e-01 9.79179059e-01 -1.36522152e-01 -3.83227659e+00] [ 6.42862283e-01 8.15802634e-03 7.65938335e-01 -8.18524751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.10, Y:-3.84, Z:-81.84 [[ 7.53353855e-01 -1.96663663e-01 -6.27520017e-01 1.46100669e+02] [ 1.49757228e-01 9.80468828e-01 -1.27489808e-01 -3.83592251e+00] [ 6.40336428e-01 2.06927985e-03 7.68091776e-01 -8.18351787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.12, Y:-3.80, Z:-81.81 [[ 7.76357638e-01 -2.20278454e-01 -5.90547390e-01 1.46116591e+02] [ 1.54602181e-01 9.74871246e-01 -1.60387716e-01 -3.79966393e+00] [ 6.11037629e-01 3.32183139e-02 7.90904267e-01 -8.18145628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.15, Y:-3.88, Z:-81.80 [[ 7.51956110e-01 -1.63296782e-01 -6.38667495e-01 1.46153170e+02] [ 1.51369726e-01 9.85717528e-01 -7.38116620e-02 -3.87543195e+00] [ 6.41598952e-01 -4.11717938e-02 7.65934507e-01 -8.18015310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.16, Y:-3.79, Z:-81.78 [[ 7.77551439e-01 -2.24521057e-01 -5.87370458e-01 1.46156634e+02] [ 1.55803955e-01 9.73746304e-01 -1.65961632e-01 -3.78736175e+00] [ 6.09211693e-01 3.75290652e-02 7.92119109e-01 -8.17781464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.19, Y:-3.82, Z:-81.76 [[ 7.79084937e-01 -1.92468788e-01 -5.96642629e-01 1.46188492e+02] [ 1.53969634e-01 9.81301299e-01 -1.15503730e-01 -3.82406369e+00] [ 6.07717050e-01 -1.87763063e-03 7.94151410e-01 -8.17633723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.21, Y:-3.82, Z:-81.75 [[ 7.79053169e-01 -1.91857804e-01 -5.96880844e-01 1.46209965e+02] [ 1.52847087e-01 9.81422332e-01 -1.15965400e-01 -3.81929035e+00] [ 6.08041057e-01 -8.88285377e-04 7.93905085e-01 -8.17454459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.25, Y:-3.91, Z:-81.73 [[ 7.55132586e-01 -1.17454069e-01 -6.44964588e-01 1.46247494e+02] [ 1.48174074e-01 9.88939199e-01 -6.61100066e-03 -3.91240829e+00] [ 6.38607252e-01 -9.05748483e-02 7.64183862e-01 -8.17303519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.22, Y:-3.71, Z:-81.70 [[ 7.80059645e-01 -2.63923608e-01 -5.67319381e-01 1.46223132e+02] [ 1.53356268e-01 9.59676808e-01 -2.35589219e-01 -3.70825999e+00] [ 6.06620809e-01 9.67716590e-02 7.89079489e-01 -8.16983959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.78864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.27, Y:-3.80, Z:-81.69 [[ 7.80341889e-01 -1.90679711e-01 -5.95573491e-01 1.46273497e+02] [ 1.51089338e-01 9.81651989e-01 -1.16324481e-01 -3.80434475e+00] [ 6.06826621e-01 7.88060636e-04 7.94833839e-01 -8.16921348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.81864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:146.30, Y:-3.84, Z:-81.68 [[ 7.55547933e-01 -1.60779349e-01 -6.35056944e-01 1.46301724e+02] [ 1.49357586e-01 9.86160281e-01 -7.19736916e-02 -3.84333926e+00] [ 6.37839818e-01 -4.04709981e-02 7.69104977e-01 -8.16756674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.84864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:146.30, Y:-3.75, Z:-81.65 [[ 7.80805097e-01 -2.25320922e-01 -5.82729682e-01 1.46303709e+02] [ 1.54624767e-01 9.73378970e-01 -1.69187950e-01 -3.75086893e+00] [ 6.05338402e-01 4.19983721e-02 7.94859456e-01 -8.16518653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.34, Y:-3.79, Z:-81.64 [[ 7.80284529e-01 -1.94381844e-01 -5.94450799e-01 1.46337161e+02] [ 1.55439472e-01 9.80925048e-01 -1.16724554e-01 -3.78999007e+00] [ 6.05800813e-01 -1.32275442e-03 7.95615250e-01 -8.16382279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.90864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.36, Y:-3.79, Z:-81.62 [[ 7.80067240e-01 -1.95255344e-01 -5.94449705e-01 1.46358989e+02] [ 1.56218887e-01 9.80751317e-01 -1.17143131e-01 -3.78515424e+00] [ 6.05880153e-01 -1.48475228e-03 7.95554546e-01 -8.16206612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.93864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.38, Y:-3.78, Z:-81.60 [[ 7.80649488e-01 -1.95366908e-01 -5.93648169e-01 1.46380454e+02] [ 1.56157873e-01 9.80729661e-01 -1.17405497e-01 -3.77868876e+00] [ 6.05145516e-01 -1.05029435e-03 7.96114188e-01 -8.16035181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.40, Y:-3.77, Z:-81.59 [[ 7.80129941e-01 -1.95316982e-01 -5.94347164e-01 1.46401251e+02] [ 1.55673802e-01 9.80740040e-01 -1.17960336e-01 -3.77263545e+00] [ 6.05939718e-01 -4.99892512e-04 7.95510407e-01 -8.15865418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.43, Y:-3.82, Z:-81.57 [[ 7.54136168e-01 -1.57155586e-01 -6.37636858e-01 1.46431176e+02] [ 1.51552653e-01 9.86383656e-01 -6.38676446e-02 -3.81875107e+00] [ 6.38991732e-01 -4.84706570e-02 7.67684937e-01 -8.15700456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:146.44, Y:-3.78, Z:-81.55 [[ 7.53342144e-01 -1.82793599e-01 -6.31713633e-01 1.46442180e+02] [ 1.49686862e-01 9.83040735e-01 -1.05946950e-01 -3.77618778e+00] [ 6.40366659e-01 -1.47449293e-02 7.67927815e-01 -8.15505916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.05864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:146.44, Y:-3.69, Z:-81.53 [[ 7.82276486e-01 -2.43585677e-01 -5.73331943e-01 1.46442884e+02] [ 1.57652609e-01 9.67830739e-01 -1.96084970e-01 -3.68837818e+00] [ 6.02651768e-01 6.30053844e-02 7.95513147e-01 -8.15258686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.48, Y:-3.75, Z:-81.52 [[ 7.81696406e-01 -1.98457286e-01 -5.91240590e-01 1.46483627e+02] [ 1.59221651e-01 9.80108347e-01 -1.18474023e-01 -3.74878289e+00] [ 6.02991870e-01 -1.52758500e-03 7.97745869e-01 -8.15162060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.51, Y:-3.74, Z:-81.50 [[ 7.80810894e-01 -2.00954343e-01 -5.91567155e-01 1.46505280e+02] [ 1.61993487e-01 9.79596162e-01 -1.18951539e-01 -3.74483075e+00] [ 6.03400744e-01 -2.95136822e-03 7.97432650e-01 -8.14986354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:146.53, Y:-3.79, Z:-81.48 [[ 7.55133345e-01 -1.69355310e-01 -6.33318570e-01 1.46534476e+02] [ 1.60539062e-01 9.84412819e-01 -7.18234726e-02 -3.78673715e+00] [ 6.35610605e-01 -4.74360703e-02 7.70551087e-01 -8.14835664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.17864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.55, Y:-3.75, Z:-81.46 [[ 7.53937002e-01 -1.95439609e-01 -6.27202006e-01 1.46546604e+02] [ 1.60879875e-01 9.80579639e-01 -1.12166111e-01 -3.74851257e+00] [ 6.36943218e-01 -1.63379989e-02 7.70737573e-01 -8.14637270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.55, Y:-3.67, Z:-81.44 [[ 7.81643807e-01 -2.49859062e-01 -5.71492265e-01 1.46551273e+02] [ 1.71280462e-01 9.67017659e-01 -1.88520159e-01 -3.67398047e+00] [ 5.99746582e-01 4.94701561e-02 7.98659340e-01 -8.14400113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.59, Y:-3.73, Z:-81.43 [[ 7.81956519e-01 -2.08140785e-01 -5.87555458e-01 1.46590237e+02] [ 1.70873265e-01 9.78071719e-01 -1.19071572e-01 -3.72938998e+00] [ 5.99455028e-01 -7.28872770e-03 8.00375252e-01 -8.14285922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.61, Y:-3.73, Z:-81.41 [[ 7.81002068e-01 -2.09636783e-01 -5.88292604e-01 1.46611180e+02] [ 1.72344111e-01 9.77746876e-01 -1.19618370e-01 -3.72523469e+00] [ 6.00277666e-01 -7.96657172e-03 7.99751997e-01 -8.14107915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.63, Y:-3.72, Z:-81.39 [[ 7.80282354e-01 -2.10199737e-01 -5.89046278e-01 1.46633232e+02] [ 1.72642256e-01 9.77626335e-01 -1.20172380e-01 -3.72068277e+00] [ 6.01127357e-01 -7.92589037e-03 7.99113935e-01 -8.13936899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.66, Y:-3.72, Z:-81.38 [[ 7.78614872e-01 -2.12092564e-01 -5.90572287e-01 1.46655745e+02] [ 1.74500470e-01 9.77208744e-01 -1.20882825e-01 -3.71878743e+00] [ 6.02750751e-01 -8.93397641e-03 7.97879513e-01 -8.13770142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.68, Y:-3.72, Z:-81.36 [[ 7.78293118e-01 -2.13366390e-01 -5.90537557e-01 1.46678106e+02] [ 1.75805330e-01 9.76926693e-01 -1.21271277e-01 -3.71527485e+00] [ 6.02787117e-01 -9.43504993e-03 7.97846270e-01 -8.13597684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.70, Y:-3.75, Z:-81.34 [[ 7.54488991e-01 -1.86965731e-01 -6.29118572e-01 1.46703073e+02] [ 1.75413963e-01 9.81139471e-01 -8.12113280e-02 -3.75226464e+00] [ 6.32436799e-01 -4.90831289e-02 7.73055329e-01 -8.13444151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.71, Y:-3.70, Z:-81.32 [[ 7.55671811e-01 -2.22763674e-01 -6.15902962e-01 1.46712225e+02] [ 1.74141795e-01 9.74869848e-01 -1.38936730e-01 -3.69995643e+00] [ 6.31375284e-01 -2.26387716e-03 7.75474130e-01 -8.13243563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.73, Y:-3.66, Z:-81.30 [[ 7.80161829e-01 -2.47966206e-01 -5.74334642e-01 1.46728491e+02] [ 1.77882926e-01 9.68121061e-01 -1.76349868e-01 -3.65897171e+00] [ 5.99754270e-01 3.54171089e-02 7.99400052e-01 -8.13033766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.77, Y:-3.74, Z:-81.29 [[ 7.58479860e-01 -1.89249376e-01 -6.23612841e-01 1.46768220e+02] [ 1.73686409e-01 9.80998578e-01 -8.64570481e-02 -3.73974737e+00] [ 6.28125252e-01 -4.27371452e-02 7.76937709e-01 -8.12923760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.77, Y:-3.66, Z:-81.27 [[ 7.81020331e-01 -2.41241309e-01 -5.76029404e-01 1.46774097e+02] [ 1.75207272e-01 9.69976006e-01 -1.68668194e-01 -3.65919333e+00] [ 5.99424436e-01 3.08087480e-02 7.99838213e-01 -8.12694472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.53864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:146.81, Y:-3.70, Z:-81.26 [[ 7.81488743e-01 -2.12594543e-01 -5.86582395e-01 1.46807062e+02] [ 1.74850978e-01 9.77108879e-01 -1.21183222e-01 -3.69506885e+00] [ 5.98917758e-01 -7.86118165e-03 8.00771953e-01 -8.12552709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.56864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:146.83, Y:-3.73, Z:-81.24 [[ 7.60810788e-01 -1.84016041e-01 -6.22338366e-01 1.46833826e+02] [ 1.69474296e-01 9.82017689e-01 -8.31848672e-02 -3.72894446e+00] [ 6.26454634e-01 -4.21824122e-02 7.78315640e-01 -8.12385254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.84, Y:-3.65, Z:-81.22 [[ 7.83036334e-01 -2.39131295e-01 -5.74169246e-01 1.46838985e+02] [ 1.71856364e-01 9.70382481e-01 -1.69774056e-01 -3.64553544e+00] [ 5.97762068e-01 3.42646155e-02 8.00940976e-01 -8.12152896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.87, Y:-3.68, Z:-81.20 [[ 7.83907041e-01 -2.09176086e-01 -5.84581146e-01 1.46871900e+02] [ 1.70491169e-01 9.77867196e-01 -1.21278637e-01 -3.68205872e+00] [ 5.97011317e-01 -4.59474569e-03 8.02219656e-01 -8.12008644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.65864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.89, Y:-3.68, Z:-81.18 [[ 7.83645436e-01 -2.09613215e-01 -5.84775282e-01 1.46893239e+02] [ 1.70711583e-01 9.77774280e-01 -1.21716939e-01 -3.67585815e+00] [ 5.97291709e-01 -4.44499068e-03 8.02011756e-01 -8.11833137e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.68864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:146.92, Y:-3.70, Z:-81.17 [[ 7.62780146e-01 -1.95072058e-01 -6.16533325e-01 1.46917004e+02] [ 1.70970846e-01 9.80325047e-01 -9.86497492e-02 -3.69590438e+00] [ 6.23646870e-01 -3.01611538e-02 7.81124117e-01 -8.11684918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.93, Y:-3.63, Z:-81.15 [[ 7.83625844e-01 -2.35980509e-01 -5.74668371e-01 1.46928383e+02] [ 1.75132479e-01 9.71440942e-01 -1.60097190e-01 -3.63377593e+00] [ 5.96036200e-01 2.48131988e-02 8.02574080e-01 -8.11466496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.97, Y:-3.71, Z:-81.13 [[ 7.62031296e-01 -1.80842788e-01 -6.21775032e-01 1.46965916e+02] [ 1.73906646e-01 9.82089394e-01 -7.25044833e-02 -3.70986641e+00] [ 6.23750578e-01 -5.28801250e-02 7.79832616e-01 -8.11346734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.77864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:146.97, Y:-3.61, Z:-81.11 [[ 7.83477636e-01 -2.53608137e-01 -5.67314469e-01 1.46965016e+02] [ 1.80655459e-01 9.66457418e-01 -1.82547703e-01 -3.60616260e+00] [ 5.94580860e-01 4.05335871e-02 8.03013467e-01 -8.11093938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.00, Y:-3.65, Z:-81.10 [[ 7.84410366e-01 -2.18108560e-01 -5.80628137e-01 1.47001393e+02] [ 1.81334769e-01 9.75874278e-01 -1.21602204e-01 -3.65379032e+00] [ 5.93142546e-01 -9.90203965e-03 8.05036565e-01 -8.10976464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.02, Y:-3.65, Z:-81.08 [[ 7.84222447e-01 -2.19077825e-01 -5.80517063e-01 1.47023105e+02] [ 1.82271014e-01 9.75654456e-01 -1.21965812e-01 -3.65072827e+00] [ 5.93104064e-01 -1.01631058e-02 8.05061662e-01 -8.10809593e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.05, Y:-3.65, Z:-81.06 [[ 7.84394187e-01 -2.19653271e-01 -5.80067409e-01 1.47045133e+02] [ 1.82764449e-01 9.75525543e-01 -1.22258214e-01 -3.64663789e+00] [ 5.92724991e-01 -1.01170677e-02 8.05341375e-01 -8.10636139e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.07, Y:-3.64, Z:-81.05 [[ 7.84627915e-01 -2.19848000e-01 -5.79677403e-01 1.47066900e+02] [ 1.82773941e-01 9.75485105e-01 -1.22566297e-01 -3.64276845e+00] [ 5.92412628e-01 -9.78098553e-03 8.05575329e-01 -8.10468821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.09, Y:-3.64, Z:-81.03 [[ 7.84152454e-01 -2.20217114e-01 -5.80180448e-01 1.47087954e+02] [ 1.82878392e-01 9.75403582e-01 -1.23058303e-01 -3.63885220e+00] [ 5.93009631e-01 -9.60599699e-03 8.05138064e-01 -8.10294964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.11, Y:-3.63, Z:-81.01 [[ 7.83626131e-01 -2.20013057e-01 -5.80968451e-01 1.47110104e+02] [ 1.82226262e-01 9.75455402e-01 -1.23613708e-01 -3.63413679e+00] [ 5.93905444e-01 -9.00077750e-03 8.04484499e-01 -8.10124663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.13, Y:-3.63, Z:-81.00 [[ 7.83124003e-01 -2.19875948e-01 -5.81696969e-01 1.47132848e+02] [ 1.81660252e-01 9.75491355e-01 -1.24161869e-01 -3.62965172e+00] [ 5.94740573e-01 -8.43707777e-03 8.03873415e-01 -8.09962109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.15, Y:-3.63, Z:-80.98 [[ 7.83853820e-01 -2.21158403e-01 -5.80225947e-01 1.47154486e+02] [ 1.83182376e-01 9.75197248e-01 -1.24235845e-01 -3.62636271e+00] [ 5.93310548e-01 -8.90442614e-03 8.04924409e-01 -8.09792494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.04864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:147.18, Y:-3.62, Z:-80.96 [[ 7.83382528e-01 -2.22137336e-01 -5.80488431e-01 1.47176614e+02] [ 1.84073884e-01 9.74972191e-01 -1.24683725e-01 -3.62240529e+00] [ 5.93656988e-01 -9.17770839e-03 8.04665862e-01 -8.09618934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.21, Y:-3.69, Z:-80.94 [[ 7.58983702e-01 -1.69562369e-01 -6.28643256e-01 1.47210929e+02] [ 1.80570638e-01 9.82439306e-01 -4.69814384e-02 -3.69101480e+00] [ 6.25570128e-01 -7.78563678e-02 7.76273406e-01 -8.09443251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.20, Y:-3.54, Z:-80.92 [[ 7.82133790e-01 -2.75385682e-01 -5.58953898e-01 1.47198591e+02] [ 1.89096853e-01 9.59634254e-01 -2.08193368e-01 -3.54413003e+00] [ 5.93724780e-01 5.71386451e-02 8.02636942e-01 -8.09194005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.24, Y:-3.61, Z:-80.91 [[ 7.82574710e-01 -2.26798651e-01 -5.79775124e-01 1.47241787e+02] [ 1.89460575e-01 9.73869665e-01 -1.25230057e-01 -3.61394190e+00] [ 5.93027414e-01 -1.18426531e-02 8.05095173e-01 -8.09099882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.26, Y:-3.61, Z:-80.89 [[ 7.82326855e-01 -2.27401785e-01 -5.79873366e-01 1.47263805e+02] [ 1.89911563e-01 9.73729116e-01 -1.25639195e-01 -3.61116503e+00] [ 5.93210157e-01 -1.18337413e-02 8.04960665e-01 -8.08932119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.29, Y:-3.61, Z:-80.88 [[ 7.82728110e-01 -2.27322069e-01 -5.79362912e-01 1.47285754e+02] [ 1.89598947e-01 9.73754206e-01 -1.25916578e-01 -3.60767564e+00] [ 5.92780689e-01 -1.12881530e-02 8.05284814e-01 -8.08760140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.31, Y:-3.60, Z:-80.86 [[ 7.82340575e-01 -2.27270854e-01 -5.79906186e-01 1.47307561e+02] [ 1.89170899e-01 9.73771753e-01 -1.26423669e-01 -3.60425233e+00] [ 5.93428678e-01 -1.07950092e-02 8.04814185e-01 -8.08591746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-3.65, Z:-80.84 [[ 7.59381628e-01 -1.91411359e-01 -6.21853065e-01 1.47338133e+02] [ 1.81530194e-01 9.80124843e-01 -8.00130073e-02 -3.64917956e+00] [ 6.24809036e-01 -5.21247000e-02 7.79035740e-01 -8.08406915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.28864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.34, Y:-3.56, Z:-80.82 [[ 7.84062377e-01 -2.53867772e-01 -5.66389745e-01 1.47340852e+02] [ 1.84645788e-01 9.66616052e-01 -1.77649487e-01 -3.55697706e+00] [ 5.92580899e-01 3.47067978e-02 8.04762895e-01 -8.08210622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.31864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.38, Y:-3.64, Z:-80.81 [[ 7.62293353e-01 -1.93579522e-01 -6.17604900e-01 1.47381535e+02] [ 1.77523024e-01 9.80164664e-01 -8.81067910e-02 -3.63578977e+00] [ 6.22410170e-01 -4.24758683e-02 7.81537831e-01 -8.08061803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.39, Y:-3.56, Z:-80.79 [[ 7.86428104e-01 -2.47021072e-01 -5.66137287e-01 1.47386488e+02] [ 1.82186113e-01 9.68540149e-01 -1.69523451e-01 -3.55602424e+00] [ 5.90202557e-01 3.01756538e-02 8.06691002e-01 -8.07871467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.43, Y:-3.63, Z:-80.77 [[ 7.63298579e-01 -1.87913833e-01 -6.18112991e-01 1.47426028e+02] [ 1.75248088e-01 9.81115236e-01 -8.18596419e-02 -3.63409412e+00] [ 6.21822633e-01 -4.58397718e-02 7.81815406e-01 -8.07719798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.40864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.44, Y:-3.59, Z:-80.75 [[ 7.65582991e-01 -2.17752033e-01 -6.05364961e-01 1.47438033e+02] [ 1.71739914e-01 9.76003018e-01 -1.33878717e-01 -3.58558242e+00] [ 6.19990391e-01 -1.47005709e-03 7.84608025e-01 -8.07520536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.45, Y:-3.54, Z:-80.73 [[ 7.89029913e-01 -2.43319358e-01 -5.64116555e-01 1.47451802e+02] [ 1.75602144e-01 9.69240080e-01 -1.72445798e-01 -3.54257285e+00] [ 5.88723776e-01 3.70048168e-02 8.07486817e-01 -8.07339128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.49, Y:-3.62, Z:-80.72 [[ 7.66579372e-01 -1.84591526e-01 -6.15046368e-01 1.47491080e+02] [ 1.68744929e-01 9.82038259e-01 -8.44156830e-02 -3.62049114e+00] [ 6.19581484e-01 -3.90746342e-02 7.83959155e-01 -8.07192750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.51, Y:-3.65, Z:-80.71 [[ 7.65214445e-01 -1.62542825e-01 -6.22917879e-01 1.47511619e+02] [ 1.67982359e-01 9.84493791e-01 -5.05361544e-02 -3.64749169e+00] [ 6.21473073e-01 -6.59682195e-02 7.80653197e-01 -8.07054896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.50, Y:-3.49, Z:-80.68 [[ 7.72970495e-01 -2.66571016e-01 -5.75722595e-01 1.47500857e+02] [ 1.63545578e-01 9.60499441e-01 -2.25152542e-01 -3.49163139e+00] [ 6.13000373e-01 7.98793872e-02 7.86034240e-01 -8.06771163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.55, Y:-3.59, Z:-80.67 [[ 7.67278115e-01 -1.95402295e-01 -6.10820954e-01 1.47547817e+02] [ 1.66187667e-01 9.80497926e-01 -1.04906987e-01 -3.59178835e+00] [ 6.19407744e-01 -2.10180740e-02 7.84788052e-01 -8.06676905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.55, Y:-3.51, Z:-80.65 [[ 7.95416671e-01 -2.52230016e-01 -5.51082879e-01 1.47550580e+02] [ 1.72886168e-01 9.65933710e-01 -1.92568014e-01 -3.50506493e+00] [ 5.80880963e-01 5.78972021e-02 8.11926857e-01 -8.06471498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.59, Y:-3.56, Z:-80.63 [[ 7.95309637e-01 -2.12977114e-01 -5.67559098e-01 1.47588365e+02] [ 1.71779171e-01 9.77053572e-01 -1.25929477e-01 -3.55741522e+00] [ 5.81355741e-01 2.65809498e-03 8.13645154e-01 -8.06338116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.61, Y:-3.55, Z:-80.62 [[ 7.95410913e-01 -2.13703511e-01 -5.67143975e-01 1.47610097e+02] [ 1.72455695e-01 9.76895105e-01 -1.26233858e-01 -3.55237238e+00] [ 5.81016792e-01 2.60058005e-03 8.13887415e-01 -8.06167128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.67864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.63, Y:-3.55, Z:-80.60 [[ 7.95084311e-01 -2.14236761e-01 -5.67400695e-01 1.47631677e+02] [ 1.72787026e-01 9.76778068e-01 -1.26685633e-01 -3.54719017e+00] [ 5.81365274e-01 2.68628041e-03 8.13638250e-01 -8.05999869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.65, Y:-3.54, Z:-80.58 [[ 7.96291322e-01 -2.14166259e-01 -5.65732219e-01 1.47652707e+02] [ 1.72691249e-01 9.76791980e-01 -1.26708959e-01 -3.54160996e+00] [ 5.79739478e-01 3.20024064e-03 8.14795616e-01 -8.05824428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.68, Y:-3.57, Z:-80.57 [[ 7.75062062e-01 -1.92557426e-01 -6.01830904e-01 1.47679277e+02] [ 1.68696266e-01 9.80923504e-01 -9.65952876e-02 -3.56761640e+00] [ 6.08950219e-01 -2.66592838e-02 7.92760312e-01 -8.05657833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.69, Y:-3.50, Z:-80.55 [[ 7.96652979e-01 -2.35305146e-01 -5.56754451e-01 1.47687478e+02] [ 1.72466799e-01 9.71312015e-01 -1.63732012e-01 -3.49858257e+00] [ 5.79309273e-01 3.44159366e-02 8.14380936e-01 -8.05469121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.72, Y:-3.56, Z:-80.53 [[ 7.74420198e-01 -1.89542229e-01 -6.03611713e-01 1.47721846e+02] [ 1.67379470e-01 9.81454027e-01 -9.34457369e-02 -3.55696965e+00] [ 6.10129060e-01 -2.86659428e-02 7.91783300e-01 -8.05317341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.73, Y:-3.48, Z:-80.51 [[ 7.97791861e-01 -2.37630702e-01 -5.54129765e-01 1.47727137e+02] [ 1.71570558e-01 9.70535604e-01 -1.69186837e-01 -3.47794945e+00] [ 5.78006653e-01 3.99035282e-02 8.15055837e-01 -8.05113199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.76, Y:-3.54, Z:-80.50 [[ 7.76416915e-01 -1.91512374e-01 -6.00416342e-01 1.47762912e+02] [ 1.68204749e-01 9.81121595e-01 -9.54336351e-02 -3.54099728e+00] [ 6.07358162e-01 -2.68965914e-02 7.93972693e-01 -8.04973520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.77, Y:-3.47, Z:-80.48 [[ 7.98721048e-01 -2.38317090e-01 -5.52494029e-01 1.47769725e+02] [ 1.73530809e-01 9.70439986e-01 -1.67729819e-01 -3.46757936e+00] [ 5.76135181e-01 3.80946012e-02 8.16466200e-01 -8.04775722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.80, Y:-3.49, Z:-80.46 [[ 7.98638469e-01 -2.17026153e-01 -5.61316529e-01 1.47800805e+02] [ 1.75637182e-01 9.76160353e-01 -1.27524689e-01 -3.49446632e+00] [ 5.75611133e-01 3.25806890e-03 8.17717071e-01 -8.04630346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:147.82, Y:-3.49, Z:-80.45 [[ 7.98505082e-01 -2.18974149e-01 -5.60749459e-01 1.47823143e+02] [ 1.77836898e-01 9.75727914e-01 -1.27785272e-01 -3.48870016e+00] [ 5.75120571e-01 2.31524432e-03 8.18065382e-01 -8.04468416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.85, Y:-3.51, Z:-80.43 [[ 7.78196110e-01 -2.03798363e-01 -5.94034546e-01 1.47849436e+02] [ 1.78790410e-01 9.78634955e-01 -1.01526420e-01 -3.51281315e+00] [ 6.02033890e-01 -2.72002147e-02 7.98007108e-01 -8.04316985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.86, Y:-3.45, Z:-80.41 [[ 7.98939509e-01 -2.44965309e-01 -5.49261012e-01 1.47858489e+02] [ 1.83919137e-01 9.69050817e-01 -1.64664097e-01 -3.44848345e+00] [ 5.72598824e-01 3.05370414e-02 8.19266792e-01 -8.04109103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.03864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:147.90, Y:-3.51, Z:-80.40 [[ 7.73726708e-01 -1.99071557e-01 -6.01429545e-01 1.47895217e+02] [ 1.81242756e-01 9.79223272e-01 -9.09551933e-02 -3.51384456e+00] [ 6.07040398e-01 -3.86302858e-02 7.93731476e-01 -8.03985045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.06864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.91, Y:-3.46, Z:-80.38 [[ 7.74671984e-01 -2.31873271e-01 -5.88318030e-01 1.47906059e+02] [ 1.80692454e-01 9.72725130e-01 -1.45451221e-01 -3.46220222e+00] [ 6.05997982e-01 6.37235683e-03 7.95440657e-01 -8.03805684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.92, Y:-3.43, Z:-80.36 [[ 7.96490662e-01 -2.50885010e-01 -5.50144833e-01 1.47923614e+02] [ 1.87870838e-01 9.67506649e-01 -1.69220069e-01 -3.43095953e+00] [ 5.74723563e-01 3.14260335e-02 8.17743989e-01 -8.03614900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.96, Y:-3.46, Z:-80.35 [[ 7.96011380e-01 -2.27631163e-01 -5.60847516e-01 1.47955482e+02] [ 1.87603188e-01 9.73744030e-01 -1.28948086e-01 -3.46355808e+00] [ 5.75474523e-01 -2.57263821e-03 8.17815661e-01 -8.03464829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:147.98, Y:-3.46, Z:-80.33 [[ 7.96197931e-01 -2.28123011e-01 -5.60382679e-01 1.47977445e+02] [ 1.88007818e-01 9.73629193e-01 -1.29225598e-01 -3.45942393e+00] [ 5.75084268e-01 -2.46717107e-03 8.18090458e-01 -8.03302757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.18864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:148.00, Y:-3.45, Z:-80.31 [[ 7.96674010e-01 -2.27001330e-01 -5.60161510e-01 1.47999399e+02] [ 1.86402247e-01 9.73893709e-01 -1.29557887e-01 -3.45370841e+00] [ 5.74947584e-01 -1.19996281e-03 8.18189365e-01 -8.03131215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:148.03, Y:-3.48, Z:-80.30 [[ 7.73140176e-01 -2.03325742e-01 -6.00760278e-01 1.48026077e+02] [ 1.82374925e-01 9.78485894e-01 -9.64610872e-02 -3.48392838e+00] [ 6.07448480e-01 -3.49856686e-02 7.93588273e-01 -8.02974085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.24864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:148.04, Y:-3.44, Z:-80.28 [[ 7.74506950e-01 -2.28952351e-01 -5.89677713e-01 1.48037876e+02] [ 1.79527681e-01 9.73428425e-01 -1.42151022e-01 -3.44080307e+00] [ 6.06554858e-01 4.23348261e-03 7.95030365e-01 -8.02790160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.05, Y:-3.41, Z:-80.26 [[ 8.00191763e-01 -2.47681821e-01 -5.46211368e-01 1.48053877e+02] [ 1.82739291e-01 9.68125052e-01 -1.71289919e-01 -3.40564934e+00] [ 5.71226308e-01 3.72505042e-02 8.19946892e-01 -8.02595675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:148.09, Y:-3.44, Z:-80.25 [[ 8.00935085e-01 -2.22683294e-01 -5.55801350e-01 1.48085150e+02] [ 1.81248447e-01 9.74886510e-01 -1.29403606e-01 -3.43566957e+00] [ 5.70659259e-01 2.90575629e-03 8.21181811e-01 -8.02453132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.11, Y:-3.43, Z:-80.23 [[ 8.02108996e-01 -2.19587940e-01 -5.55339802e-01 1.48106330e+02] [ 1.77293250e-01 9.75576870e-01 -1.29679891e-01 -3.42851501e+00] [ 5.70252806e-01 5.55940890e-03 8.21450443e-01 -8.02292133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.13, Y:-3.42, Z:-80.21 [[ 8.02340314e-01 -2.18530612e-01 -5.55422715e-01 1.48128187e+02] [ 1.75728143e-01 9.75806639e-01 -1.30080831e-01 -3.42302493e+00] [ 5.70411817e-01 6.76569293e-03 8.21330984e-01 -8.02125819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:148.15, Y:-3.42, Z:-80.20 [[ 8.02268949e-01 -2.19012261e-01 -5.55336081e-01 1.48150534e+02] [ 1.76058536e-01 9.75697821e-01 -1.30449815e-01 -3.41758858e+00] [ 5.70410313e-01 6.88417849e-03 8.21331043e-01 -8.01957886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:148.17, Y:-3.41, Z:-80.18 [[ 8.02406672e-01 -2.18577351e-01 -5.55308450e-01 1.48172423e+02] [ 1.75371897e-01 9.75791026e-01 -1.30677352e-01 -3.41244169e+00] [ 5.70428112e-01 7.47088316e-03 8.21313555e-01 -8.01793686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.45864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:148.21, Y:-3.47, Z:-80.16 [[ 7.74444374e-01 -1.75300569e-01 -6.07869741e-01 1.48205209e+02] [ 1.69823140e-01 9.83182371e-01 -6.71753360e-02 -3.46740421e+00] [ 6.09422688e-01 -5.12067870e-02 7.91190149e-01 -8.01614217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.48864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:148.20, Y:-3.34, Z:-80.14 [[ 8.04358162e-01 -2.60503346e-01 -5.33990594e-01 1.48195679e+02] [ 1.76509072e-01 9.62950392e-01 -2.03889895e-01 -3.33520832e+00] [ 5.67320452e-01 6.97463172e-02 8.20538211e-01 -8.01390024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.51864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:148.24, Y:-3.39, Z:-80.13 [[ 8.04376885e-01 -2.18278521e-01 -5.52568832e-01 1.48235286e+02] [ 1.75059360e-01 9.75850704e-01 -1.30650773e-01 -3.39019887e+00] [ 5.67742941e-01 8.36011603e-03 8.23163448e-01 -8.01271184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.54864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:148.26, Y:-3.38, Z:-80.11 [[ 8.04292542e-01 -2.19323620e-01 -5.52277699e-01 1.48257112e+02] [ 1.76115077e-01 9.75618803e-01 -1.30963472e-01 -3.38323603e+00] [ 5.67535891e-01 8.06851462e-03 8.23309123e-01 -8.01107888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.57864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:148.28, Y:-3.38, Z:-80.10 [[ 8.04186195e-01 -2.19822129e-01 -5.52234367e-01 1.48279163e+02] [ 1.76464761e-01 9.75505781e-01 -1.31334152e-01 -3.37640383e+00] [ 5.67577970e-01 8.16720674e-03 8.23279141e-01 -8.00950685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.60864 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:148.32, Y:-3.49, Z:-80.08 [[ 7.77066902e-01 -1.35188562e-01 -6.14728462e-01 1.48323054e+02] [ 1.75640180e-01 9.84438901e-01 5.52974476e-03 -3.49197702e+00] [ 6.04415053e-01 -1.12267999e-01 7.88719430e-01 -8.00779923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.63864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:148.28, Y:-3.23, Z:-80.04 [[ 8.06834117e-01 -3.08343184e-01 -5.03927760e-01 1.48276191e+02] [ 1.81378382e-01 9.41081417e-01 -2.85425384e-01 -3.22901398e+00] [ 5.62246022e-01 1.38889336e-01 8.15223382e-01 -8.00421185e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.66864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:148.34, Y:-3.35, Z:-80.04 [[ 8.06503255e-01 -2.21436433e-01 -5.48195590e-01 1.48340597e+02] [ 1.78886300e-01 9.75147016e-01 -1.30721033e-01 -3.34868215e+00] [ 5.63517693e-01 7.36225762e-03 8.26071187e-01 -8.00430143e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.69864 meters Centerline goodness : 0.996662 Centerline is valid? [True, True] Translation: X:148.37, Y:-3.39, Z:-80.03 [[ 7.81725463e-01 -1.89731806e-01 -5.94059881e-01 1.48371765e+02] [ 1.76018738e-01 9.80991658e-01 -8.16870336e-02 -3.39040485e+00] [ 5.98266416e-01 -4.07088364e-02 8.00262511e-01 -8.00282766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.72864 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:148.39, Y:-3.40, Z:-80.01 [[ 7.82623295e-01 -1.76672516e-01 -5.96898316e-01 1.48393359e+02] [ 1.78786461e-01 9.82274525e-01 -5.63219251e-02 -3.40211827e+00] [ 5.96268546e-01 -6.26384868e-02 8.00337579e-01 -8.00127888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.75864 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:148.38, Y:-3.25, Z:-79.98 [[ 7.87387310e-01 -2.76819196e-01 -5.50810636e-01 1.48375871e+02] [ 1.76698271e-01 9.57362896e-01 -2.28547603e-01 -3.24728516e+00] [ 5.90592029e-01 8.26281948e-02 8.02728869e-01 -7.99820406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.78864000000002 meters Centerline goodness : 0.996708 Centerline is valid? [True, True] Translation: X:148.41, Y:-3.28, Z:-79.97 [[ 8.09853980e-01 -2.52531550e-01 -5.29494426e-01 1.48410848e+02] [ 1.86406864e-01 9.66599229e-01 -1.75893184e-01 -3.27687044e+00] [ 5.56227482e-01 4.37464001e-02 8.29877847e-01 -7.99724329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.81864000000002 meters Centerline goodness : 0.995627 Centerline is valid? [True, True] Translation: X:148.46, Y:-3.35, Z:-79.96 [[ 7.84348785e-01 -1.99322231e-01 -5.87424576e-01 1.48455295e+02] [ 1.83715486e-01 9.79128056e-01 -8.69302581e-02 -3.35104549e+00] [ 5.92491016e-01 -3.97353491e-02 8.04596481e-01 -7.99624629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.84864000000002 meters Centerline goodness : 0.995682 Centerline is valid? [True, True] Translation: X:148.46, Y:-3.30, Z:-79.94 [[ 7.85979828e-01 -2.32813736e-01 -5.72742066e-01 1.48463487e+02] [ 1.85651550e-01 9.72512554e-01 -1.40544780e-01 -3.29917755e+00] [ 5.89719604e-01 4.13490975e-03 8.07597481e-01 -7.99433911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.87864000000002 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:148.49, Y:-3.30, Z:-79.93 [[ 7.83122077e-01 -2.31019155e-01 -5.77364670e-01 1.48486441e+02] [ 1.90808470e-01 9.72916457e-01 -1.30482546e-01 -3.30202212e+00] [ 5.91871557e-01 -7.98230672e-03 8.05992768e-01 -7.99269636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.90864000000002 meters Centerline goodness : 0.995240 Centerline is valid? [True, True] Translation: X:148.51, Y:-3.29, Z:-79.91 [[ 7.83622241e-01 -2.37171169e-01 -5.74182915e-01 1.48506453e+02] [ 1.94531271e-01 9.71453433e-01 -1.35778537e-01 -3.29258407e+00] [ 5.89994719e-01 -5.29745075e-03 8.07389725e-01 -7.99105483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.93864000000002 meters Centerline goodness : 0.995873 Centerline is valid? [True, True] Translation: X:148.52, Y:-3.24, Z:-79.89 [[ 8.07987737e-01 -2.71129402e-01 -5.23110566e-01 1.48516142e+02] [ 2.06626503e-01 9.61837613e-01 -1.79370830e-01 -3.24344657e+00] [ 5.51780124e-01 3.68409242e-02 8.33175517e-01 -7.98904405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96864 meters Centerline goodness : 0.996069 Centerline is valid? [True, True] Translation: X:148.55, Y:-3.28, Z:-79.88 [[ 8.07276720e-01 -2.47221399e-01 -5.35897264e-01 1.48552044e+02] [ 2.10407178e-01 9.68927734e-01 -1.30030247e-01 -3.28042167e+00] [ 5.51391981e-01 -7.78623953e-03 8.34209960e-01 -7.98786540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.99864 meters Centerline goodness : 0.995820 Centerline is valid? [True, True] Translation: X:148.57, Y:-3.28, Z:-79.86 [[ 8.06927944e-01 -2.49080556e-01 -5.35561546e-01 1.48574065e+02] [ 2.12454150e-01 9.68444258e-01 -1.30303312e-01 -3.27570161e+00] [ 5.51117525e-01 -8.63688879e-03 8.34382932e-01 -7.98627962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.02864 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:148.60, Y:-3.27, Z:-79.85 [[ 8.05540028e-01 -2.51851756e-01 -5.36354320e-01 1.48595886e+02] [ 2.15433117e-01 9.67712636e-01 -1.30846579e-01 -3.27449327e+00] [ 5.51990793e-01 -1.01463262e-02 8.33788472e-01 -7.98455822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.05864 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:148.62, Y:-3.27, Z:-79.83 [[ 8.04666044e-01 -2.53481028e-01 -5.36898431e-01 1.48618256e+02] [ 2.17078275e-01 9.67279268e-01 -1.31331035e-01 -3.27117512e+00] [ 5.52620647e-01 -1.08713612e-02 8.33362006e-01 -7.98295999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.08864 meters Centerline goodness : 0.995073 Centerline is valid? [True, True] Translation: X:148.66, Y:-3.35, Z:-79.81 [[ 7.84348960e-01 -2.00616211e-01 -5.86983684e-01 1.48658280e+02] [ 2.14542721e-01 9.75594942e-01 -4.67539408e-02 -3.34585629e+00] [ 5.82037911e-01 -8.92616717e-02 8.08247625e-01 -7.98143877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.11864 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:148.66, Y:-3.27, Z:-79.80 [[ 7.85248211e-01 -2.51201824e-01 -5.65935412e-01 1.48660845e+02] [ 2.15180401e-01 9.67749792e-01 -1.30987541e-01 -3.27296643e+00] [ 5.80588186e-01 -1.89204759e-02 8.13977502e-01 -7.97975031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.14864 meters Centerline goodness : 0.994213 Centerline is valid? [True, True] Translation: X:148.65, Y:-3.17, Z:-79.77 [[ 8.05239422e-01 -3.13944935e-01 -5.03018937e-01 1.48654626e+02] [ 2.21029710e-01 9.46116237e-01 -2.36664180e-01 -3.17391500e+00] [ 5.50213904e-01 7.93891984e-02 8.31241250e-01 -7.97693581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.17864 meters Centerline goodness : 0.995044 Centerline is valid? [True, True] Translation: X:148.71, Y:-3.26, Z:-79.76 [[ 8.06597004e-01 -2.54646669e-01 -5.33438232e-01 1.48706471e+02] [ 2.18528410e-01 9.66974210e-01 -1.31172452e-01 -3.25718154e+00] [ 5.49223640e-01 -1.07681022e-02 8.35606032e-01 -7.97637717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.20864 meters Centerline goodness : 0.994399 Centerline is valid? [True, True] Translation: X:148.75, Y:-3.33, Z:-79.75 [[ 7.85862101e-01 -1.99019149e-01 -5.85501612e-01 1.48746710e+02] [ 2.13661164e-01 9.75873852e-01 -4.49347573e-02 -3.33243518e+00] [ 5.80318590e-01 -8.97864329e-02 8.09424938e-01 -7.97492205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.23864 meters Centerline goodness : 0.994307 Centerline is valid? [True, True] Translation: X:148.72, Y:-3.17, Z:-79.72 [[ 8.08223881e-01 -3.02582099e-01 -5.05191283e-01 1.48724703e+02] [ 2.13824767e-01 9.50133169e-01 -2.26993238e-01 -3.16585559e+00] [ 5.48683085e-01 7.54389471e-02 8.32619864e-01 -7.97210058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.26864 meters Centerline goodness : 0.993618 Centerline is valid? [True, True] Translation: X:148.77, Y:-3.24, Z:-79.71 [[ 8.10891256e-01 -2.45022038e-01 -5.31431624e-01 1.48772389e+02] [ 2.07007968e-01 9.69510554e-01 -1.31137287e-01 -3.23913823e+00] [ 5.47360093e-01 -3.67250134e-03 8.36889145e-01 -7.97142288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.29864 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:148.80, Y:-3.23, Z:-79.70 [[ 8.11642105e-01 -2.43936247e-01 -5.30784514e-01 1.48795183e+02] [ 2.05583262e-01 9.69787970e-01 -1.31327129e-01 -3.23346842e+00] [ 5.46783884e-01 -2.52978459e-03 8.37269959e-01 -7.96987035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.32864 meters Centerline goodness : 0.993814 Centerline is valid? [True, True] Translation: X:148.82, Y:-3.26, Z:-79.69 [[ 7.88540639e-01 -2.22407706e-01 -5.73357195e-01 1.48824609e+02] [ 2.00951257e-01 9.74320938e-01 -1.01574119e-01 -3.26090275e+00] [ 5.81224787e-01 -3.51215284e-02 8.12984763e-01 -7.96850801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.35864 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:148.83, Y:-3.19, Z:-79.66 [[ 8.10893530e-01 -2.65958113e-01 -5.21265733e-01 1.48827975e+02] [ 2.04686123e-01 9.63395686e-01 -1.73125222e-01 -3.18709974e+00] [ 5.48229216e-01 3.36902609e-02 8.35649264e-01 -7.96627442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.38864 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:148.86, Y:-3.22, Z:-79.65 [[ 8.10389894e-01 -2.43624465e-01 -5.32837066e-01 1.48861547e+02] [ 2.04416337e-01 9.69868474e-01 -1.32548501e-01 -3.21538362e+00] [ 5.49073930e-01 -1.50463587e-03 8.35772431e-01 -7.96501845e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.41864 meters Centerline goodness : 0.993673 Centerline is valid? [True, True] Translation: X:148.88, Y:-3.21, Z:-79.63 [[ 8.10484071e-01 -2.44263700e-01 -5.32400992e-01 1.48884059e+02] [ 2.05016375e-01 9.69707654e-01 -1.32798161e-01 -3.21039048e+00] [ 5.48711087e-01 -1.52012735e-03 8.36010665e-01 -7.96339548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.44864 meters Centerline goodness : 0.994150 Centerline is valid? [True, True] Translation: X:148.91, Y:-3.21, Z:-79.62 [[ 8.09806500e-01 -2.44989175e-01 -5.33098243e-01 1.48906248e+02] [ 2.05537344e-01 9.69524492e-01 -1.33329136e-01 -3.20507735e+00] [ 5.49515998e-01 -1.60079577e-03 8.35481661e-01 -7.96170941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.47864 meters Centerline goodness : 0.994009 Centerline is valid? [True, True] Translation: X:148.93, Y:-3.20, Z:-79.60 [[ 8.10901581e-01 -2.45779160e-01 -5.31066126e-01 1.48927494e+02] [ 2.06576032e-01 9.69324341e-01 -1.33179068e-01 -3.19840408e+00] [ 5.47507962e-01 -1.71041585e-03 8.36798725e-01 -7.95999799e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.50864 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:148.95, Y:-3.19, Z:-79.58 [[ 8.10332120e-01 -2.45805721e-01 -5.31922365e-01 1.48949784e+02] [ 2.06234008e-01 9.69318221e-01 -1.33752457e-01 -3.19314147e+00] [ 5.48479160e-01 -1.31656920e-03 8.36163188e-01 -7.95843432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.53864000000002 meters Centerline goodness : 0.994063 Centerline is valid? [True, True] Translation: X:148.97, Y:-3.19, Z:-79.57 [[ 8.09630456e-01 -2.45470993e-01 -5.33143993e-01 1.48973293e+02] [ 2.05397196e-01 9.69403700e-01 -1.34418965e-01 -3.18977323e+00] [ 5.49827716e-01 -6.76593379e-04 8.35277813e-01 -7.95699449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.56864000000002 meters Centerline goodness : 0.993312 Centerline is valid? [True, True] Translation: X:149.02, Y:-3.28, Z:-79.56 [[ 7.88608632e-01 -1.84600840e-01 -5.86531291e-01 1.49015834e+02] [ 2.03978811e-01 9.78395846e-01 -3.36780728e-02 -3.27758670e+00] [ 5.80076779e-01 -9.30811367e-02 8.09226070e-01 -7.95571836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.59864000000002 meters Centerline goodness : 0.994345 Centerline is valid? [True, True] Translation: X:149.00, Y:-3.12, Z:-79.53 [[ 7.90473093e-01 -2.87645309e-01 -5.40751759e-01 1.48996415e+02] [ 1.99470080e-01 9.55631578e-01 -2.16748641e-01 -3.11623825e+00] [ 5.79106187e-01 6.34701719e-02 8.12777683e-01 -7.95303120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.62864000000002 meters Centerline goodness : 0.994554 Centerline is valid? [True, True] Translation: X:149.04, Y:-3.17, Z:-79.52 [[ 7.91595409e-01 -2.50420631e-01 -5.57374394e-01 1.49036648e+02] [ 2.01847075e-01 9.68124797e-01 -1.48297456e-01 -3.16737302e+00] [ 5.76744715e-01 4.88719407e-03 8.16909817e-01 -7.95206750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.65864000000002 meters Centerline goodness : 0.994648 Centerline is valid? [True, True] Translation: X:149.05, Y:-3.14, Z:-79.50 [[ 8.11672208e-01 -2.64104065e-01 -5.20996419e-01 1.49052509e+02] [ 2.06900191e-01 9.64108826e-01 -1.66392553e-01 -3.13942342e+00] [ 5.46242196e-01 2.72619525e-02 8.37183522e-01 -7.95009933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.68864000000002 meters Centerline goodness : 0.994635 Centerline is valid? [True, True] Translation: X:149.08, Y:-3.16, Z:-79.49 [[ 8.11960630e-01 -2.46574196e-01 -5.29075706e-01 1.49082910e+02] [ 2.06740725e-01 9.69123878e-01 -1.34377011e-01 -3.15995581e+00] [ 5.45873803e-01 -2.72652701e-04 8.37867362e-01 -7.94874497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71864 meters Centerline goodness : 0.994949 Centerline is valid? [True, True] Translation: X:149.10, Y:-3.15, Z:-79.47 [[ 8.12596060e-01 -2.46560741e-01 -5.28105523e-01 1.49104586e+02] [ 2.06652858e-01 9.69127328e-01 -1.34487240e-01 -3.15316271e+00] [ 5.44960768e-01 1.49285295e-04 8.38461531e-01 -7.94715700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.74864 meters Centerline goodness : 0.996306 Centerline is valid? [True, True] Translation: X:149.13, Y:-3.15, Z:-79.46 [[ 8.12429162e-01 -2.47496748e-01 -5.27924441e-01 1.49126849e+02] [ 2.07565933e-01 9.68888722e-01 -1.34799955e-01 -3.14591925e+00] [ 5.44862588e-01 -6.37146305e-05 8.38525346e-01 -7.94554749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.77864 meters Centerline goodness : 0.996658 Centerline is valid? [True, True] Translation: X:149.15, Y:-3.14, Z:-79.44 [[ 8.11950048e-01 -2.48630242e-01 -5.28128887e-01 1.49148879e+02] [ 2.08649707e-01 9.68598388e-01 -1.35212660e-01 -3.14006080e+00] [ 5.45162745e-01 -4.08012323e-04 8.38330135e-01 -7.94397942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.80864 meters Centerline goodness : 0.997403 Centerline is valid? [True, True] Translation: X:149.17, Y:-3.13, Z:-79.42 [[ 8.11380825e-01 -2.50913741e-01 -5.27923718e-01 1.49171707e+02] [ 2.11174586e-01 9.68008246e-01 -1.35518748e-01 -3.13460347e+00] [ 5.45038028e-01 -1.52675925e-03 8.38409934e-01 -7.94242294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.83864 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:149.20, Y:-3.13, Z:-79.41 [[ 8.11138982e-01 -2.52867924e-01 -5.27362650e-01 1.49195020e+02] [ 2.13365941e-01 9.67497771e-01 -1.35731495e-01 -3.12938560e+00] [ 5.44544330e-01 -2.42412208e-03 8.38728559e-01 -7.94092126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.86864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:149.22, Y:-3.13, Z:-79.39 [[ 7.94561844e-01 -2.51548820e-01 -5.52625250e-01 1.49217996e+02] [ 2.10916757e-01 9.67815726e-01 -1.37283804e-01 -3.12876680e+00] [ 5.69372986e-01 -7.47745275e-03 8.22045309e-01 -7.93940198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.89864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:149.24, Y:-3.11, Z:-79.38 [[ 8.10109980e-01 -2.58157169e-01 -5.26380753e-01 1.49238612e+02] [ 2.14314509e-01 9.66095359e-01 -1.43975858e-01 -3.11276830e+00] [ 5.45702403e-01 3.82524685e-03 8.37970319e-01 -7.93773840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.92864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:149.26, Y:-3.12, Z:-79.36 [[ 7.93228841e-01 -2.47768133e-01 -5.56236423e-01 1.49264752e+02] [ 2.10101889e-01 9.68741989e-01 -1.31894483e-01 -3.12355759e+00] [ 5.71528829e-01 -1.22438150e-02 8.20490638e-01 -7.93624448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.95864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:149.28, Y:-3.11, Z:-79.35 [[ 7.92948601e-01 -2.54474305e-01 -5.53602153e-01 1.49284232e+02] [ 2.10403164e-01 9.67075016e-01 -1.43165716e-01 -3.10917685e+00] [ 5.71806808e-01 -2.95659048e-03 8.20382980e-01 -7.93468600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.98864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:149.30, Y:-3.09, Z:-79.33 [[ 8.09591794e-01 -2.64028257e-01 -5.24261583e-01 1.49304425e+02] [ 2.14060487e-01 9.64422204e-01 -1.55138394e-01 -3.08877990e+00] [ 5.46570431e-01 1.33750808e-02 8.37306319e-01 -7.93291647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:149.33, Y:-3.10, Z:-79.31 [[ 8.10524925e-01 -2.54771528e-01 -5.27390571e-01 1.49332248e+02] [ 2.14863354e-01 9.66998450e-01 -1.36922373e-01 -3.10162387e+00] [ 5.44869787e-01 -2.33791049e-03 8.38517411e-01 -7.93145393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.36, Y:-3.10, Z:-79.30 [[ 8.10444203e-01 -2.56186922e-01 -5.26828677e-01 1.49355223e+02] [ 2.16413692e-01 9.66622984e-01 -1.37131761e-01 -3.09707823e+00] [ 5.44376072e-01 -2.87529826e-03 8.38836352e-01 -7.92993994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.07864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:149.38, Y:-3.09, Z:-79.28 [[ 8.10308893e-01 -2.59456900e-01 -5.25434692e-01 1.49377454e+02] [ 2.20310366e-01 9.65743510e-01 -1.37123358e-01 -3.09411099e+00] [ 5.43012745e-01 -4.64643300e-03 8.39711599e-01 -7.92828808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.10864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:149.42, Y:-3.15, Z:-79.27 [[ 7.96803725e-01 -2.18954216e-01 -5.63172154e-01 1.49415089e+02] [ 2.18370402e-01 9.73389367e-01 -6.94802750e-02 -3.15196738e+00] [ 5.63398785e-01 -6.76179875e-02 8.23413393e-01 -7.92694717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.40, Y:-3.02, Z:-79.24 [[ 8.09381586e-01 -3.05175197e-01 -5.01766428e-01 1.49403247e+02] [ 2.27044867e-01 9.50554052e-01 -2.11890592e-01 -3.02374109e+00] [ 5.41619864e-01 5.75768515e-02 8.38649408e-01 -7.92448822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:149.46, Y:-3.14, Z:-79.24 [[ 7.91167919e-01 -2.29724426e-01 -5.66815677e-01 1.49458720e+02] [ 2.24007273e-01 9.71219512e-01 -8.09530832e-02 -3.13596754e+00] [ 5.69099346e-01 -6.29233517e-02 8.19857662e-01 -7.92365859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:149.45, Y:-3.02, Z:-79.21 [[ 8.09520007e-01 -3.03289400e-01 -5.02685685e-01 1.49452482e+02] [ 2.30288771e-01 9.51647032e-01 -2.03310126e-01 -3.02076640e+00] [ 5.40041147e-01 4.88207461e-02 8.40221455e-01 -7.92138489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.22864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:149.50, Y:-3.11, Z:-79.20 [[ 7.90952880e-01 -2.44605886e-01 -5.60857827e-01 1.49501391e+02] [ 2.27837735e-01 9.68440948e-01 -1.01054921e-01 -3.11299878e+00] [ 5.67876314e-01 -4.78548963e-02 8.21721608e-01 -7.92032952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:149.50, Y:-3.03, Z:-79.18 [[ 8.10311747e-01 -2.95875155e-01 -5.05818905e-01 1.49504574e+02] [ 2.33583977e-01 9.54718388e-01 -1.84258852e-01 -3.03158089e+00] [ 5.37432227e-01 3.11559208e-02 8.42731221e-01 -7.91817677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.28864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:149.54, Y:-3.07, Z:-79.17 [[ 8.10822740e-01 -2.71276025e-01 -5.18628771e-01 1.49540237e+02] [ 2.34829834e-01 9.62435398e-01 -1.36282991e-01 -3.06834525e+00] [ 5.36116996e-01 -1.12881597e-02 8.44068210e-01 -7.91690141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.31864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.56, Y:-3.06, Z:-79.15 [[ 8.11693684e-01 -2.72310049e-01 -5.16721009e-01 1.49562775e+02] [ 2.36134386e-01 9.62140420e-01 -1.36111584e-01 -3.06445120e+00] [ 5.34222720e-01 -1.15346855e-02 8.45265069e-01 -7.91533402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.34864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.59, Y:-3.06, Z:-79.14 [[ 8.11602412e-01 -2.72740293e-01 -5.16637452e-01 1.49585629e+02] [ 2.36442976e-01 9.62019797e-01 -1.36428110e-01 -3.05828023e+00] [ 5.34224899e-01 -1.14299136e-02 8.45265115e-01 -7.91375101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.37864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:149.61, Y:-3.06, Z:-79.12 [[ 8.11172326e-01 -2.73563685e-01 -5.16877517e-01 1.49609861e+02] [ 2.37254170e-01 9.61782145e-01 -1.36695153e-01 -3.05545171e+00] [ 5.34518397e-01 -1.17480212e-02 8.45075184e-01 -7.91225414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.40864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:149.63, Y:-3.05, Z:-79.11 [[ 8.11483710e-01 -2.74384154e-01 -5.15953025e-01 1.49633373e+02] [ 2.38154939e-01 9.61546795e-01 -1.36784450e-01 -3.05427035e+00] [ 5.33644463e-01 -1.18784080e-02 8.45625502e-01 -7.91067399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.43864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.67, Y:-3.10, Z:-79.09 [[ 7.90901830e-01 -2.46485359e-01 -5.60106475e-01 1.49665849e+02] [ 2.34130450e-01 9.67535187e-01 -9.51766476e-02 -3.09568935e+00] [ 5.65382373e-01 -5.58625964e-02 8.22935078e-01 -7.90920740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.67, Y:-3.00, Z:-79.07 [[ 8.10246206e-01 -3.03407127e-01 -5.01443118e-01 1.49666315e+02] [ 2.38170508e-01 9.52196804e-01 -1.91300953e-01 -3.00281992e+00] [ 5.35514608e-01 3.55719086e-02 8.43776478e-01 -7.90724528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.49864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.70, Y:-3.04, Z:-79.06 [[ 8.10865785e-01 -2.72886611e-01 -5.17715729e-01 1.49702889e+02] [ 2.35705642e-01 9.61991957e-01 -1.37892437e-01 -3.04398640e+00] [ 5.35667368e-01 -1.02162592e-02 8.44367277e-01 -7.90599683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.73, Y:-3.04, Z:-79.04 [[ 8.11369838e-01 -2.70040766e-01 -5.18417758e-01 1.49725620e+02] [ 2.32005402e-01 9.62815911e-01 -1.38416094e-01 -3.03717565e+00] [ 5.36518854e-01 -7.96907655e-03 8.43850706e-01 -7.90444651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:149.75, Y:-3.03, Z:-79.03 [[ 8.13584319e-01 -2.67538083e-01 -5.16240187e-01 1.49749255e+02] [ 2.29172201e-01 9.63529264e-01 -1.38171852e-01 -3.03126600e+00] [ 5.34378760e-01 -5.89344809e-03 8.45224591e-01 -7.90303686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.77, Y:-3.03, Z:-79.02 [[ 8.13899099e-01 -2.66830595e-01 -5.16110154e-01 1.49772278e+02] [ 2.28139379e-01 9.63730283e-01 -1.38478752e-01 -3.02616216e+00] [ 5.34341352e-01 -5.03731808e-03 8.45253775e-01 -7.90150697e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.79, Y:-3.02, Z:-79.00 [[ 8.14323103e-01 -2.66969439e-01 -5.15368996e-01 1.49794794e+02] [ 2.28206343e-01 9.63693413e-01 -1.38624931e-01 -3.02040809e+00] [ 5.33666327e-01 -4.72499000e-03 8.45681930e-01 -7.90003763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:149.82, Y:-3.01, Z:-78.98 [[ 8.13665573e-01 -2.66674114e-01 -5.16559051e-01 1.49817101e+02] [ 2.27443106e-01 9.63777817e-01 -1.39290890e-01 -3.01402787e+00] [ 5.34993430e-01 -4.15159282e-03 8.44846018e-01 -7.89841071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.67864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:149.84, Y:-3.01, Z:-78.97 [[ 8.14050061e-01 -2.66021329e-01 -5.16289794e-01 1.49840649e+02] [ 2.26496946e-01 9.63961399e-01 -1.39562008e-01 -3.00798707e+00] [ 5.34809903e-01 -3.32760100e-03 8.44965854e-01 -7.89693810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.70864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:149.86, Y:-3.00, Z:-78.95 [[ 8.14642568e-01 -2.64767594e-01 -5.15999620e-01 1.49862640e+02] [ 2.24843245e-01 9.64309946e-01 -1.39827905e-01 -3.00283887e+00] [ 5.34605464e-01 -2.10926544e-03 8.45099135e-01 -7.89535945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.73864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:149.91, Y:-3.10, Z:-78.93 [[ 7.89706920e-01 -1.94875578e-01 -5.81709970e-01 1.49906030e+02] [ 2.20610474e-01 9.74984545e-01 -2.71321782e-02 -3.10089624e+00] [ 5.72445630e-01 -1.06904843e-01 8.12943636e-01 -7.89345700e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.76864 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:149.87, Y:-2.88, Z:-78.91 [[ 8.17161350e-01 -3.30259072e-01 -4.72415362e-01 1.49868659e+02] [ 2.26249797e-01 9.37584244e-01 -2.64096223e-01 -2.88122536e+00] [ 5.30149373e-01 1.08925346e-01 8.40878654e-01 -7.89105681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.79864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:149.93, Y:-2.98, Z:-78.90 [[ 8.18909991e-01 -2.60709648e-01 -5.11289454e-01 1.49926289e+02] [ 2.20582252e-01 9.65416711e-01 -1.38974977e-01 -2.97742898e+00] [ 5.29839501e-01 1.02661764e-03 8.48097311e-01 -7.89049100e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.82864 meters Centerline goodness : 0.997447 Centerline is valid? [True, True] Translation: X:149.96, Y:-3.02, Z:-78.89 [[ 7.95354951e-01 -2.30706345e-01 -5.60522153e-01 1.49958578e+02] [ 2.15521525e-01 9.71942119e-01 -9.42283926e-02 -3.01762900e+00] [ 5.66534177e-01 -4.58595705e-02 8.22761160e-01 -7.88893981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.85864 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:149.95, Y:-2.92, Z:-78.87 [[ 8.20395581e-01 -2.91173191e-01 -4.92106964e-01 1.49954656e+02] [ 2.24318908e-01 9.55532544e-01 -1.91412083e-01 -2.91695502e+00] [ 5.25958286e-01 4.66447297e-02 8.49230328e-01 -7.88701206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.88864 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:149.99, Y:-2.95, Z:-78.86 [[ 8.20221327e-01 -2.64175293e-01 -5.07393723e-01 1.49990914e+02] [ 2.24877025e-01 9.64474604e-01 -1.38632833e-01 -2.95455889e+00] [ 5.25991729e-01 -3.91584666e-04 8.50489593e-01 -7.88576498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.91864 meters Centerline goodness : 0.997198 Centerline is valid? [True, True] Translation: X:150.03, Y:-3.03, Z:-78.84 [[ 8.00350481e-01 -2.09234638e-01 -5.61836252e-01 1.50033455e+02] [ 2.23404918e-01 9.73715007e-01 -4.43771185e-02 -3.03355238e+00] [ 5.56353620e-01 -8.99997336e-02 8.26057321e-01 -7.88427229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.94864 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:150.02, Y:-2.89, Z:-78.82 [[ 7.97780330e-01 -2.98991330e-01 -5.23594050e-01 1.50020173e+02] [ 2.21409366e-01 9.52992590e-01 -2.06840556e-01 -2.88859685e+00] [ 5.60824783e-01 4.90847004e-02 8.26478224e-01 -7.88215541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.97864 meters Centerline goodness : 0.996955 Centerline is valid? [True, True] Translation: X:150.07, Y:-2.99, Z:-78.81 [[ 7.99439518e-01 -2.30341730e-01 -5.54832537e-01 1.50070232e+02] [ 2.26209624e-01 9.71015827e-01 -7.71846456e-02 -2.99178281e+00] [ 5.56530020e-01 -6.38040037e-02 8.28373941e-01 -7.88125976e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.00864 meters Centerline goodness : 0.995826 Centerline is valid? [True, True] Translation: X:150.06, Y:-2.87, Z:-78.79 [[ 7.98673092e-01 -3.09449956e-01 -5.16102720e-01 1.50058973e+02] [ 2.26991754e-01 9.49214586e-01 -2.17867881e-01 -2.86625719e+00] [ 5.57311435e-01 5.68541521e-02 8.28354736e-01 -7.87902136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.03864000000002 meters Centerline goodness : 0.996068 Centerline is valid? [True, True] Translation: X:150.10, Y:-2.92, Z:-78.78 [[ 7.99165175e-01 -2.72591490e-01 -5.35750784e-01 1.50099462e+02] [ 2.30005779e-01 9.62109867e-01 -1.46430685e-01 -2.92022926e+00] [ 5.55366874e-01 -6.20347232e-03 8.31582318e-01 -7.87804252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.06864000000002 meters Centerline goodness : 0.996070 Centerline is valid? [True, True] Translation: X:150.11, Y:-2.88, Z:-78.76 [[ 8.20709184e-01 -2.94934821e-01 -4.89336170e-01 1.50112542e+02] [ 2.35730284e-01 9.54962704e-01 -1.80215056e-01 -2.87618158e+00] [ 5.20449487e-01 3.25527977e-02 8.53271731e-01 -7.87623712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.09864000000002 meters Centerline goodness : 0.996510 Centerline is valid? [True, True] Translation: X:150.15, Y:-2.90, Z:-78.75 [[ 8.21074721e-01 -2.71543799e-01 -5.02095876e-01 1.50146733e+02] [ 2.33618460e-01 9.62419306e-01 -1.38461169e-01 -2.90470043e+00] [ 5.20825036e-01 -3.61189937e-03 8.53655807e-01 -7.87502404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.12864000000002 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:150.17, Y:-2.90, Z:-78.73 [[ 8.20556047e-01 -2.71919577e-01 -5.02740009e-01 1.50169265e+02] [ 2.33748533e-01 9.62313694e-01 -1.38974737e-01 -2.89797376e+00] [ 5.21583547e-01 -3.47817843e-03 8.53193123e-01 -7.87349635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.15864000000002 meters Centerline goodness : 0.996013 Centerline is valid? [True, True] Translation: X:150.19, Y:-2.89, Z:-78.72 [[ 8.20520442e-01 -2.72504960e-01 -5.02481095e-01 1.50191264e+02] [ 2.34271131e-01 9.62148132e-01 -1.39240833e-01 -2.89135586e+00] [ 5.21405065e-01 -3.46686491e-03 8.53302256e-01 -7.87196695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.18864000000002 meters Centerline goodness : 0.995831 Centerline is valid? [True, True] Translation: X:150.22, Y:-2.91, Z:-78.71 [[ 8.01410681e-01 -2.54168090e-01 -5.41423588e-01 1.50220682e+02] [ 2.29996873e-01 9.66572191e-01 -1.13312125e-01 -2.91334513e+00] [ 5.52125310e-01 -3.37161845e-02 8.33079144e-01 -7.87060478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21864 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:150.23, Y:-2.85, Z:-78.69 [[ 8.21250679e-01 -2.91628449e-01 -4.90408167e-01 1.50226482e+02] [ 2.34961103e-01 9.56105039e-01 -1.75089793e-01 -2.84522514e+00] [ 5.19942884e-01 2.85657677e-02 8.53723254e-01 -7.86875715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.24864 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:150.26, Y:-2.87, Z:-78.68 [[ 8.21719652e-01 -2.72332595e-01 -5.00611398e-01 1.50259026e+02] [ 2.33947867e-01 9.62199808e-01 -1.39427132e-01 -2.86722911e+00] [ 5.19658744e-01 -2.54695398e-03 8.54370121e-01 -7.86750217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.27864 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:150.28, Y:-2.86, Z:-78.66 [[ 8.21493700e-01 -2.72062680e-01 -5.01128725e-01 1.50280857e+02] [ 2.33342823e-01 9.62277445e-01 -1.39904414e-01 -2.85958705e+00] [ 5.20287639e-01 -2.00419654e-03 8.53988733e-01 -7.86585644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.30864 meters Centerline goodness : 0.995909 Centerline is valid? [True, True] Translation: X:150.30, Y:-2.85, Z:-78.64 [[ 8.22047647e-01 -2.72436806e-01 -5.00015852e-01 1.50302449e+02] [ 2.33765610e-01 9.62171877e-01 -1.39924689e-01 -2.85136375e+00] [ 5.19221826e-01 -1.86174933e-03 8.54637484e-01 -7.86429005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.33864 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:150.33, Y:-2.88, Z:-78.63 [[ 8.01190885e-01 -2.50895657e-01 -5.43272064e-01 1.50332715e+02] [ 2.28495274e-01 9.67337323e-01 -1.09765265e-01 -2.87533900e+00] [ 5.53066973e-01 -3.61921690e-02 8.32350317e-01 -7.86289549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.36864 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:150.34, Y:-2.83, Z:-78.61 [[ 8.00499474e-01 -2.72037560e-01 -5.34037600e-01 1.50343683e+02] [ 2.27082219e-01 9.62285679e-01 -1.49799661e-01 -2.83334514e+00] [ 5.54647869e-01 -1.35589331e-03 8.32084072e-01 -7.86134308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.39864 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:150.36, Y:-2.82, Z:-78.60 [[ 8.02092082e-01 -2.75344944e-01 -5.29937217e-01 1.50363818e+02] [ 2.26125841e-01 9.61324978e-01 -1.57230373e-01 -2.81884770e+00] [ 5.52734472e-01 6.28073864e-03 8.33333760e-01 -7.85967381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.42864 meters Centerline goodness : 0.995376 Centerline is valid? [True, True] Translation: X:150.38, Y:-2.79, Z:-78.58 [[ 8.21356526e-01 -2.89834194e-01 -4.91293799e-01 1.50379093e+02] [ 2.32426428e-01 9.56601117e-01 -1.75761937e-01 -2.78794689e+00] [ 5.20914016e-01 3.01735507e-02 8.53075697e-01 -7.85793567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.45864 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:150.42, Y:-2.84, Z:-78.57 [[ 8.04037059e-01 -2.52167572e-01 -5.38456984e-01 1.50417721e+02] [ 2.26932646e-01 9.67204165e-01 -1.14095035e-01 -2.83877834e+00] [ 5.49568905e-01 -3.04568320e-02 8.34893047e-01 -7.85680524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.48864 meters Centerline goodness : 0.995087 Centerline is valid? [True, True] Translation: X:150.43, Y:-2.80, Z:-78.55 [[ 8.04872378e-01 -2.71473091e-01 -5.27714711e-01 1.50430085e+02] [ 2.26044661e-01 9.62444487e-01 -1.50347668e-01 -2.80046530e+00] [ 5.48711461e-01 1.72359241e-03 8.36010025e-01 -7.85503592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.51864 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:150.44, Y:-2.76, Z:-78.53 [[ 8.23472977e-01 -2.87990168e-01 -4.88829132e-01 1.50443110e+02] [ 2.28641840e-01 9.56981341e-01 -1.78632645e-01 -2.75984649e+00] [ 5.19244803e-01 3.53323637e-02 8.53894875e-01 -7.85317302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.54864 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:150.49, Y:-2.82, Z:-78.52 [[ 8.02615254e-01 -2.44582458e-01 -5.44047952e-01 1.50486031e+02] [ 2.22991019e-01 9.68970066e-01 -1.06639657e-01 -2.82037884e+00] [ 5.53248370e-01 -3.57271920e-02 8.32249848e-01 -7.85223561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.57864 meters Centerline goodness : 0.995140 Centerline is valid? [True, True] Translation: X:150.48, Y:-2.74, Z:-78.50 [[ 8.23980771e-01 -2.91539113e-01 -4.85860716e-01 1.50484541e+02] [ 2.27881888e-01 9.55578322e-01 -1.86922217e-01 -2.73625529e+00] [ 5.18773105e-01 4.33014549e-02 8.53814646e-01 -7.85001306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.60864 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:150.53, Y:-2.80, Z:-78.49 [[ 8.04130796e-01 -2.51575939e-01 -5.38593734e-01 1.50526760e+02] [ 2.24759200e-01 9.67446349e-01 -1.16322239e-01 -2.79605590e+00] [ 5.50324418e-01 -2.75156023e-02 8.34497410e-01 -7.84899039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.63864 meters Centerline goodness : 0.995143 Centerline is valid? [True, True] Translation: X:150.55, Y:-2.79, Z:-78.47 [[ 8.01355330e-01 -2.54566049e-01 -5.41318539e-01 1.50546840e+02] [ 2.26033118e-01 9.66700516e-01 -1.19996421e-01 -2.78797257e+00] [ 5.53839926e-01 -2.61961456e-02 8.32210970e-01 -7.84746741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.66864 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:150.54, Y:-2.69, Z:-78.45 [[ 8.24520780e-01 -3.09018487e-01 -4.73996896e-01 1.50542713e+02] [ 2.33351013e-01 9.48849266e-01 -2.12679042e-01 -2.69437271e+00] [ 5.15473362e-01 6.47506337e-02 8.54455715e-01 -7.84510281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.69864 meters Centerline goodness : 0.995534 Centerline is valid? [True, True] Translation: X:150.59, Y:-2.75, Z:-78.44 [[ 8.24502341e-01 -2.72721420e-01 -4.95801287e-01 1.50587537e+02] [ 2.33755642e-01 9.62093042e-01 -1.40482304e-01 -2.74951913e+00] [ 5.15319502e-01 -6.83598081e-05 8.56998137e-01 -7.84429995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.72864 meters Centerline goodness : 0.995234 Centerline is valid? [True, True] Translation: X:150.61, Y:-2.74, Z:-78.43 [[ 8.24650674e-01 -2.75150688e-01 -4.94209839e-01 1.50609678e+02] [ 2.36659728e-01 9.61400351e-01 -1.40362166e-01 -2.74303886e+00] [ 5.13754260e-01 -1.20981095e-03 8.57936534e-01 -7.84272138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.75864 meters Centerline goodness : 0.995381 Centerline is valid? [True, True] Translation: X:150.63, Y:-2.74, Z:-78.41 [[ 8.24566931e-01 -2.76455010e-01 -4.93621316e-01 1.50632501e+02] [ 2.38081247e-01 9.61025446e-01 -1.40525486e-01 -2.73591977e+00] [ 5.13231620e-01 -1.64931006e-03 8.58248556e-01 -7.84124301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.78864000000002 meters Centerline goodness : 0.994897 Centerline is valid? [True, True] Translation: X:150.66, Y:-2.73, Z:-78.40 [[ 8.24497670e-01 -2.77683341e-01 -4.93047212e-01 1.50655439e+02] [ 2.39413665e-01 9.60670485e-01 -1.40688719e-01 -2.72977304e+00] [ 5.12722818e-01 -2.04471920e-03 8.58551764e-01 -7.83974682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.81864000000002 meters Centerline goodness : 0.995038 Centerline is valid? [True, True] Translation: X:150.68, Y:-2.73, Z:-78.38 [[ 8.23383888e-01 -2.80189831e-01 -4.93490254e-01 1.50679390e+02] [ 2.42065338e-01 9.59939136e-01 -1.41142575e-01 -2.72579157e+00] [ 5.13267323e-01 -3.24236264e-03 8.58222665e-01 -7.83830337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.84864000000002 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:150.71, Y:-2.75, Z:-78.37 [[ 8.02377694e-01 -2.64107875e-01 -5.35198156e-01 1.50709482e+02] [ 2.40135516e-01 9.63830179e-01 -1.15612803e-01 -2.75139620e+00] [ 5.46374386e-01 -3.57549507e-02 8.36777517e-01 -7.83704868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.87864000000002 meters Centerline goodness : 0.995772 Centerline is valid? [True, True] Translation: X:150.72, Y:-2.68, Z:-78.35 [[ 8.21274433e-01 -3.04895804e-01 -4.82231122e-01 1.50715033e+02] [ 2.46618314e-01 9.51899973e-01 -1.81840174e-01 -2.68402284e+00] [ 5.14478097e-01 3.04136595e-02 8.56964000e-01 -7.83490429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.90864000000002 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:150.75, Y:-2.71, Z:-78.34 [[ 8.21432509e-01 -2.84730320e-01 -4.94142972e-01 1.50750118e+02] [ 2.46903490e-01 9.58592263e-01 -1.41913845e-01 -2.71193169e+00] [ 5.14088805e-01 -5.43297833e-03 8.57719758e-01 -7.83370628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.93864000000002 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:150.78, Y:-2.73, Z:-78.32 [[ 8.03744151e-01 -2.69262318e-01 -5.30559274e-01 1.50778967e+02] [ 2.43428065e-01 9.62503428e-01 -1.19707680e-01 -2.73264901e+00] [ 5.42897888e-01 -3.29386699e-02 8.39152506e-01 -7.83240275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96864 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:150.79, Y:-2.67, Z:-78.30 [[ 8.21468320e-01 -3.01893990e-01 -4.83786955e-01 1.50785053e+02] [ 2.47111001e-01 9.53031597e-01 -1.75119754e-01 -2.67254684e+00] [ 5.13931856e-01 2.43062511e-02 8.57486591e-01 -7.83037090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.99864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:150.82, Y:-2.73, Z:-78.29 [[ 8.03830021e-01 -2.64670766e-01 -5.32735097e-01 1.50824378e+02] [ 2.41308804e-01 9.63651881e-01 -1.14652143e-01 -2.72609370e+00] [ 5.43716248e-01 -3.63928348e-02 8.38479697e-01 -7.82909698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.02864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:150.84, Y:-2.68, Z:-78.27 [[ 8.06761698e-01 -2.89947055e-01 -5.14845868e-01 1.50835042e+02] [ 2.40051088e-01 9.57011274e-01 -1.62803242e-01 -2.67721063e+00] [ 5.39917621e-01 7.75410918e-03 8.41682147e-01 -7.82725250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.05864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:150.86, Y:-2.66, Z:-78.26 [[ 8.24488422e-01 -2.95491224e-01 -4.82601055e-01 1.50855227e+02] [ 2.44396514e-01 9.55136516e-01 -1.67285922e-01 -2.65864601e+00] [ 5.10381413e-01 1.99792903e-02 8.59716024e-01 -7.82564947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:150.89, Y:-2.67, Z:-78.24 [[ 8.25592859e-01 -2.81979560e-01 -4.88757567e-01 1.50885853e+02] [ 2.43954716e-01 9.59417247e-01 -1.41437772e-01 -2.67299826e+00] [ 5.08805000e-01 -2.46469934e-03 8.60878271e-01 -7.82439645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:150.91, Y:-2.68, Z:-78.23 [[ 8.08703755e-01 -2.71447274e-01 -5.21837728e-01 1.50913165e+02] [ 2.40099238e-01 9.62214741e-01 -1.28433438e-01 -2.68451789e+00] [ 5.36982861e-01 -2.14282377e-02 8.43320957e-01 -7.82297077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:150.92, Y:-2.64, Z:-78.21 [[ 8.23787069e-01 -2.95079447e-01 -4.84048536e-01 1.50924698e+02] [ 2.45932588e-01 9.55340023e-01 -1.63837125e-01 -2.64046091e+00] [ 5.10775907e-01 1.59235958e-02 8.59566409e-01 -7.82114135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.96, Y:-2.68, Z:-78.20 [[ 8.06215795e-01 -2.69387103e-01 -5.26732076e-01 1.50959862e+02] [ 2.41280344e-01 9.62627331e-01 -1.23013895e-01 -2.67540550e+00] [ 5.40185049e-01 -2.79143515e-02 8.41083172e-01 -7.81994048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:150.98, Y:-2.64, Z:-78.18 [[ 8.06600260e-01 -2.84965663e-01 -5.17871211e-01 1.50975024e+02] [ 2.41130219e-01 9.58534799e-01 -1.51879089e-01 -2.64430666e+00] [ 5.39677902e-01 -2.36868608e-03 8.41868251e-01 -7.81824940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.23864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.00, Y:-2.64, Z:-78.17 [[ 8.07739541e-01 -2.85998841e-01 -5.15520607e-01 1.50997021e+02] [ 2.42694212e-01 9.58225658e-01 -1.51337726e-01 -2.63765588e+00] [ 5.37267488e-01 -2.87240199e-03 8.43407017e-01 -7.81684749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.26864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:151.02, Y:-2.64, Z:-78.15 [[ 8.07510930e-01 -2.84467047e-01 -5.16724876e-01 1.51020955e+02] [ 2.43861652e-01 9.58655880e-01 -1.46664233e-01 -2.63513277e+00] [ 5.37082482e-01 -7.57641042e-03 8.43495706e-01 -7.81533757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.29864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:151.03, Y:-2.60, Z:-78.14 [[ 8.25225145e-01 -3.04313254e-01 -4.75811836e-01 1.51034741e+02] [ 2.51058099e-01 9.52274179e-01 -1.73619468e-01 -2.59890938e+00] [ 5.05938031e-01 2.38187355e-02 8.62240904e-01 -7.81356648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.32864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:151.08, Y:-2.69, Z:-78.13 [[ 8.04750195e-01 -2.47144267e-01 -5.39719219e-01 1.51083384e+02] [ 2.48734473e-01 9.65933710e-01 -7.14368912e-02 -2.68885909e+00] [ 5.38988206e-01 -7.67579234e-02 8.38808641e-01 -7.81255766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.06, Y:-2.54, Z:-78.10 [[ 8.25049976e-01 -3.34942260e-01 -4.55089244e-01 1.51063432e+02] [ 2.56272298e-01 9.39590166e-01 -2.26924722e-01 -2.54333624e+00] [ 5.03604058e-01 7.05974704e-02 8.61045266e-01 -7.80986892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.11, Y:-2.61, Z:-78.09 [[ 8.26399397e-01 -2.91870011e-01 -4.81534976e-01 1.51112595e+02] [ 2.55582991e-01 9.56436093e-01 -1.41093351e-01 -2.60874216e+00] [ 5.01738349e-01 -6.47268960e-03 8.64995222e-01 -7.80928949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.41864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:151.14, Y:-2.60, Z:-78.08 [[ 8.25125205e-01 -2.92541263e-01 -4.83309431e-01 1.51135042e+02] [ 2.55891275e-01 9.56230348e-01 -1.41926659e-01 -2.60117304e+00] [ 5.03674550e-01 -6.56740318e-03 8.63868518e-01 -7.80781821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:151.16, Y:-2.59, Z:-78.06 [[ 8.24680063e-01 -2.91959467e-01 -4.84419718e-01 1.51157906e+02] [ 2.54852142e-01 9.56412597e-01 -1.42566929e-01 -2.59411170e+00] [ 5.04928886e-01 -5.88329857e-03 8.63140896e-01 -7.80642612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.47864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:151.19, Y:-2.61, Z:-78.05 [[ 8.05628783e-01 -2.75645521e-01 -5.24387081e-01 1.51185222e+02] [ 2.50722616e-01 9.60622263e-01 -1.19762424e-01 -2.61457878e+00] [ 5.36749880e-01 -3.49916451e-02 8.43015511e-01 -7.80502439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.20, Y:-2.58, Z:-78.03 [[ 8.05882832e-01 -2.95441821e-01 -5.13095499e-01 1.51197049e+02] [ 2.50365658e-01 9.55358543e-01 -1.56866475e-01 -2.57576221e+00] [ 5.36535086e-01 -2.04549346e-03 8.43875535e-01 -7.80332663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.53864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:151.22, Y:-2.57, Z:-78.02 [[ 8.06890742e-01 -2.93734049e-01 -5.12491598e-01 1.51219630e+02] [ 2.49070797e-01 9.55885090e-01 -1.55715875e-01 -2.56895484e+00] [ 5.35622132e-01 -2.00099255e-03 8.44455403e-01 -7.80186776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.56864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:151.24, Y:-2.53, Z:-78.00 [[ 8.25940137e-01 -3.10276431e-01 -4.70692497e-01 1.51235145e+02] [ 2.54456907e-01 9.50210396e-01 -1.79866299e-01 -2.53276382e+00] [ 5.03065177e-01 2.87878381e-02 8.63768886e-01 -7.80006739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.59864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.27, Y:-2.56, Z:-77.99 [[ 8.25846508e-01 -2.91442414e-01 -4.82740992e-01 1.51268749e+02] [ 2.54133699e-01 9.56576378e-01 -1.42750465e-01 -2.55712016e+00] [ 5.03382170e-01 -4.79078109e-03 8.64050600e-01 -7.79892425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.62864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.30, Y:-2.59, Z:-77.98 [[ 8.04853951e-01 -2.65596515e-01 -5.30724607e-01 1.51302767e+02] [ 2.49692299e-01 9.62813586e-01 -1.03168571e-01 -2.59147655e+00] [ 5.38390075e-01 -4.94822147e-02 8.41241724e-01 -7.79762125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.65864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.31, Y:-2.53, Z:-77.96 [[ 8.07705106e-01 -2.95735466e-01 -5.10051955e-01 1.51309186e+02] [ 2.48554477e-01 9.55266123e-01 -1.60272597e-01 -2.53469985e+00] [ 5.34633644e-01 2.67729823e-03 8.45079699e-01 -7.79580816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.68864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.32, Y:-2.50, Z:-77.94 [[ 8.27868649e-01 -3.11190221e-01 -4.66684205e-01 1.51322401e+02] [ 2.51705527e-01 9.49623059e-01 -1.86709330e-01 -2.49509363e+00] [ 5.01276200e-01 3.71038074e-02 8.64491457e-01 -7.79396448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.36, Y:-2.52, Z:-77.93 [[ 8.28705046e-01 -2.87736494e-01 -4.80057973e-01 1.51358370e+02] [ 2.49785182e-01 9.57708374e-01 -1.42835684e-01 -2.52417274e+00] [ 5.00854580e-01 -1.54271586e-03 8.65530074e-01 -7.79283054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:151.39, Y:-2.55, Z:-77.92 [[ 8.10295343e-01 -2.65957049e-01 -5.22195658e-01 1.51390606e+02] [ 2.44619997e-01 9.63243814e-01 -1.11006358e-01 -2.55095996e+00] [ 5.32524661e-01 -3.77915654e-02 8.45570389e-01 -7.79156194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.39, Y:-2.47, Z:-77.89 [[ 8.30025927e-01 -3.07657856e-01 -4.65192007e-01 1.51389358e+02] [ 2.48560625e-01 9.50731762e-01 -1.85274749e-01 -2.46955730e+00] [ 4.99274048e-01 3.81544293e-02 8.65603641e-01 -7.78932733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.80864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:151.44, Y:-2.53, Z:-77.89 [[ 8.10801796e-01 -2.64073823e-01 -5.22365259e-01 1.51435142e+02] [ 2.43969981e-01 9.63694454e-01 -1.08497224e-01 -2.53309850e+00] [ 5.32051779e-01 -3.94716981e-02 8.45791280e-01 -7.78860826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:151.43, Y:-2.45, Z:-77.86 [[ 8.30501466e-01 -3.09663306e-01 -4.63007508e-01 1.51432845e+02] [ 2.49635201e-01 9.49995586e-01 -1.87591717e-01 -2.44985477e+00] [ 4.97945360e-01 4.02122240e-02 8.66275588e-01 -7.78642830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.86864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.48, Y:-2.52, Z:-77.86 [[ 8.12026595e-01 -2.65250379e-01 -5.19860603e-01 1.51479569e+02] [ 2.44880460e-01 9.63400624e-01 -1.09054109e-01 -2.51559824e+00] [ 5.29760673e-01 -3.87488667e-02 8.47261562e-01 -7.78569705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.89864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:151.49, Y:-2.47, Z:-77.84 [[ 8.12721634e-01 -2.89634780e-01 -5.05564279e-01 1.51487002e+02] [ 2.45653727e-01 9.57137104e-01 -1.53436663e-01 -2.46688279e+00] [ 5.28334924e-01 5.07545698e-04 8.49035895e-01 -7.78390574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.92864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:151.51, Y:-2.46, Z:-77.82 [[ 8.13021138e-01 -2.91416468e-01 -5.04056615e-01 1.51508278e+02] [ 2.47542324e-01 9.56596248e-01 -1.53773912e-01 -2.45756824e+00] [ 5.26990917e-01 2.46095178e-04 8.49870880e-01 -7.78246181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.95864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:151.52, Y:-2.42, Z:-77.80 [[ 8.29511757e-01 -3.12825560e-01 -4.62655827e-01 1.51521322e+02] [ 2.56800008e-01 9.49281765e-01 -1.81432870e-01 -2.41809033e+00] [ 4.95947580e-01 3.16906787e-02 8.67773991e-01 -7.78049508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.98864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:151.56, Y:-2.44, Z:-77.79 [[ 8.28762522e-01 -2.95471907e-01 -4.75235766e-01 1.51556684e+02] [ 2.58873397e-01 9.55338813e-01 -1.42521284e-01 -2.44395926e+00] [ 4.96122209e-01 -4.90959823e-03 8.68238821e-01 -7.77944823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.01864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:151.58, Y:-2.44, Z:-77.78 [[ 8.28168784e-01 -2.97582594e-01 -4.74953750e-01 1.51579977e+02] [ 2.61176925e-01 9.54678274e-01 -1.42744553e-01 -2.43690350e+00] [ 4.95906320e-01 -5.83037725e-03 8.68356452e-01 -7.77798874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:151.60, Y:-2.43, Z:-77.77 [[ 8.27540485e-01 -3.00483250e-01 -4.74222060e-01 1.51602859e+02] [ 2.64464997e-01 9.53759786e-01 -1.42830447e-01 -2.43002522e+00] [ 4.95212087e-01 -7.21715834e-03 8.68742137e-01 -7.77653836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.07864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:151.63, Y:-2.42, Z:-77.75 [[ 8.27374916e-01 -3.02022232e-01 -4.73532808e-01 1.51626347e+02] [ 2.66176171e-01 9.53269066e-01 -1.42927719e-01 -2.42343792e+00] [ 4.94571527e-01 -7.78834007e-03 8.69102035e-01 -7.77512160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.10864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:151.65, Y:-2.42, Z:-77.74 [[ 8.27619098e-01 -3.02237433e-01 -4.72968460e-01 1.51648688e+02] [ 2.66341950e-01 9.53202613e-01 -1.43062026e-01 -2.41710993e+00] [ 4.94073471e-01 -7.57047742e-03 8.69387194e-01 -7.77365742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.67, Y:-2.41, Z:-77.72 [[ 8.27426856e-01 -3.01435845e-01 -4.73815607e-01 1.51670994e+02] [ 2.65107707e-01 9.53462390e-01 -1.43622336e-01 -2.41022534e+00] [ 4.95058281e-01 -6.77519111e-03 8.68833353e-01 -7.77219149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.16864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:151.69, Y:-2.40, Z:-77.71 [[ 8.28793875e-01 -2.98116116e-01 -4.73526656e-01 1.51693815e+02] [ 2.61158377e-01 9.54519224e-01 -1.43837943e-01 -2.40305414e+00] [ 4.94870705e-01 -4.45344705e-03 8.68955207e-01 -7.77067958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:151.72, Y:-2.40, Z:-77.69 [[ 8.29547308e-01 -2.95995169e-01 -4.73537881e-01 1.51716722e+02] [ 2.58537611e-01 9.55185193e-01 -1.44151135e-01 -2.39548517e+00] [ 4.94984412e-01 -2.84716665e-03 8.68897189e-01 -7.76931119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.22864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:151.74, Y:-2.39, Z:-77.68 [[ 8.31228115e-01 -2.92564430e-01 -4.72721773e-01 1.51738673e+02] [ 2.54554034e-01 9.56245701e-01 -1.44209580e-01 -2.38547501e+00] [ 4.94228757e-01 -4.62176655e-04 8.69331768e-01 -7.76781664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.25864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:151.76, Y:-2.38, Z:-77.66 [[ 8.32626924e-01 -2.91151033e-01 -4.71130005e-01 1.51760861e+02] [ 2.53029558e-01 9.56676833e-01 -1.44032911e-01 -2.37628141e+00] [ 4.92654492e-01 7.15863020e-04 8.70224706e-01 -7.76642847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.28864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:151.78, Y:-2.37, Z:-77.65 [[ 8.32891177e-01 -2.90654749e-01 -4.70969325e-01 1.51782789e+02] [ 2.52311890e-01 9.56827045e-01 -1.44293850e-01 -2.36654035e+00] [ 4.92575880e-01 1.34991403e-03 8.70268453e-01 -7.76503860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.31864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:151.81, Y:-2.36, Z:-77.64 [[ 8.32293515e-01 -2.92086272e-01 -4.71140228e-01 1.51805156e+02] [ 2.53749335e-01 9.56391599e-01 -1.44659546e-01 -2.35755181e+00] [ 4.92847624e-01 8.47682203e-04 8.70115223e-01 -7.76362269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.34864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:151.83, Y:-2.35, Z:-77.62 [[ 8.31799075e-01 -2.93781750e-01 -4.70959215e-01 1.51826476e+02] [ 2.55552374e-01 9.55872506e-01 -1.44916307e-01 -2.34809843e+00] [ 4.92750732e-01 1.86504282e-04 8.70170490e-01 -7.76209249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.37864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:151.85, Y:-2.34, Z:-77.61 [[ 8.29949189e-01 -2.97874046e-01 -4.71651775e-01 1.51848554e+02] [ 2.59958323e-01 9.54603295e-01 -1.45444904e-01 -2.33731137e+00] [ 4.93564600e-01 -1.89792443e-03 8.69707067e-01 -7.76070780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.40864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:151.87, Y:-2.33, Z:-77.59 [[ 8.29118962e-01 -2.99410388e-01 -4.72138928e-01 1.51871254e+02] [ 2.61462991e-01 9.54121229e-01 -1.45910197e-01 -2.32978245e+00] [ 4.94164803e-01 -2.46994559e-03 8.69364738e-01 -7.75935064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:151.89, Y:-2.32, Z:-77.58 [[ 8.28294596e-01 -3.02227369e-01 -4.71790928e-01 1.51892672e+02] [ 2.64589030e-01 9.53228263e-01 -1.46111341e-01 -2.31986218e+00] [ 4.93883293e-01 -3.80746978e-03 8.69519865e-01 -7.75790575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:151.91, Y:-2.31, Z:-77.56 [[ 8.27600493e-01 -3.03258851e-01 -4.72346794e-01 1.51914776e+02] [ 2.65506261e-01 9.52899432e-01 -1.46591604e-01 -2.31045942e+00] [ 4.94554193e-01 -4.09174794e-03 8.69137163e-01 -7.75646320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.49864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:151.94, Y:-2.30, Z:-77.55 [[ 8.28056683e-01 -3.03962683e-01 -4.71093215e-01 1.51937573e+02] [ 2.66355238e-01 9.52674862e-01 -1.46511072e-01 -2.30096966e+00] [ 4.93332562e-01 -4.15867241e-03 8.69830839e-01 -7.75511287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.52864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:151.96, Y:-2.29, Z:-77.54 [[ 8.26982634e-01 -3.06459728e-01 -4.71362024e-01 1.51960074e+02] [ 2.69008638e-01 9.51868785e-01 -1.46901901e-01 -2.29245006e+00] [ 4.93694314e-01 -5.31513530e-03 8.69619270e-01 -7.75376098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.55864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:151.98, Y:-2.29, Z:-77.52 [[ 8.26161743e-01 -3.08890062e-01 -4.71215136e-01 1.51982560e+02] [ 2.71656356e-01 9.51076032e-01 -1.47163877e-01 -2.28524726e+00] [ 4.93618881e-01 -6.42742169e-03 8.69654580e-01 -7.75224684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.58864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:152.01, Y:-2.28, Z:-77.51 [[ 8.24046667e-01 -3.13334942e-01 -4.71983374e-01 1.52005693e+02] [ 2.76471686e-01 9.49602201e-01 -1.47712786e-01 -2.27955255e+00] [ 4.94480028e-01 -8.76780994e-03 8.69144768e-01 -7.75072409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.61864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:152.03, Y:-2.27, Z:-77.49 [[ 8.23863117e-01 -3.15450385e-01 -4.70893427e-01 1.52029077e+02] [ 2.78916629e-01 9.48892743e-01 -1.47675575e-01 -2.27458237e+00] [ 4.93411673e-01 -9.67554751e-03 8.69742091e-01 -7.74927755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.64864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:152.05, Y:-2.27, Z:-77.48 [[ 8.22980777e-01 -3.17139630e-01 -4.71301491e-01 1.52052322e+02] [ 2.80623815e-01 9.48322158e-01 -1.48105903e-01 -2.26826030e+00] [ 4.93915899e-01 -1.03701109e-02 8.69447840e-01 -7.74778581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.67864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:152.08, Y:-2.26, Z:-77.46 [[ 8.23563535e-01 -3.17107675e-01 -4.70303972e-01 1.52075229e+02] [ 2.80582377e-01 9.48336849e-01 -1.48090347e-01 -2.26182884e+00] [ 4.92967172e-01 -9.99719620e-03 8.69990473e-01 -7.74639289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.70864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:152.10, Y:-2.26, Z:-77.45 [[ 8.24841697e-01 -3.15215788e-01 -4.69334829e-01 1.52098385e+02] [ 2.78397193e-01 9.48981809e-01 -1.48082843e-01 -2.25758807e+00] [ 4.92068265e-01 -8.51659509e-03 8.70514957e-01 -7.74484608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.73864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:152.12, Y:-2.25, Z:-77.43 [[ 8.25182266e-01 -3.13581259e-01 -4.69830843e-01 1.52121482e+02] [ 2.76261852e-01 9.49533905e-01 -1.48542092e-01 -2.25171654e+00] [ 4.92700331e-01 -7.22203832e-03 8.70169079e-01 -7.74332590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.76864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:152.14, Y:-2.24, Z:-77.42 [[ 8.25789763e-01 -3.09040836e-01 -4.71767982e-01 1.52144444e+02] [ 2.70529363e-01 9.51039469e-01 -1.49458329e-01 -2.24474928e+00] [ 4.94858698e-01 -4.20593376e-03 8.68963278e-01 -7.74192479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.79864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:152.19, Y:-2.30, Z:-77.41 [[ 8.04624481e-01 -2.67146926e-01 -5.30294224e-01 1.52187789e+02] [ 2.63764329e-01 9.60933465e-01 -8.38764273e-02 -2.30305621e+00] [ 5.31984796e-01 -7.23836731e-02 8.43654420e-01 -7.74104111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.82864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:152.16, Y:-2.17, Z:-77.38 [[ 8.28536023e-01 -3.41581796e-01 -4.43677737e-01 1.52163122e+02] [ 2.64211143e-01 9.37109848e-01 -2.28073682e-01 -2.16643112e+00] [ 4.93680595e-01 7.17426594e-02 8.66678984e-01 -7.73796400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.85864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:152.24, Y:-2.30, Z:-77.38 [[ 8.14433449e-01 -2.53737240e-01 -5.21838645e-01 1.52236791e+02] [ 2.58411222e-01 9.63822509e-01 -6.53437995e-02 -2.30222144e+00] [ 5.19539987e-01 -8.16307861e-02 8.50537840e-01 -7.73819917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.88864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:152.20, Y:-2.14, Z:-77.34 [[ 8.31508546e-01 -3.45783765e-01 -4.34772499e-01 1.52200367e+02] [ 2.61010262e-01 9.34068793e-01 -2.43698856e-01 -2.13640607e+00] [ 4.90374531e-01 8.91575981e-02 8.66939295e-01 -7.73442583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.91864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:152.27, Y:-2.25, Z:-77.35 [[ 8.14157451e-01 -2.68551781e-01 -5.14808300e-01 1.52268476e+02] [ 2.49407625e-01 9.62401342e-01 -1.07608052e-01 -2.24581435e+00] [ 5.24350533e-01 -4.07872181e-02 8.50525085e-01 -7.73478120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.94864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:152.27, Y:-2.19, Z:-77.33 [[ 8.14583663e-01 -2.93541438e-01 -5.00286798e-01 1.52274553e+02] [ 2.46841039e-01 9.55927490e-01 -1.58972119e-01 -2.19330575e+00] [ 5.24902808e-01 6.00477853e-03 8.51140990e-01 -7.73288387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.97864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:152.29, Y:-2.18, Z:-77.31 [[ 8.16154192e-01 -2.89037669e-01 -5.00349439e-01 1.52294723e+02] [ 2.42395109e-01 9.57289484e-01 -1.57611722e-01 -2.18042978e+00] [ 5.24534981e-01 7.35321056e-03 8.51357142e-01 -7.73145473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.00864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:152.30, Y:-2.12, Z:-77.29 [[ 8.36528187e-01 -3.15604213e-01 -4.47900182e-01 1.52298701e+02] [ 2.47799212e-01 9.46988500e-01 -2.04470857e-01 -2.12173727e+00] [ 4.88688186e-01 6.00563232e-02 8.70389048e-01 -7.72919989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.03864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:152.34, Y:-2.16, Z:-77.29 [[ 8.36502400e-01 -2.88307888e-01 -4.65985297e-01 1.52340252e+02] [ 2.47148424e-01 9.57493011e-01 -1.48744044e-01 -2.15761081e+00] [ 4.89061746e-01 9.25721757e-03 8.72200041e-01 -7.72857052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.06864000000002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:152.36, Y:-2.15, Z:-77.27 [[ 8.36303459e-01 -2.90978903e-01 -4.64680323e-01 1.52360780e+02] [ 2.50279874e-01 9.56695980e-01 -1.48636426e-01 -2.14538645e+00] [ 4.87807861e-01 8.00502454e-03 8.72914320e-01 -7.72706442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.09864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:152.38, Y:-2.13, Z:-77.26 [[ 8.35640216e-01 -2.93886769e-01 -4.64043097e-01 1.52381785e+02] [ 2.53551071e-01 9.55817181e-01 -1.48745994e-01 -2.13294288e+00] [ 4.87254845e-01 6.63951064e-03 8.73234581e-01 -7.72569019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.12864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:152.40, Y:-2.12, Z:-77.24 [[ 8.34450864e-01 -2.96090800e-01 -4.64781662e-01 1.52404011e+02] [ 2.55762006e-01 9.55142770e-01 -1.49291948e-01 -2.12329441e+00] [ 4.88136816e-01 5.70330535e-03 8.72748487e-01 -7.72429519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.15864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:152.43, Y:-2.12, Z:-77.23 [[ 8.34354733e-01 -2.96505802e-01 -4.64689670e-01 1.52427254e+02] [ 2.56077840e-01 9.55013414e-01 -1.49577804e-01 -2.11569792e+00] [ 4.88135555e-01 5.80422138e-03 8.72748527e-01 -7.72284230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:152.45, Y:-2.11, Z:-77.21 [[ 8.33950078e-01 -2.98368603e-01 -4.64223485e-01 1.52449898e+02] [ 2.58192660e-01 9.54438081e-01 -1.49614506e-01 -2.10634773e+00] [ 4.87712844e-01 4.91193280e-03 8.72990295e-01 -7.72142113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:152.47, Y:-2.09, Z:-77.20 [[ 8.33298768e-01 -2.99866842e-01 -4.64427648e-01 1.52471482e+02] [ 2.59696142e-01 9.53971027e-01 -1.49990647e-01 -2.09457162e+00] [ 4.88027742e-01 4.37695291e-03 8.72817143e-01 -7.71996957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.24864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:152.49, Y:-2.09, Z:-77.19 [[ 8.32452770e-01 -3.01177140e-01 -4.65096458e-01 1.52493856e+02] [ 2.60899115e-01 9.53560012e-01 -1.50515631e-01 -2.08581591e+00] [ 4.88829251e-01 3.95389934e-03 8.72370523e-01 -7.71851982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.27864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:152.52, Y:-2.08, Z:-77.17 [[ 8.31716746e-01 -3.02764212e-01 -4.65382731e-01 1.52516105e+02] [ 2.62491065e-01 9.53059564e-01 -1.50916889e-01 -2.07677299e+00] [ 4.89229696e-01 3.36129477e-03 8.72148500e-01 -7.71703703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.30864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:152.54, Y:-2.07, Z:-77.16 [[ 8.31254953e-01 -3.04028286e-01 -4.65383717e-01 1.52537788e+02] [ 2.63765491e-01 9.52658418e-01 -1.51227326e-01 -2.06748532e+00] [ 4.89329100e-01 2.95629940e-03 8.72094199e-01 -7.71556258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.33864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:152.56, Y:-2.06, Z:-77.14 [[ 8.31125912e-01 -3.05218039e-01 -4.64835097e-01 1.52559469e+02] [ 2.65056972e-01 9.52278970e-01 -1.51359056e-01 -2.05751682e+00] [ 4.88850202e-01 2.59065027e-03 8.72363897e-01 -7.71418559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.36864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:152.58, Y:-2.05, Z:-77.13 [[ 8.30986347e-01 -3.07382581e-01 -4.63656812e-01 1.52581909e+02] [ 2.67580656e-01 9.51584586e-01 -1.51285718e-01 -2.04746094e+00] [ 4.87711270e-01 1.65077233e-03 8.73003432e-01 -7.71283227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.39864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:152.64, Y:-2.15, Z:-77.13 [[ 8.10548965e-01 -2.45248233e-01 -5.31849301e-01 1.52641155e+02] [ 2.66865579e-01 9.63009426e-01 -3.73578398e-02 -2.14504490e+00] [ 5.21337835e-01 -1.11651913e-01 8.46014605e-01 -7.71275575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.42864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:152.62, Y:-2.02, Z:-77.10 [[ 8.14189717e-01 -3.16453352e-01 -4.86777548e-01 1.52619041e+02] [ 2.65192244e-01 9.48534330e-01 -1.73077148e-01 -2.02117747e+00] [ 5.16496059e-01 1.18280033e-02 8.56207872e-01 -7.70960066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.45864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:152.61, Y:-1.94, Z:-77.06 [[ 8.31251141e-01 -3.62723170e-01 -4.21252231e-01 1.52606525e+02] [ 2.76764839e-01 9.27233798e-01 -2.52267136e-01 -1.93951794e+00] [ 4.82102441e-01 9.31095390e-02 8.71153173e-01 -7.70629703e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.48864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:152.67, Y:-2.01, Z:-77.07 [[ 8.30538762e-01 -3.15908723e-01 -4.58701476e-01 1.52669807e+02] [ 2.77891961e-01 9.48785848e-01 -1.50271329e-01 -2.01454927e+00] [ 4.82681492e-01 -2.66328948e-03 8.75791918e-01 -7.70707049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.51864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:152.69, Y:-2.01, Z:-77.06 [[ 8.29784875e-01 -3.17766423e-01 -4.58782695e-01 1.52692168e+02] [ 2.79835394e-01 9.48162854e-01 -1.50596661e-01 -2.00753994e+00] [ 4.82855272e-01 -3.42080498e-03 8.75693488e-01 -7.70562523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.54864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:152.75, Y:-2.09, Z:-77.05 [[ 8.08297291e-01 -2.68727648e-01 -5.23871110e-01 1.52745690e+02] [ 2.79428833e-01 9.58263737e-01 -6.04163710e-02 -2.08640493e+00] [ 5.18242237e-01 -9.75503041e-02 8.49652236e-01 -7.70535912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.57864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:152.70, Y:-1.91, Z:-77.00 [[ 8.28329620e-01 -3.72746469e-01 -4.18246472e-01 1.52695865e+02] [ 2.86491244e-01 9.23376951e-01 -2.55534288e-01 -1.90731911e+00] [ 4.81448655e-01 9.18426678e-02 8.71649079e-01 -7.70043882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.60864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:152.76, Y:-1.99, Z:-77.01 [[ 8.29054207e-01 -3.24217859e-01 -4.55578645e-01 1.52760528e+02] [ 2.87554340e-01 9.45958608e-01 -1.49916024e-01 -1.98771681e+00] [ 4.79563993e-01 -6.71510672e-03 8.77481216e-01 -7.70120187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.63864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:152.78, Y:-1.98, Z:-77.00 [[ 8.29286169e-01 -3.24812876e-01 -4.54731839e-01 1.52784370e+02] [ 2.88220372e-01 9.45754345e-01 -1.49925769e-01 -1.98212996e+00] [ 4.78762433e-01 -6.73161340e-03 8.77918686e-01 -7.69984342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.66864 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:152.83, Y:-2.05, Z:-76.99 [[ 8.06983771e-01 -2.82587961e-01 -5.18576163e-01 1.52832277e+02] [ 2.83535693e-01 9.55657159e-01 -7.95418465e-02 -2.04610101e+00] [ 5.18058591e-01 -8.28458723e-02 8.51323592e-01 -7.69925866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.69864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:152.80, Y:-1.90, Z:-76.95 [[ 8.28096176e-01 -3.66494376e-01 -4.24191697e-01 1.52797969e+02] [ 2.91146804e-01 9.27810005e-01 -2.33242647e-01 -1.90186749e+00] [ 4.79051419e-01 6.96452869e-02 8.75019584e-01 -7.69520765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.72864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:152.85, Y:-1.97, Z:-76.95 [[ 8.29407519e-01 -3.26959482e-01 -4.52968723e-01 1.52853586e+02] [ 2.90732930e-01 9.45008848e-01 -1.49775297e-01 -1.96555621e+00] [ 4.77029905e-01 -7.46816679e-03 8.78855333e-01 -7.69537336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.75864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:152.88, Y:-1.96, Z:-76.94 [[ 8.28680200e-01 -3.28216771e-01 -4.53390425e-01 1.52877100e+02] [ 2.91938192e-01 9.44569457e-01 -1.50201977e-01 -1.95949647e+00] [ 4.77557555e-01 -7.89257661e-03 8.78565017e-01 -7.69401821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.78864000000002 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:152.90, Y:-1.95, Z:-76.93 [[ 8.28136225e-01 -3.29530721e-01 -4.53431247e-01 1.52900291e+02] [ 2.93274032e-01 9.44107977e-01 -1.50500728e-01 -1.95334279e+00] [ 4.77682671e-01 -8.34450517e-03 8.78492820e-01 -7.69258039e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.81864000000002 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:152.93, Y:-1.95, Z:-76.91 [[ 8.27812429e-01 -3.30608899e-01 -4.53237618e-01 1.52925387e+02] [ 2.94379641e-01 9.43728185e-01 -1.50724053e-01 -1.94923266e+00] [ 4.77563828e-01 -8.65268318e-03 8.78554450e-01 -7.69127668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.84864000000002 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:152.95, Y:-1.94, Z:-76.90 [[ 8.27486826e-01 -3.31359456e-01 -4.53284087e-01 1.52948945e+02] [ 2.95070831e-01 9.43463759e-01 -1.51027611e-01 -1.94419046e+00] [ 4.77701536e-01 -8.77755385e-03 8.78478342e-01 -7.68989758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.87864000000002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:152.97, Y:-1.94, Z:-76.88 [[ 8.27706917e-01 -3.30850347e-01 -4.53254131e-01 1.52973179e+02] [ 2.94351040e-01 9.43647628e-01 -1.51283240e-01 -1.94062413e+00] [ 4.77764298e-01 -8.19764112e-03 8.78449813e-01 -7.68847730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.90864000000002 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:153.00, Y:-1.93, Z:-76.87 [[ 8.27838795e-01 -3.30945397e-01 -4.52943786e-01 1.52996479e+02] [ 2.94355664e-01 9.43616539e-01 -1.51468051e-01 -1.93423277e+00] [ 4.77532902e-01 -7.93544005e-03 8.78578031e-01 -7.68713345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:153.05, Y:-2.00, Z:-76.87 [[ 8.16671157e-01 -2.82657677e-01 -5.03142981e-01 1.53047197e+02] [ 2.86205868e-01 9.55443978e-01 -7.22011431e-02 -2.00103389e+00] [ 5.01133139e-01 -8.50378825e-02 8.61181825e-01 -7.68650991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:153.01, Y:-1.85, Z:-76.83 [[ 8.29575026e-01 -3.67586736e-01 -4.20339467e-01 1.53011163e+02] [ 2.91617094e-01 9.27151886e-01 -2.35263363e-01 -1.85185713e+00] [ 4.76198222e-01 7.25904367e-02 8.76336626e-01 -7.68275526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.99864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:153.07, Y:-1.91, Z:-76.83 [[ 8.31389292e-01 -3.25348186e-01 -4.50489070e-01 1.53066420e+02] [ 2.88128237e-01 9.45585302e-01 -1.51164003e-01 -1.91441785e+00] [ 4.75156778e-01 -4.12248804e-03 8.79891494e-01 -7.68276345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.02864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:153.09, Y:-1.91, Z:-76.81 [[ 8.32213327e-01 -3.23453690e-01 -4.50331753e-01 1.53089822e+02] [ 2.85844442e-01 9.46240076e-01 -1.51402360e-01 -1.90872388e+00] [ 4.75093604e-01 -2.72576682e-03 8.79931041e-01 -7.68128048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.05864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:153.11, Y:-1.90, Z:-76.80 [[ 8.33490774e-01 -3.21226805e-01 -4.49562532e-01 1.53113693e+02] [ 2.83291637e-01 9.47001612e-01 -1.51439081e-01 -1.90253659e+00] [ 4.74382734e-01 -1.13422854e-03 8.80317974e-01 -7.67988631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.08864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:153.14, Y:-1.90, Z:-76.79 [[ 8.33809449e-01 -3.20936370e-01 -4.49178861e-01 1.53136841e+02] [ 2.82881773e-01 9.47100521e-01 -1.51586626e-01 -1.89567543e+00] [ 4.74067195e-01 -6.70151780e-04 8.80488413e-01 -7.67856830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.11864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:153.16, Y:-1.89, Z:-76.77 [[ 8.34053258e-01 -3.21026090e-01 -4.48661802e-01 1.53160030e+02] [ 2.82914961e-01 9.47070268e-01 -1.51713651e-01 -1.88878621e+00] [ 4.73618293e-01 -3.95871458e-04 8.80730126e-01 -7.67711483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.14864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:153.18, Y:-1.88, Z:-76.76 [[ 8.33686540e-01 -3.21052918e-01 -4.49323688e-01 1.53182558e+02] [ 2.82665343e-01 9.47061252e-01 -1.52234322e-01 -1.88077237e+00] [ 4.74412327e-01 -9.25295551e-05 8.80302752e-01 -7.67575592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.17864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:153.21, Y:-1.87, Z:-76.74 [[ 8.33258011e-01 -3.22562586e-01 -4.49037265e-01 1.53206055e+02] [ 2.84273309e-01 9.46547926e-01 -1.52432638e-01 -1.87358394e+00] [ 4.74204358e-01 -6.33592582e-04 8.80414576e-01 -7.67435157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.20864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:153.23, Y:-1.87, Z:-76.73 [[ 8.32844605e-01 -3.25267371e-01 -4.47851539e-01 1.53230542e+02] [ 2.87401265e-01 9.45620280e-01 -1.52324652e-01 -1.86941120e+00] [ 4.73043737e-01 -1.85033457e-03 8.81037002e-01 -7.67310324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.23864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:153.25, Y:-1.86, Z:-76.72 [[ 8.32456961e-01 -3.25975030e-01 -4.48057684e-01 1.53253725e+02] [ 2.88008351e-01 9.45376398e-01 -1.52691374e-01 -1.86252770e+00] [ 4.73356735e-01 -1.93535748e-03 8.80868694e-01 -7.67174328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.26864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:153.28, Y:-1.86, Z:-76.70 [[ 8.32618721e-01 -3.26506509e-01 -4.47369606e-01 1.53276052e+02] [ 2.88578539e-01 9.45193006e-01 -1.52750151e-01 -1.85528632e+00] [ 4.72724541e-01 -1.91863208e-03 8.81208163e-01 -7.67031596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.29864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:153.30, Y:-1.85, Z:-76.69 [[ 8.32067730e-01 -3.27299521e-01 -4.47815047e-01 1.53298571e+02] [ 2.89240464e-01 9.44918406e-01 -1.53196474e-01 -1.84798612e+00] [ 4.73289813e-01 -2.05638941e-03 8.80904379e-01 -7.66889726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.32864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:153.32, Y:-1.84, Z:-76.68 [[ 8.31884693e-01 -3.28184831e-01 -4.47507066e-01 1.53322346e+02] [ 2.90143751e-01 9.44610865e-01 -1.53384866e-01 -1.84141637e+00] [ 4.73058623e-01 -2.24285661e-03 8.81028097e-01 -7.66752709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.35864 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:153.36, Y:-1.88, Z:-76.67 [[ 8.14858507e-01 -3.01228805e-01 -4.95244203e-01 1.53362502e+02] [ 2.86401398e-01 9.52023014e-01 -1.07825874e-01 -1.88185884e+00] [ 5.03964138e-01 -5.39758013e-02 8.62036403e-01 -7.66672741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.38864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:153.35, Y:-1.78, Z:-76.64 [[ 8.31612106e-01 -3.56774595e-01 -4.25597454e-01 1.53347023e+02] [ 2.91826954e-01 9.32750837e-01 -2.11690587e-01 -1.77799305e+00] [ 4.72502205e-01 5.18436457e-02 8.79803332e-01 -7.66379075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.41864 meters Centerline goodness : 0.997058 Centerline is valid? [True, True] Translation: X:153.39, Y:-1.82, Z:-76.63 [[ 8.32582269e-01 -3.28442115e-01 -4.46018545e-01 1.53391817e+02] [ 2.90485590e-01 9.44522108e-01 -1.53284405e-01 -1.81841882e+00] [ 4.71619431e-01 -1.94008226e-03 8.81800062e-01 -7.66334250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.44864 meters Centerline goodness : 0.997744 Centerline is valid? [True, True] Translation: X:153.42, Y:-1.81, Z:-76.62 [[ 8.31525519e-01 -3.28885623e-01 -4.47660092e-01 1.53415471e+02] [ 2.90533201e-01 9.44367876e-01 -1.54142055e-01 -1.81124114e+00] [ 4.73450916e-01 -1.88706768e-03 8.80818182e-01 -7.66205194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.47864 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:153.45, Y:-1.84, Z:-76.61 [[ 8.16005428e-01 -3.06333128e-01 -4.90199098e-01 1.53453025e+02] [ 2.86104572e-01 9.50907906e-01 -1.17975961e-01 -1.84258819e+00] [ 5.02274143e-01 -4.39791781e-02 8.63589322e-01 -7.66107698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.50864 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:153.46, Y:-1.79, Z:-76.59 [[ 8.15256752e-01 -3.32953316e-01 -4.73812747e-01 1.53458664e+02] [ 2.85986484e-01 9.42936721e-01 -1.70534660e-01 -1.79217723e+00] [ 5.03555518e-01 3.52549172e-03 8.63955676e-01 -7.65900578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.53864000000002 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:153.47, Y:-1.76, Z:-76.57 [[ 8.31132882e-01 -3.49451665e-01 -4.32552500e-01 1.53471061e+02] [ 2.94115722e-01 9.36413177e-01 -1.91379998e-01 -1.75883400e+00] [ 4.71925920e-01 3.18417188e-02 8.81063012e-01 -7.65714631e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.56864000000002 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:153.51, Y:-1.78, Z:-76.56 [[ 8.31204583e-01 -3.32184861e-01 -4.45816284e-01 1.53508349e+02] [ 2.94173705e-01 9.43209935e-01 -1.54327089e-01 -1.78259495e+00] [ 4.71763471e-01 -2.87004483e-03 8.81720472e-01 -7.65624432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.59864000000002 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:153.53, Y:-1.78, Z:-76.55 [[ 8.30765871e-01 -3.34073328e-01 -4.45222506e-01 1.53531445e+02] [ 2.96268210e-01 9.42540118e-01 -1.54412673e-01 -1.77681985e+00] [ 4.71225229e-01 -3.62449594e-03 8.82005469e-01 -7.65485885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.62864000000002 meters Centerline goodness : 0.997353 Centerline is valid? [True, True] Translation: X:153.56, Y:-1.77, Z:-76.53 [[ 8.30366658e-01 -3.35910061e-01 -4.44584799e-01 1.53555355e+02] [ 2.98311062e-01 9.41884034e-01 -1.54482932e-01 -1.77103889e+00] [ 4.70639695e-01 -4.34708806e-03 8.82314785e-01 -7.65349469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.65864000000002 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:153.58, Y:-1.77, Z:-76.52 [[ 8.29279366e-01 -3.37986534e-01 -4.45040264e-01 1.53579822e+02] [ 3.00429342e-01 9.41136469e-01 -1.54933395e-01 -1.76669793e+00] [ 4.71209024e-01 -5.22008580e-03 8.82006126e-01 -7.65208209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68864 meters Centerline goodness : 0.997249 Centerline is valid? [True, True] Translation: X:153.60, Y:-1.76, Z:-76.51 [[ 8.29432245e-01 -3.38280035e-01 -4.44532079e-01 1.53602994e+02] [ 3.00698433e-01 9.41031838e-01 -1.55046869e-01 -1.75951861e+00] [ 4.70768099e-01 -5.06922683e-03 8.82242427e-01 -7.65067665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71864 meters Centerline goodness : 0.996513 Centerline is valid? [True, True] Translation: X:153.65, Y:-1.82, Z:-76.50 [[ 8.14926288e-01 -2.94920454e-01 -4.98915896e-01 1.53651767e+02] [ 2.96442352e-01 9.51824285e-01 -7.84376392e-02 -1.82420718e+00] [ 4.98013130e-01 -8.39789074e-02 8.63093544e-01 -7.64975481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.74864 meters Centerline goodness : 0.996710 Centerline is valid? [True, True] Translation: X:153.62, Y:-1.67, Z:-76.46 [[ 8.31076557e-01 -3.76020706e-01 -4.09780654e-01 1.53616170e+02] [ 2.99409365e-01 9.23418310e-01 -2.40109677e-01 -1.67180222e+00] [ 4.68685169e-01 7.68573586e-02 8.80015431e-01 -7.64627829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.77864 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:153.67, Y:-1.74, Z:-76.46 [[ 8.32491392e-01 -3.34104451e-01 -4.41964136e-01 1.53671969e+02] [ 2.96233260e-01 9.42533281e-01 -1.54521421e-01 -1.73554794e+00] [ 4.68192202e-01 -2.28672381e-03 8.83623694e-01 -7.64625659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.80864 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:153.70, Y:-1.73, Z:-76.45 [[ 8.32675264e-01 -3.32786270e-01 -4.42611797e-01 1.53696195e+02] [ 2.94466846e-01 9.43001469e-01 -1.55040338e-01 -1.72911071e+00] [ 4.68978870e-01 -1.23624561e-03 8.83208521e-01 -7.64494762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.83864 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:153.72, Y:-1.72, Z:-76.43 [[ 8.32372329e-01 -3.32354868e-01 -4.43504844e-01 1.53718930e+02] [ 2.93655928e-01 9.43154165e-01 -1.55648377e-01 -1.72065743e+00] [ 4.70023937e-01 -6.80424279e-04 8.82653406e-01 -7.64348663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.86864 meters Centerline goodness : 0.996712 Centerline is valid? [True, True] Translation: X:153.74, Y:-1.71, Z:-76.42 [[ 8.31865434e-01 -3.33200796e-01 -4.43821054e-01 1.53741991e+02] [ 2.94396815e-01 9.42855515e-01 -1.56057658e-01 -1.71260466e+00] [ 4.70457665e-01 -8.40533610e-04 8.82422166e-01 -7.64203378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.89864 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:153.77, Y:-1.71, Z:-76.41 [[ 8.31358689e-01 -3.34604487e-01 -4.43714511e-01 1.53765611e+02] [ 2.95849895e-01 9.42357735e-01 -1.56316154e-01 -1.70590892e+00] [ 4.70441887e-01 -1.31809847e-03 8.82429993e-01 -7.64066729e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.92864 meters Centerline goodness : 0.996713 Centerline is valid? [True, True] Translation: X:153.79, Y:-1.70, Z:-76.39 [[ 8.30413274e-01 -3.36946809e-01 -4.43712342e-01 1.53789241e+02] [ 2.98346730e-01 9.41520811e-01 -1.56613510e-01 -1.69990793e+00] [ 4.70534826e-01 -2.32618883e-03 8.82378358e-01 -7.63931038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.95864 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:153.83, Y:-1.73, Z:-76.38 [[ 8.11720622e-01 -3.16610213e-01 -4.90782644e-01 1.53825380e+02] [ 2.95205863e-01 9.47485216e-01 -1.22984808e-01 -1.73254052e+00] [ 5.03947546e-01 -4.50526093e-02 8.62558481e-01 -7.63839034e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.98864 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:153.84, Y:-1.69, Z:-76.37 [[ 8.10531738e-01 -3.35041788e-01 -4.80401189e-01 1.53835497e+02] [ 2.94057336e-01 9.42141120e-01 -1.60935991e-01 -1.69468862e+00] [ 5.06525996e-01 -1.08217655e-02 8.62156775e-01 -7.63664522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.01864 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:153.84, Y:-1.63, Z:-76.34 [[ 8.30718689e-01 -3.64221735e-01 -4.21009486e-01 1.53837426e+02] [ 2.99676627e-01 9.29918973e-01 -2.13177445e-01 -1.63185464e+00] [ 4.69148568e-01 5.09237852e-02 8.81649811e-01 -7.63431613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.04864 meters Centerline goodness : 0.997104 Centerline is valid? [True, True] Translation: X:153.88, Y:-1.67, Z:-76.34 [[ 8.31136307e-01 -3.37430063e-01 -4.41987999e-01 1.53881714e+02] [ 2.98867055e-01 9.41348697e-01 -1.56656041e-01 -1.67062191e+00] [ 4.68925284e-01 -1.89312816e-03 8.83235809e-01 -7.63363710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.07864 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:153.90, Y:-1.66, Z:-76.32 [[ 8.31333846e-01 -3.36814978e-01 -4.42085633e-01 1.53904025e+02] [ 2.98006033e-01 9.41570019e-01 -1.56965932e-01 -1.66228726e+00] [ 4.69123054e-01 -1.25309398e-03 8.83131921e-01 -7.63227160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.10864 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:153.93, Y:-1.65, Z:-76.31 [[ 8.31682498e-01 -3.35038332e-01 -4.42779334e-01 1.53925478e+02] [ 2.95705369e-01 9.42204496e-01 -1.57508802e-01 -1.65085352e+00] [ 4.69960165e-01 6.50872441e-05 8.82687622e-01 -7.63093426e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.13864 meters Centerline goodness : 0.996850 Centerline is valid? [True, True] Translation: X:153.95, Y:-1.64, Z:-76.30 [[ 8.31881853e-01 -3.35545268e-01 -4.42020311e-01 1.53948182e+02] [ 2.96276375e-01 9.42024080e-01 -1.57514894e-01 -1.64152944e+00] [ 4.69247154e-01 7.36059827e-05 8.83066873e-01 -7.62968770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.16864 meters Centerline goodness : 0.996517 Centerline is valid? [True, True] Translation: X:153.99, Y:-1.70, Z:-76.29 [[ 8.07028164e-01 -3.00988792e-01 -5.08046543e-01 1.53992115e+02] [ 2.92755587e-01 9.51106907e-01 -9.84368773e-02 -1.69677658e+00] [ 5.12834972e-01 -6.92921312e-02 8.55686211e-01 -7.62885682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.19864 meters Centerline goodness : 0.996566 Centerline is valid? [True, True] Translation: X:153.96, Y:-1.56, Z:-76.26 [[ 8.31120868e-01 -3.74818452e-01 -4.10790982e-01 1.53963291e+02] [ 3.00900474e-01 9.24345866e-01 -2.34613777e-01 -1.56012847e+00] [ 4.67650519e-01 7.13852046e-02 8.81026189e-01 -7.62560074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.22864 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:154.02, Y:-1.61, Z:-76.25 [[ 8.30430300e-01 -3.39838648e-01 -4.41469376e-01 1.54015819e+02] [ 3.01022871e-01 9.40481820e-01 -1.57731343e-01 -1.61468996e+00] [ 4.68797129e-01 -1.90749211e-03 8.83303806e-01 -7.62540416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.25864 meters Centerline goodness : 0.996612 Centerline is valid? [True, True] Translation: X:154.04, Y:-1.61, Z:-76.24 [[ 8.28504324e-01 -3.43426343e-01 -4.42310900e-01 1.54038234e+02] [ 3.04774046e-01 9.39172599e-01 -1.58327540e-01 -1.60514658e+00] [ 4.69780126e-01 -3.62983107e-03 8.82775995e-01 -7.62404586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.28864000000002 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:154.06, Y:-1.60, Z:-76.23 [[ 8.27821306e-01 -3.45797267e-01 -4.41742159e-01 1.54060588e+02] [ 3.07410424e-01 9.38297707e-01 -1.58417942e-01 -1.59583722e+00] [ 4.69266147e-01 -4.65439666e-03 8.83044518e-01 -7.62261584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.31864000000002 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:154.08, Y:-1.59, Z:-76.21 [[ 8.27774437e-01 -3.46941691e-01 -4.40931905e-01 1.54083495e+02] [ 3.08702073e-01 9.37873469e-01 -1.58418389e-01 -1.58626984e+00] [ 4.68500279e-01 -4.98190045e-03 8.83449302e-01 -7.62124581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.34864000000002 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:154.11, Y:-1.58, Z:-76.20 [[ 8.27735726e-01 -3.48300070e-01 -4.39932528e-01 1.54106155e+02] [ 3.10270188e-01 9.37367389e-01 -1.58350209e-01 -1.57720965e+00] [ 4.67531793e-01 -5.42582308e-03 8.83959605e-01 -7.61992060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.37864000000002 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:154.13, Y:-1.57, Z:-76.19 [[ 8.27304551e-01 -3.49684325e-01 -4.39645372e-01 1.54129591e+02] [ 3.11737879e-01 9.36849025e-01 -1.58535168e-01 -1.56932533e+00] [ 4.67318601e-01 -5.89724943e-03 8.84069311e-01 -7.61865347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.40864000000002 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:154.15, Y:-1.56, Z:-76.17 [[ 8.26973527e-01 -3.50927965e-01 -4.39277076e-01 1.54152368e+02] [ 3.13060632e-01 9.36381354e-01 -1.58691523e-01 -1.56156719e+00] [ 4.67020157e-01 -6.28667083e-03 8.84224322e-01 -7.61732917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:154.18, Y:-1.55, Z:-76.16 [[ 8.26684012e-01 -3.52130555e-01 -4.38859449e-01 1.54175011e+02] [ 3.14347877e-01 9.35927226e-01 -1.58825814e-01 -1.55339843e+00] [ 4.66667929e-01 -6.65577475e-03 8.84407567e-01 -7.61601122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:154.20, Y:-1.54, Z:-76.15 [[ 8.25784414e-01 -3.52588850e-01 -4.40183149e-01 1.54197578e+02] [ 3.14472182e-01 9.35754816e-01 -1.59593769e-01 -1.54494761e+00] [ 4.68174485e-01 -6.63530838e-03 8.83611127e-01 -7.61464246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.49864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:154.22, Y:-1.54, Z:-76.13 [[ 8.25261238e-01 -3.52039922e-01 -4.41601384e-01 1.54220359e+02] [ 3.13434510e-01 9.35965477e-01 -1.60397734e-01 -1.53568465e+00] [ 4.69790056e-01 -6.04308090e-03 8.82757489e-01 -7.61324771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.52864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:154.28, Y:-1.61, Z:-76.13 [[ 8.11798627e-01 -2.95964108e-01 -5.03376833e-01 1.54275423e+02] [ 3.04885115e-01 9.50037161e-01 -6.68914042e-02 -1.61252402e+00] [ 4.98024152e-01 -9.91697537e-02 8.61473913e-01 -7.61266307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.55864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:154.22, Y:-1.43, Z:-76.09 [[ 8.30192933e-01 -3.91046553e-01 -3.97318874e-01 1.54223359e+02] [ 3.06628905e-01 9.15524041e-01 -2.60373663e-01 -1.43029833e+00] [ 4.65573205e-01 9.43309235e-02 8.79967765e-01 -7.60878808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.58864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:154.31, Y:-1.57, Z:-76.10 [[ 8.09382249e-01 -3.02801441e-01 -5.03201413e-01 1.54311356e+02] [ 2.96518098e-01 9.50300098e-01 -9.49038565e-02 -1.57081926e+00] [ 5.06929377e-01 -7.23948290e-02 8.58942138e-01 -7.60965456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.61864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:154.28, Y:-1.43, Z:-76.06 [[ 8.32703215e-01 -3.77018492e-01 -4.05539657e-01 1.54277821e+02] [ 3.04623681e-01 9.23515241e-01 -2.33075122e-01 -1.43247977e+00] [ 4.62395685e-01 7.05454199e-02 8.83862871e-01 -7.60645727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.64864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:154.34, Y:-1.52, Z:-76.07 [[ 8.12868936e-01 -3.18814751e-01 -4.87443583e-01 1.54344194e+02] [ 2.96475825e-01 9.46840872e-01 -1.24877730e-01 -1.52402287e+00] [ 5.01344370e-01 -4.30060109e-02 8.64178399e-01 -7.60671418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.33, Y:-1.44, Z:-76.04 [[ 8.31322753e-01 -3.65067735e-01 -4.19079980e-01 1.54334371e+02] [ 3.05998552e-01 9.30090974e-01 -2.03213349e-01 -1.43869321e+00] [ 4.63969144e-01 4.06980132e-02 8.84915988e-01 -7.60430331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.70864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:154.37, Y:-1.47, Z:-76.04 [[ 8.30608037e-01 -3.47090477e-01 -4.35452053e-01 1.54374163e+02] [ 3.08339587e-01 9.37829755e-01 -1.59380207e-01 -1.46549100e+00] [ 4.63699244e-01 -1.88462551e-03 8.85990665e-01 -7.60353914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:154.40, Y:-1.46, Z:-76.02 [[ 8.30640711e-01 -3.47930189e-01 -4.34718982e-01 1.54397210e+02] [ 3.09273172e-01 9.37518226e-01 -1.59404142e-01 -1.45640461e+00] [ 4.63018482e-01 -2.03934865e-03 8.86346279e-01 -7.60226520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.76864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:154.45, Y:-1.52, Z:-76.02 [[ 8.18474827e-01 -3.02963525e-01 -4.88172163e-01 1.54449390e+02] [ 3.04622793e-01 9.49243113e-01 -7.83738913e-02 -1.52169112e+00] [ 4.87138494e-01 -8.45613105e-02 8.69221187e-01 -7.60161765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.41, Y:-1.36, Z:-75.98 [[ 8.31806800e-01 -3.88163355e-01 -3.96770284e-01 1.54406659e+02] [ 3.11236670e-01 9.18039004e-01 -2.45634124e-01 -1.36356588e+00] [ 4.59596762e-01 8.08306730e-02 8.84441755e-01 -7.59777769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.82864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:154.46, Y:-1.42, Z:-75.98 [[ 8.32533121e-01 -3.46946520e-01 -4.31875810e-01 1.54464194e+02] [ 3.08441692e-01 9.37884431e-01 -1.58860055e-01 -1.42472281e+00] [ 4.60165541e-01 -9.52248590e-04 8.87832624e-01 -7.59793495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.85864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:154.51, Y:-1.46, Z:-75.97 [[ 8.14742695e-01 -3.16122796e-01 -4.86066579e-01 1.54506174e+02] [ 3.01919439e-01 9.46987435e-01 -1.09815528e-01 -1.46479818e+00] [ 4.95014134e-01 -5.72815495e-02 8.66994712e-01 -7.59715225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.88864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:154.50, Y:-1.40, Z:-75.95 [[ 8.15559923e-01 -3.51224490e-01 -4.59894954e-01 1.54501664e+02] [ 3.00873273e-01 9.36241872e-01 -1.81456418e-01 -1.39518460e+00] [ 4.94304851e-01 9.61848204e-03 8.69235411e-01 -7.59499922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.51, Y:-1.35, Z:-75.93 [[ 8.33602527e-01 -3.70366244e-01 -4.09799552e-01 1.54508572e+02] [ 3.10138068e-01 9.27747993e-01 -2.07600674e-01 -1.35072741e+00] [ 4.57078994e-01 4.59620054e-02 8.88237743e-01 -7.59291806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:154.55, Y:-1.38, Z:-75.92 [[ 8.33798613e-01 -3.48666294e-01 -4.28032346e-01 1.54550582e+02] [ 3.10699001e-01 9.37246334e-01 -1.58225914e-01 -1.38166386e+00] [ 4.56339790e-01 -1.06067491e-03 8.89804962e-01 -7.59245870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.57, Y:-1.37, Z:-75.91 [[ 8.33570008e-01 -3.50680465e-01 -4.26830475e-01 1.54573049e+02] [ 3.13041843e-01 9.36493335e-01 -1.58066562e-01 -1.37224502e+00] [ 4.55154750e-01 -1.85625294e-03 8.90410415e-01 -7.59118346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.00864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:154.60, Y:-1.36, Z:-75.90 [[ 8.31602614e-01 -3.53935401e-01 -4.27979934e-01 1.54596569e+02] [ 3.16340188e-01 9.35263881e-01 -1.58777701e-01 -1.36369921e+00] [ 4.56471224e-01 -3.34730150e-03 8.89731879e-01 -7.58986522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.03864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:154.62, Y:-1.35, Z:-75.88 [[ 8.30130462e-01 -3.56791844e-01 -4.28465864e-01 1.54618475e+02] [ 3.19318100e-01 9.34172458e-01 -1.59241232e-01 -1.35356943e+00] [ 4.57076982e-01 -4.62590870e-03 8.89415107e-01 -7.58843480e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.06864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.64, Y:-1.34, Z:-75.87 [[ 8.30023012e-01 -3.57900967e-01 -4.27748405e-01 1.54640357e+02] [ 3.20555116e-01 9.33746523e-01 -1.59254039e-01 -1.34291038e+00] [ 4.56405760e-01 -4.93242260e-03 8.89758087e-01 -7.58709316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:154.66, Y:-1.33, Z:-75.86 [[ 8.29601345e-01 -3.57887562e-01 -4.28576832e-01 1.54662346e+02] [ 3.20242782e-01 9.33753145e-01 -1.59842503e-01 -1.33260849e+00] [ 4.57390608e-01 -4.64308140e-03 8.89253773e-01 -7.58570443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.12864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:154.69, Y:-1.32, Z:-75.84 [[ 8.30257211e-01 -3.57302582e-01 -4.27794143e-01 1.54685768e+02] [ 3.19597364e-01 9.33979952e-01 -1.59809182e-01 -1.32373098e+00] [ 4.56651387e-01 -4.03915418e-03 8.89636553e-01 -7.58442210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.15864000000002 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:154.71, Y:-1.32, Z:-75.83 [[ 8.30232439e-01 -3.57638812e-01 -4.27561197e-01 1.54708079e+02] [ 3.19874593e-01 9.33851738e-01 -1.60003674e-01 -1.31521850e+00] [ 4.56502291e-01 -3.92572339e-03 8.89713576e-01 -7.58305346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:154.73, Y:-1.30, Z:-75.82 [[ 8.29883918e-01 -3.58474108e-01 -4.27538300e-01 1.54730208e+02] [ 3.20675079e-01 9.33530703e-01 -1.60274518e-01 -1.30438620e+00] [ 4.56574394e-01 -4.09163337e-03 8.89675829e-01 -7.58169032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:154.75, Y:-1.30, Z:-75.80 [[ 8.28970296e-01 -3.59994266e-01 -4.28033149e-01 1.54753303e+02] [ 3.22149374e-01 9.32942966e-01 -1.60739551e-01 -1.29600654e+00] [ 4.57195832e-01 -4.64229767e-03 8.89353934e-01 -7.58033958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:154.78, Y:-1.29, Z:-75.79 [[ 8.28167763e-01 -3.61982628e-01 -4.27909726e-01 1.54776841e+02] [ 3.24267097e-01 9.32168936e-01 -1.60971815e-01 -1.28871481e+00] [ 4.57153155e-01 -5.44537672e-03 8.89371318e-01 -7.57905733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.27864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:154.80, Y:-1.28, Z:-75.78 [[ 8.27066798e-01 -3.65709813e-01 -4.26868650e-01 1.54800423e+02] [ 3.28512507e-01 9.30701135e-01 -1.60856860e-01 -1.28174207e+00] [ 4.56114070e-01 -7.19232183e-03 8.89892255e-01 -7.57764896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.30864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:154.85, Y:-1.35, Z:-75.77 [[ 8.10885206e-01 -3.22229900e-01 -4.88500844e-01 1.54853000e+02] [ 3.26187957e-01 9.41924935e-01 -7.98675987e-02 -1.35135999e+00] [ 4.85866854e-01 -9.45796379e-02 8.68900508e-01 -7.57727485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.33864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:154.83, Y:-1.24, Z:-75.74 [[ 8.06034309e-01 -3.82321118e-01 -4.51817725e-01 1.54829413e+02] [ 3.23802470e-01 9.23850193e-01 -2.04090130e-01 -1.24402788e+00] [ 4.95439859e-01 1.82039515e-02 8.68451474e-01 -7.57435395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:154.87, Y:-1.28, Z:-75.74 [[ 8.12536939e-01 -3.56683687e-01 -4.61042807e-01 1.54872951e+02] [ 3.27354332e-01 9.33649549e-01 -1.45387968e-01 -1.28262524e+00] [ 4.82309925e-01 -3.27912660e-02 8.75386697e-01 -7.57401698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.39864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:154.88, Y:-1.25, Z:-75.72 [[ 8.14735287e-01 -3.76157235e-01 -4.41261993e-01 1.54883089e+02] [ 3.29012727e-01 9.26549618e-01 -1.82363458e-01 -1.24551850e+00] [ 4.77448465e-01 3.39713286e-03 8.78653187e-01 -7.57205622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.42864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:154.88, Y:-1.18, Z:-75.69 [[ 8.27988040e-01 -4.09744274e-01 -3.82812534e-01 1.54878793e+02] [ 3.36803220e-01 9.09219503e-01 -2.44711026e-01 -1.17818266e+00] [ 4.48329563e-01 7.36853090e-02 8.90826065e-01 -7.56926256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.45864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:154.96, Y:-1.30, Z:-75.70 [[ 8.12254014e-01 -3.44478974e-01 -4.70720355e-01 1.54956822e+02] [ 3.33865247e-01 9.36287715e-01 -1.09083968e-01 -1.29867935e+00] [ 4.78306819e-01 -6.85532764e-02 8.75513012e-01 -7.57019541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.48864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:154.94, Y:-1.19, Z:-75.67 [[ 8.28871801e-01 -4.01833471e-01 -3.89231807e-01 1.54936360e+02] [ 3.39146499e-01 9.14252030e-01 -2.21636813e-01 -1.18657052e+00] [ 4.44917060e-01 5.17018998e-02 8.94078142e-01 -7.56698851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.51864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:154.99, Y:-1.23, Z:-75.67 [[ 8.30880585e-01 -3.70659156e-01 -4.15029209e-01 1.54986768e+02] [ 3.35959342e-01 9.28724306e-01 -1.56851786e-01 -1.23428777e+00] [ 4.43586265e-01 -9.10783610e-03 8.96185401e-01 -7.56673616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.54864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:155.04, Y:-1.30, Z:-75.66 [[ 8.08704721e-01 -3.30756968e-01 -4.86411865e-01 1.55035808e+02] [ 3.33441988e-01 9.39008330e-01 -8.41415290e-02 -1.30356559e+00] [ 4.84575190e-01 -9.41444873e-02 8.69668731e-01 -7.56625448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.57864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:154.99, Y:-1.14, Z:-75.62 [[ 8.31705884e-01 -4.10908566e-01 -3.73389171e-01 1.54994334e+02] [ 3.33869090e-01 9.07476506e-01 -2.54985924e-01 -1.13848481e+00] [ 4.43617801e-01 8.74101904e-02 8.91943219e-01 -7.56220725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.60864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:155.06, Y:-1.22, Z:-75.63 [[ 8.34789624e-01 -3.63903694e-01 -4.13159031e-01 1.55059496e+02] [ 3.28764637e-01 9.31420260e-01 -1.56109298e-01 -1.21547798e+00] [ 4.41633442e-01 -5.51365618e-03 8.97178635e-01 -7.56256858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.63864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:155.08, Y:-1.21, Z:-75.61 [[ 8.35087574e-01 -3.63453036e-01 -4.12953551e-01 1.55082452e+02] [ 3.28175930e-01 9.31599034e-01 -1.56281153e-01 -1.20888460e+00] [ 4.41507988e-01 -5.01296682e-03 8.97243315e-01 -7.56115616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.66864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:155.11, Y:-1.20, Z:-75.60 [[ 8.35830015e-01 -3.62853374e-01 -4.11977687e-01 1.55106957e+02] [ 3.27549990e-01 9.31835853e-01 -1.56182416e-01 -1.20396298e+00] [ 4.40566896e-01 -4.40133624e-03 8.97708994e-01 -7.55987129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.69864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:155.13, Y:-1.20, Z:-75.59 [[ 8.35499378e-01 -3.63514187e-01 -4.12065803e-01 1.55130893e+02] [ 3.28140362e-01 9.31577914e-01 -1.56481607e-01 -1.19723418e+00] [ 4.40754685e-01 -4.47513672e-03 8.97616444e-01 -7.55863949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.72864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:155.16, Y:-1.19, Z:-75.57 [[ 8.35461883e-01 -3.63401900e-01 -4.12240828e-01 1.55155426e+02] [ 3.27851954e-01 9.31623270e-01 -1.56815752e-01 -1.19130641e+00] [ 4.41040290e-01 -4.14037776e-03 8.97477754e-01 -7.55738381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.75864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:155.18, Y:-1.18, Z:-75.56 [[ 8.35695665e-01 -3.63432690e-01 -4.11739525e-01 1.55178741e+02] [ 3.27842181e-01 9.31612444e-01 -1.56900473e-01 -1.18354417e+00] [ 4.40604426e-01 -3.86453856e-03 8.97693046e-01 -7.55605614e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.78864000000002 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:155.20, Y:-1.18, Z:-75.55 [[ 8.35320867e-01 -3.63622222e-01 -4.12332305e-01 1.55202767e+02] [ 3.27865037e-01 9.31538741e-01 -1.57289833e-01 -1.17747961e+00] [ 4.41297595e-01 -3.80186690e-03 8.97352762e-01 -7.55483179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.81864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:155.23, Y:-1.17, Z:-75.54 [[ 8.34410681e-01 -3.64758938e-01 -4.13170342e-01 1.55226448e+02] [ 3.28843949e-01 9.31092843e-01 -1.57885323e-01 -1.17006469e+00] [ 4.42290032e-01 -4.12736685e-03 8.96862583e-01 -7.55358601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.84864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:155.29, Y:-1.27, Z:-75.53 [[ 8.15412334e-01 -3.05043269e-01 -4.91987124e-01 1.55289878e+02] [ 3.28166285e-01 9.43719765e-01 -4.12297902e-02 -1.27477187e+00] [ 4.76874843e-01 -1.27834307e-01 8.69625652e-01 -7.55298482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.87864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:155.22, Y:-1.05, Z:-75.49 [[ 8.33837041e-01 -4.25045851e-01 -3.52209900e-01 1.55218178e+02] [ 3.34569752e-01 8.96642830e-01 -2.89990891e-01 -1.04587940e+00] [ 4.39065907e-01 1.23966368e-01 8.89861489e-01 -7.54857936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.90864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:155.33, Y:-1.25, Z:-75.50 [[ 8.19730221e-01 -3.14070500e-01 -4.78959379e-01 1.55331685e+02] [ 3.30881292e-01 9.42261848e-01 -5.15769322e-02 -1.24782929e+00] [ 4.67503942e-01 -1.16199528e-01 8.76320566e-01 -7.55002344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:155.31, Y:-1.14, Z:-75.48 [[ 8.21149428e-01 -3.70270043e-01 -4.34296802e-01 1.55313825e+02] [ 3.29213234e-01 9.28916449e-01 -1.69507752e-01 -1.13879499e+00] [ 4.66189086e-01 -3.78506092e-03 8.84677009e-01 -7.54790934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:155.31, Y:-1.08, Z:-75.46 [[ 8.19007435e-01 -4.02318228e-01 -4.09104955e-01 1.55312063e+02] [ 3.31901281e-01 9.13784958e-01 -2.34176406e-01 -1.08061023e+00] [ 4.68047391e-01 5.60097587e-02 8.81926611e-01 -7.54573940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.99864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:155.35, Y:-1.08, Z:-75.45 [[ 8.37118454e-01 -3.96463375e-01 -3.76894529e-01 1.55345246e+02] [ 3.41805226e-01 9.17034723e-01 -2.05466551e-01 -1.08254723e+00] [ 4.27085333e-01 4.31753223e-02 9.03179943e-01 -7.54473818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.02864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:155.39, Y:-1.12, Z:-75.44 [[ 8.36151933e-01 -3.75804958e-01 -3.99525442e-01 1.55390263e+02] [ 3.43392849e-01 9.26652162e-01 -1.52961177e-01 -1.11968191e+00] [ 4.27704683e-01 -9.29539581e-03 9.03870732e-01 -7.54418809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.05864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:155.44, Y:-1.18, Z:-75.43 [[ 8.24094894e-01 -3.37460763e-01 -4.54959162e-01 1.55440882e+02] [ 3.38270847e-01 9.37417711e-01 -8.25885521e-02 -1.17990163e+00] [ 4.54357173e-01 -8.58386172e-02 8.86674287e-01 -7.54323917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.08864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:155.41, Y:-1.04, Z:-75.40 [[ 8.35535668e-01 -4.10261586e-01 -3.65466247e-01 1.55408147e+02] [ 3.46020756e-01 9.09596754e-01 -2.30007351e-01 -1.03919379e+00] [ 4.26790093e-01 6.57204388e-02 9.01959556e-01 -7.54044541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.11864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:155.46, Y:-1.10, Z:-75.40 [[ 8.37569840e-01 -3.75887135e-01 -3.96466424e-01 1.55462907e+02] [ 3.43790670e-01 9.26623748e-01 -1.52237985e-01 -1.09745106e+00] [ 4.24599504e-01 -8.79151241e-03 9.05338595e-01 -7.54016506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.14864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:155.49, Y:-1.09, Z:-75.39 [[ 8.37654388e-01 -3.75556419e-01 -3.96601188e-01 1.55486522e+02] [ 3.43284373e-01 9.26761729e-01 -1.52540276e-01 -1.08990400e+00] [ 4.24842283e-01 -8.37095817e-03 9.05228679e-01 -7.53886179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.17864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:155.51, Y:-1.08, Z:-75.38 [[ 8.37512471e-01 -3.76007591e-01 -3.96473394e-01 1.55511247e+02] [ 3.43686714e-01 9.26579070e-01 -1.52743807e-01 -1.08236550e+00] [ 4.24796779e-01 -8.33779482e-03 9.05250340e-01 -7.53769248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.20864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:155.54, Y:-1.08, Z:-75.36 [[ 8.37027170e-01 -3.76404183e-01 -3.97121401e-01 1.55535569e+02] [ 3.43895793e-01 9.26418404e-01 -1.53246941e-01 -1.07524274e+00] [ 4.25583364e-01 -8.29652628e-03 9.04881190e-01 -7.53641931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.23864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:155.58, Y:-1.12, Z:-75.35 [[ 8.19998109e-01 -3.46767322e-01 -4.55363071e-01 1.55579346e+02] [ 3.37409849e-01 9.35504809e-01 -1.04811002e-01 -1.12305016e+00] [ 4.62339373e-01 -6.76991613e-02 8.84114884e-01 -7.53545951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.26864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:155.56, Y:-1.01, Z:-75.33 [[ 8.36693467e-01 -4.02536853e-01 -3.71359831e-01 1.55559198e+02] [ 3.44445845e-01 9.13945082e-01 -2.14619306e-01 -1.01038157e+00] [ 4.25794672e-01 5.16572205e-02 9.03344026e-01 -7.53311083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.29864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:155.64, Y:-1.14, Z:-75.33 [[ 8.23754682e-01 -3.25828432e-01 -4.63965577e-01 1.55637589e+02] [ 3.37861456e-01 9.39295691e-01 -5.97766016e-02 -1.14321250e+00] [ 4.55277783e-01 -1.07514830e-01 8.83834092e-01 -7.53275782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.32864 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:155.59, Y:-0.96, Z:-75.30 [[ 8.38583352e-01 -4.18263073e-01 -3.49047224e-01 1.55586629e+02] [ 3.42598496e-01 9.03061699e-01 -2.59047946e-01 -9.55289417e-01] [ 4.23561369e-01 9.76502410e-02 9.00588806e-01 -7.52956073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.35864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:155.65, Y:-1.04, Z:-75.30 [[ 8.40610969e-01 -3.71686254e-01 -3.93982902e-01 1.55652361e+02] [ 3.39004306e-01 9.28342871e-01 -1.52497851e-01 -1.03505559e+00] [ 4.22432573e-01 -5.37053411e-03 9.06378441e-01 -7.52974033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.38864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:155.68, Y:-1.03, Z:-75.28 [[ 8.40546046e-01 -3.70765947e-01 -3.94987286e-01 1.55675685e+02] [ 3.37691866e-01 9.28714653e-01 -1.53144689e-01 -1.02603911e+00] [ 4.23611317e-01 -4.65883110e-03 9.05832075e-01 -7.52846674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.41864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:155.70, Y:-1.02, Z:-75.27 [[ 8.40315618e-01 -3.71023056e-01 -3.95236075e-01 1.55699436e+02] [ 3.37811676e-01 9.28612616e-01 -1.53498800e-01 -1.01688395e+00] [ 4.23972799e-01 -4.52792204e-03 9.05663604e-01 -7.52727157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.44864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:155.72, Y:-1.01, Z:-75.26 [[ 8.39628484e-01 -3.71711782e-01 -3.96048431e-01 1.55722069e+02] [ 3.38307673e-01 9.28336683e-01 -1.54074400e-01 -1.00774913e+00] [ 4.24937557e-01 -4.62096840e-03 9.05210870e-01 -7.52591067e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.47864 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:155.76, Y:-1.05, Z:-75.25 [[ 8.20032416e-01 -3.45763043e-01 -4.56064419e-01 1.55762076e+02] [ 3.33289134e-01 9.36316411e-01 -1.10589022e-01 -1.04872181e+00] [ 4.65258197e-01 -6.13147321e-02 8.83048874e-01 -7.52490133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.50864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:155.74, Y:-0.94, Z:-75.23 [[ 8.39770617e-01 -3.97428362e-01 -3.69913514e-01 1.55743521e+02] [ 3.39521670e-01 9.16064325e-01 -2.13427243e-01 -9.36188727e-01] [ 4.23686613e-01 5.36362737e-02 9.04219445e-01 -7.52254875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.53864000000002 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:155.81, Y:-1.03, Z:-75.22 [[ 8.20222692e-01 -3.42036297e-01 -4.58525797e-01 1.55808782e+02] [ 3.31971728e-01 9.37382452e-01 -1.05398821e-01 -1.03008716e+00] [ 4.65864258e-01 -6.57670967e-02 8.82408738e-01 -7.52231107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.56864000000002 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:155.79, Y:-0.91, Z:-75.20 [[ 8.41024102e-01 -3.96199817e-01 -3.68380462e-01 1.55785183e+02] [ 3.36323301e-01 9.16258637e-01 -2.17616053e-01 -9.08757490e-01] [ 4.23751221e-01 5.91254129e-02 9.03846828e-01 -7.51986494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.59864000000002 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:155.83, Y:-0.95, Z:-75.19 [[ 8.41512012e-01 -3.68620335e-01 -3.94938707e-01 1.55833098e+02] [ 3.34859985e-01 9.29576551e-01 -1.54130549e-01 -9.50831370e-01] [ 4.23941416e-01 -2.54646115e-03 9.05686034e-01 -7.51948160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.62864000000002 meters Centerline goodness : 0.997153 Centerline is valid? [True, True] Translation: X:155.86, Y:-0.94, Z:-75.18 [[ 8.40914792e-01 -3.69665340e-01 -3.95233918e-01 1.55855489e+02] [ 3.35838828e-01 9.29160727e-01 -1.54507686e-01 -9.39971739e-01] [ 4.24351970e-01 -2.80709760e-03 9.05492974e-01 -7.51821673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.65864000000002 meters Centerline goodness : 0.997731 Centerline is valid? [True, True] Translation: X:155.93, Y:-1.07, Z:-75.17 [[ 8.16392821e-01 -2.95480802e-01 -4.96179259e-01 1.55929507e+02] [ 3.34700663e-01 9.42266792e-01 -1.04287488e-02 -1.06704426e+00] [ 4.70614734e-01 -1.57557572e-01 8.68157465e-01 -7.51711445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68864 meters Centerline goodness : 0.997594 Centerline is valid? [True, True] Translation: X:155.90, Y:-0.92, Z:-75.15 [[ 8.18746103e-01 -3.71981012e-01 -4.37361345e-01 1.55899518e+02] [ 3.31095083e-01 9.28221533e-01 -1.69649142e-01 -9.20955594e-01] [ 4.69074478e-01 -5.90861675e-03 8.83138847e-01 -7.51521194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71864 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:155.86, Y:-0.79, Z:-75.12 [[ 8.37053620e-01 -4.38734346e-01 -3.26884399e-01 1.55862744e+02] [ 3.47253295e-01 8.87723124e-01 -3.02262806e-01 -7.88063669e-01] [ 4.22795915e-01 1.39498492e-01 8.95423802e-01 -7.51156878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.74864 meters Centerline goodness : 0.997300 Centerline is valid? [True, True] Translation: X:155.95, Y:-0.90, Z:-75.13 [[ 8.38096417e-01 -3.80557633e-01 -3.90858392e-01 1.55948306e+02] [ 3.48242296e-01 9.24728012e-01 -1.53640512e-01 -9.02651889e-01] [ 4.19906773e-01 -7.34786134e-03 9.07537498e-01 -7.51292734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.77864 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:155.97, Y:-0.90, Z:-75.12 [[ 8.36641938e-01 -3.84745769e-01 -3.89873006e-01 1.55971612e+02] [ 3.52915633e-01 9.22977099e-01 -1.53505152e-01 -8.95160662e-01] [ 4.18904313e-01 -9.16343055e-03 9.07984145e-01 -7.51159542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.80864 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:156.04, Y:-1.00, Z:-75.11 [[ 8.18820508e-01 -3.26063031e-01 -4.72457274e-01 1.56036086e+02] [ 3.50345938e-01 9.35822050e-01 -3.86628283e-02 -9.96754010e-01] [ 4.54742453e-01 -1.33865570e-01 8.80505145e-01 -7.51066173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.83864 meters Centerline goodness : 0.997545 Centerline is valid? [True, True] Translation: X:155.97, Y:-0.78, Z:-75.07 [[ 8.34179843e-01 -4.39078050e-01 -3.33698150e-01 1.55967856e+02] [ 3.56661557e-01 8.91027471e-01 -2.80824820e-01 -7.75510210e-01] [ 4.20638233e-01 1.15241102e-01 8.99879417e-01 -7.50688411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.86864 meters Centerline goodness : 0.997593 Centerline is valid? [True, True] Translation: X:156.04, Y:-0.87, Z:-75.08 [[ 8.35451771e-01 -3.87895334e-01 -3.89303928e-01 1.56044472e+02] [ 3.56312236e-01 9.21645444e-01 -1.53659581e-01 -8.74166341e-01] [ 4.18404026e-01 -1.03385837e-02 9.08202172e-01 -7.50764686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.89864 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:156.07, Y:-0.87, Z:-75.06 [[ 8.33828009e-01 -3.90062939e-01 -3.90617146e-01 1.56067520e+02] [ 3.58366659e-01 9.20719871e-01 -1.54428808e-01 -8.67799341e-01] [ 4.19885923e-01 -1.12170960e-02 9.07507569e-01 -7.50621572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.92864 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:156.11, Y:-0.91, Z:-75.05 [[ 8.19311276e-01 -3.61439460e-01 -4.45073645e-01 1.56111428e+02] [ 3.53081739e-01 9.29680166e-01 -1.05014635e-01 -9.14047305e-01] [ 4.51732573e-01 -7.11077017e-02 8.89315117e-01 -7.50496622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.95864 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:156.12, Y:-0.86, Z:-75.03 [[ 8.20396169e-01 -3.86378914e-01 -4.21499064e-01 1.56116747e+02] [ 3.53674588e-01 9.22115523e-01 -1.56898847e-01 -8.62549893e-01] [ 4.49293236e-01 -2.03542948e-02 8.93152446e-01 -7.50335500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.98864 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:156.13, Y:-0.84, Z:-75.02 [[ 8.22093693e-01 -3.95507916e-01 -4.09555184e-01 1.56134298e+02] [ 3.56694733e-01 9.18445836e-01 -1.70956468e-01 -8.42353433e-01] [ 4.43768890e-01 -5.54394292e-03 8.96124119e-01 -7.50198176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.01864 meters Centerline goodness : 0.996412 Centerline is valid? [True, True] Translation: X:156.16, Y:-0.84, Z:-75.01 [[ 8.22888363e-01 -3.98157514e-01 -4.05370615e-01 1.56159868e+02] [ 3.60628024e-01 9.17288817e-01 -1.68904275e-01 -8.36609600e-01] [ 4.39092438e-01 -7.19864141e-03 8.98413051e-01 -7.50077329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.04864 meters Centerline goodness : 0.997448 Centerline is valid? [True, True] Translation: X:156.17, Y:-0.80, Z:-75.00 [[ 8.32061022e-01 -4.16127231e-01 -3.66759571e-01 1.56173731e+02] [ 3.71061043e-01 9.09048360e-01 -1.89591089e-01 -8.03121263e-01] [ 4.12296202e-01 2.16611664e-02 9.10792312e-01 -7.49952054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.07864 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:156.21, Y:-0.83, Z:-74.99 [[ 8.31584838e-01 -4.02539983e-01 -3.82659404e-01 1.56214052e+02] [ 3.72801347e-01 9.15267619e-01 -1.52657594e-01 -8.31241448e-01] [ 4.11686547e-01 -1.57082001e-02 9.11190123e-01 -7.49872008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.10864 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:156.25, Y:-0.86, Z:-74.98 [[ 8.21075514e-01 -3.84487063e-01 -4.21906031e-01 1.56250806e+02] [ 3.66902747e-01 9.21697764e-01 -1.25919046e-01 -8.56351588e-01] [ 4.37284090e-01 -5.14094363e-02 8.97852825e-01 -7.49751053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.13864 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:156.25, Y:-0.79, Z:-74.96 [[ 8.30281357e-01 -4.17175224e-01 -3.69591262e-01 1.56251360e+02] [ 3.72791270e-01 9.08638976e-01 -1.88153873e-01 -7.90268590e-01] [ 4.14318161e-01 1.84402574e-02 9.09945283e-01 -7.49600113e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.16864 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:156.31, Y:-0.85, Z:-74.95 [[ 8.24167612e-01 -3.77554984e-01 -4.22137396e-01 1.56306405e+02] [ 3.66473143e-01 9.23812873e-01 -1.10757444e-01 -8.54916645e-01] [ 4.31792985e-01 -6.34193199e-02 8.99740411e-01 -7.49499460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.19864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:156.30, Y:-0.77, Z:-74.93 [[ 8.30915595e-01 -4.21287263e-01 -3.63450568e-01 1.56298675e+02] [ 3.72629121e-01 9.06439496e-01 -1.98783749e-01 -7.70573848e-01] [ 4.13191011e-01 2.97402509e-02 9.10158616e-01 -7.49334343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.22864 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:156.34, Y:-0.80, Z:-74.93 [[ 8.31914588e-01 -4.02285759e-01 -3.82209741e-01 1.56340200e+02] [ 3.72211151e-01 9.15396001e-01 -1.53326517e-01 -8.01681291e-01] [ 4.11554342e-01 -1.47081612e-02 9.11266533e-01 -7.49250074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.25864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:156.37, Y:-0.79, Z:-74.91 [[ 8.31653007e-01 -4.03148486e-01 -3.81869840e-01 1.56365303e+02] [ 3.73109033e-01 9.15013579e-01 -1.53426857e-01 -7.94932002e-01] [ 4.11269894e-01 -1.48811801e-02 9.11392136e-01 -7.49131398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.28864000000002 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:156.39, Y:-0.79, Z:-74.90 [[ 8.30884444e-01 -4.03715792e-01 -3.82942031e-01 1.56391135e+02] [ 3.73449294e-01 9.14761940e-01 -1.54098080e-01 -7.91658063e-01] [ 4.12512624e-01 -1.49717334e-02 9.10828844e-01 -7.49013192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.31864000000002 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:156.43, Y:-0.83, Z:-74.89 [[ 8.23334174e-01 -3.79905519e-01 -4.21654640e-01 1.56432581e+02] [ 3.67725098e-01 9.22974887e-01 -1.13558844e-01 -8.26607612e-01] [ 4.32318275e-01 -6.15561165e-02 8.99617560e-01 -7.48873500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.34864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:156.44, Y:-0.78, Z:-74.87 [[ 8.20983431e-01 -4.04962963e-01 -4.02481310e-01 1.56437428e+02] [ 3.66313382e-01 9.14315860e-01 -1.72745518e-01 -7.76254683e-01] [ 4.37950582e-01 -5.61308184e-03 8.98981524e-01 -7.48724491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.37864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:156.45, Y:-0.75, Z:-74.86 [[ 8.32041666e-01 -4.15958654e-01 -3.66994637e-01 1.56453595e+02] [ 3.72896946e-01 9.09221525e-01 -1.85105610e-01 -7.49296844e-01] [ 4.10675704e-01 1.71644011e-02 9.11619904e-01 -7.48599860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.40864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.49, Y:-0.77, Z:-74.85 [[ 8.34622072e-01 -3.99147307e-01 -3.79588494e-01 1.56489647e+02] [ 3.68605424e-01 9.16811672e-01 -1.53578645e-01 -7.69719576e-01] [ 4.09311664e-01 -1.17382508e-02 9.12319119e-01 -7.48496473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.51, Y:-0.76, Z:-74.84 [[ 8.35687583e-01 -3.97259438e-01 -3.79224476e-01 1.56514298e+02] [ 3.66484801e-01 9.17645619e-01 -1.53673060e-01 -7.62194059e-01] [ 4.09041752e-01 -1.05573389e-02 9.12454595e-01 -7.48374553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.54, Y:-0.75, Z:-74.83 [[ 8.37233957e-01 -3.94093376e-01 -3.79117017e-01 1.56538870e+02] [ 3.62960878e-01 9.19027727e-01 -1.53777237e-01 -7.54805005e-01] [ 4.09021641e-01 -8.85712040e-03 9.12481698e-01 -7.48255403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.56, Y:-0.75, Z:-74.81 [[ 8.40350760e-01 -3.87324479e-01 -3.79196979e-01 1.56562578e+02] [ 3.55407758e-01 9.21928187e-01 -1.54057596e-01 -7.46817428e-01] [ 4.09262661e-01 -5.30713061e-03 9.12401177e-01 -7.48117279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.59, Y:-0.74, Z:-74.80 [[ 8.43361189e-01 -3.80816543e-01 -3.79105085e-01 1.56585862e+02] [ 3.48182423e-01 9.24648649e-01 -1.54252637e-01 -7.36039458e-01] [ 4.09280960e-01 -1.90703958e-03 9.12406411e-01 -7.47996135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.61, Y:-0.73, Z:-74.79 [[ 8.44986485e-01 -3.77507379e-01 -3.78795484e-01 1.56609709e+02] [ 3.44495755e-01 9.26006575e-01 -1.54384254e-01 -7.25485645e-01] [ 4.09048304e-01 -4.08276901e-05 9.12512731e-01 -7.47882377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.58864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:156.64, Y:-0.75, Z:-74.78 [[ 8.34225775e-01 -3.58815610e-01 -4.18710777e-01 1.56644210e+02] [ 3.37041941e-01 9.32771254e-01 -1.27830033e-01 -7.46362811e-01] [ 4.36428788e-01 -3.44839850e-02 8.99077732e-01 -7.47753653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:156.64, Y:-0.67, Z:-74.76 [[ 8.47895819e-01 -3.86889263e-01 -3.62476727e-01 1.56642597e+02] [ 3.39400330e-01 9.21357392e-01 -1.89493991e-01 -6.73478091e-01] [ 4.07283803e-01 3.76464419e-02 9.12525424e-01 -7.47618621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.68, Y:-0.69, Z:-74.75 [[ 8.50254881e-01 -3.68315461e-01 -3.76045687e-01 1.56676367e+02] [ 3.34792521e-01 9.29688996e-01 -1.53597976e-01 -6.89171598e-01] [ 4.06178046e-01 4.70014557e-03 9.13781869e-01 -7.47509943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.70, Y:-0.68, Z:-74.74 [[ 8.51410281e-01 -3.66785116e-01 -3.74925609e-01 1.56698914e+02] [ 3.33216498e-01 9.30288404e-01 -1.53395733e-01 -6.76884857e-01] [ 4.05052218e-01 5.67130601e-03 9.14275963e-01 -7.47402489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.72, Y:-0.67, Z:-74.73 [[ 8.51144461e-01 -3.66927046e-01 -3.75389996e-01 1.56721816e+02] [ 3.33170406e-01 9.30231181e-01 -1.53842226e-01 -6.65920731e-01] [ 4.05648353e-01 5.87312137e-03 9.14010350e-01 -7.47291422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.74, Y:-0.65, Z:-74.72 [[ 8.50732089e-01 -3.67442448e-01 -3.75820383e-01 1.56743784e+02] [ 3.33537419e-01 9.30027555e-01 -1.54277466e-01 -6.54108545e-01] [ 4.06211402e-01 5.89863014e-03 9.13760091e-01 -7.47172966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.76864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.76, Y:-0.64, Z:-74.71 [[ 8.50365216e-01 -3.68683450e-01 -3.75435099e-01 1.56764865e+02] [ 3.34852899e-01 9.29538378e-01 -1.54375973e-01 -6.39491588e-01] [ 4.05897199e-01 5.56042646e-03 9.13901825e-01 -7.47053188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.79, Y:-0.63, Z:-74.69 [[ 8.50220067e-01 -3.69556036e-01 -3.74905555e-01 1.56788335e+02] [ 3.35793126e-01 9.29192782e-01 -1.54414216e-01 -6.28233165e-01] [ 4.05424241e-01 5.39535686e-03 9.14112726e-01 -7.46938635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.81, Y:-0.62, Z:-74.68 [[ 8.49713707e-01 -3.70605221e-01 -3.75017848e-01 1.56810371e+02] [ 3.36804317e-01 9.28776163e-01 -1.54718103e-01 -6.15028493e-01] [ 4.05646975e-01 5.15846213e-03 9.14015275e-01 -7.46822456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.83, Y:-0.61, Z:-74.67 [[ 8.49528678e-01 -3.71121154e-01 -3.74926812e-01 1.56834244e+02] [ 3.37271039e-01 9.28570047e-01 -1.54938421e-01 -6.05233406e-01] [ 4.05646733e-01 5.17267642e-03 9.14015301e-01 -7.46702421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.86, Y:-0.59, Z:-74.66 [[ 8.48848018e-01 -3.72606950e-01 -3.74994803e-01 1.56857058e+02] [ 3.38775554e-01 9.27977313e-01 -1.55207055e-01 -5.92580605e-01] [ 4.05817898e-01 4.70812885e-03 9.13941829e-01 -7.46587390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.88, Y:-0.58, Z:-74.65 [[ 8.48732368e-01 -3.73822180e-01 -3.74045912e-01 1.56879502e+02] [ 3.40169259e-01 9.27490074e-01 -1.55071074e-01 -5.80381330e-01] [ 4.04892878e-01 4.37491943e-03 9.14353661e-01 -7.46470805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.90, Y:-0.57, Z:-74.64 [[ 8.47708912e-01 -3.75762171e-01 -3.74422745e-01 1.56902311e+02] [ 3.42103590e-01 9.26708682e-01 -1.55486825e-01 -5.69138196e-01] [ 4.05406876e-01 3.71620180e-03 9.14128796e-01 -7.46358965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:156.93, Y:-0.56, Z:-74.62 [[ 8.46704506e-01 -3.78485012e-01 -3.73952638e-01 1.56925096e+02] [ 3.45054580e-01 9.25603570e-01 -1.55548603e-01 -5.57662073e-01] [ 4.05004711e-01 2.66963269e-03 9.14310700e-01 -7.46246422e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.95, Y:-0.55, Z:-74.61 [[ 8.46242799e-01 -3.79877414e-01 -3.73585702e-01 1.56948107e+02] [ 3.46532483e-01 9.25034080e-01 -1.55650859e-01 -5.45949570e-01] [ 4.04707751e-01 2.25883761e-03 9.14443292e-01 -7.46136400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.03864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:156.97, Y:-0.53, Z:-74.60 [[ 8.46090399e-01 -3.80427326e-01 -3.73371245e-01 1.56971524e+02] [ 3.47060411e-01 9.24808073e-01 -1.55817519e-01 -5.34686673e-01] [ 4.04573983e-01 2.25332908e-03 9.14502496e-01 -7.46020893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:156.99, Y:-0.52, Z:-74.59 [[ 8.46441351e-01 -3.81131150e-01 -3.71854925e-01 1.56994082e+02] [ 3.48001297e-01 9.24518453e-01 -1.55437213e-01 -5.23696563e-01] [ 4.03028704e-01 2.16248811e-03 9.15184783e-01 -7.45898198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.02, Y:-0.51, Z:-74.58 [[ 8.46576282e-01 -3.81445593e-01 -3.71224808e-01 1.57016222e+02] [ 3.48350513e-01 9.24388516e-01 -1.55427769e-01 -5.11569650e-01] [ 4.02443187e-01 2.26511087e-03 9.15442161e-01 -7.45786626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.04, Y:-0.50, Z:-74.57 [[ 8.46492401e-01 -3.81793171e-01 -3.71058741e-01 1.57039133e+02] [ 3.48649730e-01 9.24244790e-01 -1.55611485e-01 -5.00576332e-01] [ 4.02360510e-01 2.35440965e-03 9.15478278e-01 -7.45667261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.15864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.06, Y:-0.49, Z:-74.56 [[ 8.46474502e-01 -3.82508398e-01 -3.70362312e-01 1.57062561e+02] [ 3.49450388e-01 9.23949242e-01 -1.55570639e-01 -4.90314563e-01] [ 4.01703054e-01 2.26332545e-03 9.15767183e-01 -7.45551872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.11, Y:-0.55, Z:-74.55 [[ 8.34526967e-01 -3.47375057e-01 -4.27662613e-01 1.57111857e+02] [ 3.47340586e-01 9.34229660e-01 -8.10521991e-02 -5.52750367e-01] [ 4.27690610e-01 -8.09043370e-02 9.00297301e-01 -7.45451230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.07, Y:-0.40, Z:-74.52 [[ 8.48034921e-01 -4.18329098e-01 -3.25326818e-01 1.57071782e+02] [ 3.53601705e-01 9.03925070e-01 -2.40593646e-01 -3.97380071e-01] [ 3.94718390e-01 8.89956959e-02 9.14481907e-01 -7.45188906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.13, Y:-0.46, Z:-74.52 [[ 8.48009698e-01 -3.85175245e-01 -3.64032393e-01 1.57130649e+02] [ 3.53442223e-01 9.22842711e-01 -1.53101032e-01 -4.59112618e-01] [ 3.94915368e-01 1.16674175e-03 9.18716763e-01 -7.45168618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.27864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:157.15, Y:-0.45, Z:-74.51 [[ 8.47167915e-01 -3.87003321e-01 -3.64053504e-01 1.57154400e+02] [ 3.55321005e-01 9.22078148e-01 -1.53358642e-01 -4.50390261e-01] [ 3.95036084e-01 5.64664355e-04 9.18665431e-01 -7.45056573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.20, Y:-0.51, Z:-74.50 [[ 8.34914872e-01 -3.56384684e-01 -4.19412820e-01 1.57204448e+02] [ 3.55491019e-01 9.30952812e-01 -8.33846354e-02 -5.11657817e-01] [ 4.20170552e-01 -7.94784186e-02 9.03957902e-01 -7.44967316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.17, Y:-0.37, Z:-74.47 [[ 8.45993303e-01 -4.23999048e-01 -3.23295745e-01 1.57169692e+02] [ 3.62306909e-01 9.01982590e-01 -2.34864027e-01 -3.65299092e-01] [ 3.91189257e-01 8.15611123e-02 9.16689015e-01 -7.44715713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.23, Y:-0.43, Z:-74.47 [[ 8.45865449e-01 -3.93290946e-01 -3.60324679e-01 1.57227763e+02] [ 3.62748875e-01 9.19411535e-01 -1.51972640e-01 -4.26676056e-01] [ 3.91056130e-01 -2.15896696e-03 9.20364299e-01 -7.44697701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.39864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:157.27, Y:-0.46, Z:-74.46 [[ 8.30266159e-01 -3.73289288e-01 -4.13900003e-01 1.57267341e+02] [ 3.57765073e-01 9.26351757e-01 -1.17798874e-01 -4.60205206e-01] [ 4.27390053e-01 -5.02745458e-02 9.02668385e-01 -7.44597157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.42864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.26, Y:-0.37, Z:-74.44 [[ 8.46008084e-01 -4.11981083e-01 -3.38440406e-01 1.57256086e+02] [ 3.62919727e-01 9.09988847e-01 -2.00523241e-01 -3.69150933e-01] [ 3.90588777e-01 4.68175834e-02 9.19373983e-01 -7.44424243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.30, Y:-0.40, Z:-74.44 [[ 8.46801066e-01 -3.89983161e-01 -3.61719628e-01 1.57299703e+02] [ 3.58733902e-01 9.20821959e-01 -1.52960479e-01 -4.01312066e-01] [ 3.92731387e-01 -2.33996586e-04 9.19653197e-01 -7.44365101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.32, Y:-0.39, Z:-74.43 [[ 8.47309129e-01 -3.88609156e-01 -3.62008514e-01 1.57323553e+02] [ 3.57082692e-01 9.21402465e-01 -1.53327912e-01 -3.91845293e-01] [ 3.93140167e-01 6.49164813e-04 9.19478324e-01 -7.44256613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.51864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:157.37, Y:-0.43, Z:-74.42 [[ 8.31751766e-01 -3.64140659e-01 -4.19035297e-01 1.57365031e+02] [ 3.48417393e-01 9.30054691e-01 -1.16634437e-01 -4.27450385e-01] [ 4.32197085e-01 -4.89882864e-02 9.00447571e-01 -7.44155482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:157.39, Y:-0.43, Z:-74.40 [[ 8.32915676e-01 -3.55102821e-01 -4.24444888e-01 1.57393399e+02] [ 3.47430378e-01 9.32529059e-01 -9.83955578e-02 -4.34262866e-01] [ 4.30747733e-01 -6.55098455e-02 9.00091579e-01 -7.44036622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.57864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:157.34, Y:-0.26, Z:-74.38 [[ 8.50759337e-01 -4.28461451e-01 -3.04350679e-01 1.57344946e+02] [ 3.52802065e-01 8.94825575e-01 -2.73528596e-01 -2.64133550e-01] [ 3.89537230e-01 1.25331459e-01 9.12443298e-01 -7.43755952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.60864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:157.42, Y:-0.35, Z:-74.38 [[ 8.51560649e-01 -3.81422409e-01 -3.59668467e-01 1.57417532e+02] [ 3.49476535e-01 9.24389989e-01 -1.52870203e-01 -3.54862483e-01] [ 3.90782052e-01 4.48255931e-03 9.20472322e-01 -7.43774543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:157.47, Y:-0.42, Z:-74.37 [[ 8.32462260e-01 -3.43974869e-01 -4.34382177e-01 1.57468580e+02] [ 3.42556987e-01 9.35692683e-01 -8.44624983e-02 -4.17796705e-01] [ 4.35501201e-01 -7.84888076e-02 8.96759840e-01 -7.43665306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:157.43, Y:-0.26, Z:-74.35 [[ 8.53338813e-01 -4.10837164e-01 -3.20976159e-01 1.57430014e+02] [ 3.48041930e-01 9.07287974e-01 -2.35998618e-01 -2.64755221e-01] [ 3.88174812e-01 8.96736191e-02 9.17212602e-01 -7.43457849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:157.49, Y:-0.32, Z:-74.34 [[ 8.54460999e-01 -3.76650976e-01 -3.57813419e-01 1.57486434e+02] [ 3.44449421e-01 9.26328054e-01 -1.52548134e-01 -3.22191951e-01] [ 3.88910011e-01 7.09780606e-03 9.21248405e-01 -7.43424340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.72864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:157.54, Y:-0.38, Z:-74.33 [[ 8.35838051e-01 -3.40990057e-01 -4.30233115e-01 1.57536963e+02] [ 3.40322962e-01 9.36786935e-01 -8.13051057e-02 -3.84910633e-01] [ 4.30760994e-01 -7.84603072e-02 8.99048912e-01 -7.43298310e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.75864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:157.50, Y:-0.23, Z:-74.31 [[ 8.56137915e-01 -4.09133697e-01 -3.15654064e-01 1.57496111e+02] [ 3.45917647e-01 9.07551693e-01 -2.38098520e-01 -2.26561657e-01] [ 3.83886508e-01 9.46548597e-02 9.18515981e-01 -7.43081132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.78864000000002 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:157.55, Y:-0.29, Z:-74.31 [[ 8.56195040e-01 -3.76005080e-01 -3.54330685e-01 1.57554943e+02] [ 3.44263808e-01 9.26586097e-01 -1.51395622e-01 -2.88390424e-01] [ 3.85243409e-01 7.64095003e-03 9.22783361e-01 -7.43065063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.81864000000002 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:157.60, Y:-0.33, Z:-74.30 [[ 8.38793287e-01 -3.49968377e-01 -4.17070685e-01 1.57599276e+02] [ 3.39845622e-01 9.35030141e-01 -1.01111769e-01 -3.33040087e-01] [ 4.25359583e-01 -5.69277734e-02 9.03232226e-01 -7.42950937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.84864000000002 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:157.60, Y:-0.26, Z:-74.28 [[ 8.40558387e-01 -3.79201506e-01 -3.86869250e-01 1.57595766e+02] [ 3.38714115e-01 9.25227472e-01 -1.70958691e-01 -2.63095027e-01] [ 4.22769851e-01 1.26626861e-02 9.06148613e-01 -7.42807369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.87864000000002 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:157.64, Y:-0.29, Z:-74.27 [[ 8.35404795e-01 -3.60467316e-01 -4.14924261e-01 1.57635685e+02] [ 3.38810748e-01 9.32154259e-01 -1.27654672e-01 -2.92074356e-01] [ 4.32788754e-01 -3.39374742e-02 9.00856338e-01 -7.42704469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.90864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:157.64, Y:-0.26, Z:-74.26 [[ 8.45250083e-01 -3.72436441e-01 -3.83201507e-01 1.57644103e+02] [ 3.42478504e-01 9.28028347e-01 -1.46532801e-01 -2.60802025e-01] [ 4.10196016e-01 -7.38141668e-03 9.11967512e-01 -7.42602733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:157.67, Y:-0.25, Z:-74.25 [[ 8.43234442e-01 -3.73849962e-01 -3.86253650e-01 1.57665970e+02] [ 3.40732146e-01 9.27487290e-01 -1.53847107e-01 -2.45498521e-01] [ 4.15761086e-01 -1.87985559e-03 9.09471927e-01 -7.42461385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:157.64, Y:-0.12, Z:-74.22 [[ 8.60101417e-01 -4.21688476e-01 -2.87061634e-01 1.57636321e+02] [ 3.51246503e-01 8.97641548e-01 -2.66205834e-01 -1.24900896e-01] [ 3.69934382e-01 1.28134620e-01 9.20179370e-01 -7.42205221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.99864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:157.71, Y:-0.21, Z:-74.23 [[ 8.59625211e-01 -3.79175257e-01 -3.42447983e-01 1.57709110e+02] [ 3.49498330e-01 9.25299419e-01 -1.47213800e-01 -2.13640536e-01] [ 3.72686750e-01 6.86369547e-03 9.27931827e-01 -7.42250824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.02864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:157.73, Y:-0.20, Z:-74.21 [[ 8.59205151e-01 -3.81405186e-01 -3.41022863e-01 1.57732679e+02] [ 3.52060847e-01 9.24387838e-01 -1.46834208e-01 -2.04862520e-01] [ 3.71240716e-01 6.09991018e-03 9.28516625e-01 -7.42138068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.05864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:157.76, Y:-0.20, Z:-74.20 [[ 8.58477206e-01 -3.83258850e-01 -3.40777847e-01 1.57756839e+02] [ 3.54005928e-01 9.23624448e-01 -1.46961502e-01 -1.95595330e-01] [ 3.71075047e-01 5.52572185e-03 9.28586440e-01 -7.42031364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.08864 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:157.81, Y:-0.26, Z:-74.19 [[ 8.34882020e-01 -3.54094904e-01 -4.21412876e-01 1.57807256e+02] [ 3.51743714e-01 9.32105127e-01 -8.63504064e-02 -2.55642455e-01] [ 4.23377341e-01 -7.61369286e-02 9.02748467e-01 -7.41932236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.11864 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:157.80, Y:-0.18, Z:-74.18 [[ 8.37573876e-01 -3.86894539e-01 -3.85723500e-01 1.57802393e+02] [ 3.51016376e-01 9.22123541e-01 -1.62713487e-01 -1.81817666e-01] [ 4.18637679e-01 8.89301145e-04 9.08152907e-01 -7.41793783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.14864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:157.81, Y:-0.14, Z:-74.16 [[ 8.43564628e-01 -4.00171304e-01 -3.58136351e-01 1.57814352e+02] [ 3.52633853e-01 9.15725859e-01 -1.92601966e-01 -1.43418110e-01] [ 4.05028497e-01 3.61812049e-02 9.13587892e-01 -7.41647290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.17864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:157.83, Y:-0.12, Z:-74.15 [[ 8.57267857e-01 -4.05939474e-01 -3.16709590e-01 1.57834343e+02] [ 3.61025448e-01 9.12499817e-01 -1.92366083e-01 -1.23701157e-01] [ 3.67086429e-01 5.05690383e-02 9.28811243e-01 -7.41528463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.20864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:157.88, Y:-0.15, Z:-74.15 [[ 8.57115957e-01 -3.88987837e-01 -3.37699125e-01 1.57876950e+02] [ 3.60498630e-01 9.21236081e-01 -1.46167100e-01 -1.53076906e-01] [ 3.67957842e-01 3.54208227e-03 9.29835727e-01 -7.41466443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.23864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:157.93, Y:-0.21, Z:-74.14 [[ 8.35386182e-01 -3.61783511e-01 -4.13814714e-01 1.57925316e+02] [ 3.56996669e-01 9.29564098e-01 -9.19998182e-02 -2.08750717e-01] [ 4.17951318e-01 -7.08750977e-02 9.05700511e-01 -7.41360311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.26864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:157.91, Y:-0.12, Z:-74.12 [[ 8.43319790e-01 -3.99466796e-01 -3.59496884e-01 1.57914767e+02] [ 3.54914075e-01 9.16291145e-01 -1.85597782e-01 -1.15830156e-01] [ 4.03543963e-01 2.89277784e-02 9.14502845e-01 -7.41199269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.29864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:157.93, Y:-0.09, Z:-74.11 [[ 8.58770166e-01 -4.05528061e-01 -3.13146600e-01 1.57931019e+02] [ 3.60736645e-01 9.12581262e-01 -1.92521461e-01 -8.68220817e-02] [ 3.63844574e-01 5.23682335e-02 9.29986394e-01 -7.41075872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.32864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:157.99, Y:-0.18, Z:-74.10 [[ 8.46966371e-01 -3.56054690e-01 -3.94807579e-01 1.57994331e+02] [ 3.54117514e-01 9.31721910e-01 -8.05919934e-02 -1.83753326e-01] [ 3.96546028e-01 -7.15495699e-02 9.15222326e-01 -7.41022884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.35864 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:157.98, Y:-0.09, Z:-74.09 [[ 8.49917438e-01 -3.94544408e-01 -3.49249280e-01 1.57978171e+02] [ 3.51181694e-01 9.18295177e-01 -1.82771403e-01 -8.64003279e-02] [ 3.92825365e-01 3.26906481e-02 9.19031857e-01 -7.40874214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.38864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:158.02, Y:-0.10, Z:-74.08 [[ 8.45380729e-01 -3.79299100e-01 -3.76116492e-01 1.58017396e+02] [ 3.45058431e-01 9.25267922e-01 -1.57524447e-01 -9.80256262e-02] [ 4.07757406e-01 3.38596510e-03 9.13084023e-01 -7.40764022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.41864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:158.04, Y:-0.08, Z:-74.06 [[ 8.48749389e-01 -3.79203302e-01 -3.68550308e-01 1.58039922e+02] [ 3.44107750e-01 9.25273375e-01 -1.59558886e-01 -8.29164773e-02] [ 4.01515044e-01 8.60448927e-03 9.15812007e-01 -7.40644964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.44864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:158.04, Y:-0.02, Z:-74.05 [[ 8.66036938e-01 -3.97771505e-01 -3.02915585e-01 1.58039287e+02] [ 3.48703374e-01 9.14715770e-01 -2.04208269e-01 -1.76436434e-02] [ 3.58309893e-01 7.12242175e-02 9.30881911e-01 -7.40494013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.47864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:158.09, Y:-0.06, Z:-74.04 [[ 8.66266076e-01 -3.75176895e-01 -3.29886924e-01 1.58087110e+02] [ 3.46790713e-01 9.26900292e-01 -1.43499304e-01 -5.56016568e-02] [ 3.59609909e-01 9.90685787e-03 9.33050142e-01 -7.40446058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.50864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:158.13, Y:-0.10, Z:-74.03 [[ 8.50082338e-01 -3.51965265e-01 -3.91765838e-01 1.58129413e+02] [ 3.43294978e-01 9.34450350e-01 -9.46102589e-02 -9.69486548e-02] [ 3.99385249e-01 -5.40647348e-02 9.15187646e-01 -7.40343802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.53864000000002 meters Centerline goodness : 0.997985 Centerline is valid? [True, True] Translation: X:158.13, Y:-0.03, Z:-74.02 [[ 8.52836505e-01 -3.75940270e-01 -3.62406965e-01 1.58127629e+02] [ 3.42640314e-01 9.26610033e-01 -1.54891775e-01 -3.43452991e-02] [ 3.94039986e-01 7.92212369e-03 9.19059155e-01 -7.40210962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.56864000000002 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:158.13, Y:0.04, Z:-74.01 [[ 8.68194704e-01 -3.99080333e-01 -2.94911586e-01 1.58125038e+02] [ 3.48290271e-01 9.13400924e-01 -2.10695609e-01 3.84052091e-02] [ 3.53456989e-01 8.02099755e-02 9.32005642e-01 -7.40050221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.59864000000002 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:158.19, Y:-0.04, Z:-74.00 [[ 8.54441168e-01 -3.63546005e-01 -3.71166530e-01 1.58187387e+02] [ 3.44984372e-01 9.31175625e-01 -1.17888672e-01 -3.55170586e-02] [ 3.88479181e-01 -2.73177178e-02 9.21052478e-01 -7.40024903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.62864000000002 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:158.18, Y:0.04, Z:-73.99 [[ 8.67035796e-01 -3.91128823e-01 -3.08653808e-01 1.58183486e+02] [ 3.51266829e-01 9.19187298e-01 -1.78062703e-01 3.88819172e-02] [ 3.53356115e-01 4.59668927e-02 9.34358871e-01 -7.39871301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.65864000000002 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:158.22, Y:0.02, Z:-73.98 [[ 8.65201015e-01 -3.81512637e-01 -3.25384867e-01 1.58221202e+02] [ 3.54098163e-01 9.24330422e-01 -1.42224337e-01 2.18568872e-02] [ 3.55023513e-01 7.83445741e-03 9.34824543e-01 -7.39811951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68864 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:158.26, Y:-0.01, Z:-73.97 [[ 8.45638675e-01 -3.69481247e-01 -3.85199740e-01 1.58257577e+02] [ 3.53291591e-01 9.28424344e-01 -1.14949070e-01 -6.75091891e-03] [ 4.00100341e-01 -3.88824497e-02 9.15646150e-01 -7.39724230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:158.26, Y:0.04, Z:-73.96 [[ 8.48353886e-01 -3.89256127e-01 -3.58852828e-01 1.58262393e+02] [ 3.56309489e-01 9.21115046e-01 -1.56813968e-01 4.30496296e-02] [ 3.91585537e-01 5.17107142e-03 9.20127180e-01 -7.39589055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.74864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:158.29, Y:0.05, Z:-73.95 [[ 8.48838239e-01 -3.89971279e-01 -3.56925826e-01 1.58285513e+02] [ 3.56615673e-01 9.20801981e-01 -1.57952443e-01 5.47768468e-02] [ 3.90254923e-01 6.79072972e-03 9.20681802e-01 -7.39478891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.77864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:158.31, Y:0.07, Z:-73.94 [[ 8.49647534e-01 -3.94883314e-01 -3.49522870e-01 1.58306474e+02] [ 3.59289461e-01 9.18622383e-01 -1.64450601e-01 7.49401141e-02] [ 3.86018330e-01 1.41451642e-02 9.22382655e-01 -7.39372145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.80864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:158.33, Y:0.08, Z:-73.93 [[ 8.50096539e-01 -3.95286791e-01 -3.47971590e-01 1.58329628e+02] [ 3.61132511e-01 9.18488097e-01 -1.61130152e-01 8.40032915e-02] [ 3.83300384e-01 1.13123299e-02 9.23554463e-01 -7.39273263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.83864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:158.35, Y:0.12, Z:-73.91 [[ 8.63143907e-01 -4.03465412e-01 -3.03641660e-01 1.58345013e+02] [ 3.67075270e-01 9.14268095e-01 -1.71375600e-01 1.16792769e-01] [ 3.46754009e-01 3.64624605e-02 9.37247111e-01 -7.39145682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.86864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:158.38, Y:0.10, Z:-73.91 [[ 8.62278911e-01 -3.95489413e-01 -3.16327685e-01 1.58381597e+02] [ 3.70343810e-01 9.18467053e-01 -1.38793855e-01 1.00734734e-01] [ 3.45428057e-01 2.52901401e-03 9.38441827e-01 -7.39073335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.89864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:158.41, Y:0.11, Z:-73.90 [[ 8.61052668e-01 -3.98047555e-01 -3.16459234e-01 1.58405611e+02] [ 3.72968286e-01 9.17363181e-01 -1.39066361e-01 1.10562550e-01] [ 3.45663075e-01 1.71420320e-03 9.38357128e-01 -7.38967140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.92864 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:158.43, Y:0.12, Z:-73.89 [[ 8.59821779e-01 -4.01976233e-01 -3.14835857e-01 1.58430546e+02] [ 3.77339448e-01 9.15650038e-01 -1.38563879e-01 1.19835965e-01] [ 3.43978851e-01 3.40252113e-04 9.38977334e-01 -7.38870439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.95864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:158.45, Y:0.13, Z:-73.88 [[ 8.58794391e-01 -4.03690143e-01 -3.15446450e-01 1.58454134e+02] [ 3.78987515e-01 9.14895759e-01 -1.39047523e-01 1.29710983e-01] [ 3.44732734e-01 -1.37033064e-04 9.38700870e-01 -7.38766440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.98864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:158.50, Y:0.09, Z:-73.87 [[ 8.47926564e-01 -3.84754706e-01 -3.64670204e-01 1.58497194e+02] [ 3.79430288e-01 9.20894264e-01 -8.93667231e-02 8.71503420e-02] [ 3.70206966e-01 -6.25905021e-02 9.26838298e-01 -7.38711764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.01864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:158.48, Y:0.20, Z:-73.85 [[ 8.58442969e-01 -4.27581410e-01 -2.83283967e-01 1.58475005e+02] [ 3.82256136e-01 9.01598050e-01 -2.02487539e-01 2.03868262e-01] [ 3.41988180e-01 6.55369693e-02 9.37416125e-01 -7.38474496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.04864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:158.55, Y:0.10, Z:-73.85 [[ 8.48319486e-01 -3.81771688e-01 -3.66884762e-01 1.58547736e+02] [ 3.78803316e-01 9.21725451e-01 -8.32480663e-02 1.01968153e-01] [ 3.69948778e-01 -6.83562078e-02 9.26534042e-01 -7.38494373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.07864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:158.54, Y:0.17, Z:-73.83 [[ 8.45132633e-01 -4.09134223e-01 -3.44034912e-01 1.58543803e+02] [ 3.76420916e-01 9.12453986e-01 -1.60421373e-01 1.71626704e-01] [ 3.79549901e-01 6.07540077e-03 9.25151319e-01 -7.38338835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.10864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:158.55, Y:0.23, Z:-73.82 [[ 8.60476289e-01 -4.24811553e-01 -2.81275133e-01 1.58546753e+02] [ 3.79375194e-01 9.02737918e-01 -2.02826808e-01 2.32792013e-01] [ 3.40080899e-01 6.78188511e-02 9.37947539e-01 -7.38164417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.13864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:158.61, Y:0.14, Z:-73.82 [[ 8.47959195e-01 -3.83628402e-01 -3.65779240e-01 1.58612182e+02] [ 3.76335093e-01 9.21679698e-01 -9.42254324e-02 1.37627740e-01] [ 3.73278852e-01 -5.77562427e-02 9.25919605e-01 -7.38180165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.16864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:158.61, Y:0.22, Z:-73.80 [[ 8.48871770e-01 -4.11731878e-01 -3.31502003e-01 1.58606852e+02] [ 3.71998837e-01 9.10862192e-01 -1.78737049e-01 2.19391959e-01] [ 3.75544382e-01 2.84064754e-02 9.26368981e-01 -7.37994438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.19864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:158.64, Y:0.21, Z:-73.79 [[ 8.50297036e-01 -4.01597692e-01 -3.40167966e-01 1.58639299e+02] [ 3.70176190e-01 9.15792338e-01 -1.55865270e-01 2.10719988e-01] [ 3.74118350e-01 6.60969583e-03 9.27357414e-01 -7.37912419e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.22864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:158.65, Y:0.25, Z:-73.78 [[ 8.65094171e-01 -4.09378462e-01 -2.89864365e-01 1.58652394e+02] [ 3.72572243e-01 9.11326192e-01 -1.75141360e-01 2.53562872e-01] [ 3.35860088e-01 4.35183531e-02 9.40906028e-01 -7.37776308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.25864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:158.70, Y:0.20, Z:-73.77 [[ 8.51334412e-01 -3.83821741e-01 -3.57645901e-01 1.58703237e+02] [ 3.69777817e-01 9.22596681e-01 -1.09907828e-01 1.98218207e-01] [ 3.72147935e-01 -3.86812048e-02 9.27367068e-01 -7.37744144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.28864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:158.71, Y:0.24, Z:-73.76 [[ 8.50953231e-01 -3.99983674e-01 -3.40428641e-01 1.58710079e+02] [ 3.69672774e-01 9.16512757e-01 -1.52795309e-01 2.44027161e-01] [ 3.73122821e-01 4.17446200e-03 9.27772566e-01 -7.37609770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.31864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:158.72, Y:0.29, Z:-73.75 [[ 8.66363665e-01 -4.10711798e-01 -2.84129933e-01 1.58719345e+02] [ 3.72288092e-01 9.10348412e-01 -1.80741101e-01 2.93780389e-01] [ 3.32889735e-01 5.08093319e-02 9.41595898e-01 -7.37462021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.34864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:158.76, Y:0.27, Z:-73.74 [[ 8.66473288e-01 -3.94942245e-01 -3.05359892e-01 1.58760095e+02] [ 3.71309914e-01 9.18700203e-01 -1.34606409e-01 2.69160495e-01] [ 3.33695952e-01 3.24970257e-03 9.42675157e-01 -7.37408873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.37864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:158.80, Y:0.24, Z:-73.73 [[ 8.50885634e-01 -3.83506239e-01 -3.59049582e-01 1.58795369e+02] [ 3.70602703e-01 9.22588274e-01 -1.07165820e-01 2.43185693e-01] [ 3.72353695e-01 -4.18788886e-02 9.27145557e-01 -7.37335914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.40864000000002 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:158.80, Y:0.30, Z:-73.72 [[ 8.52434846e-01 -4.03476717e-01 -3.32507704e-01 1.58795785e+02] [ 3.70338244e-01 9.14884700e-01 -1.60734473e-01 3.01678201e-01] [ 3.69058828e-01 1.38753467e-02 9.29302457e-01 -7.37184251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:158.81, Y:0.34, Z:-73.71 [[ 8.66937636e-01 -4.09371515e-01 -2.84313379e-01 1.58811475e+02] [ 3.73437638e-01 9.11296987e-01 -1.73442013e-01 3.39412281e-01] [ 3.30096145e-01 4.41900915e-02 9.42912388e-01 -7.37052032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:158.86, Y:0.28, Z:-73.70 [[ 8.51592082e-01 -3.82915892e-01 -3.58003276e-01 1.58863907e+02] [ 3.72468475e-01 9.22559085e-01 -1.00756986e-01 2.77961283e-01] [ 3.68860626e-01 -4.75410826e-02 9.28268110e-01 -7.37026663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.49864 meters Centerline goodness : 0.999456 Centerline is valid? [True, True] Translation: X:158.86, Y:0.35, Z:-73.69 [[ 8.54017750e-01 -4.07561692e-01 -3.23337517e-01 1.58860703e+02] [ 3.72492644e-01 9.12911155e-01 -1.66860580e-01 3.46837047e-01] [ 3.63184407e-01 2.20610502e-02 9.31456063e-01 -7.36869385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.52864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:158.88, Y:0.37, Z:-73.68 [[ 8.66234928e-01 -4.11116718e-01 -2.83936777e-01 1.58881484e+02] [ 3.77351228e-01 9.10791468e-01 -1.67525975e-01 3.71196703e-01] [ 3.27479923e-01 3.79729589e-02 9.44094780e-01 -7.36759599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.55864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:158.92, Y:0.35, Z:-73.67 [[ 8.66309585e-01 -3.99700223e-01 -2.99578762e-01 1.58919934e+02] [ 3.77200992e-01 9.16644617e-01 -1.32219731e-01 3.53342109e-01] [ 3.27455516e-01 1.54181378e-03 9.44865339e-01 -7.36697748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.58864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:158.94, Y:0.37, Z:-73.66 [[ 8.66838760e-01 -3.98951716e-01 -2.99045303e-01 1.58941851e+02] [ 3.76422998e-01 9.16969724e-01 -1.32182648e-01 3.68571020e-01] [ 3.26949983e-01 2.01351276e-03 9.45039499e-01 -7.36589623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.61864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:158.99, Y:0.32, Z:-73.65 [[ 8.49572835e-01 -3.72575791e-01 -3.73380875e-01 1.58990709e+02] [ 3.71760337e-01 9.25110652e-01 -7.72303873e-02 3.18098602e-01] [ 3.74192797e-01 -7.31953606e-02 9.24457782e-01 -7.36527952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.64864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:158.98, Y:0.40, Z:-73.64 [[ 8.54286682e-01 -3.99142863e-01 -3.32985345e-01 1.58983364e+02] [ 3.67762273e-01 9.16830181e-01 -1.55477747e-01 3.99069991e-01] [ 3.67348848e-01 1.03631212e-02 9.30025500e-01 -7.36358555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.67864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:159.00, Y:0.44, Z:-73.62 [[ 8.58237101e-01 -4.05701511e-01 -3.14380919e-01 1.58995026e+02] [ 3.66251789e-01 9.13208357e-01 -1.78634052e-01 4.35852286e-01] [ 3.59567387e-01 3.81677972e-02 9.32338197e-01 -7.36236128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.70864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:159.02, Y:0.45, Z:-73.61 [[ 8.70238825e-01 -4.03850888e-01 -2.82114954e-01 1.59018419e+02] [ 3.70184384e-01 9.13933499e-01 -1.66400366e-01 4.51432232e-01] [ 3.25035243e-01 4.03735082e-02 9.44839706e-01 -7.36145838e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.73864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:159.05, Y:0.44, Z:-73.61 [[ 8.71096874e-01 -3.92066430e-01 -2.95760293e-01 1.59054804e+02] [ 3.69443407e-01 9.19922455e-01 -1.31355416e-01 4.39138340e-01] [ 3.23576584e-01 5.15660193e-03 9.46187933e-01 -7.36106148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.76864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:159.08, Y:0.45, Z:-73.60 [[ 8.71243066e-01 -3.92800398e-01 -2.94352454e-01 1.59077674e+02] [ 3.70372831e-01 9.19609897e-01 -1.30925944e-01 4.51582422e-01] [ 3.22117192e-01 5.04816904e-03 9.46686342e-01 -7.36010876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.79864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:159.10, Y:0.47, Z:-73.59 [[ 8.70009449e-01 -3.95350734e-01 -2.94586754e-01 1.59099325e+02] [ 3.72961397e-01 9.18520176e-01 -1.31226835e-01 4.67501409e-01] [ 3.22464502e-01 4.29909934e-03 9.46571795e-01 -7.35912926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.12, Y:0.48, Z:-73.58 [[ 8.68725506e-01 -3.97688556e-01 -2.95228399e-01 1.59121816e+02] [ 3.75262333e-01 9.17513282e-01 -1.31710132e-01 4.81835775e-01] [ 3.23255589e-01 3.63185361e-03 9.46304726e-01 -7.35818829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.14, Y:0.50, Z:-73.57 [[ 8.67739414e-01 -3.99791146e-01 -2.95288587e-01 1.59144839e+02] [ 3.77406280e-01 9.16601218e-01 -1.31934482e-01 4.95403267e-01] [ 3.23408116e-01 3.04098317e-03 9.46254692e-01 -7.35730042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.17, Y:0.51, Z:-73.56 [[ 8.65469682e-01 -4.04317440e-01 -2.95786472e-01 1.59167553e+02] [ 3.82043136e-01 9.14617415e-01 -1.32355685e-01 5.09086730e-01] [ 3.24045170e-01 1.54664121e-03 9.46040346e-01 -7.35630777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.91864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.19, Y:0.52, Z:-73.55 [[ 8.63615303e-01 -4.09454597e-01 -2.94135243e-01 1.59189417e+02] [ 3.87657499e-01 9.12330476e-01 -1.31813375e-01 5.23531071e-01] [ 3.22320138e-01 -1.87685008e-04 9.46630706e-01 -7.35536486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.94864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:159.26, Y:0.42, Z:-73.56 [[ 8.47949287e-01 -3.65326297e-01 -3.84081637e-01 1.59261017e+02] [ 3.89050603e-01 9.21056539e-01 -1.71603975e-02 4.23630578e-01] [ 3.60030048e-01 -1.34876046e-01 9.23139652e-01 -7.35563211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.18, Y:0.65, Z:-73.50 [[ 8.58723455e-01 -4.59193255e-01 -2.27454572e-01 1.59176184e+02] [ 3.99834117e-01 8.78024834e-01 -2.63068564e-01 6.53529289e-01] [ 3.20510073e-01 1.34959048e-01 9.37581649e-01 -7.35014092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.00864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.26, Y:0.56, Z:-73.52 [[ 8.58858474e-01 -4.21589390e-01 -2.90902919e-01 1.59260584e+02] [ 4.00862808e-01 9.06776108e-01 -1.30637283e-01 5.56243638e-01] [ 3.18859109e-01 -4.41322332e-03 9.47791851e-01 -7.35226787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.28, Y:0.57, Z:-73.51 [[ 8.56152456e-01 -4.27771349e-01 -2.89852798e-01 1.59284036e+02] [ 4.07479000e-01 9.03863551e-01 -1.30351625e-01 5.66716743e-01] [ 3.17748070e-01 -6.50806472e-03 9.48152841e-01 -7.35130147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.06864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.33, Y:0.53, Z:-73.51 [[ 8.42726997e-01 -4.09567376e-01 -3.49379126e-01 1.59329697e+02] [ 4.05521227e-01 9.09802053e-01 -8.83898081e-02 5.26824105e-01] [ 3.54067428e-01 -6.71921745e-02 9.32803017e-01 -7.35100860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.09864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.31, Y:0.63, Z:-73.48 [[ 8.50953126e-01 -4.55211655e-01 -2.62032682e-01 1.59309070e+02] [ 4.17942195e-01 8.88994241e-01 -1.87119111e-01 6.29730320e-01] [ 3.18124345e-01 4.97150781e-02 9.46744587e-01 -7.34834006e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.12864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.39, Y:0.53, Z:-73.49 [[ 8.43027691e-01 -4.08980863e-01 -3.49340759e-01 1.59390698e+02] [ 4.13721700e-01 9.08098652e-01 -6.47394270e-02 5.26741074e-01] [ 3.43713059e-01 -8.99527231e-02 9.34756568e-01 -7.34914424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.38, Y:0.60, Z:-73.47 [[ 8.41814990e-01 -4.38027761e-01 -3.15403240e-01 1.59383200e+02] [ 4.15197259e-01 8.98868052e-01 -1.40169404e-01 5.98938654e-01] [ 3.44903986e-01 -1.29578554e-02 9.38548525e-01 -7.34723386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.38, Y:0.67, Z:-73.45 [[ 8.47533267e-01 -4.67713592e-01 -2.50861231e-01 1.59377344e+02] [ 4.26847902e-01 8.81579312e-01 -2.01541025e-01 6.67780761e-01] [ 3.15417548e-01 6.37331330e-02 9.46810360e-01 -7.34497869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.44, Y:0.61, Z:-73.45 [[ 8.47797376e-01 -4.47198421e-01 -2.85049436e-01 1.59436536e+02] [ 4.28408105e-01 8.94342771e-01 -1.28908895e-01 6.11723658e-01] [ 3.12579757e-01 -1.28288656e-02 9.49804883e-01 -7.34544582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.46, Y:0.62, Z:-73.44 [[ 8.47302237e-01 -4.48064746e-01 -2.85161186e-01 1.59462240e+02] [ 4.29250389e-01 8.93906698e-01 -1.29131401e-01 6.19440135e-01] [ 3.12766723e-01 -1.29922252e-02 9.49741112e-01 -7.34446515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.49, Y:0.63, Z:-73.43 [[ 8.47509321e-01 -4.48074896e-01 -2.84529152e-01 1.59487428e+02] [ 4.29290179e-01 8.93904330e-01 -1.29015468e-01 6.27396920e-01] [ 3.12150433e-01 -1.28037591e-02 9.49946404e-01 -7.34345634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.51, Y:0.63, Z:-73.43 [[ 8.47909550e-01 -4.46861621e-01 -2.85243906e-01 1.59514413e+02] [ 4.27857134e-01 8.94519492e-01 -1.29511199e-01 6.32282654e-01] [ 3.13029819e-01 -1.22298579e-02 9.49664553e-01 -7.34259959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:159.54, Y:0.64, Z:-73.42 [[ 8.48237970e-01 -4.46628942e-01 -2.84631224e-01 1.59539751e+02] [ 4.27638008e-01 8.94639449e-01 -1.29406303e-01 6.39524842e-01] [ 3.12438922e-01 -1.19517903e-02 9.49862661e-01 -7.34162536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:159.57, Y:0.64, Z:-73.41 [[ 8.49073127e-01 -4.45525997e-01 -2.83868650e-01 1.59567101e+02] [ 4.26522086e-01 8.95197076e-01 -1.29232757e-01 6.43257499e-01] [ 3.11694938e-01 -1.13481876e-02 9.50114459e-01 -7.34066519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.59, Y:0.65, Z:-73.40 [[ 8.49356994e-01 -4.45018432e-01 -2.83815595e-01 1.59592474e+02] [ 4.25937381e-01 8.95453894e-01 -1.29381877e-01 6.51366307e-01] [ 3.11721100e-01 -1.09962696e-02 9.50110013e-01 -7.33969487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.62, Y:0.66, Z:-73.39 [[ 8.50039749e-01 -4.42334071e-01 -2.85959776e-01 1.59618766e+02] [ 4.22755169e-01 8.96795264e-01 -1.30523260e-01 6.57305911e-01] [ 3.14182258e-01 -9.94101464e-03 9.49310637e-01 -7.33881557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.64, Y:0.67, Z:-73.38 [[ 8.50996873e-01 -4.40767379e-01 -2.85531854e-01 1.59643848e+02] [ 4.21103946e-01 8.97574433e-01 -1.30505188e-01 6.65571887e-01] [ 3.13808521e-01 -9.17908337e-03 9.49441918e-01 -7.33790204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.67, Y:0.67, Z:-73.37 [[ 8.52942832e-01 -4.36499551e-01 -2.86280750e-01 1.59669484e+02] [ 4.16436711e-01 8.99673550e-01 -1.31026599e-01 6.72972640e-01] [ 3.14752270e-01 -7.45961556e-03 9.49144543e-01 -7.33690723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.69, Y:0.68, Z:-73.36 [[ 8.54884357e-01 -4.33970751e-01 -2.84327492e-01 1.59693679e+02] [ 4.13992140e-01 9.00904872e-01 -1.30310860e-01 6.82938612e-01] [ 3.12703124e-01 -6.30863056e-03 9.49829962e-01 -7.33594141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.72, Y:0.69, Z:-73.35 [[ 8.55892961e-01 -4.31908446e-01 -2.84433354e-01 1.59718052e+02] [ 4.11743604e-01 9.01901384e-01 -1.30541559e-01 6.92725903e-01] [ 3.12912838e-01 -5.38401255e-03 9.49766586e-01 -7.33488367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.77, Y:0.64, Z:-73.34 [[ 8.44655531e-01 -4.05497951e-01 -3.49468806e-01 1.59766778e+02] [ 4.04211813e-01 9.11138151e-01 -8.02501092e-02 6.43584616e-01] [ 3.50955616e-01 -7.34757212e-02 9.33504940e-01 -7.33438404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.74, Y:0.77, Z:-73.32 [[ 8.60357692e-01 -4.44659268e-01 -2.49124018e-01 1.59736397e+02] [ 4.05282157e-01 8.93227028e-01 -1.94658289e-01 7.67915099e-01] [ 3.09080919e-01 6.65102371e-02 9.48707212e-01 -7.33198232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.63864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:159.79, Y:0.73, Z:-73.32 [[ 8.62108212e-01 -4.22076360e-01 -2.80394326e-01 1.59788733e+02] [ 4.01916733e-01 9.06558917e-01 -1.28894802e-01 7.26195761e-01] [ 3.08597426e-01 -1.57390465e-03 9.51191438e-01 -7.33200261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.66864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:159.81, Y:0.74, Z:-73.31 [[ 8.61902380e-01 -4.22543361e-01 -2.80323734e-01 1.59813136e+02] [ 4.02357940e-01 9.06341362e-01 -1.29048149e-01 7.37280338e-01] [ 3.08597433e-01 -1.56357376e-03 9.51191453e-01 -7.33105160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:159.84, Y:0.75, Z:-73.30 [[ 8.61945091e-01 -4.21424247e-01 -2.81872779e-01 1.59836975e+02] [ 4.00893986e-01 9.06863053e-01 -1.29936192e-01 7.49760563e-01] [ 3.10378271e-01 -1.00323968e-03 9.50612604e-01 -7.33012432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:159.90, Y:0.68, Z:-73.30 [[ 8.51327006e-01 -3.82390241e-01 -3.59193587e-01 1.59897945e+02] [ 3.93614690e-01 9.18193839e-01 -4.45819443e-02 6.76352857e-01] [ 3.46857039e-01 -1.03430059e-01 9.32197628e-01 -7.32970828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.75864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:159.87, Y:0.79, Z:-73.28 [[ 8.47280399e-01 -4.24401628e-01 -3.19373110e-01 1.59872902e+02] [ 3.89701800e-01 9.05278069e-01 -1.69127544e-01 7.88972943e-01] [ 3.60899477e-01 1.88381771e-02 9.32414441e-01 -7.32774162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:159.87, Y:0.86, Z:-73.26 [[ 8.64925432e-01 -4.40487773e-01 -2.40571235e-01 1.59868892e+02] [ 3.96861503e-01 8.93659270e-01 -2.09461348e-01 8.58013924e-01] [ 3.07253877e-01 8.56949855e-02 9.47761270e-01 -7.32589230e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.81864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:159.93, Y:0.80, Z:-73.26 [[ 8.65831543e-01 -4.15523825e-01 -2.78703587e-01 1.59927868e+02] [ 3.95049937e-01 9.09581147e-01 -1.28832001e-01 8.03482302e-01] [ 3.07036294e-01 1.44497579e-03 9.51696709e-01 -7.32626642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.84864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:159.95, Y:0.82, Z:-73.25 [[ 8.65006504e-01 -4.16675164e-01 -2.79545266e-01 1.59951859e+02] [ 3.96072136e-01 9.09054631e-01 -1.29408429e-01 8.15452442e-01] [ 3.08043196e-01 1.21904197e-03 9.51371590e-01 -7.32534003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.87864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:159.97, Y:0.83, Z:-73.24 [[ 8.63897313e-01 -4.19573782e-01 -2.78638249e-01 1.59974260e+02] [ 3.99194438e-01 9.07721163e-01 -1.29174652e-01 8.28941605e-01] [ 3.07124133e-01 3.62796052e-04 9.51669394e-01 -7.32445673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.90864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:160.00, Y:0.84, Z:-73.24 [[ 8.62756360e-01 -4.21910581e-01 -2.78644800e-01 1.59996749e+02] [ 4.01588699e-01 9.06637401e-01 -1.29364366e-01 8.43041392e-01] [ 3.07209992e-01 -2.90673340e-04 9.51641706e-01 -7.32352407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:160.02, Y:0.85, Z:-73.23 [[ 8.62169318e-01 -4.23822543e-01 -2.77558135e-01 1.60020924e+02] [ 4.03699375e-01 9.05744902e-01 -1.29046455e-01 8.53903762e-01] [ 3.06089662e-01 -7.90151010e-04 9.52002360e-01 -7.32266897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:160.06, Y:0.82, Z:-73.22 [[ 8.46900277e-01 -4.07320613e-01 -3.41833057e-01 1.60064976e+02] [ 4.00265492e-01 9.11516391e-01 -9.44743582e-02 8.18563911e-01] [ 3.50067788e-01 -5.68136165e-02 9.34999870e-01 -7.32211441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.99864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:160.07, Y:0.86, Z:-73.21 [[ 8.48804271e-01 -4.21021463e-01 -3.19800307e-01 1.60069549e+02] [ 4.00109845e-01 9.06911098e-01 -1.32001412e-01 8.64130042e-01] [ 3.45605875e-01 -1.59118891e-02 9.38244846e-01 -7.32092970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.02864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:160.06, Y:0.95, Z:-73.19 [[ 8.63077110e-01 -4.44579197e-01 -2.39681537e-01 1.60058755e+02] [ 4.05012465e-01 8.92729954e-01 -1.97479450e-01 9.47957449e-01] [ 3.01766143e-01 7.33659830e-02 9.50554905e-01 -7.31871428e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.05864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:160.14, Y:0.84, Z:-73.20 [[ 8.55972675e-01 -3.97582201e-01 -3.30513498e-01 1.60140243e+02] [ 3.98724076e-01 9.14580252e-01 -6.75431282e-02 8.39711821e-01] [ 3.29135064e-01 -7.39686171e-02 9.41381301e-01 -7.31967157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.08864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:160.10, Y:0.97, Z:-73.17 [[ 8.64824706e-01 -4.42327377e-01 -2.37538879e-01 1.60104454e+02] [ 4.02306386e-01 8.93565171e-01 -1.99225643e-01 9.74317405e-01] [ 3.00379425e-01 7.67318503e-02 9.50728365e-01 -7.31675844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.11864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:160.18, Y:0.88, Z:-73.17 [[ 8.51546660e-01 -4.03361639e-01 -3.34914427e-01 1.60178387e+02] [ 3.97442479e-01 9.13263732e-01 -8.93802636e-02 8.79809367e-01] [ 3.41917769e-01 -5.69977553e-02 9.37999731e-01 -7.31746661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.14864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:160.16, Y:0.99, Z:-73.15 [[ 8.66701980e-01 -4.36284962e-01 -2.41832812e-01 1.60156954e+02] [ 4.01117969e-01 8.97753253e-01 -1.82053485e-01 9.86892623e-01] [ 2.96533392e-01 6.07826295e-02 9.53086260e-01 -7.31516090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.17864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:160.21, Y:0.95, Z:-73.15 [[ 8.66625224e-01 -4.20099601e-01 -2.69215613e-01 1.60206075e+02] [ 4.00921274e-01 9.07477637e-01 -1.25484939e-01 9.51760175e-01] [ 2.97023321e-01 8.14146669e-04 9.54869878e-01 -7.31519780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.20864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:160.23, Y:0.96, Z:-73.14 [[ 8.66157139e-01 -4.21530581e-01 -2.68484226e-01 1.60229439e+02] [ 4.02470990e-01 9.06814054e-01 -1.25321082e-01 9.63553526e-01] [ 2.96291939e-01 4.90637844e-04 9.55097297e-01 -7.31430138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.23864 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:160.26, Y:0.95, Z:-73.14 [[ 8.53324771e-01 -4.15727792e-01 -3.14654155e-01 1.60261150e+02] [ 4.00910889e-01 9.09024654e-01 -1.13774501e-01 9.50550555e-01] [ 3.33327607e-01 -2.90616774e-02 9.42363054e-01 -7.31382378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.26864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:160.26, Y:1.01, Z:-73.12 [[ 8.64177137e-01 -4.33046430e-01 -2.56258980e-01 1.60263084e+02] [ 4.05029838e-01 9.00825426e-01 -1.56410941e-01 1.01311151e+00] [ 2.98577805e-01 3.13742263e-02 9.53869463e-01 -7.31214306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.29864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:160.32, Y:0.95, Z:-73.12 [[ 8.48271289e-01 -4.08339431e-01 -3.37186492e-01 1.60320428e+02] [ 4.03273851e-01 9.10793676e-01 -8.84594814e-02 9.49561452e-01] [ 3.43228819e-01 -6.09408567e-02 9.37272740e-01 -7.31233434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.32864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:160.30, Y:1.06, Z:-73.10 [[ 8.63888819e-01 -4.43105027e-01 -2.39487043e-01 1.60296060e+02] [ 4.07487119e-01 8.94319881e-01 -1.84786901e-01 1.06221937e+00] [ 2.96058029e-01 6.20474521e-02 9.53152536e-01 -7.30958453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.35864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:160.35, Y:1.02, Z:-73.10 [[ 8.64942687e-01 -4.25263502e-01 -2.66505351e-01 1.60346955e+02] [ 4.06610396e-01 9.05069374e-01 -1.24568914e-01 1.02349805e+00] [ 2.94180443e-01 -6.18874627e-04 9.55749697e-01 -7.30963239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.38864 meters Centerline goodness : 0.996653 Centerline is valid? [True, True] Translation: X:160.39, Y:0.99, Z:-73.09 [[ 8.48600676e-01 -4.09743293e-01 -3.34645076e-01 1.60390297e+02] [ 4.03176291e-01 9.10447695e-01 -9.23789600e-02 9.89150236e-01] [ 3.42528497e-01 -5.65281127e-02 9.37805311e-01 -7.30903887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.41864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:160.37, Y:1.09, Z:-73.07 [[ 8.63797555e-01 -4.43476394e-01 -2.39128565e-01 1.60370769e+02] [ 4.10487910e-01 8.94646253e-01 -1.76373914e-01 1.08999021e+00] [ 2.92153142e-01 5.41919705e-02 9.54834945e-01 -7.30675232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.44864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:160.42, Y:1.06, Z:-73.07 [[ 8.63618423e-01 -4.29643991e-01 -2.63759853e-01 1.60418376e+02] [ 4.11498891e-01 9.02996503e-01 -1.23555568e-01 1.05775223e+00] [ 2.91259132e-01 -1.83202164e-03 9.56642442e-01 -7.30683562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.47864 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:160.45, Y:1.04, Z:-73.06 [[ 8.52267262e-01 -4.21913180e-01 -3.09240654e-01 1.60453957e+02] [ 4.09572909e-01 9.05950783e-01 -1.07253020e-01 1.04096698e+00] [ 3.25408276e-01 -3.52483563e-02 9.44916402e-01 -7.30632344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.50864 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:160.45, Y:1.11, Z:-73.05 [[ 8.62427016e-01 -4.41145540e-01 -2.48214129e-01 1.60452377e+02] [ 4.13643786e-01 8.96847059e-01 -1.56729610e-01 1.10752194e+00] [ 2.91750680e-01 3.24956183e-02 9.55942245e-01 -7.30453163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.53864000000002 meters Centerline goodness : 0.997056 Centerline is valid? [True, True] Translation: X:160.49, Y:1.09, Z:-73.04 [[ 8.62943285e-01 -4.30336348e-01 -2.64838656e-01 1.60490411e+02] [ 4.11980006e-01 9.02666832e-01 -1.24358614e-01 1.09161581e+00] [ 2.92577103e-01 -1.79380046e-03 9.56240253e-01 -7.30413711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.56864000000002 meters Centerline goodness : 0.996958 Centerline is valid? [True, True] Translation: X:160.51, Y:1.10, Z:-73.03 [[ 8.62902461e-01 -4.29811376e-01 -2.65822355e-01 1.60513664e+02] [ 4.11236521e-01 9.02917529e-01 -1.24997839e-01 1.10349147e+00] [ 2.93741157e-01 -1.45491774e-03 9.55883893e-01 -7.30328698e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.59864000000002 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:160.54, Y:1.12, Z:-73.02 [[ 8.63658999e-01 -4.29017152e-01 -2.64645834e-01 1.60536862e+02] [ 4.10520600e-01 9.03295772e-01 -1.24617755e-01 1.11675498e+00] [ 2.92516618e-01 -1.01532111e-03 9.56259901e-01 -7.30234444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.62864000000002 meters Centerline goodness : 0.996755 Centerline is valid? [True, True] Translation: X:160.56, Y:1.13, Z:-73.01 [[ 8.63879685e-01 -4.29668773e-01 -2.62862390e-01 1.60560214e+02] [ 4.11407166e-01 9.02985929e-01 -1.23937710e-01 1.12997254e+00] [ 2.90613203e-01 -1.07620125e-03 9.56840012e-01 -7.30140508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.65864000000002 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:160.58, Y:1.14, Z:-73.01 [[ 8.63183164e-01 -4.31278970e-01 -2.62513381e-01 1.60583783e+02] [ 4.13086463e-01 9.02217460e-01 -1.23948491e-01 1.14124438e+00] [ 2.90300534e-01 -1.45047315e-03 9.56934426e-01 -7.30053397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68864 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:160.63, Y:1.10, Z:-73.00 [[ 8.49354559e-01 -4.13889345e-01 -3.27555251e-01 1.60631303e+02] [ 4.11549599e-01 9.07869071e-01 -8.00042324e-02 1.09918823e+00] [ 3.30490181e-01 -6.68532729e-02 9.41438729e-01 -7.30028260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71864 meters Centerline goodness : 0.995977 Centerline is valid? [True, True] Translation: X:160.60, Y:1.22, Z:-72.97 [[ 8.60035963e-01 -4.54695082e-01 -2.31496272e-01 1.60602740e+02] [ 4.19814360e-01 8.88466349e-01 -1.85427746e-01 1.21686073e+00] [ 2.89989731e-01 6.22890709e-02 9.55000538e-01 -7.29749711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.74864 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:160.65, Y:1.18, Z:-72.98 [[ 8.60247584e-01 -4.37952747e-01 -2.61096698e-01 1.60654491e+02] [ 4.20184831e-01 8.98991396e-01 -1.23528049e-01 1.17758232e+00] [ 2.88823133e-01 -3.44416612e-03 9.57376277e-01 -7.29776282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.77864 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:160.70, Y:1.14, Z:-72.98 [[ 8.45486743e-01 -4.20805558e-01 -3.28747395e-01 1.60701547e+02] [ 4.18436096e-01 9.04562992e-01 -8.17130814e-02 1.13650068e+00] [ 3.31758046e-01 -6.84724495e-02 9.40876253e-01 -7.29764908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.80864 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:160.67, Y:1.25, Z:-72.95 [[ 8.58119848e-01 -4.59127022e-01 -2.29853658e-01 1.60673981e+02] [ 4.24781037e-01 8.86295190e-01 -1.84504493e-01 1.25118725e+00] [ 2.88429190e-01 6.06894923e-02 9.55575946e-01 -7.29479044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.83864 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:160.73, Y:1.21, Z:-72.95 [[ 8.58262420e-01 -4.42594883e-01 -2.59798745e-01 1.60726760e+02] [ 4.25149866e-01 8.96708956e-01 -1.23128547e-01 1.20972893e+00] [ 2.87459926e-01 -4.77679675e-03 9.57780754e-01 -7.29491073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.86864 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:160.75, Y:1.22, Z:-72.94 [[ 8.57611359e-01 -4.43399537e-01 -2.60575532e-01 1.60750862e+02] [ 4.25833612e-01 8.96310653e-01 -1.23664661e-01 1.22003387e+00] [ 2.88389479e-01 -4.90560174e-03 9.57500623e-01 -7.29402609e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.89864 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:160.78, Y:1.23, Z:-72.93 [[ 8.57651765e-01 -4.43148244e-01 -2.60869858e-01 1.60775526e+02] [ 4.25479561e-01 8.96436185e-01 -1.23973020e-01 1.23073093e+00] [ 2.88791607e-01 -4.66911321e-03 9.57380597e-01 -7.29319117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.92864 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:160.80, Y:1.24, Z:-72.92 [[ 8.58207936e-01 -4.42561573e-01 -2.60035370e-01 1.60798997e+02] [ 4.24931871e-01 8.96727806e-01 -1.23742259e-01 1.24333192e+00] [ 2.87944516e-01 -4.30072773e-03 9.57637436e-01 -7.29228430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.95864 meters Centerline goodness : 0.996219 Centerline is valid? [True, True] Translation: X:160.82, Y:1.26, Z:-72.91 [[ 8.58687110e-01 -4.41636161e-01 -2.60026824e-01 1.60822651e+02] [ 4.23919253e-01 8.97186003e-01 -1.23894081e-01 1.25530326e+00] [ 2.88008533e-01 -3.84412641e-03 9.57620127e-01 -7.29141506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.98864 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:160.85, Y:1.27, Z:-72.91 [[ 8.58660744e-01 -4.41651110e-01 -2.60088491e-01 1.60846183e+02] [ 4.23874955e-01 8.97179290e-01 -1.24094093e-01 1.26673193e+00] [ 2.88152302e-01 -3.69027167e-03 9.57577481e-01 -7.29056682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.01864 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:160.87, Y:1.28, Z:-72.90 [[ 8.58533986e-01 -4.41745423e-01 -2.60346647e-01 1.60869926e+02] [ 4.23886390e-01 8.97133355e-01 -1.24386782e-01 1.27798785e+00] [ 2.88512953e-01 -3.56712039e-03 9.57469348e-01 -7.28966170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.04864 meters Centerline goodness : 0.995783 Centerline is valid? [True, True] Translation: X:160.92, Y:1.23, Z:-72.89 [[ 8.46103514e-01 -4.19321129e-01 -3.29057190e-01 1.60922296e+02] [ 4.21787110e-01 9.04167568e-01 -6.76508833e-02 1.22635464e+00] [ 3.25890284e-01 -8.15524310e-02 9.41883604e-01 -7.28947041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.07864 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:160.88, Y:1.36, Z:-72.86 [[ 8.56661802e-01 -4.65269311e-01 -2.22834074e-01 1.60883756e+02] [ 4.27641131e-01 8.82064891e-01 -1.97698231e-01 1.36258734e+00] [ 2.88537033e-01 7.40675075e-02 9.54599594e-01 -7.28634696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.10864 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:160.94, Y:1.31, Z:-72.87 [[ 8.57014562e-01 -4.44957348e-01 -2.59882664e-01 1.60941696e+02] [ 4.27251866e-01 8.95540627e-01 -1.24349622e-01 1.31247636e+00] [ 2.88065762e-01 -4.46591649e-03 9.57600215e-01 -7.28687379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.13864 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:160.97, Y:1.32, Z:-72.86 [[ 8.56865382e-01 -4.45481099e-01 -2.59476988e-01 1.60965567e+02] [ 4.27808982e-01 8.95280088e-01 -1.24310255e-01 1.32371032e+00] [ 2.87682450e-01 -4.48943138e-03 9.57715330e-01 -7.28598159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.16864 meters Centerline goodness : 0.996862 Centerline is valid? [True, True] Translation: X:160.99, Y:1.34, Z:-72.85 [[ 8.57852771e-01 -4.44934643e-01 -2.57141568e-01 1.60987966e+02] [ 4.27512230e-01 8.95553617e-01 -1.23357256e-01 1.33650415e+00] [ 2.85169978e-01 -4.10880105e-03 9.58468153e-01 -7.28491354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.19864 meters Centerline goodness : 0.996257 Centerline is valid? [True, True] Translation: X:161.05, Y:1.26, Z:-72.85 [[ 8.46662576e-01 -4.08878414e-01 -3.40559724e-01 1.61052915e+02] [ 4.23584566e-01 9.05227526e-01 -3.37526566e-02 1.25715731e+00] [ 3.22084769e-01 -1.15678731e-01 9.39616854e-01 -7.28489394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.22864 meters Centerline goodness : 0.997007 Centerline is valid? [True, True] Translation: X:160.99, Y:1.45, Z:-72.81 [[ 8.58725111e-01 -4.71651649e-01 -2.00339479e-01 1.60985342e+02] [ 4.27681389e-01 8.75011059e-01 -2.26813308e-01 1.44718125e+00] [ 2.82276130e-01 1.09088816e-01 9.53110600e-01 -7.28067243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.25864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:161.06, Y:1.37, Z:-72.82 [[ 8.61136090e-01 -4.40842693e-01 -2.53184427e-01 1.61057961e+02] [ 4.23737104e-01 8.97580793e-01 -1.21637106e-01 1.37396613e+00] [ 2.80876308e-01 -2.53753357e-03 9.59740621e-01 -7.28211605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.28864000000002 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:161.08, Y:1.39, Z:-72.81 [[ 8.60954459e-01 -4.40276876e-01 -2.54781656e-01 1.61080988e+02] [ 4.22875946e-01 8.97859337e-01 -1.22574652e-01 1.38756731e+00] [ 2.82724873e-01 -2.20984019e-03 9.59198500e-01 -7.28131712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.31864000000002 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:161.10, Y:1.40, Z:-72.80 [[ 8.60867506e-01 -4.40600395e-01 -2.54516068e-01 1.61104844e+02] [ 4.23201106e-01 8.97700751e-01 -1.22613967e-01 1.39960723e+00] [ 2.82503028e-01 -2.15710173e-03 9.59263982e-01 -7.28038946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.34864000000002 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:161.13, Y:1.41, Z:-72.79 [[ 8.60294780e-01 -4.41656423e-01 -2.54622262e-01 1.61128424e+02] [ 4.24238137e-01 8.97181192e-01 -1.22832860e-01 1.41060588e+00] [ 2.82692226e-01 -2.34800578e-03 9.59207794e-01 -7.27942420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.37864000000002 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:161.20, Y:1.32, Z:-72.80 [[ 8.47255487e-01 -4.04149615e-01 -3.44704554e-01 1.61199318e+02] [ 4.23069605e-01 9.05825987e-01 -2.21673303e-02 1.32179904e+00] [ 3.21201260e-01 -1.27052627e-01 9.38449455e-01 -7.27950790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.40864000000002 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:161.16, Y:1.45, Z:-72.77 [[ 8.51361800e-01 -4.51035566e-01 -2.67861912e-01 1.61162409e+02] [ 4.24822491e-01 8.92364050e-01 -1.52355680e-01 1.44973534e+00] [ 3.07748171e-01 1.59160408e-02 9.51334717e-01 -7.27711847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43864 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:161.19, Y:1.44, Z:-72.77 [[ 8.50465309e-01 -4.45247296e-01 -2.80113555e-01 1.61194859e+02] [ 4.26631180e-01 8.95342884e-01 -1.27855216e-01 1.43916264e+00] [ 3.07724867e-01 -1.07687505e-02 9.51414442e-01 -7.27670255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:161.17, Y:1.54, Z:-72.74 [[ 8.58332407e-01 -4.75184006e-01 -1.93560429e-01 1.61172208e+02] [ 4.34848488e-01 8.73928567e-01 -2.17153520e-01 1.53723606e+00] [ 2.72345868e-01 1.02220444e-01 9.56754257e-01 -7.27366642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.49864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:161.24, Y:1.47, Z:-72.75 [[ 8.59671072e-01 -4.48813616e-01 -2.43991773e-01 1.61243272e+02] [ 4.32966910e-01 8.93616604e-01 -1.18275186e-01 1.46606453e+00] [ 2.71118613e-01 -3.96260779e-03 9.62537789e-01 -7.27489449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.52864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:161.27, Y:1.48, Z:-72.74 [[ 8.59245409e-01 -4.49294911e-01 -2.44604599e-01 1.61266981e+02] [ 4.33341516e-01 8.93374642e-01 -1.18730277e-01 1.47832196e+00] [ 2.71868455e-01 -3.97888262e-03 9.62326198e-01 -7.27401406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.55864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:161.29, Y:1.49, Z:-72.73 [[ 8.59033799e-01 -4.49733717e-01 -2.44541441e-01 1.61291452e+02] [ 4.33760771e-01 8.93153874e-01 -1.18860217e-01 1.49003825e+00] [ 2.71868583e-01 -3.96754016e-03 9.62326209e-01 -7.27316948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.58864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:161.36, Y:1.41, Z:-72.73 [[ 8.46878805e-01 -4.16845389e-01 -3.30206317e-01 1.61357636e+02] [ 4.32797533e-01 9.01071626e-01 -2.74994580e-02 1.40894815e+00] [ 3.09002565e-01 -1.19623771e-01 9.43508118e-01 -7.27333045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.61864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:161.29, Y:1.60, Z:-72.69 [[ 8.57474815e-01 -4.79376882e-01 -1.86908392e-01 1.61287880e+02] [ 4.37355541e-01 8.70427398e-01 -2.26000609e-01 1.60137243e+00] [ 2.71029652e-01 1.12044409e-01 9.56027708e-01 -7.26887048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.64864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:161.36, Y:1.52, Z:-72.70 [[ 8.58087407e-01 -4.52719403e-01 -2.42345093e-01 1.61364471e+02] [ 4.37104682e-01 8.91640635e-01 -1.17968108e-01 1.52204540e+00] [ 2.69491184e-01 -4.70322760e-03 9.62991371e-01 -7.27041659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.67864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.39, Y:1.53, Z:-72.70 [[ 8.57213429e-01 -4.54229184e-01 -2.42612829e-01 1.61389221e+02] [ 4.38595100e-01 8.90870610e-01 -1.18253520e-01 1.53308856e+00] [ 2.69850839e-01 -5.04029206e-03 9.62888945e-01 -7.26960148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:161.41, Y:1.54, Z:-72.69 [[ 8.56268589e-01 -4.54998888e-01 -2.44499723e-01 1.61414219e+02] [ 4.39102063e-01 8.90476940e-01 -1.19332297e-01 1.54289607e+00] [ 2.72017428e-01 -5.17983508e-03 9.62278384e-01 -7.26889888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.73864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:161.44, Y:1.55, Z:-72.68 [[ 8.56033293e-01 -4.55676735e-01 -2.44060883e-01 1.61438779e+02] [ 4.39821128e-01 8.90129903e-01 -1.19273349e-01 1.55265028e+00] [ 2.71595980e-01 -5.24117460e-03 9.62397087e-01 -7.26810183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.46, Y:1.56, Z:-72.67 [[ 8.56725108e-01 -4.54360948e-01 -2.44086496e-01 1.61462286e+02] [ 4.38405520e-01 8.90805381e-01 -1.19441926e-01 1.56381367e+00] [ 2.71703311e-01 -4.67997008e-03 9.62369684e-01 -7.26710126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.79864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:161.49, Y:1.58, Z:-72.66 [[ 8.57038893e-01 -4.53522579e-01 -2.44543669e-01 1.61485879e+02] [ 4.37428518e-01 8.91234519e-01 -1.19822053e-01 1.57688361e+00] [ 2.72287765e-01 -4.27821515e-03 9.62206355e-01 -7.26619934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.53, Y:1.54, Z:-72.66 [[ 8.48422404e-01 -4.30869277e-01 -3.07459086e-01 1.61533482e+02] [ 4.29036943e-01 8.99973409e-01 -7.72991889e-02 1.53974173e+00] [ 3.10010848e-01 -6.63289428e-02 9.48416441e-01 -7.26596412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.85864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.51, Y:1.65, Z:-72.63 [[ 8.60909058e-01 -4.62293665e-01 -2.12415068e-01 1.61505615e+02] [ 4.31378625e-01 8.84645968e-01 -1.76957600e-01 1.65180856e+00] [ 2.69718511e-01 6.07130805e-02 9.61023333e-01 -7.26327393e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.88864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:161.56, Y:1.62, Z:-72.63 [[ 8.62852297e-01 -4.43397275e-01 -2.42661844e-01 1.61555027e+02] [ 4.27094754e-01 8.96324795e-01 -1.19129903e-01 1.61982853e+00] [ 2.70325702e-01 -8.48090479e-04 9.62768558e-01 -7.26349820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.91864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:161.58, Y:1.63, Z:-72.63 [[ 8.63095813e-01 -4.42780116e-01 -2.42922596e-01 1.61577954e+02] [ 4.26372507e-01 8.96630088e-01 -1.19419309e-01 1.63429427e+00] [ 2.70688204e-01 -5.05210603e-04 9.62666942e-01 -7.26273499e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.94864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:161.62, Y:1.62, Z:-72.62 [[ 8.52123787e-01 -4.28846637e-01 -2.99959354e-01 1.61618600e+02] [ 4.20167726e-01 9.02310840e-01 -9.64065811e-02 1.61535611e+00] [ 3.12000215e-01 -4.38828988e-02 9.49068047e-01 -7.26242954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.97864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:161.61, Y:1.70, Z:-72.60 [[ 8.63689819e-01 -4.52064406e-01 -2.22884878e-01 1.61605493e+02] [ 4.25268155e-01 8.90963877e-01 -1.59155168e-01 1.69713877e+00] [ 2.70530761e-01 4.26748570e-02 9.61765025e-01 -7.26022968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.00864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:161.65, Y:1.68, Z:-72.60 [[ 8.63021020e-01 -4.43140549e-01 -2.42530768e-01 1.61645825e+02] [ 4.26713871e-01 8.96452088e-01 -1.19536295e-01 1.68038827e+00] [ 2.70388593e-01 -3.28907197e-04 9.62751214e-01 -7.26010786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.03864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:161.67, Y:1.69, Z:-72.59 [[ 8.62772713e-01 -4.44274141e-01 -2.41337384e-01 1.61669461e+02] [ 4.28010093e-01 8.95890734e-01 -1.19109839e-01 1.69282598e+00] [ 2.69129347e-01 -5.30116857e-04 9.63103895e-01 -7.25931211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.06864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:161.71, Y:1.66, Z:-72.59 [[ 8.50580292e-01 -4.31901339e-01 -2.99957331e-01 1.61713074e+02] [ 4.25882012e-01 9.00408934e-01 -8.88158948e-02 1.66321777e+00] [ 3.08443965e-01 -5.22013821e-02 9.49809105e-01 -7.25925045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.09864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:161.69, Y:1.76, Z:-72.57 [[ 8.62063924e-01 -4.58496298e-01 -2.15932712e-01 1.61694420e+02] [ 4.30363646e-01 8.87285364e-01 -1.65866861e-01 1.75528048e+00] [ 2.67643277e-01 5.00582474e-02 9.62216841e-01 -7.25676415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.12864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.74, Y:1.73, Z:-72.57 [[ 8.62508266e-01 -4.45771593e-01 -2.39514463e-01 1.61741005e+02] [ 4.29736394e-01 8.95146442e-01 -1.18488306e-01 1.72895422e+00] [ 2.67219240e-01 -7.30938675e-04 9.63635483e-01 -7.25692535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.15864000000002 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:161.81, Y:1.65, Z:-72.57 [[ 8.50826289e-01 -4.13275803e-01 -3.24496128e-01 1.61808808e+02] [ 4.26883928e-01 9.03749847e-01 -3.17226452e-02 1.65112391e+00] [ 3.06373528e-01 -1.11531721e-01 9.45354926e-01 -7.25734019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.78, Y:1.76, Z:-72.55 [[ 8.55607162e-01 -4.49939601e-01 -2.55911585e-01 1.61776318e+02] [ 4.24895648e-01 8.92858074e-01 -1.49225157e-01 1.76426386e+00] [ 2.95635032e-01 1.89423944e-02 9.55113142e-01 -7.25502599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.77, Y:1.83, Z:-72.53 [[ 8.63387001e-01 -4.66814573e-01 -1.91434169e-01 1.61770381e+02] [ 4.31331841e-01 8.79757305e-01 -1.99949811e-01 1.83134179e+00] [ 2.61755094e-01 9.00624149e-02 9.60923010e-01 -7.25258266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.24864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:161.87, Y:1.70, Z:-72.55 [[ 8.54706850e-01 -4.17471973e-01 -3.08534201e-01 1.61873473e+02] [ 4.26773370e-01 9.03464422e-01 -4.02060838e-02 1.69668156e+00] [ 2.95534586e-01 -9.73097653e-02 9.50363151e-01 -7.25482854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.82, Y:1.86, Z:-72.51 [[ 8.64094679e-01 -4.67713523e-01 -1.85968940e-01 1.61818098e+02] [ 4.31680942e-01 8.78649071e-01 -2.04027875e-01 1.85732252e+00] [ 2.58828032e-01 9.60201544e-02 9.61139001e-01 -7.25072921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:161.88, Y:1.80, Z:-72.52 [[ 8.64879263e-01 -4.45454343e-01 -2.31417995e-01 1.61884850e+02] [ 4.30402396e-01 8.95304607e-01 -1.14819155e-01 1.79524432e+00] [ 2.58336288e-01 -2.98153594e-04 9.66055005e-01 -7.25190931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.33864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.91, Y:1.81, Z:-72.51 [[ 8.64967165e-01 -4.45439079e-01 -2.31118651e-01 1.61909047e+02] [ 4.30384967e-01 8.95312239e-01 -1.14824980e-01 1.80743007e+00] [ 2.58070890e-01 -1.50155463e-04 9.66125972e-01 -7.25109121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.36864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:161.93, Y:1.82, Z:-72.50 [[ 8.65032076e-01 -4.45271273e-01 -2.31199049e-01 1.61932914e+02] [ 4.30159233e-01 8.95395718e-01 -1.15019749e-01 1.81970960e+00] [ 2.58229629e-01 4.33666075e-05 9.66083566e-01 -7.25039907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.39864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:161.96, Y:1.83, Z:-72.50 [[ 8.65112281e-01 -4.44761382e-01 -2.31879396e-01 1.61956751e+02] [ 4.29499210e-01 8.95649037e-01 -1.15512904e-01 1.83136959e+00] [ 2.59058236e-01 3.39614247e-04 9.65861644e-01 -7.24970236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.42864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:161.98, Y:1.84, Z:-72.49 [[ 8.64643808e-01 -4.45199573e-01 -2.32784075e-01 1.61979857e+02] [ 4.29789255e-01 8.95431301e-01 -1.16120553e-01 1.84411459e+00] [ 2.60138967e-01 3.54822720e-04 9.65571122e-01 -7.24885362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.45864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:162.00, Y:1.86, Z:-72.48 [[ 8.64238413e-01 -4.46727328e-01 -2.31358295e-01 1.62002925e+02] [ 4.31520507e-01 8.94670158e-01 -1.15565392e-01 1.85852328e+00] [ 2.58615581e-01 4.02023301e-05 9.65980321e-01 -7.24803069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.48864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:162.03, Y:1.87, Z:-72.47 [[ 8.63800636e-01 -4.47698138e-01 -2.31116506e-01 1.62026991e+02] [ 4.32519191e-01 8.94184748e-01 -1.15588865e-01 1.87029198e+00] [ 2.58409775e-01 -1.16589018e-04 9.66035390e-01 -7.24726547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.51864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.05, Y:1.88, Z:-72.47 [[ 8.62875837e-01 -4.49786345e-01 -2.30515798e-01 1.62051446e+02] [ 4.34718880e-01 8.93135986e-01 -1.15445247e-01 1.88228376e+00] [ 2.57807651e-01 -5.94655038e-04 9.66196078e-01 -7.24650117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.54864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.07, Y:1.90, Z:-72.46 [[ 8.62342266e-01 -4.50497231e-01 -2.31123475e-01 1.62074320e+02] [ 4.35331818e-01 8.92777578e-01 -1.15906877e-01 1.89538418e+00] [ 2.58557583e-01 -6.64003878e-04 9.65995619e-01 -7.24568876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.10, Y:1.91, Z:-72.45 [[ 8.62135254e-01 -4.51063871e-01 -2.30790355e-01 1.62097304e+02] [ 4.35921403e-01 8.92491406e-01 -1.15894871e-01 1.90948342e+00] [ 2.58254398e-01 -6.89401179e-04 9.66076700e-01 -7.24493104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.60864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.12, Y:1.92, Z:-72.44 [[ 8.62168032e-01 -4.51240001e-01 -2.30323134e-01 1.62119768e+02] [ 4.36124728e-01 8.92402434e-01 -1.15815011e-01 1.92442918e+00] [ 2.57801291e-01 -5.97614442e-04 9.66197773e-01 -7.24409603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.63864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:162.14, Y:1.94, Z:-72.43 [[ 8.61721391e-01 -4.52343848e-01 -2.29828822e-01 1.62143124e+02] [ 4.37292656e-01 8.91843275e-01 -1.15718219e-01 1.93748555e+00] [ 2.57315713e-01 -7.85591285e-04 9.66327070e-01 -7.24338891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.17, Y:1.95, Z:-72.43 [[ 8.60763969e-01 -4.53809015e-01 -2.30527152e-01 1.62165219e+02] [ 4.38674713e-01 8.91098313e-01 -1.16225180e-01 1.95210787e+00] [ 2.58166391e-01 -1.08398485e-03 9.66099860e-01 -7.24259773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.19, Y:1.96, Z:-72.42 [[ 8.60222031e-01 -4.54937274e-01 -2.30326147e-01 1.62189016e+02] [ 4.39828541e-01 8.90522565e-01 -1.16277323e-01 1.96493215e+00] [ 2.58009519e-01 -1.27969803e-03 9.66141527e-01 -7.24181579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.21, Y:1.98, Z:-72.41 [[ 8.59416165e-01 -4.57175961e-01 -2.28897349e-01 1.62212373e+02] [ 4.42295097e-01 8.89374444e-01 -1.15707154e-01 1.97757310e+00] [ 2.56473982e-01 -1.79957631e-03 9.66549460e-01 -7.24098524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.24, Y:1.99, Z:-72.40 [[ 8.58505052e-01 -4.58670079e-01 -2.29326915e-01 1.62235153e+02] [ 4.43744216e-01 8.88604134e-01 -1.16076545e-01 1.99010696e+00] [ 2.57021683e-01 -2.11019140e-03 9.66403333e-01 -7.24009677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.78864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.26, Y:2.00, Z:-72.39 [[ 8.58092064e-01 -4.59699912e-01 -2.28809965e-01 1.62258781e+02] [ 4.44838661e-01 8.88071401e-01 -1.15964443e-01 2.00324650e+00] [ 2.56508431e-01 -2.27535010e-03 9.66539315e-01 -7.23933074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.81864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.28, Y:2.02, Z:-72.39 [[ 8.57533489e-01 -4.60525027e-01 -2.29244443e-01 1.62282001e+02] [ 4.45595614e-01 8.87643502e-01 -1.16333837e-01 2.01655566e+00] [ 2.57061983e-01 -2.39015725e-03 9.66391962e-01 -7.23857530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.84864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.31, Y:2.03, Z:-72.38 [[ 8.56944558e-01 -4.61452487e-01 -2.29581415e-01 1.62306270e+02] [ 4.46470800e-01 8.87161306e-01 -1.16656082e-01 2.02908024e+00] [ 2.57506987e-01 -2.53360335e-03 9.66273115e-01 -7.23788494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.33, Y:2.04, Z:-72.37 [[ 8.56633724e-01 -4.61544590e-01 -2.30554231e-01 1.62329339e+02] [ 4.46396099e-01 8.87113674e-01 -1.17302399e-01 2.04164010e+00] [ 2.58668099e-01 -2.43331890e-03 9.65963195e-01 -7.23709637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.35, Y:2.05, Z:-72.36 [[ 8.57198038e-01 -4.61165759e-01 -2.29210964e-01 1.62353550e+02] [ 4.46142758e-01 8.87311361e-01 -1.16769809e-01 2.05445553e+00] [ 2.57231730e-01 -2.16596050e-03 9.66347322e-01 -7.23639095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.41, Y:2.00, Z:-72.37 [[ 8.46748221e-01 -4.38590227e-01 -3.01091454e-01 1.62410029e+02] [ 4.42889806e-01 8.94712521e-01 -5.77765070e-02 2.00119395e+00] [ 2.94730505e-01 -8.44281812e-02 9.51843375e-01 -7.23668726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.36, Y:2.14, Z:-72.33 [[ 8.57459115e-01 -4.78742061e-01 -1.88599856e-01 1.62362799e+02] [ 4.46032313e-01 8.74298889e-01 -1.91459211e-01 2.14118438e+00] [ 2.56552221e-01 8.00468158e-02 9.63209980e-01 -7.23273395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.42, Y:2.09, Z:-72.34 [[ 8.58608038e-01 -4.59635971e-01 -2.26995621e-01 1.62423838e+02] [ 4.44793937e-01 8.88106179e-01 -1.15869622e-01 2.09299941e+00] [ 2.54854059e-01 -1.47968730e-03 9.66978396e-01 -7.23380710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.45, Y:2.11, Z:-72.33 [[ 8.58426621e-01 -4.60035592e-01 -2.26872190e-01 1.62447489e+02] [ 4.45184036e-01 8.87899276e-01 -1.15957103e-01 2.10612747e+00] [ 2.54784048e-01 -1.45921338e-03 9.66996877e-01 -7.23300473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.47, Y:2.12, Z:-72.32 [[ 8.58176670e-01 -4.60692748e-01 -2.26483984e-01 1.62470684e+02] [ 4.45875975e-01 8.87558392e-01 -1.15908220e-01 2.11875153e+00] [ 2.54415837e-01 -1.51403685e-03 9.67093734e-01 -7.23219192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.08864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.55, Y:2.02, Z:-72.33 [[ 8.42304911e-01 -4.26508675e-01 -3.29564542e-01 1.62547822e+02] [ 4.47955585e-01 8.93974544e-01 -1.20544187e-02 2.02402352e+00] [ 2.99763625e-01 -1.37476781e-01 9.44056091e-01 -7.23306696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.51, Y:2.15, Z:-72.30 [[ 8.43205637e-01 -4.69166756e-01 -2.62462966e-01 1.62510600e+02] [ 4.45290849e-01 8.83074267e-01 -1.47972628e-01 2.15054149e+00] [ 3.01198129e-01 7.89899715e-03 9.53528863e-01 -7.23000793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.49, Y:2.24, Z:-72.27 [[ 8.52819457e-01 -4.95997198e-01 -1.63357745e-01 1.62488733e+02] [ 4.57773778e-01 8.60601710e-01 -2.23176756e-01 2.24218628e+00] [ 2.51281000e-01 1.15548588e-01 9.60992395e-01 -7.22669147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.17864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:162.57, Y:2.17, Z:-72.29 [[ 8.53511028e-01 -4.71550318e-01 -2.21718792e-01 1.62568090e+02] [ 4.57636019e-01 8.81828444e-01 -1.13788703e-01 2.16521714e+00] [ 2.49175037e-01 -4.34659202e-03 9.68448712e-01 -7.22888540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.65, Y:2.06, Z:-72.30 [[ 8.34016241e-01 -4.39379087e-01 -3.33710844e-01 1.62646976e+02] [ 4.64592439e-01 8.85511685e-01 -4.78760471e-03 2.05726734e+00] [ 2.97608425e-01 -1.51046595e-01 9.42663329e-01 -7.22986197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.23864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.55, Y:2.30, Z:-72.23 [[ 8.51007541e-01 -5.04933435e-01 -1.44320447e-01 1.62548113e+02] [ 4.62355539e-01 8.50711977e-01 -2.50032972e-01 2.29727860e+00] [ 2.49025141e-01 1.46052587e-01 9.57421078e-01 -7.22313596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.26864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.64, Y:2.20, Z:-72.26 [[ 8.53113483e-01 -4.74147343e-01 -2.17673339e-01 1.62641814e+02] [ 4.60827663e-01 8.80431255e-01 -1.11707970e-01 2.19654663e+00] [ 2.44612448e-01 -5.01032041e-03 9.69607986e-01 -7.22618721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.29864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:162.72, Y:2.10, Z:-72.27 [[ 8.40332404e-01 -4.38641632e-01 -3.18488570e-01 1.62717979e+02] [ 4.59372957e-01 8.88173004e-01 -1.11893303e-02 2.10105450e+00] [ 2.87781056e-01 -1.36902279e-01 9.47860659e-01 -7.22694053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.32864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.68, Y:2.23, Z:-72.24 [[ 8.43206025e-01 -4.79238625e-01 -2.43585591e-01 1.62675092e+02] [ 4.55244986e-01 8.77537026e-01 -1.50601363e-01 2.23042127e+00] [ 2.85929366e-01 1.60968572e-02 9.58115488e-01 -7.22399620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.35864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.66, Y:2.31, Z:-72.21 [[ 8.56123653e-01 -4.93682418e-01 -1.52741485e-01 1.62664076e+02] [ 4.59781488e-01 8.62607377e-01 -2.10972738e-01 2.30959453e+00] [ 2.35909463e-01 1.10391044e-01 9.65484615e-01 -7.22107380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:162.74, Y:2.23, Z:-72.23 [[ 8.57110877e-01 -4.71166988e-01 -2.08236918e-01 1.62742743e+02] [ 4.58907714e-01 8.82035070e-01 -1.06854318e-01 2.23154913e+00] [ 2.34018491e-01 -3.97552966e-03 9.72224018e-01 -7.22297360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:162.81, Y:2.15, Z:-72.23 [[ 8.42650154e-01 -4.44795052e-01 -3.03476655e-01 1.62810291e+02] [ 4.59416898e-01 8.87850363e-01 -2.56485248e-02 2.15038736e+00] [ 2.80850195e-01 -1.17809570e-01 9.52493608e-01 -7.22335924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.74, Y:2.34, Z:-72.19 [[ 8.56382873e-01 -4.94138374e-01 -1.49785323e-01 1.62740760e+02] [ 4.60711922e-01 8.62241228e-01 -2.10439039e-01 2.33675783e+00] [ 2.33137085e-01 1.11208505e-01 9.66064060e-01 -7.21878120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:162.82, Y:2.26, Z:-72.21 [[ 8.57936824e-01 -4.70796645e-01 -2.05657302e-01 1.62816602e+02] [ 4.58816988e-01 8.82233729e-01 -1.05596493e-01 2.26348425e+00] [ 2.31152283e-01 -3.76394446e-03 9.72910301e-01 -7.22052606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.50864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:162.89, Y:2.18, Z:-72.21 [[ 8.46578879e-01 -4.37446729e-01 -3.03223616e-01 1.62888479e+02] [ 4.55587559e-01 8.90108062e-01 -1.21496330e-02 2.17673803e+00] [ 2.75216603e-01 -1.27859285e-01 9.52841973e-01 -7.22100406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.53864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:162.81, Y:2.38, Z:-72.16 [[ 8.60725011e-01 -4.88991531e-01 -1.41561782e-01 1.62808714e+02] [ 4.54811480e-01 8.63576879e-01 -2.17672899e-01 2.38205069e+00] [ 2.28689686e-01 1.22972585e-01 9.65701181e-01 -7.21604454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:162.89, Y:2.30, Z:-72.18 [[ 8.63949674e-01 -4.61519385e-01 -2.01471628e-01 1.62888490e+02] [ 4.49776030e-01 8.87129263e-01 -1.03456240e-01 2.30103047e+00] [ 2.26478438e-01 -1.23612406e-03 9.74015395e-01 -7.21808853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.59864000000002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:162.93, Y:2.27, Z:-72.18 [[ 8.54469121e-01 -4.44532786e-01 -2.68836611e-01 1.62931934e+02] [ 4.41778607e-01 8.94050120e-01 -7.42027370e-02 2.27006761e+00] [ 2.73338953e-01 -5.53623159e-02 9.60323295e-01 -7.21795516e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.62864000000002 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:162.93, Y:2.33, Z:-72.16 [[ 8.57274623e-01 -4.56928511e-01 -2.37268953e-01 1.62928510e+02] [ 4.38391975e-01 8.89479188e-01 -1.28993219e-01 2.33104241e+00] [ 2.69986475e-01 6.56580846e-03 9.62841728e-01 -7.21633756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.65864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:162.93, Y:2.38, Z:-72.15 [[ 8.70880449e-01 -4.59157653e-01 -1.75332521e-01 1.62932677e+02] [ 4.36976466e-01 8.86634315e-01 -1.51430381e-01 2.38457676e+00] [ 2.24986248e-01 5.52615729e-02 9.72793579e-01 -7.21483943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:162.98, Y:2.36, Z:-72.15 [[ 8.72608922e-01 -4.45488600e-01 -2.00233805e-01 1.62978758e+02] [ 4.33411875e-01 8.95282036e-01 -1.03073866e-01 2.35919837e+00] [ 2.25183961e-01 3.15946633e-03 9.74311142e-01 -7.21517042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:163.00, Y:2.38, Z:-72.14 [[ 8.73149576e-01 -4.44751635e-01 -1.99513912e-01 1.62999229e+02] [ 4.32713261e-01 8.95647263e-01 -1.02835858e-01 2.37747860e+00] [ 2.24430505e-01 3.45876992e-03 9.74483958e-01 -7.21448452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.74864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:163.02, Y:2.39, Z:-72.14 [[ 8.72909007e-01 -4.45388022e-01 -1.99146617e-01 1.63021190e+02] [ 4.33380153e-01 8.95331151e-01 -1.02780212e-01 2.39312523e+00] [ 2.24079245e-01 3.41158126e-03 9.74564956e-01 -7.21374523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.77864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:163.06, Y:2.37, Z:-72.14 [[ 8.61017131e-01 -4.36832930e-01 -2.60435194e-01 1.63061719e+02] [ 4.32196572e-01 8.98397428e-01 -7.80268135e-02 2.36903834e+00] [ 2.68058990e-01 -4.53767752e-02 9.62333272e-01 -7.21357314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.80864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:163.04, Y:2.46, Z:-72.11 [[ 8.71222122e-01 -4.58667256e-01 -1.74918157e-01 1.63044503e+02] [ 4.37469794e-01 8.87100737e-01 -1.47215700e-01 2.45966385e+00] [ 2.22693047e-01 5.17361645e-02 9.73514857e-01 -7.21120272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.83864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:163.09, Y:2.44, Z:-72.12 [[ 8.70478102e-01 -4.50561635e-01 -1.98146630e-01 1.63088326e+02] [ 4.38769124e-01 8.92742552e-01 -1.02432375e-01 2.43884477e+00] [ 2.23046026e-01 2.22451645e-03 9.74805376e-01 -7.21156415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.86864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:163.11, Y:2.45, Z:-72.11 [[ 8.69866722e-01 -4.51874127e-01 -1.97842513e-01 1.63110846e+02] [ 4.40121711e-01 8.92079454e-01 -1.02406676e-01 2.45339731e+00] [ 2.22766169e-01 2.00537384e-03 9.74869844e-01 -7.21080247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.89864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:163.13, Y:2.47, Z:-72.10 [[ 8.68892952e-01 -4.53828588e-01 -1.97647795e-01 1.63133609e+02] [ 4.42119369e-01 8.91087525e-01 -1.02437722e-01 2.46741207e+00] [ 2.22610652e-01 1.62349617e-03 9.74906079e-01 -7.21011250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.92864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:163.16, Y:2.48, Z:-72.09 [[ 8.67517323e-01 -4.56215529e-01 -1.98194563e-01 1.63156255e+02] [ 4.44471824e-01 8.89868588e-01 -1.02852780e-01 2.48277459e+00] [ 2.23290151e-01 1.13467005e-03 9.74751364e-01 -7.20935622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.95864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:163.23, Y:2.39, Z:-72.11 [[ 8.53285243e-01 -4.24433640e-01 -3.02919756e-01 1.63233783e+02] [ 4.45590820e-01 8.95236367e-01 8.17515277e-04 2.39024679e+00] [ 2.70837801e-01 -1.35675836e-01 9.53015715e-01 -7.21055651e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.98864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:163.17, Y:2.56, Z:-72.06 [[ 8.56403285e-01 -4.74150319e-01 -2.04340128e-01 1.63169902e+02] [ 4.41611470e-01 8.77739854e-01 -1.85881836e-01 2.56150707e+00] [ 2.67493406e-01 6.89508712e-02 9.61089515e-01 -7.20597279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.01864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:163.24, Y:2.49, Z:-72.08 [[ 8.53455871e-01 -4.50457478e-01 -2.62109016e-01 1.63241835e+02] [ 4.44734656e-01 8.91683397e-01 -8.43315154e-02 2.48967238e+00] [ 2.71706020e-01 -4.45957363e-02 9.61346482e-01 -7.20759537e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.04864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:163.20, Y:2.62, Z:-72.03 [[ 8.65724548e-01 -4.82244510e-01 -1.34019548e-01 1.63195886e+02] [ 4.52666667e-01 8.68619067e-01 -2.01479043e-01 2.62317915e+00] [ 2.13574097e-01 1.13759171e-01 9.70280865e-01 -7.20288106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.07864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:163.27, Y:2.55, Z:-72.05 [[ 8.66168788e-01 -4.62328528e-01 -1.89747101e-01 1.63271004e+02] [ 4.51683698e-01 8.86708667e-01 -9.86386199e-02 2.55415300e+00] [ 2.13853847e-01 -2.67978292e-04 9.76865631e-01 -7.20521848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.10864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:163.34, Y:2.47, Z:-72.06 [[ 8.51826698e-01 -4.37572253e-01 -2.87961456e-01 1.63342415e+02] [ 4.53908631e-01 8.90978247e-01 -1.11677072e-02 2.47344180e+00] [ 2.61454072e-01 -1.21195239e-01 9.57576881e-01 -7.20643637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.13864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:163.32, Y:2.58, Z:-72.04 [[ 8.56331248e-01 -4.64673920e-01 -2.25332958e-01 1.63316332e+02] [ 4.50273149e-01 8.85476343e-01 -1.14829165e-01 2.57739878e+00] [ 2.52885121e-01 -3.12957866e-03 9.67491251e-01 -7.20379951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.16864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:163.29, Y:2.68, Z:-72.00 [[ 8.63704804e-01 -4.87980637e-01 -1.26051216e-01 1.63288279e+02] [ 4.59474150e-01 8.65158970e-01 -2.00956368e-01 2.67877440e+00] [ 2.07117157e-01 1.15649705e-01 9.71456447e-01 -7.19974091e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.19864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:163.37, Y:2.61, Z:-72.02 [[ 8.64939731e-01 -4.67432127e-01 -1.82719641e-01 1.63365379e+02] [ 4.57645092e-01 8.84027988e-01 -9.51603221e-02 2.60660228e+00] [ 2.06010269e-01 -1.31280358e-03 9.78548949e-01 -7.20223183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.22864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:163.39, Y:2.62, Z:-72.02 [[ 8.63921830e-01 -4.69631895e-01 -1.81892701e-01 1.63390843e+02] [ 4.59976180e-01 8.82860485e-01 -9.47590511e-02 2.61804020e+00] [ 2.05087751e-01 -1.80189700e-03 9.78741931e-01 -7.20161782e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.25864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:163.47, Y:2.53, Z:-72.03 [[ 8.51468932e-01 -4.41162278e-01 -2.83507500e-01 1.63469210e+02] [ 4.60752183e-01 8.87524635e-01 2.72930710e-03 2.52823884e+00] [ 2.50415823e-01 -1.32950620e-01 9.58966135e-01 -7.20286384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.28864000000002 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:163.38, Y:2.74, Z:-71.96 [[ 8.61380227e-01 -4.94776817e-01 -1.14978286e-01 1.63382663e+02] [ 4.65311776e-01 8.59365790e-01 -2.12074019e-01 2.73827360e+00] [ 2.03737714e-01 1.29175616e-01 9.70466179e-01 -7.19649501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.31864000000002 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:163.47, Y:2.65, Z:-71.99 [[ 8.62075521e-01 -4.74124712e-01 -1.78973612e-01 1.63468044e+02] [ 4.64886083e-01 8.80453020e-01 -9.31848101e-02 2.65279009e+00] [ 2.01759078e-01 -2.86999759e-03 9.79430976e-01 -7.19939885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.34864000000002 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:163.49, Y:2.66, Z:-71.99 [[ 8.61620180e-01 -4.74780591e-01 -1.79427022e-01 1.63494129e+02] [ 4.65502720e-01 8.80099061e-01 -9.34497720e-02 2.66420347e+00] [ 2.02281692e-01 -3.00555767e-03 9.79322768e-01 -7.19878489e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.37864000000002 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:163.52, Y:2.67, Z:-71.98 [[ 8.61590954e-01 -4.74780058e-01 -1.79568721e-01 1.63521526e+02] [ 4.65481476e-01 8.80099428e-01 -9.35520841e-02 2.67362169e+00] [ 2.02454992e-01 -2.98228385e-03 9.79287027e-01 -7.19833147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.40864000000002 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:163.60, Y:2.58, Z:-71.99 [[ 8.49328612e-01 -4.47361417e-01 -2.80193989e-01 1.63598878e+02] [ 4.66208710e-01 8.84674490e-01 6.96529631e-04 2.58413352e+00] [ 2.47568873e-01 -1.31220460e-01 9.59943146e-01 -7.19949990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:163.52, Y:2.79, Z:-71.94 [[ 8.60031340e-01 -4.96430978e-01 -1.17908346e-01 1.63517099e+02] [ 4.67043668e-01 8.58966923e-01 -2.09871478e-01 2.78837012e+00] [ 2.05466072e-01 1.25427702e-01 9.70593419e-01 -7.19360979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:163.60, Y:2.71, Z:-71.96 [[ 8.62129078e-01 -4.73553066e-01 -1.80224711e-01 1.63599185e+02] [ 4.64178637e-01 8.80760874e-01 -9.38001865e-02 2.70549509e+00] [ 2.03154240e-01 -2.78859234e-03 9.79142777e-01 -7.19618287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.49864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:163.65, Y:2.65, Z:-71.96 [[ 8.52534784e-01 -4.56695120e-01 -2.54192858e-01 1.63653840e+02] [ 4.62371244e-01 8.85754300e-01 -4.06466859e-02 2.65385269e+00] [ 2.43715560e-01 -8.28787547e-02 9.66299042e-01 -7.19646120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.52864 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:163.66, Y:2.71, Z:-71.95 [[ 8.54042074e-01 -4.68747881e-01 -2.25582713e-01 1.63655160e+02] [ 4.61554186e-01 8.82830204e-01 -8.70549562e-02 2.70656933e+00] [ 2.39958059e-01 -2.97700500e-02 9.70326684e-01 -7.19500391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.55864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:163.62, Y:2.82, Z:-71.91 [[ 8.62757786e-01 -4.90784960e-01 -1.21569428e-01 1.63624878e+02] [ 4.66089315e-01 8.65175255e-01 -1.85020349e-01 2.81904731e+00] [ 1.95984065e-01 1.02965536e-01 9.75186313e-01 -7.19143235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.58864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:163.74, Y:2.66, Z:-71.95 [[ 8.54316638e-01 -4.46214786e-01 -2.66524758e-01 1.63744879e+02] [ 4.63606331e-01 8.86037358e-01 2.64002254e-03 2.65874675e+00] [ 2.34972876e-01 -1.25817980e-01 9.63824457e-01 -7.19492839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.61864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:163.67, Y:2.86, Z:-71.89 [[ 8.62099827e-01 -4.94360560e-01 -1.11317225e-01 1.63665644e+02] [ 4.67863282e-01 8.60900827e-01 -1.99884253e-01 2.85967767e+00] [ 1.94647982e-01 1.20238938e-01 9.73475609e-01 -7.18932294e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.64864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:163.79, Y:2.69, Z:-71.93 [[ 8.53519788e-01 -4.49247202e-01 -2.63971444e-01 1.63793959e+02] [ 4.66735262e-01 8.84387981e-01 4.01162850e-03 2.68635159e+00] [ 2.31650960e-01 -1.26628786e-01 9.64522153e-01 -7.19334720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.67864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:163.72, Y:2.89, Z:-71.88 [[ 8.61497668e-01 -4.96321877e-01 -1.07174453e-01 1.63715801e+02] [ 4.70591172e-01 8.59715575e-01 -1.98577640e-01 2.88603447e+00] [ 1.90697973e-01 1.20638823e-01 9.74207656e-01 -7.18779048e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.70864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:163.83, Y:2.74, Z:-71.91 [[ 8.53840569e-01 -4.58552226e-01 -2.46345569e-01 1.63831493e+02] [ 4.66825834e-01 8.83926968e-01 -2.73268272e-02 2.74066695e+00] [ 2.30282269e-01 -9.16677221e-02 9.68796731e-01 -7.19143585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.73864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:163.78, Y:2.89, Z:-71.87 [[ 8.61416539e-01 -4.93073718e-01 -1.21818941e-01 1.63784461e+02] [ 4.72329511e-01 8.65884115e-01 -1.64771150e-01 2.88694356e+00] [ 1.86725410e-01 8.43979130e-02 9.78780166e-01 -7.18737430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.76864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:163.88, Y:2.77, Z:-71.90 [[ 8.52841748e-01 -4.63007772e-01 -2.41422359e-01 1.63882158e+02] [ 4.70163583e-01 8.82044245e-01 -3.07270975e-02 2.77069575e+00] [ 2.27172087e-01 -8.73026497e-02 9.69933549e-01 -7.18991625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.79864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:163.84, Y:2.91, Z:-71.86 [[ 8.61063218e-01 -4.93806689e-01 -1.21346977e-01 1.63839851e+02] [ 4.74310106e-01 8.65990824e-01 -1.58397649e-01 2.90800334e+00] [ 1.83303187e-01 7.88342924e-02 9.79890349e-01 -7.18615212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.82864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:163.91, Y:2.86, Z:-71.87 [[ 8.61726593e-01 -4.81058181e-01 -1.61277109e-01 1.63906485e+02] [ 4.73749977e-01 8.76678003e-01 -8.36459158e-02 2.85748986e+00] [ 1.81626646e-01 -4.32511674e-03 9.83358050e-01 -7.18730028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.85864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:163.94, Y:2.87, Z:-71.87 [[ 8.61600330e-01 -4.80883730e-01 -1.62467565e-01 1.63935690e+02] [ 4.73480015e-01 8.76773328e-01 -8.41736703e-02 2.87070634e+00] [ 1.82924976e-01 -4.40108279e-03 9.83117024e-01 -7.18662433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.88864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:163.96, Y:2.88, Z:-71.86 [[ 8.61853367e-01 -4.80480676e-01 -1.62317877e-01 1.63963871e+02] [ 4.73102706e-01 8.76994261e-01 -8.39934301e-02 2.88023009e+00] [ 1.82709067e-01 -4.40300626e-03 9.83157165e-01 -7.18614252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.91864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:163.99, Y:2.89, Z:-71.86 [[ 8.62209334e-01 -4.79663990e-01 -1.62842015e-01 1.63990574e+02] [ 4.72221110e-01 8.77442044e-01 -8.42774102e-02 2.89088317e+00] [ 1.83309269e-01 -4.23266724e-03 9.83046182e-01 -7.18557280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.94864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:164.06, Y:2.81, Z:-71.86 [[ 8.54224546e-01 -4.56672604e-01 -2.48496595e-01 1.64059945e+02] [ 4.71321434e-01 8.81961295e-01 -6.16602443e-04 2.81245587e+00] [ 2.19445964e-01 -1.16595054e-01 9.68632573e-01 -7.18608718e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.97864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:164.05, Y:2.89, Z:-71.84 [[ 8.53815067e-01 -4.75341137e-01 -2.12251349e-01 1.64049389e+02] [ 4.68922817e-01 8.79333659e-01 -8.29681170e-02 2.89212823e+00] [ 2.26077914e-01 -2.86900720e-02 9.73686632e-01 -7.18423484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.00864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:164.01, Y:3.02, Z:-71.80 [[ 8.62700206e-01 -4.96650978e-01 -9.53213530e-02 1.64012690e+02] [ 4.71840288e-01 8.58309607e-01 -2.01671417e-01 3.01917348e+00] [ 1.81975540e-01 1.29005518e-01 9.74803816e-01 -7.18021621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.03864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:164.10, Y:2.93, Z:-71.83 [[ 8.64765210e-01 -4.76480046e-01 -1.58580884e-01 1.64095582e+02] [ 4.69378166e-01 8.79178341e-01 -8.20340261e-02 2.93284780e+00] [ 1.78508455e-01 -3.49423250e-03 9.83932173e-01 -7.18263742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.06864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.17, Y:2.85, Z:-71.83 [[ 8.55636578e-01 -4.52588091e-01 -2.51097723e-01 1.64168741e+02] [ 4.70449522e-01 8.82334904e-01 1.27422471e-02 2.84552091e+00] [ 2.15785296e-01 -1.29031537e-01 9.67877869e-01 -7.18318488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.09864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:164.09, Y:3.05, Z:-71.78 [[ 8.63462927e-01 -4.95368192e-01 -9.50901013e-02 1.64093569e+02] [ 4.72238575e-01 8.60142684e-01 -1.92731138e-01 3.04803750e+00] [ 1.77263930e-01 1.21510979e-01 9.76633289e-01 -7.17845199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.12864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:164.17, Y:2.97, Z:-71.81 [[ 8.64713661e-01 -4.77204325e-01 -1.56672640e-01 1.64173369e+02] [ 4.70300476e-01 8.78784692e-01 -8.09625026e-02 2.96656465e+00] [ 1.76317174e-01 -3.67383527e-03 9.84326550e-01 -7.18064490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.15864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:164.20, Y:2.98, Z:-71.80 [[ 8.64158009e-01 -4.78190811e-01 -1.56730606e-01 1.64199867e+02] [ 4.71293459e-01 8.78247511e-01 -8.10171822e-02 2.97699539e+00] [ 1.76389937e-01 -3.85446262e-03 9.84312823e-01 -7.18005123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:164.28, Y:2.89, Z:-71.81 [[ 8.52950157e-01 -4.56097842e-01 -2.53871597e-01 1.64275280e+02] [ 4.75455440e-01 8.79571451e-01 1.72100854e-02 2.88603060e+00] [ 2.15448726e-01 -1.35383977e-01 9.67084808e-01 -7.18070293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:164.20, Y:3.10, Z:-71.76 [[ 8.59798873e-01 -5.02369067e-01 -9.14943684e-02 1.64195707e+02] [ 4.78891143e-01 8.55490760e-01 -1.96974194e-01 3.09569403e+00] [ 1.77226329e-01 1.25542347e-01 9.76130087e-01 -7.17601209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:164.28, Y:3.01, Z:-71.78 [[ 8.60393275e-01 -4.85522358e-01 -1.54891742e-01 1.64277956e+02] [ 4.78908549e-01 8.74208117e-01 -8.00423000e-02 3.00972186e+00] [ 1.74269944e-01 -5.31112270e-03 9.84683593e-01 -7.17823867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.27864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:164.31, Y:3.02, Z:-71.78 [[ 8.58176917e-01 -4.89276177e-01 -1.55374392e-01 1.64305290e+02] [ 4.82677347e-01 8.72107775e-01 -8.03156770e-02 3.01837857e+00] [ 1.74799762e-01 -6.07063920e-03 9.84585289e-01 -7.17763262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.30864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:164.33, Y:3.03, Z:-71.77 [[ 8.57316027e-01 -4.90802785e-01 -1.55312124e-01 1.64331037e+02] [ 4.84229824e-01 8.71247498e-01 -8.03073760e-02 3.02933236e+00] [ 1.74730383e-01 -6.35796190e-03 9.84595790e-01 -7.17713635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.33864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:164.39, Y:2.98, Z:-71.77 [[ 8.49931324e-01 -4.78049343e-01 -2.21552634e-01 1.64385485e+02] [ 4.83738176e-01 8.74645614e-01 -3.15028155e-02 2.97910833e+00] [ 2.08839940e-01 -8.03982374e-02 9.74639422e-01 -7.17706591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:164.38, Y:3.05, Z:-71.76 [[ 8.50285926e-01 -4.92211279e-01 -1.86391793e-01 1.64380059e+02] [ 4.82690421e-01 8.70440962e-01 -9.66565486e-02 3.04728526e+00] [ 2.09818495e-01 -7.78383002e-03 9.77709369e-01 -7.17564926e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:164.38, Y:3.11, Z:-71.74 [[ 8.56888966e-01 -5.01885897e-01 -1.17693867e-01 1.64378441e+02] [ 4.85417967e-01 8.62424615e-01 -1.43503247e-01 3.11234626e+00] [ 1.73524343e-01 6.58356311e-02 9.82626568e-01 -7.17396013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.42864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:164.43, Y:3.07, Z:-71.75 [[ 8.58765371e-01 -4.89295360e-01 -1.52026604e-01 1.64434997e+02] [ 4.82964552e-01 8.72098444e-01 -7.86736616e-02 3.06720523e+00] [ 1.71076823e-01 -5.86124453e-03 9.85240258e-01 -7.17461565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.45864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:164.46, Y:3.08, Z:-71.74 [[ 8.59245508e-01 -4.88237543e-01 -1.52712995e-01 1.64460463e+02] [ 4.81826400e-01 8.72692515e-01 -7.90638646e-02 3.07794109e+00] [ 1.71873434e-01 -5.64588203e-03 9.85102861e-01 -7.17404611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.48864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:164.49, Y:3.09, Z:-71.74 [[ 8.60275867e-01 -4.86898900e-01 -1.51178351e-01 1.64485815e+02] [ 4.80590293e-01 8.73442304e-01 -7.83039750e-02 3.08757713e+00] [ 1.70171686e-01 -5.29182808e-03 9.85400220e-01 -7.17350613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.51864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:164.51, Y:3.09, Z:-71.73 [[ 8.61923654e-01 -4.83991652e-01 -1.51128077e-01 1.64513390e+02] [ 4.77636801e-01 8.75060076e-01 -7.83131478e-02 3.09468601e+00] [ 1.70149056e-01 -4.68437680e-03 9.85407203e-01 -7.17295484e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.54864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.54, Y:3.11, Z:-71.72 [[ 8.62672226e-01 -4.82555799e-01 -1.51448113e-01 1.64538338e+02] [ 4.76145709e-01 8.75854283e-01 -7.85145747e-02 3.10541142e+00] [ 1.70534141e-01 -4.37902601e-03 9.85342037e-01 -7.17248514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.57864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:164.56, Y:3.12, Z:-71.72 [[ 8.63471710e-01 -4.80616409e-01 -1.53050562e-01 1.64564531e+02] [ 4.74032413e-01 8.76921782e-01 -7.93817378e-02 3.11564333e+00] [ 1.72365537e-01 -4.00704219e-03 9.85024906e-01 -7.17203082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.60864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:164.59, Y:3.13, Z:-71.71 [[ 8.64423368e-01 -4.79182072e-01 -1.52173526e-01 1.64589679e+02] [ 4.72645593e-01 8.77707863e-01 -7.89623373e-02 3.12625034e+00] [ 1.71401237e-01 -3.66725676e-03 9.85194482e-01 -7.17143244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.63864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:164.62, Y:3.14, Z:-71.71 [[ 8.65827452e-01 -4.76591239e-01 -1.52327326e-01 1.64615244e+02] [ 4.69996638e-01 8.79119436e-01 -7.90707086e-02 3.13542747e+00] [ 1.71598320e-01 -3.13174097e-03 9.85162022e-01 -7.17086616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.66864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:164.64, Y:3.15, Z:-71.70 [[ 8.66636847e-01 -4.75264427e-01 -1.51869354e-01 1.64640636e+02] [ 4.68672582e-01 8.79838641e-01 -7.89302022e-02 3.14739243e+00] [ 1.71133243e-01 -2.77318060e-03 9.85243991e-01 -7.17041207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.69864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:164.69, Y:3.12, Z:-71.70 [[ 8.60346918e-01 -4.63831969e-01 -2.11336426e-01 1.64686929e+02] [ 4.64562112e-01 8.84166794e-01 -4.93064292e-02 3.11504178e+00] [ 2.09726549e-01 -5.57582620e-02 9.76168936e-01 -7.17010540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.72864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:164.67, Y:3.21, Z:-71.69 [[ 8.67429407e-01 -4.81316955e-01 -1.26096044e-01 1.64670392e+02] [ 4.67388596e-01 8.75136733e-01 -1.25234176e-01 3.20717243e+00] [ 1.70628612e-01 4.96959544e-02 9.84081393e-01 -7.16862819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.75864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:164.77, Y:3.06, Z:-71.69 [[ 8.58181706e-01 -4.43879954e-01 -2.57865750e-01 1.64770699e+02] [ 4.66745280e-01 8.83813599e-01 3.19744701e-02 3.06374072e+00] [ 2.13712430e-01 -1.47797527e-01 9.65651536e-01 -7.16902524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.78864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:164.70, Y:3.26, Z:-71.66 [[ 8.64033528e-01 -4.84824853e-01 -1.35613140e-01 1.64699608e+02] [ 4.59188415e-01 8.69391764e-01 -1.82493729e-01 3.26419103e+00] [ 2.06378442e-01 9.54087174e-02 9.73809589e-01 -7.16628003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.81864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:164.76, Y:3.21, Z:-71.67 [[ 8.64248445e-01 -4.69965700e-01 -1.79462716e-01 1.64762800e+02] [ 4.59992504e-01 8.82684415e-01 -9.63074279e-02 3.20526460e+00] [ 2.03670130e-01 6.82041003e-04 9.79039332e-01 -7.16704209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.84864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.77, Y:3.25, Z:-71.66 [[ 8.72390286e-01 -4.72506582e-01 -1.25190730e-01 1.64770384e+02] [ 4.60425605e-01 8.80328647e-01 -1.14147870e-01 3.25261836e+00] [ 1.64144605e-01 4.19404754e-02 9.85544289e-01 -7.16611160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.87864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:164.81, Y:3.24, Z:-71.66 [[ 8.74703735e-01 -4.62487493e-01 -1.44909264e-01 1.64810513e+02] [ 4.56272643e-01 8.86625805e-01 -7.55642617e-02 3.23680932e+00] [ 1.63427819e-01 -2.17910437e-05 9.86555294e-01 -7.16615897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.90864000000002 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:164.89, Y:3.15, Z:-71.66 [[ 8.64922492e-01 -4.36004052e-01 -2.48615263e-01 1.64885013e+02] [ 4.55434797e-01 8.89953600e-01 2.37009747e-02 3.14616294e+00] [ 2.10922327e-01 -1.33727548e-01 9.68312302e-01 -7.16618063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:164.84, Y:3.29, Z:-71.64 [[ 8.66503229e-01 -4.66394234e-01 -1.77900455e-01 1.64842815e+02] [ 4.48321130e-01 8.83847326e-01 -1.33499321e-01 3.29384105e+00] [ 2.19500155e-01 3.59210592e-02 9.74950952e-01 -7.16423459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:164.86, Y:3.31, Z:-71.64 [[ 8.69506023e-01 -4.66364235e-01 -1.62676599e-01 1.64864472e+02] [ 4.49972608e-01 8.83754663e-01 -1.28461466e-01 3.31030818e+00] [ 2.03676036e-01 3.84980044e-02 9.78281133e-01 -7.16371030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.99864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:164.88, Y:3.34, Z:-71.63 [[ 8.76003298e-01 -4.68139346e-01 -1.16033505e-01 1.64882145e+02] [ 4.55321536e-01 8.82046082e-01 -1.21148704e-01 3.33765504e+00] [ 1.59061374e-01 5.32941107e-02 9.85829203e-01 -7.16307624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.02864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:164.95, Y:3.28, Z:-71.64 [[ 8.68705050e-01 -4.51689879e-01 -2.03292376e-01 1.64945226e+02] [ 4.51849580e-01 8.90781876e-01 -4.83694757e-02 3.27647185e+00] [ 2.02937166e-01 -4.98387668e-02 9.77922596e-01 -7.16366325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.05864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.96, Y:3.30, Z:-71.63 [[ 8.68573798e-01 -4.54650614e-01 -1.97160788e-01 1.64960971e+02] [ 4.51317304e-01 8.90050462e-01 -6.42095426e-02 3.30395976e+00] [ 2.04675959e-01 -3.32113492e-02 9.78266200e-01 -7.16285358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:164.95, Y:3.38, Z:-71.61 [[ 8.70960454e-01 -4.65737581e-01 -1.56577117e-01 1.64954365e+02] [ 4.50642209e-01 8.84158826e-01 -1.23226500e-01 3.37538070e+00] [ 1.95830252e-01 3.67651508e-02 9.79948384e-01 -7.16139497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.11864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:164.99, Y:3.36, Z:-71.61 [[ 8.70231911e-01 -4.61264943e-01 -1.73005991e-01 1.64993012e+02] [ 4.52593913e-01 8.87262058e-01 -8.90212895e-02 3.36087684e+00] [ 1.94564051e-01 -8.32291425e-04 9.80889462e-01 -7.16148410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.14864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:165.02, Y:3.37, Z:-71.61 [[ 8.69659838e-01 -4.61898872e-01 -1.74187251e-01 1.65018629e+02] [ 4.53813246e-01 8.86922979e-01 -8.61462003e-02 3.37148417e+00] [ 1.94281508e-01 -4.13059105e-03 9.80937120e-01 -7.16091622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.17864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:165.02, Y:3.43, Z:-71.60 [[ 8.74670908e-01 -4.72155284e-01 -1.09636628e-01 1.65021673e+02] [ 4.61050128e-01 8.80216622e-01 -1.12478787e-01 3.42508425e+00] [ 1.49611436e-01 4.78339415e-02 9.87587126e-01 -7.15970555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.20864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:165.07, Y:3.40, Z:-71.60 [[ 8.73694262e-01 -4.68155531e-01 -1.32244983e-01 1.65066678e+02] [ 4.62945361e-01 8.83646006e-01 -6.96514829e-02 3.40416350e+00] [ 1.49465478e-01 -3.68100303e-04 9.88766876e-01 -7.15995196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.23864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:165.09, Y:3.42, Z:-71.59 [[ 8.72799193e-01 -4.69784162e-01 -1.32379791e-01 1.65093207e+02] [ 4.64578288e-01 8.82781088e-01 -6.97464346e-02 3.41743597e+00] [ 1.49628146e-01 -6.26144848e-04 9.88742143e-01 -7.15947441e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:165.12, Y:3.43, Z:-71.59 [[ 8.71988989e-01 -4.71169592e-01 -1.32794649e-01 1.65119933e+02] [ 4.65945144e-01 8.82042222e-01 -6.99760052e-02 3.43021655e+00] [ 1.50101053e-01 -8.56715751e-04 9.88670289e-01 -7.15900424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.29864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:165.15, Y:3.44, Z:-71.58 [[ 8.70978344e-01 -4.72764982e-01 -1.33753488e-01 1.65145549e+02] [ 4.67481368e-01 8.81187832e-01 -7.04923785e-02 3.44475013e+00] [ 1.51188274e-01 -1.12992831e-03 9.88504339e-01 -7.15839621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:165.17, Y:3.46, Z:-71.58 [[ 8.70562869e-01 -4.73828510e-01 -1.32690743e-01 1.65171219e+02] [ 4.68639615e-01 8.80616186e-01 -6.99431463e-02 3.45855190e+00] [ 1.49990673e-01 -1.29423273e-03 9.88686565e-01 -7.15785275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.35864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:165.20, Y:3.47, Z:-71.57 [[ 8.70441646e-01 -4.74135403e-01 -1.32389426e-01 1.65197919e+02] [ 4.68972076e-01 8.80450929e-01 -6.97950842e-02 3.47076391e+00] [ 1.49654714e-01 -1.33439589e-03 9.88737420e-01 -7.15731343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.38864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:165.22, Y:3.48, Z:-71.57 [[ 8.70186432e-01 -4.74606183e-01 -1.32380306e-01 1.65224771e+02] [ 4.69447358e-01 8.80197134e-01 -6.98010204e-02 3.48333165e+00] [ 1.49648762e-01 -1.40568426e-03 9.88738222e-01 -7.15679784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.41864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:165.25, Y:3.50, Z:-71.56 [[ 8.69299391e-01 -4.75872509e-01 -1.33655989e-01 1.65251093e+02] [ 4.70626371e-01 8.79512763e-01 -7.04848849e-02 3.49637090e+00] [ 1.51093968e-01 -1.62956577e-03 9.88518061e-01 -7.15641299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.44864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:165.28, Y:3.51, Z:-71.56 [[ 8.68690785e-01 -4.76754121e-01 -1.34468686e-01 1.65276653e+02] [ 4.71452680e-01 8.79034880e-01 -7.09228484e-02 3.50924995e+00] [ 1.52015425e-01 -1.78559747e-03 9.88376508e-01 -7.15594285e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.47864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:165.30, Y:3.52, Z:-71.55 [[ 8.68276825e-01 -4.77399056e-01 -1.34853611e-01 1.65302891e+02] [ 4.72071238e-01 8.78684581e-01 -7.11488108e-02 3.51942529e+00] [ 1.52460163e-01 -1.88364728e-03 9.88307822e-01 -7.15547710e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.50864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:165.35, Y:3.49, Z:-71.55 [[ 8.60757146e-01 -4.69757656e-01 -1.96022653e-01 1.65346275e+02] [ 4.69974700e-01 8.81351869e-01 -4.84010748e-02 3.49341126e+00] [ 1.95501707e-01 -5.04641167e-02 9.79404133e-01 -7.15527646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.53864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:165.33, Y:3.58, Z:-71.54 [[ 8.67917060e-01 -4.84129446e-01 -1.11079506e-01 1.65332713e+02] [ 4.72883795e-01 8.73789200e-01 -1.13460785e-01 3.57833946e+00] [ 1.51989780e-01 4.59468521e-02 9.87313524e-01 -7.15360444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.56864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:165.38, Y:3.55, Z:-71.54 [[ 8.68407028e-01 -4.77472153e-01 -1.33751919e-01 1.65378174e+02] [ 4.72233290e-01 8.78644858e-01 -7.05615590e-02 3.55495894e+00] [ 1.51211615e-01 -1.88595502e-03 9.88499616e-01 -7.15377224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.59864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:165.45, Y:3.47, Z:-71.54 [[ 8.60981974e-01 -4.53696320e-01 -2.29934100e-01 1.65452956e+02] [ 4.71362565e-01 8.81570013e-01 2.55273199e-02 3.46765529e+00] [ 1.91121357e-01 -1.30360890e-01 9.72871351e-01 -7.15384282e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.62864000000002 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:165.40, Y:3.63, Z:-71.51 [[ 8.64522972e-01 -4.85531485e-01 -1.29843009e-01 1.65396559e+02] [ 4.66046839e-01 8.71158096e-01 -1.54544217e-01 3.63405358e+00] [ 1.88149871e-01 7.30941019e-02 9.79416601e-01 -7.15108313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.65864000000002 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:165.43, Y:3.63, Z:-71.51 [[ 8.70745491e-01 -4.80465601e-01 -1.04666593e-01 1.65432969e+02] [ 4.69785710e-01 8.75699336e-01 -1.11588792e-01 3.62778443e+00] [ 1.45271042e-01 4.79945675e-02 9.88227123e-01 -7.15115513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:165.48, Y:3.60, Z:-71.51 [[ 8.71688430e-01 -4.73178801e-01 -1.27519035e-01 1.65479184e+02] [ 4.68364841e-01 8.80965809e-01 -6.73321570e-02 3.60397051e+00] [ 1.44200060e-01 -1.03277063e-03 9.89548016e-01 -7.15141611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:165.52, Y:3.58, Z:-71.51 [[ 8.65158882e-01 -4.64746917e-01 -1.88442064e-01 1.65523006e+02] [ 4.65547771e-01 8.83989018e-01 -4.27631746e-02 3.57820489e+00] [ 1.86454769e-01 -5.07318426e-02 9.81152842e-01 -7.15120410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.74864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:165.51, Y:3.67, Z:-71.50 [[ 8.72236737e-01 -4.78037821e-01 -1.03358196e-01 1.65508635e+02] [ 4.67597082e-01 8.77033627e-01 -1.10294996e-01 3.66516432e+00] [ 1.43373793e-01 4.78733565e-02 9.88510039e-01 -7.14957020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.77864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:165.56, Y:3.64, Z:-71.50 [[ 8.72707816e-01 -4.71314634e-01 -1.27450321e-01 1.65555039e+02] [ 4.66486221e-01 8.81964847e-01 -6.72949874e-02 3.64169158e+00] [ 1.44123815e-01 -7.24956949e-04 9.89559397e-01 -7.14977497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.80864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:165.58, Y:3.65, Z:-71.49 [[ 8.72551302e-01 -4.71559179e-01 -1.27617264e-01 1.65580881e+02] [ 4.66717566e-01 8.81834101e-01 -6.74042396e-02 3.65308106e+00] [ 1.44322343e-01 -7.47561997e-04 9.89530445e-01 -7.14934290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.83864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:165.63, Y:3.62, Z:-71.49 [[ 8.65689604e-01 -4.62857501e-01 -1.90642187e-01 1.65626036e+02] [ 4.64597878e-01 8.84695649e-01 -3.82416115e-02 3.62325814e+00] [ 1.86360730e-01 -5.54665899e-02 9.80914439e-01 -7.14903586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.86864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:165.61, Y:3.72, Z:-71.47 [[ 8.72204331e-01 -4.79060999e-01 -9.87935451e-02 1.65606959e+02] [ 4.68475513e-01 8.76225865e-01 -1.12955425e-01 3.71838505e+00] [ 1.40677998e-01 5.22378537e-02 9.88676341e-01 -7.14724057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.89864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:165.65, Y:3.69, Z:-71.48 [[ 8.72926044e-01 -4.72095896e-01 -1.22986128e-01 1.65654730e+02] [ 4.67595613e-01 8.81546891e-01 -6.50340062e-02 3.69225626e+00] [ 1.39120326e-01 -7.37896302e-04 9.90275209e-01 -7.14757513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.92864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:165.68, Y:3.71, Z:-71.47 [[ 8.72934642e-01 -4.71829318e-01 -1.23944368e-01 1.65681398e+02] [ 4.67252414e-01 8.81689646e-01 -6.55633269e-02 3.70547435e+00] [ 1.40215166e-01 -6.80806064e-04 9.90120823e-01 -7.14710986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.95864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:165.71, Y:3.72, Z:-71.47 [[ 8.72971562e-01 -4.71463766e-01 -1.25070255e-01 1.65707061e+02] [ 4.66797696e-01 8.81885216e-01 -6.61693008e-02 3.71967721e+00] [ 1.41494037e-01 -6.18589092e-04 9.89938915e-01 -7.14666362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.98864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:165.73, Y:3.73, Z:-71.46 [[ 8.73081105e-01 -4.71159081e-01 -1.25453201e-01 1.65731501e+02] [ 4.66459874e-01 8.82048073e-01 -6.63805848e-02 3.73363865e+00] [ 1.41931569e-01 -5.63249908e-04 9.89876312e-01 -7.14619164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.01864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:165.76, Y:3.75, Z:-71.46 [[ 8.73737871e-01 -4.70041606e-01 -1.25072061e-01 1.65755696e+02] [ 4.65356704e-01 8.82644185e-01 -6.61995527e-02 3.74842002e+00] [ 1.41510672e-01 -3.62065863e-04 9.89936664e-01 -7.14563869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.04864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:165.78, Y:3.76, Z:-71.45 [[ 8.73957799e-01 -4.69984131e-01 -1.23744421e-01 1.65780531e+02] [ 4.65395182e-01 8.82674803e-01 -6.55173087e-02 3.76213734e+00] [ 1.40018178e-01 -3.30694543e-04 9.90148878e-01 -7.14518933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.07864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:165.82, Y:3.75, Z:-71.45 [[ 8.67926718e-01 -4.63812175e-01 -1.77711787e-01 1.65821889e+02] [ 4.63003111e-01 8.85024605e-01 -4.85753722e-02 3.74749342e+00] [ 1.79809153e-01 -4.01212469e-02 9.82882981e-01 -7.14491263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.10864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:165.81, Y:3.82, Z:-71.44 [[ 8.72404118e-01 -4.77370886e-01 -1.05014719e-01 1.65814898e+02] [ 4.68430942e-01 8.77904995e-01 -9.92737281e-02 3.82000461e+00] [ 1.39583334e-01 3.74146653e-02 9.89503227e-01 -7.14357129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.13864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:165.86, Y:3.81, Z:-71.44 [[ 8.72432478e-01 -4.73029289e-01 -1.22901841e-01 1.65857353e+02] [ 4.68525152e-01 8.81046371e-01 -6.51266009e-02 3.80634817e+00] [ 1.39089011e-01 -7.64041828e-04 9.90279588e-01 -7.14360270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.16864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:165.88, Y:3.82, Z:-71.43 [[ 8.72036593e-01 -4.73981801e-01 -1.22038653e-01 1.65884908e+02] [ 4.69550022e-01 8.80534172e-01 -6.46710778e-02 3.82092619e+00] [ 1.38112118e-01 -9.07705884e-04 9.90416185e-01 -7.14294417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.19864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:165.91, Y:3.84, Z:-71.42 [[ 8.71598507e-01 -4.74627842e-01 -1.22655834e-01 1.65912806e+02] [ 4.70157162e-01 8.80185993e-01 -6.49989321e-02 3.83654527e+00] [ 1.38810250e-01 -1.01454662e-03 9.90318477e-01 -7.14246894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.22864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:165.94, Y:3.85, Z:-71.42 [[ 8.70536030e-01 -4.76321293e-01 -1.23632709e-01 1.65939880e+02] [ 4.71807338e-01 8.79270240e-01 -6.54345498e-02 3.85086153e+00] [ 1.39874431e-01 -1.36768615e-03 9.90168305e-01 -7.14199908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.25864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:165.97, Y:3.86, Z:-71.42 [[ 8.68927217e-01 -4.78782985e-01 -1.25428641e-01 1.65969203e+02] [ 4.74161908e-01 8.77931459e-01 -6.63840228e-02 3.86367361e+00] [ 1.41901291e-01 -1.79059977e-03 9.89879193e-01 -7.14165264e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.28864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:166.00, Y:3.88, Z:-71.41 [[ 8.68913043e-01 -4.78799725e-01 -1.25462927e-01 1.65995533e+02] [ 4.74188183e-01 8.77922170e-01 -6.63191622e-02 3.87753104e+00] [ 1.41900282e-01 -1.86745253e-03 9.89879196e-01 -7.14115859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.31864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:166.02, Y:3.89, Z:-71.41 [[ 8.68272121e-01 -4.80142556e-01 -1.24766380e-01 1.66022551e+02] [ 4.75595495e-01 8.77188028e-01 -6.59552071e-02 3.88929975e+00] [ 1.41111477e-01 -2.07126078e-03 9.89991546e-01 -7.14069675e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.34864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:166.05, Y:3.90, Z:-71.40 [[ 8.68153101e-01 -4.80931662e-01 -1.22535420e-01 1.66049522e+02] [ 4.76552943e-01 8.76755445e-01 -6.47856587e-02 3.90060626e+00] [ 1.38591071e-01 -2.15074441e-03 9.90347358e-01 -7.14010250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.37864000000002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:166.08, Y:3.91, Z:-71.40 [[ 8.68313917e-01 -4.80571798e-01 -1.22807525e-01 1.66077019e+02] [ 4.76168031e-01 8.76952904e-01 -6.49431360e-02 3.91429082e+00] [ 1.38906255e-01 -2.08598845e-03 9.90303338e-01 -7.13951806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.40864000000002 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:166.10, Y:3.93, Z:-71.39 [[ 8.69055140e-01 -4.79075768e-01 -1.23408152e-01 1.66103978e+02] [ 4.74615502e-01 8.77771564e-01 -6.52472662e-02 3.92585203e+00] [ 1.39582551e-01 -1.86794991e-03 9.90208676e-01 -7.13908890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43864 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:166.16, Y:3.88, Z:-71.39 [[ 8.63102556e-01 -4.66626689e-01 -1.93167057e-01 1.66156502e+02] [ 4.71782251e-01 8.81457685e-01 -2.13039142e-02 3.88401776e+00] [ 1.80209562e-01 -7.27453263e-02 9.80934570e-01 -7.13893040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:166.13, Y:4.00, Z:-71.37 [[ 8.69171488e-01 -4.86506630e-01 -8.86127744e-02 1.66126062e+02] [ 4.74700966e-01 8.71058595e-01 -1.26158300e-01 4.00326838e+00] [ 1.38563768e-01 6.75886274e-02 9.88044462e-01 -7.13694016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.49864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:166.20, Y:3.93, Z:-71.38 [[ 8.65677585e-01 -4.68120189e-01 -1.77386040e-01 1.66201057e+02] [ 4.69671601e-01 8.82114781e-01 -3.58064299e-02 3.92711220e+00] [ 1.73236560e-01 -5.23163614e-02 9.83489752e-01 -7.13765460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.52864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:166.19, Y:4.02, Z:-71.36 [[ 8.70925122e-01 -4.82052350e-01 -9.54723162e-02 1.66186283e+02] [ 4.72501310e-01 8.74829806e-01 -1.06842513e-01 4.01621928e+00] [ 1.35025712e-01 4.79410345e-02 9.89681623e-01 -7.13617720e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.55864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:166.23, Y:4.00, Z:-71.36 [[ 8.72370614e-01 -4.73545836e-01 -1.21341886e-01 1.66233624e+02] [ 4.69179183e-01 8.80768660e-01 -6.41674455e-02 3.99620641e+00] [ 1.37260357e-01 -9.53293267e-04 9.90534545e-01 -7.13640770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.58864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:166.26, Y:4.01, Z:-71.36 [[ 8.73670074e-01 -4.71308687e-01 -1.20700970e-01 1.66258757e+02] [ 4.66968572e-01 8.81968112e-01 -6.38169343e-02 4.01215909e+00] [ 1.36531882e-01 -6.08614131e-04 9.90635490e-01 -7.13593750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.61864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:166.28, Y:4.03, Z:-71.35 [[ 8.75667813e-01 -4.68092800e-01 -1.18722417e-01 1.66283214e+02] [ 4.63864699e-01 8.83679308e-01 -6.27727694e-02 4.03085810e+00] [ 1.34296024e-01 -1.03044350e-04 9.90941253e-01 -7.13533397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.64864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:166.31, Y:4.05, Z:-71.35 [[ 8.76866147e-01 -4.65831429e-01 -1.18772219e-01 1.66309721e+02] [ 4.61578862e-01 8.84873448e-01 -6.28007508e-02 4.04804831e+00] [ 1.34352947e-01 2.45106561e-04 9.90933512e-01 -7.13488705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.67864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:166.35, Y:4.05, Z:-71.35 [[ 8.73056905e-01 -4.60100481e-01 -1.61490519e-01 1.66346527e+02] [ 4.57994717e-01 8.87415498e-01 -5.22931472e-02 4.04608352e+00] [ 1.67369291e-01 -2.83069112e-02 9.85487818e-01 -7.13452244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.70864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:166.36, Y:4.07, Z:-71.34 [[ 8.72362344e-01 -4.62290672e-01 -1.58969419e-01 1.66363724e+02] [ 4.57669199e-01 8.86610098e-01 -6.67939995e-02 4.07199892e+00] [ 1.71822135e-01 -1.44868365e-02 9.85021465e-01 -7.13388288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.73864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:166.41, Y:4.05, Z:-71.34 [[ 8.68563685e-01 -4.53660837e-01 -1.99471726e-01 1.66408033e+02] [ 4.57693451e-01 8.88664153e-01 -2.81554334e-02 4.04809080e+00] [ 1.90036390e-01 -6.68421157e-02 9.79499006e-01 -7.13379408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.76864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:166.39, Y:4.14, Z:-71.32 [[ 8.71603864e-01 -4.69486464e-01 -1.41028949e-01 1.66388864e+02] [ 4.57899799e-01 8.82452821e-01 -1.07725542e-01 4.13698422e+00] [ 1.75027077e-01 2.93168712e-02 9.84127046e-01 -7.13225396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.79864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:166.39, Y:4.19, Z:-71.31 [[ 8.76318973e-01 -4.75771636e-01 -7.55407651e-02 1.66392955e+02] [ 4.64783205e-01 8.76257107e-01 -1.27082867e-01 4.18723700e+00] [ 1.26655556e-01 7.62550488e-02 9.89011394e-01 -7.13094841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.82864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:166.47, Y:4.11, Z:-71.32 [[ 8.70366523e-01 -4.62116567e-01 -1.70030569e-01 1.66468286e+02] [ 4.63053445e-01 8.85576708e-01 -3.65431410e-02 4.11305489e+00] [ 1.67462303e-01 -4.69273144e-02 9.84760988e-01 -7.13239133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.85864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:166.48, Y:4.14, Z:-71.32 [[ 8.70156505e-01 -4.64459798e-01 -1.64635212e-01 1.66484109e+02] [ 4.62033100e-01 8.85148150e-01 -5.51195805e-02 4.14255895e+00] [ 1.71327383e-01 -2.81042560e-02 9.84813220e-01 -7.13165375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.88864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:166.47, Y:4.24, Z:-71.30 [[ 8.75958329e-01 -4.76359406e-01 -7.60179092e-02 1.66465691e+02] [ 4.65958437e-01 8.76330160e-01 -1.22180955e-01 4.23562366e+00] [ 1.24818833e-01 7.16042386e-02 9.89592387e-01 -7.12951759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.91864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:166.52, Y:4.20, Z:-71.30 [[ 8.77200153e-01 -4.67394775e-01 -1.09827212e-01 1.66524283e+02] [ 4.63775691e-01 8.84048712e-01 -5.80515587e-02 4.20047215e+00] [ 1.24225600e-01 -1.23550288e-05 9.92254000e-01 -7.13045828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.94864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:166.60, Y:4.13, Z:-71.31 [[ 8.70352236e-01 -4.50249616e-01 -1.99404784e-01 1.66596282e+02] [ 4.64315187e-01 8.85233926e-01 2.77903377e-02 4.12622435e+00] [ 1.64007291e-01 -1.16774052e-01 9.79523062e-01 -7.13117938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.97864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:166.53, Y:4.32, Z:-71.27 [[ 8.74124385e-01 -4.82881872e-01 -5.22652606e-02 1.66526782e+02] [ 4.70108304e-01 8.68195288e-01 -1.58855672e-01 4.31511841e+00] [ 1.22084977e-01 1.14289284e-01 9.85917450e-01 -7.12684843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.00864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:166.60, Y:4.25, Z:-71.29 [[ 8.74750737e-01 -4.72854454e-01 -1.05923620e-01 1.66603025e+02] [ 4.69540355e-01 8.81140144e-01 -5.58918794e-02 4.24774925e+00] [ 1.19762278e-01 -8.43951285e-04 9.92802238e-01 -7.12875415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.03864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:166.63, Y:4.27, Z:-71.28 [[ 8.72484843e-01 -4.76684804e-01 -1.07432753e-01 1.66630434e+02] [ 4.73312756e-01 8.79073086e-01 -5.66175198e-02 4.26500244e+00] [ 1.21429953e-01 -1.45136473e-03 9.92598942e-01 -7.12830092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.06864000000002 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:166.70, Y:4.20, Z:-71.29 [[ 8.66052626e-01 -4.61884761e-01 -1.91351291e-01 1.66700156e+02] [ 4.74283103e-01 8.80091757e-01 2.22269538e-02 4.19643811e+00] [ 1.58140403e-01 -1.10004396e-01 9.81269915e-01 -7.12898954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.09864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:166.67, Y:4.31, Z:-71.27 [[ 8.63418689e-01 -4.85963770e-01 -1.35452508e-01 1.66674050e+02] [ 4.76783528e-01 8.73791983e-01 -9.57342031e-02 4.30921360e+00] [ 1.64880670e-01 1.80771756e-02 9.86147849e-01 -7.12665343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.12864000000002 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:166.72, Y:4.29, Z:-71.27 [[ 8.64526272e-01 -4.81854064e-01 -1.42867024e-01 1.66715677e+02] [ 4.79541345e-01 8.75946631e-01 -5.25128334e-02 4.29282496e+00] [ 1.50447410e-01 -2.31119208e-02 9.88347821e-01 -7.12691351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.69, Y:4.40, Z:-71.24 [[ 8.66290324e-01 -4.97011613e-01 -5.02048927e-02 1.66690163e+02] [ 4.85901007e-01 8.61695204e-01 -1.46224438e-01 4.40167636e+00] [ 1.15936559e-01 1.02278208e-01 9.87976661e-01 -7.12392492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:166.81, Y:4.25, Z:-71.27 [[ 8.62670651e-01 -4.70777424e-01 -1.84845785e-01 1.66805427e+02] [ 4.83994598e-01 8.74501995e-01 3.15513740e-02 4.25126031e+00] [ 1.46794334e-01 -1.16682806e-01 9.82260936e-01 -7.12695147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:166.74, Y:4.43, Z:-71.23 [[ 8.63851134e-01 -5.01780934e-01 -4.44647423e-02 1.66741650e+02] [ 4.90680582e-01 8.58133214e-01 -1.51128927e-01 4.43392609e+00] [ 1.13990286e-01 1.08734909e-01 9.87513511e-01 -7.12275483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.82, Y:4.37, Z:-71.25 [[ 8.64782310e-01 -4.92558939e-01 -9.76588321e-02 1.66817555e+02] [ 4.89895149e-01 8.70272053e-01 -5.12766737e-02 4.36643540e+00] [ 1.10246536e-01 -3.49942777e-03 9.93898111e-01 -7.12483506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:166.85, Y:4.38, Z:-71.24 [[ 8.63436068e-01 -4.94934587e-01 -9.75597851e-02 1.66848195e+02] [ 4.92297791e-01 8.68921707e-01 -5.11659321e-02 4.37821371e+00] [ 1.10095604e-01 -3.84995549e-03 9.93913545e-01 -7.12441240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.92, Y:4.30, Z:-71.25 [[ 8.57450765e-01 -4.80050943e-01 -1.85281616e-01 1.66919425e+02] [ 4.93520965e-01 8.69143469e-01 3.20419662e-02 4.30142177e+00] [ 1.45654530e-01 -1.18914770e-01 9.82162937e-01 -7.12503373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:166.86, Y:4.48, Z:-71.21 [[ 8.59749603e-01 -5.08977148e-01 -4.21056176e-02 1.66857357e+02] [ 4.98129128e-01 8.53896897e-01 -1.50756295e-01 4.48450396e+00] [ 1.12685365e-01 1.08638630e-01 9.87673861e-01 -7.12104606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:166.93, Y:4.42, Z:-71.23 [[ 8.61966572e-01 -4.97937624e-01 -9.52457455e-02 1.66933668e+02] [ 4.95455852e-01 8.67202503e-01 -4.98328938e-02 4.41596166e+00] [ 1.07411022e-01 -4.23577339e-03 9.94205678e-01 -7.12295731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.01, Y:4.34, Z:-71.23 [[ 8.58041054e-01 -4.80270017e-01 -1.81951256e-01 1.67005060e+02] [ 4.92906851e-01 8.69595531e-01 2.90938006e-02 4.34332454e+00] [ 1.44251119e-01 -1.14648696e-01 9.82877048e-01 -7.12335259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.42864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:166.95, Y:4.52, Z:-71.20 [[ 8.61734581e-01 -5.05562857e-01 -4.26580458e-02 1.66946365e+02] [ 4.95359987e-01 8.56552575e-01 -1.44693364e-01 4.51956058e+00] [ 1.09690449e-01 1.03556186e-01 9.88556585e-01 -7.11960527e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.45864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:167.02, Y:4.45, Z:-71.21 [[ 8.64768601e-01 -4.93102190e-01 -9.50026094e-02 1.67023247e+02] [ 4.90618115e-01 8.69963358e-01 -4.95743859e-02 4.45026239e+00] [ 1.07094027e-01 -3.73962882e-03 9.94241864e-01 -7.12134277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.05, Y:4.46, Z:-71.21 [[ 8.65813787e-01 -4.91329005e-01 -9.46693988e-02 1.67053371e+02] [ 4.88853657e-01 8.70966933e-01 -4.93832346e-02 4.46353715e+00] [ 1.06717331e-01 -3.52279641e-03 9.94283159e-01 -7.12086369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.08, Y:4.48, Z:-71.21 [[ 8.67354597e-01 -4.88839644e-01 -9.34441347e-02 1.67084462e+02] [ 4.86419669e-01 8.72367704e-01 -4.86877227e-02 4.47572862e+00] [ 1.05318134e-01 -3.22354502e-03 9.94433356e-01 -7.12051140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.12, Y:4.49, Z:-71.20 [[ 8.67985532e-01 -4.87567490e-01 -9.42287536e-02 1.67115129e+02] [ 4.85105296e-01 8.73079633e-01 -4.90388176e-02 4.48876867e+00] [ 1.06178939e-01 -3.14588325e-03 9.94342062e-01 -7.12008996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.15, Y:4.50, Z:-71.20 [[ 8.68481443e-01 -4.86646896e-01 -9.44181261e-02 1.67145121e+02] [ 4.84176404e-01 8.73593272e-01 -4.90714275e-02 4.50161955e+00] [ 1.06363498e-01 -3.09740460e-03 9.94322489e-01 -7.11973690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.18, Y:4.51, Z:-71.19 [[ 8.70016942e-01 -4.83663911e-01 -9.56019988e-02 1.67175175e+02] [ 4.81114962e-01 8.75249378e-01 -4.96680929e-02 4.51350367e+00] [ 1.07698254e-01 -2.78346977e-03 9.94179731e-01 -7.11918123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.20, Y:4.53, Z:-71.19 [[ 8.71063080e-01 -4.81801685e-01 -9.54790377e-02 1.67204799e+02] [ 4.79254569e-01 8.76276421e-01 -4.95448471e-02 4.52721555e+00] [ 1.07536820e-01 -2.60207795e-03 9.94197697e-01 -7.11876136e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.66864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:167.26, Y:4.50, Z:-71.19 [[ 8.68753718e-01 -4.71114406e-01 -1.52702962e-01 1.67256688e+02] [ 4.74346909e-01 8.80176706e-01 -1.68515752e-02 4.49581225e+00] [ 1.42344610e-01 -5.77943095e-02 9.88128448e-01 -7.11867398e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.24, Y:4.59, Z:-71.17 [[ 8.73231472e-01 -4.82802780e-01 -6.60929052e-02 1.67240987e+02] [ 4.76207623e-01 8.74239932e-01 -9.45031330e-02 4.58704159e+00] [ 1.03407432e-01 5.10491647e-02 9.93328186e-01 -7.11692825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.29, Y:4.56, Z:-71.17 [[ 8.74137200e-01 -4.76987018e-01 -9.14742574e-02 1.67293112e+02] [ 4.74631624e-01 8.78908075e-01 -4.73858296e-02 4.56045439e+00] [ 1.02999889e-01 -1.99485888e-03 9.94679367e-01 -7.11733661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.75864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.32, Y:4.57, Z:-71.17 [[ 8.73692973e-01 -4.77849211e-01 -9.12179789e-02 1.67324200e+02] [ 4.75517677e-01 8.78439266e-01 -4.71952750e-02 4.57120913e+00] [ 1.02681679e-01 -2.14158125e-03 9.94711961e-01 -7.11690858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.78864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:167.35, Y:4.58, Z:-71.16 [[ 8.73185906e-01 -4.78568571e-01 -9.22957024e-02 1.67354574e+02] [ 4.76191572e-01 8.78047159e-01 -4.76945851e-02 4.58452549e+00] [ 1.03865109e-01 -2.30419618e-03 9.94588724e-01 -7.11649194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.81864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:167.38, Y:4.60, Z:-71.16 [[ 8.72807963e-01 -4.79241441e-01 -9.23791193e-02 1.67384830e+02] [ 4.76869922e-01 8.77679725e-01 -4.76799401e-02 4.59781988e+00] [ 1.03929483e-01 -2.43739210e-03 9.94581682e-01 -7.11606279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.84864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.42, Y:4.61, Z:-71.16 [[ 8.71695077e-01 -4.81066516e-01 -9.33953996e-02 1.67416694e+02] [ 4.78659142e-01 8.76679825e-01 -4.81446772e-02 4.60803745e+00] [ 1.05038655e-01 -2.73708380e-03 9.94464373e-01 -7.11572800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.87864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.45, Y:4.62, Z:-71.15 [[ 8.71353172e-01 -4.81628202e-01 -9.36905770e-02 1.67447156e+02] [ 4.79215022e-01 8.76370962e-01 -4.82379447e-02 4.62044119e+00] [ 1.05340456e-01 -2.86564584e-03 9.94432087e-01 -7.11519980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.90864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.48, Y:4.63, Z:-71.15 [[ 8.70795819e-01 -4.82862867e-01 -9.25099635e-02 1.67478308e+02] [ 4.80523119e-01 8.75690752e-01 -4.75735142e-02 4.63050218e+00] [ 1.03981603e-01 -3.02635899e-03 9.94574616e-01 -7.11471421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.51, Y:4.64, Z:-71.14 [[ 8.70891727e-01 -4.82723529e-01 -9.23341517e-02 1.67507913e+02] [ 4.80397824e-01 8.75767474e-01 -4.74263850e-02 4.64367477e+00] [ 1.03757079e-01 -3.05387923e-03 9.94597980e-01 -7.11424145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.54, Y:4.66, Z:-71.14 [[ 8.71385625e-01 -4.82021582e-01 -9.13361168e-02 1.67537531e+02] [ 4.79747848e-01 8.76154253e-01 -4.68585778e-02 4.65731184e+00] [ 1.02611373e-01 -2.98641435e-03 9.94717039e-01 -7.11379726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.57, Y:4.67, Z:-71.13 [[ 8.73290856e-01 -4.78350871e-01 -9.24311953e-02 1.67568291e+02] [ 4.76007639e-01 8.78164844e-01 -4.73627864e-02 4.66896410e+00] [ 1.03825856e-01 -2.63646676e-03 9.94591997e-01 -7.11348737e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.64, Y:4.60, Z:-71.13 [[ 8.72278656e-01 -4.57051068e-01 -1.73880040e-01 1.67638011e+02] [ 4.68420919e-01 8.83037270e-01 2.87579986e-02 4.59848812e+00] [ 1.40398682e-01 -1.06534037e-01 9.84346844e-01 -7.11322355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.58, Y:4.77, Z:-71.11 [[ 8.75816972e-01 -4.80674698e-01 -4.35484274e-02 1.67584100e+02] [ 4.71370147e-01 8.71258778e-01 -1.36814936e-01 4.76635846e+00] [ 1.03705428e-01 9.92974147e-02 9.89638928e-01 -7.11120973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.08864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:167.68, Y:4.66, Z:-71.12 [[ 8.74851002e-01 -4.60109422e-01 -1.51443204e-01 1.67675301e+02] [ 4.63498990e-01 8.85983016e-01 -1.42401766e-02 4.65966786e+00] [ 1.40728146e-01 -5.77357392e-02 9.88363381e-01 -7.11205472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.11864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:167.66, Y:4.76, Z:-71.11 [[ 8.79569810e-01 -4.71531882e-01 -6.33611391e-02 1.67658844e+02] [ 4.65166843e-01 8.80266613e-01 -9.35440942e-02 4.75532942e+00] [ 9.98837180e-02 5.28050601e-02 9.93596935e-01 -7.11102990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.71, Y:4.73, Z:-71.11 [[ 8.81086553e-01 -4.64649583e-01 -8.82453999e-02 1.67710830e+02] [ 4.62454850e-01 8.85494016e-01 -4.51204896e-02 4.72781134e+00] [ 9.91059903e-02 -1.05445656e-03 9.95076324e-01 -7.11118643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.74, Y:4.74, Z:-71.11 [[ 8.81257371e-01 -4.64320788e-01 -8.82703392e-02 1.67740399e+02] [ 4.62129302e-01 8.85666447e-01 -4.50716401e-02 4.74307068e+00] [ 9.91057771e-02 -1.07259515e-03 9.95076326e-01 -7.11076560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.79, Y:4.71, Z:-71.10 [[ 8.76850744e-01 -4.56537105e-01 -1.50687240e-01 1.67787787e+02] [ 4.59391104e-01 8.88064314e-01 -1.73662974e-02 4.71363964e+00] [ 1.41748320e-01 -5.39967268e-02 9.88428939e-01 -7.11042766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:167.77, Y:4.81, Z:-71.09 [[ 8.82041130e-01 -4.66742134e-01 -6.44610340e-02 1.67773856e+02] [ 4.60556196e-01 8.82938751e-01 -9.11435752e-02 4.80678063e+00] [ 9.94556917e-02 5.07044535e-02 9.93749276e-01 -7.10938656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:167.84, Y:4.74, Z:-71.09 [[ 8.80026359e-01 -4.51788677e-01 -1.46426086e-01 1.67840862e+02] [ 4.54653054e-01 8.90538578e-01 -1.52197877e-02 4.74053474e+00] [ 1.37274206e-01 -5.31792531e-02 9.89104524e-01 -7.10942297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.84, Y:4.80, Z:-71.09 [[ 8.81071446e-01 -4.57667075e-01 -1.19389929e-01 1.67842712e+02] [ 4.53036950e-01 8.89117903e-01 -6.50144381e-02 4.79558394e+00] [ 1.35906691e-01 3.19431571e-03 9.90716492e-01 -7.10879102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.85, Y:4.84, Z:-71.08 [[ 8.85083866e-01 -4.61037802e-01 -6.38020038e-02 1.67851058e+02] [ 4.55493600e-01 8.86184717e-01 -8.48659419e-02 4.84183060e+00] [ 9.56667679e-02 4.60520715e-02 9.94347563e-01 -7.10818475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.91, Y:4.79, Z:-71.08 [[ 8.83523748e-01 -4.48219995e-01 -1.35958167e-01 1.67911675e+02] [ 4.49473600e-01 8.92995427e-01 -2.30792016e-02 4.79251371e+00] [ 1.31754581e-01 -4.07185842e-02 9.90445722e-01 -7.10828595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:167.92, Y:4.84, Z:-71.08 [[ 8.84950726e-01 -4.52071074e-01 -1.11776369e-01 1.67916727e+02] [ 4.47544238e-01 8.91956264e-01 -6.41730345e-02 4.84292870e+00] [ 1.28710405e-01 6.76510378e-03 9.91659148e-01 -7.10758066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.94, Y:4.85, Z:-71.07 [[ 8.84772109e-01 -4.51022140e-01 -1.17291704e-01 1.67944999e+02] [ 4.47908452e-01 8.92495959e-01 -5.31881707e-02 4.84681579e+00] [ 1.28671415e-01 -5.47653567e-03 9.91672161e-01 -7.10730160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:167.95, Y:4.90, Z:-71.07 [[ 8.87377172e-01 -4.56538382e-01 -6.42997644e-02 1.67952074e+02] [ 4.51821871e-01 8.88883362e-01 -7.57849987e-02 4.89532013e+00] [ 9.17537515e-02 3.81978380e-02 9.95048830e-01 -7.10671224e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.47864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:168.00, Y:4.88, Z:-71.07 [[ 8.87658664e-01 -4.53138688e-01 -8.20208866e-02 1.67996031e+02] [ 4.51193815e-01 8.91440004e-01 -4.19387651e-02 4.88263681e+00] [ 9.21207765e-02 2.19991503e-04 9.95747817e-01 -7.10674416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.02, Y:4.90, Z:-71.06 [[ 8.87399889e-01 -4.53401167e-01 -8.33595779e-02 1.68024580e+02] [ 4.51398642e-01 8.91306547e-01 -4.25664888e-02 4.89800876e+00] [ 9.35986333e-02 1.45097123e-04 9.95610001e-01 -7.10632118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.53864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.07, Y:4.88, Z:-71.06 [[ 8.82056661e-01 -4.49740301e-01 -1.40391269e-01 1.68068979e+02] [ 4.51879804e-01 8.91895661e-01 -1.80768492e-02 4.87521258e+00] [ 1.33344252e-01 -4.74951741e-02 9.89931068e-01 -7.10614444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.08, Y:4.92, Z:-71.06 [[ 8.81486239e-01 -4.55839359e-01 -1.23257814e-01 1.68079430e+02] [ 4.52652553e-01 8.90027363e-01 -5.43779415e-02 4.91675083e+00] [ 1.34490433e-01 -7.85955688e-03 9.90883722e-01 -7.10564704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.59864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.08, Y:4.98, Z:-71.05 [[ 8.84409997e-01 -4.63257629e-01 -5.66685654e-02 1.68082277e+02] [ 4.57674200e-01 8.84646814e-01 -8.90749125e-02 4.97583733e+00] [ 9.13962986e-02 5.28430027e-02 9.94411551e-01 -7.10483446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.62864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:168.14, Y:4.92, Z:-71.05 [[ 8.80857169e-01 -4.55204163e-01 -1.29922350e-01 1.68144094e+02] [ 4.55996384e-01 8.89620972e-01 -2.53342567e-02 4.92090112e+00] [ 1.27113906e-01 -3.69282600e-02 9.91200463e-01 -7.10507731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.65864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:168.17, Y:4.92, Z:-71.05 [[ 8.80688775e-01 -4.55546577e-01 -1.29863763e-01 1.68171556e+02] [ 4.57754599e-01 8.88967306e-01 -1.40660990e-02 4.92281374e+00] [ 1.21852403e-01 -4.70578791e-02 9.91432069e-01 -7.10474495e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.15, Y:5.03, Z:-71.03 [[ 8.82968007e-01 -4.67852939e-01 -3.84854040e-02 1.68148361e+02] [ 4.61395149e-01 8.80034000e-01 -1.12493002e-01 5.03213723e+00] [ 8.64986454e-02 8.15707427e-02 9.92906943e-01 -7.10325859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.21, Y:4.98, Z:-71.04 [[ 8.84223979e-01 -4.60414375e-01 -7.85274315e-02 1.68212141e+02] [ 4.58675050e-01 8.87703873e-01 -3.99878881e-02 4.98185646e+00] [ 8.81201037e-02 -6.60324050e-04 9.96109638e-01 -7.10395490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.24, Y:5.00, Z:-71.04 [[ 8.85007362e-01 -4.58857456e-01 -7.88150003e-02 1.68242627e+02] [ 4.57103730e-01 8.88509724e-01 -4.00830465e-02 4.99528572e+00] [ 8.84202989e-02 -5.52839345e-04 9.96083102e-01 -7.10367702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.27, Y:5.01, Z:-71.03 [[ 8.86899169e-01 -4.55236931e-01 -7.85442586e-02 1.68273076e+02] [ 4.53485586e-01 8.90370305e-01 -3.98941429e-02 5.00681647e+00] [ 8.80947627e-02 -2.36607013e-04 9.96112070e-01 -7.10324824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:168.30, Y:5.02, Z:-71.03 [[ 8.88002003e-01 -4.52958292e-01 -7.92542037e-02 1.68302776e+02] [ 4.51170703e-01 8.91531706e-01 -4.02021690e-02 5.02037798e+00] [ 8.88675412e-02 -5.75681807e-05 9.96043451e-01 -7.10287260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.33, Y:5.03, Z:-71.02 [[ 8.91357438e-01 -4.46276999e-01 -7.94906112e-02 1.68331323e+02] [ 4.44456947e-01 8.94894700e-01 -4.02678415e-02 5.03429335e+00] [ 8.91063381e-02 5.62885649e-04 9.96021959e-01 -7.10237099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.36, Y:5.05, Z:-71.02 [[ 8.92976752e-01 -4.42982176e-01 -7.97452927e-02 1.68358944e+02] [ 4.41142340e-01 8.96530021e-01 -4.03405127e-02 5.04803819e+00] [ 8.93641771e-02 8.44114977e-04 9.95998660e-01 -7.10207126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.39, Y:5.06, Z:-71.02 [[ 8.95879643e-01 -4.37046851e-01 -7.99356998e-02 1.68385441e+02] [ 4.35174776e-01 8.99437592e-01 -4.04343067e-02 5.05868208e+00] [ 8.95688597e-02 1.43827204e-03 9.95979594e-01 -7.10181154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.92864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.41, Y:5.07, Z:-71.01 [[ 8.97152823e-01 -4.34349333e-01 -8.03583848e-02 1.68410855e+02] [ 4.32445343e-01 9.00742842e-01 -4.06615003e-02 5.07107351e+00] [ 9.00435354e-02 1.72897049e-03 9.95936329e-01 -7.10148289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.44, Y:5.08, Z:-71.01 [[ 8.98861927e-01 -4.30671083e-01 -8.10534059e-02 1.68435668e+02] [ 4.28717740e-01 9.02506448e-01 -4.10269649e-02 5.08467632e+00] [ 9.08203489e-02 2.12854377e-03 9.95865018e-01 -7.10117627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.98864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.47, Y:5.06, Z:-71.01 [[ 8.94644454e-01 -4.27156236e-01 -1.30953620e-01 1.68474064e+02] [ 4.28605076e-01 9.03305511e-01 -1.83532739e-02 5.06379639e+00] [ 1.26130842e-01 -3.97077315e-02 9.91218597e-01 -7.10077083e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.01864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.48, Y:5.10, Z:-71.00 [[ 8.94871873e-01 -4.31013669e-01 -1.15894557e-01 1.68484523e+02] [ 4.28066009e-01 9.02334637e-01 -5.05142958e-02 5.10333859e+00] [ 1.26348025e-01 -4.40669786e-03 9.91976188e-01 -7.10026425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.49, Y:5.16, Z:-71.00 [[ 8.99184505e-01 -4.34046464e-01 -5.54156433e-02 1.68489681e+02] [ 4.29100557e-01 8.99477095e-01 -8.25449359e-02 5.15983427e+00] [ 8.56734395e-02 5.04442438e-02 9.95045446e-01 -7.09967809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.55, Y:5.11, Z:-71.00 [[ 8.95128241e-01 -4.28228984e-01 -1.23957126e-01 1.68546760e+02] [ 4.28975633e-01 9.03048823e-01 -2.19711109e-02 5.10947993e+00] [ 1.21348003e-01 -3.35076248e-02 9.92044304e-01 -7.09977383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.56, Y:5.15, Z:-70.99 [[ 8.94863431e-01 -4.32669549e-01 -1.09619806e-01 1.68557531e+02] [ 4.30003159e-01 9.01543420e-01 -4.81325754e-02 5.14541551e+00] [ 1.19652514e-01 -4.06478121e-03 9.92807511e-01 -7.09940269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.56, Y:5.20, Z:-70.99 [[ 8.98760839e-01 -4.34979680e-01 -5.49693645e-02 1.68564248e+02] [ 4.30668969e-01 8.99365833e-01 -7.52684366e-02 5.19743237e+00] [ 8.21778088e-02 4.39747237e-02 9.95647042e-01 -7.09890073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.61, Y:5.18, Z:-70.99 [[ 8.99454016e-01 -4.30873520e-01 -7.30101619e-02 1.68606888e+02] [ 4.29283215e-01 9.02410174e-01 -3.70378139e-02 5.18044265e+00] [ 8.18437262e-02 1.97177346e-03 9.96643224e-01 -7.09896637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:168.63, Y:5.20, Z:-70.99 [[ 9.00199976e-01 -4.29321292e-01 -7.29604819e-02 1.68633224e+02] [ 4.27727295e-01 9.03149342e-01 -3.70219905e-02 5.19725315e+00] [ 8.17885400e-02 2.12000543e-03 9.96647450e-01 -7.09863434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:168.69, Y:5.15, Z:-70.98 [[ 8.94973672e-01 -4.20827264e-01 -1.48076133e-01 1.68691516e+02] [ 4.28479924e-01 9.03266490e-01 2.26848530e-02 5.14556784e+00] [ 1.24205805e-01 -8.37499965e-02 9.88715761e-01 -7.09825893e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:168.65, Y:5.29, Z:-70.97 [[ 8.99962559e-01 -4.34914983e-01 -3.02712686e-02 1.68650000e+02] [ 4.29403495e-01 8.96277062e-01 -1.10905670e-01 5.29435658e+00] [ 7.53659813e-02 8.68123620e-02 9.93369812e-01 -7.09679232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.28864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:168.73, Y:5.20, Z:-70.98 [[ 8.96463730e-01 -4.23567794e-01 -1.30165683e-01 1.68733509e+02] [ 4.27739246e-01 9.03890663e-01 4.56145654e-03 5.19879250e+00] [ 1.15723459e-01 -5.97661513e-02 9.91481764e-01 -7.09757587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.31864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:168.71, Y:5.31, Z:-70.96 [[ 9.00990443e-01 -4.32127149e-01 -3.85012841e-02 1.68709938e+02] [ 4.27685916e-01 8.99600829e-01 -8.83351928e-02 5.31205013e+00] [ 7.28078220e-02 6.31227075e-02 9.95346445e-01 -7.09641771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.34864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:168.76, Y:5.28, Z:-70.97 [[ 9.01569519e-01 -4.27534746e-01 -6.62302208e-02 1.68762314e+02] [ 4.26220555e-01 9.03996647e-01 -3.35574340e-02 5.28386596e+00] [ 7.42188666e-02 2.02567813e-03 9.97239919e-01 -7.09675092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.37864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:168.79, Y:5.30, Z:-70.96 [[ 9.01799801e-01 -4.27262336e-01 -6.48383706e-02 1.68790473e+02] [ 4.26005205e-01 9.04125559e-01 -3.28106544e-02 5.30188724e+00] [ 7.26407849e-02 1.96715831e-03 9.97356229e-01 -7.09647627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.40864000000002 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:168.85, Y:5.25, Z:-70.97 [[ 8.97433719e-01 -4.20791488e-01 -1.32466009e-01 1.68845931e+02] [ 4.28181400e-01 9.03126741e-01 3.19808948e-02 5.25100606e+00] [ 1.06176306e-01 -8.54202145e-02 9.90671479e-01 -7.09656024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43864 meters Centerline goodness : 0.998325 Centerline is valid? [True, True] Translation: X:168.80, Y:5.40, Z:-70.94 [[ 8.99442656e-01 -4.36535932e-01 -2.09592030e-02 1.68803964e+02] [ 4.31912421e-01 8.95193429e-01 -1.09910809e-01 5.40466532e+00] [ 6.67425581e-02 8.98059297e-02 9.93720447e-01 -7.09445800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:168.87, Y:5.36, Z:-70.95 [[ 8.99464341e-01 -4.32647513e-01 -6.14819473e-02 1.68866864e+02] [ 4.31537586e-01 9.01562146e-01 -3.10001553e-02 5.35515621e+00] [ 6.88419364e-02 1.35176312e-03 9.97626664e-01 -7.09534240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.49864 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:168.93, Y:5.30, Z:-70.95 [[ 8.94306424e-01 -4.26081615e-01 -1.36639955e-01 1.68926578e+02] [ 4.33752231e-01 9.00502806e-01 3.08820099e-02 5.30265733e+00] [ 1.09886406e-01 -8.68858652e-02 9.90139295e-01 -7.09530652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.52864 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:168.90, Y:5.43, Z:-70.94 [[ 8.93684364e-01 -4.43774324e-01 -6.62767465e-02 1.68896934e+02] [ 4.37180454e-01 8.94446420e-01 -9.40151688e-02 5.42894485e+00] [ 1.01002517e-01 5.50449882e-02 9.93362241e-01 -7.09387485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.55864 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:168.93, Y:5.43, Z:-70.94 [[ 8.95315952e-01 -4.43495718e-01 -4.14836555e-02 1.68932773e+02] [ 4.41038307e-01 8.95680554e-01 -5.69346764e-02 5.42768138e+00] [ 6.24063887e-02 3.26786428e-02 9.97515689e-01 -7.09399181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.58864 meters Centerline goodness : 0.997088 Centerline is valid? [True, True] Translation: X:168.98, Y:5.40, Z:-70.94 [[ 8.90931699e-01 -4.43598757e-01 -9.72668992e-02 1.68983102e+02] [ 4.43849223e-01 8.95872861e-01 -2.02406513e-02 5.39904840e+00] [ 9.61175031e-02 -2.51387998e-02 9.95052494e-01 -7.09430007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.61864 meters Centerline goodness : 0.997499 Centerline is valid? [True, True] Translation: X:168.99, Y:5.45, Z:-70.93 [[ 8.92754405e-01 -4.48555617e-01 -4.22780232e-02 1.68991858e+02] [ 4.46546302e-01 8.93401568e-01 -4.92954276e-02 5.45305264e+00] [ 5.98829932e-02 2.51296152e-02 9.97889037e-01 -7.09327599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.64864 meters Centerline goodness : 0.996470 Centerline is valid? [True, True] Translation: X:169.04, Y:5.43, Z:-70.94 [[ 8.89290636e-01 -4.47685399e-01 -9.34876909e-02 1.69037514e+02] [ 4.47424080e-01 8.93974750e-01 -2.49166274e-02 5.43294626e+00] [ 9.47304454e-02 -1.96705207e-02 9.95308602e-01 -7.09366533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.67864 meters Centerline goodness : 0.997055 Centerline is valid? [True, True] Translation: X:169.07, Y:5.42, Z:-70.94 [[ 8.89106240e-01 -4.47335900e-01 -9.68539423e-02 1.69072738e+02] [ 4.49692203e-01 8.93179139e-01 2.81918964e-03 5.42460947e+00] [ 8.52467961e-02 -4.60610218e-02 9.95294613e-01 -7.09358584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.70864 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:169.08, Y:5.48, Z:-70.93 [[ 8.89280675e-01 -4.52279795e-01 -6.79916816e-02 1.69079838e+02] [ 4.50406770e-01 8.91853287e-01 -4.16107665e-02 5.47821826e+00] [ 7.94583137e-02 6.37973680e-03 9.96817774e-01 -7.09266937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.73864 meters Centerline goodness : 0.892360 Centerline is valid? [True, False] Translation: X:169.11, Y:5.48, Z:-70.92 [[ 8.98000499e-01 -4.33026382e-01 -7.79952317e-02 1.69105257e+02] [ 4.31926024e-01 9.01364216e-01 -3.13442256e-02 5.48156067e+00] [ 8.38749875e-02 -5.54104008e-03 9.96460879e-01 -7.09239226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.76864 meters Centerline goodness : 0.996710 Centerline is valid? [False, True] Translation: X:169.10, Y:5.48, Z:-70.92 [[ 9.06982646e-01 -4.13934994e-01 -7.77193707e-02 1.69104915e+02] [ 4.13011397e-01 9.10284120e-01 -2.83620653e-02 5.48087636e+00] [ 8.24867603e-02 -6.37508485e-03 9.96571770e-01 -7.09248041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.79864 meters Centerline goodness : 0.996121 Centerline is valid? [True, True] Translation: X:169.13, Y:5.50, Z:-70.92 [[ 9.07028850e-01 -4.15053673e-01 -7.09162489e-02 1.69132723e+02] [ 4.13691873e-01 9.09796199e-01 -3.36141588e-02 5.49767431e+00] [ 7.84710137e-02 1.15153603e-03 9.96915731e-01 -7.09201066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.82864 meters Centerline goodness : 0.995479 Centerline is valid? [True, True] Translation: X:169.19, Y:5.50, Z:-70.93 [[ 9.30524452e-01 -3.56070535e-01 -8.56622313e-02 1.69192906e+02] [ 3.58743946e-01 9.33269498e-01 1.76302231e-02 5.50151161e+00] [ 7.36683446e-02 -4.71361606e-02 9.96168237e-01 -7.09317565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.85864 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:169.17, Y:5.54, Z:-70.91 [[ 9.05002040e-01 -4.22201121e-01 -5.21298516e-02 1.69172003e+02] [ 4.18704137e-01 9.05696673e-01 -6.63353718e-02 5.54297392e+00] [ 7.52207015e-02 3.82066622e-02 9.96434693e-01 -7.09110532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.88864 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:169.22, Y:5.52, Z:-70.91 [[ 9.04385339e-01 -4.19424323e-01 -7.85518613e-02 1.69217761e+02] [ 4.18681715e-01 9.07746426e-01 -2.64961937e-02 5.51742595e+00] [ 8.24183195e-02 -8.92545889e-03 9.96557854e-01 -7.09139305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.91864 meters Centerline goodness : 0.996173 Centerline is valid? [True, True] Translation: X:169.24, Y:5.55, Z:-70.91 [[ 9.05114864e-01 -4.20915226e-01 -5.99787824e-02 1.69239792e+02] [ 4.18672793e-01 9.06938743e-01 -4.66391341e-02 5.54688362e+00] [ 7.40282032e-02 1.71022892e-02 9.97109491e-01 -7.09079372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.94864 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:169.27, Y:5.56, Z:-70.91 [[ 9.06787121e-01 -4.20427243e-01 -3.12738024e-02 1.69270345e+02] [ 4.19487422e-01 9.07178671e-01 -3.25140149e-02 5.55856130e+00] [ 4.20407042e-02 1.63643232e-02 9.98981876e-01 -7.09053773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.97864 meters Centerline goodness : 0.996417 Centerline is valid? [True, True] Translation: X:169.33, Y:5.50, Z:-70.91 [[ 9.06558493e-01 -4.12407583e-01 -8.98425575e-02 1.69330751e+02] [ 4.17022521e-01 9.08022214e-01 3.98481696e-02 5.49773806e+00] [ 6.51453506e-02 -7.35910664e-02 9.95158499e-01 -7.09086796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.00864 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:169.31, Y:5.62, Z:-70.89 [[ 9.07115000e-01 -4.20823690e-01 -7.05683891e-03 1.69309782e+02] [ 4.18892111e-01 9.04326338e-01 -8.19955668e-02 5.62256814e+00] [ 4.08873623e-02 7.14233544e-02 9.96607710e-01 -7.08918560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.03864000000002 meters Centerline goodness : 0.996860 Centerline is valid? [True, True] Translation: X:169.37, Y:5.58, Z:-70.90 [[ 9.08532678e-01 -4.16109606e-01 -3.76983981e-02 1.69365790e+02] [ 4.15767260e-01 9.09314402e-01 -1.68790933e-02 5.57901317e+00] [ 4.13032491e-02 -3.38551839e-04 9.99146599e-01 -7.08982584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.06864000000002 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:169.41, Y:5.57, Z:-70.90 [[ 9.07551590e-01 -4.12670113e-01 -7.78041703e-02 1.69405017e+02] [ 4.13152173e-01 9.10600886e-01 -1.05503143e-02 5.57134831e+00] [ 7.52023458e-02 -2.25700075e-02 9.96912836e-01 -7.08972049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.09864000000002 meters Centerline goodness : 0.996127 Centerline is valid? [True, True] Translation: X:169.43, Y:5.60, Z:-70.89 [[ 9.07821661e-01 -4.13789902e-01 -6.81010244e-02 1.69427062e+02] [ 4.12655240e-01 9.10372356e-01 -3.06239564e-02 5.60231573e+00] [ 7.46691739e-02 -3.01153574e-04 9.97208315e-01 -7.08928283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.12864000000002 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:169.45, Y:5.63, Z:-70.89 [[ 9.08618002e-01 -4.16685138e-01 -2.80503488e-02 1.69450810e+02] [ 4.15657365e-01 9.08805482e-01 -3.60770152e-02 5.62716104e+00] [ 4.05250668e-02 2.11208914e-02 9.98955268e-01 -7.08892184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.15864000000002 meters Centerline goodness : 0.995626 Centerline is valid? [True, True] Translation: X:169.50, Y:5.60, Z:-70.89 [[ 9.06538027e-01 -4.14453796e-01 -8.01052804e-02 1.69496855e+02] [ 4.15413794e-01 9.09618404e-01 -5.07331384e-03 5.59806362e+00] [ 7.49678915e-02 -2.86776865e-02 9.96773498e-01 -7.08904223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18864 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:169.52, Y:5.63, Z:-70.88 [[ 9.06065078e-01 -4.17613820e-01 -6.81525614e-02 1.69518135e+02] [ 4.16722256e-01 9.08617925e-01 -2.74959564e-02 5.62643440e+00] [ 7.34073304e-02 -3.48756322e-03 9.97295944e-01 -7.08849726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21864 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:169.54, Y:5.67, Z:-70.88 [[ 9.07860239e-01 -4.18641402e-01 -2.30035322e-02 1.69537304e+02] [ 4.17434064e-01 9.07649953e-01 -4.38219688e-02 5.66555755e+00] [ 3.92248454e-02 3.01817652e-02 9.98774485e-01 -7.08797059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.24864 meters Centerline goodness : 0.995869 Centerline is valid? [True, True] Translation: X:169.60, Y:5.59, Z:-70.88 [[ 9.07476899e-01 -4.08580247e-01 -9.77131482e-02 1.69602321e+02] [ 4.13848978e-01 9.09432931e-01 4.07525068e-02 5.59200677e+00] [ 7.22128854e-02 -7.74204451e-02 9.94379894e-01 -7.08817783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.27864 meters Centerline goodness : 0.995586 Centerline is valid? [True, True] Translation: X:169.58, Y:5.72, Z:-70.87 [[ 9.09407842e-01 -4.15891733e-01 -3.38277282e-03 1.69579799e+02] [ 4.14174658e-01 9.06334556e-01 -8.37676886e-02 5.72262118e+00] [ 3.79042131e-02 7.47779342e-02 9.96479569e-01 -7.08688409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.30864 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:169.64, Y:5.68, Z:-70.87 [[ 9.11940245e-01 -4.08781579e-01 -3.55332278e-02 1.69637071e+02] [ 4.08477293e-01 9.12632238e-01 -1.57701718e-02 5.67607754e+00] [ 3.88753249e-02 -1.33062370e-04 9.99244060e-01 -7.08739839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.33864 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:169.67, Y:5.69, Z:-70.87 [[ 9.12776384e-01 -4.06839229e-01 -3.63471318e-02 1.69667583e+02] [ 4.06520220e-01 9.13499774e-01 -1.61082048e-02 5.68943821e+00] [ 3.97565463e-02 -7.26550899e-05 9.99209393e-01 -7.08723647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.36864 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:169.73, Y:5.62, Z:-70.87 [[ 9.11251611e-01 -3.98399768e-01 -1.04394090e-01 1.69729131e+02] [ 4.05858721e-01 9.11746664e-01 6.32196165e-02 5.62209320e+00] [ 6.99942830e-02 -9.99782293e-02 9.92524636e-01 -7.08712677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.39864 meters Centerline goodness : 0.995776 Centerline is valid? [True, True] Translation: X:169.71, Y:5.74, Z:-70.86 [[ 9.11602833e-01 -4.06404781e-01 -6.17691527e-02 1.69711734e+02] [ 4.02186181e-01 9.12844873e-01 -7.04309177e-02 5.74173113e+00] [ 8.50091160e-02 3.93623245e-02 9.95602359e-01 -7.08624854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.42864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:169.74, Y:5.74, Z:-70.86 [[ 9.12699899e-01 -4.04966723e-01 -5.45971434e-02 1.69742104e+02] [ 4.02228009e-01 9.13903414e-01 -5.47099553e-02 5.74259661e+00] [ 7.20522271e-02 2.79732704e-02 9.97008512e-01 -7.08619346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.45864 meters Centerline goodness : 0.996222 Centerline is valid? [True, True] Translation: X:169.78, Y:5.74, Z:-70.86 [[ 9.13231062e-01 -4.02938306e-01 -6.04131578e-02 1.69777464e+02] [ 4.01470822e-01 9.15192597e-01 -3.52659834e-02 5.73996201e+00] [ 6.94996904e-02 7.95187134e-03 9.97550280e-01 -7.08614805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.48864 meters Centerline goodness : 0.996317 Centerline is valid? [True, True] Translation: X:169.80, Y:5.77, Z:-70.86 [[ 9.15862716e-01 -4.00867619e-01 -2.23749084e-02 1.69801861e+02] [ 4.00017669e-01 9.15853274e-01 -3.46214626e-02 5.76520747e+00] [ 3.43707564e-02 2.27581480e-02 9.99149998e-01 -7.08573554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.51864 meters Centerline goodness : 0.995731 Centerline is valid? [True, True] Translation: X:169.84, Y:5.76, Z:-70.86 [[ 9.18037675e-01 -3.95316831e-01 -3.05193559e-02 1.69839182e+02] [ 3.95087306e-01 9.18544777e-01 -1.34726972e-02 5.76186538e+00] [ 3.33593789e-02 3.10633517e-04 9.99443373e-01 -7.08573005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.54864 meters Centerline goodness : 0.996418 Centerline is valid? [True, True] Translation: X:169.87, Y:5.78, Z:-70.86 [[ 9.18920287e-01 -3.93260673e-01 -3.05213002e-02 1.69869217e+02] [ 3.93030621e-01 9.19426945e-01 -1.34544736e-02 5.77597547e+00] [ 3.33532211e-02 3.67783167e-04 9.99443559e-01 -7.08554395e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.57864 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:169.90, Y:5.79, Z:-70.85 [[ 9.19673130e-01 -3.91473809e-01 -3.08154377e-02 1.69898518e+02] [ 3.91238965e-01 9.20189155e-01 -1.35643304e-02 5.79030860e+00] [ 3.36661116e-02 4.18550231e-04 9.99433048e-01 -7.08530959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.60864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:169.96, Y:5.73, Z:-70.85 [[ 9.18307279e-01 -3.83079999e-01 -9.98070986e-02 1.69956543e+02] [ 3.89689266e-01 9.19143224e-01 5.76021641e-02 5.73049339e+00] [ 6.96707814e-02 -9.17902416e-02 9.93338076e-01 -7.08522988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.63864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:169.95, Y:5.83, Z:-70.84 [[ 9.18614477e-01 -3.90483275e-01 -6.05826179e-02 1.69947749e+02] [ 3.88500238e-01 9.20485167e-01 -4.21262735e-02 5.82696725e+00] [ 7.22150064e-02 1.51614433e-02 9.97273846e-01 -7.08449522e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.66864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:169.98, Y:5.81, Z:-70.85 [[ 9.19109490e-01 -3.89942850e-01 -5.64120468e-02 1.69981885e+02] [ 3.90171028e-01 9.20712936e-01 -7.36601127e-03 5.81440656e+00] [ 5.48116247e-02 -1.52401754e-02 9.98380400e-01 -7.08460800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.69864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:169.97, Y:5.91, Z:-70.83 [[ 9.18875209e-01 -3.94285853e-01 1.43880989e-02 1.69973403e+02] [ 3.93852650e-01 9.14480452e-01 -9.27663351e-02 5.90965603e+00] [ 2.34188183e-02 9.09074764e-02 9.95583944e-01 -7.08341377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.72864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:170.04, Y:5.85, Z:-70.84 [[ 9.19098602e-01 -3.93438182e-01 -2.15442803e-02 1.70035136e+02] [ 3.93324071e-01 9.19351043e-01 -9.47810548e-03 5.85319013e+00] [ 2.35358051e-02 2.37429479e-04 9.99722966e-01 -7.08428370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.75864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:170.08, Y:5.84, Z:-70.84 [[ 9.17212322e-01 -3.92270852e-01 -6.96070100e-02 1.70078443e+02] [ 3.93931990e-01 9.19068543e-01 1.14280803e-02 5.83618006e+00] [ 5.94907105e-02 -3.79024040e-02 9.97509029e-01 -7.08412279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.78864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.10, Y:5.87, Z:-70.84 [[ 9.16699961e-01 -3.95105141e-01 -5.96079671e-02 1.70096441e+02] [ 3.94976052e-01 9.18578023e-01 -1.44337764e-02 5.86957327e+00] [ 6.04574279e-02 -1.03122772e-02 9.98117506e-01 -7.08370629e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.81864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.11, Y:5.93, Z:-70.83 [[ 9.16263393e-01 -4.00576320e-01 8.23905063e-05 1.70105563e+02] [ 4.00026747e-01 9.14995511e-01 -5.25529940e-02 5.92688996e+00] [ 2.09760980e-02 4.81853430e-02 9.98618133e-01 -7.08321744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.84864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:170.16, Y:5.87, Z:-70.84 [[ 9.15609840e-01 -3.96925587e-01 -6.40991309e-02 1.70163807e+02] [ 3.98393912e-01 9.17142537e-01 1.14829346e-02 5.87331955e+00] [ 5.42301690e-02 -3.60505915e-02 9.97877469e-01 -7.08353155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.18, Y:5.91, Z:-70.83 [[ 9.16106589e-01 -3.97982819e-01 -4.85632882e-02 1.70180920e+02] [ 3.97462698e-01 9.17392632e-01 -2.03509549e-02 5.91351272e+00] [ 5.26509332e-02 -6.58451658e-04 9.98612761e-01 -7.08312860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.90864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.20, Y:5.96, Z:-70.83 [[ 9.17248738e-01 -3.98309179e-01 -2.13323481e-03 1.70196914e+02] [ 3.97901131e-01 9.16526829e-01 -4.06603176e-02 5.95604577e+00] [ 1.81505446e-02 3.64468084e-02 9.99170750e-01 -7.08266762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.24, Y:5.94, Z:-70.83 [[ 9.19388246e-01 -3.93021208e-01 -1.61115833e-02 1.70238563e+02] [ 3.92957824e-01 9.19529393e-01 -7.05999843e-03 5.94366814e+00] [ 1.75898035e-02 1.59706842e-04 9.99845275e-01 -7.08280761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.29, Y:5.89, Z:-70.83 [[ 9.19165339e-01 -3.86032187e-01 -7.81935483e-02 1.70293602e+02] [ 3.90586387e-01 9.18944040e-01 5.46271509e-02 5.89387632e+00] [ 5.07676567e-02 -8.07527191e-02 9.95440427e-01 -7.08270181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:170.27, Y:6.03, Z:-70.82 [[ 9.20061483e-01 -3.91369049e-01 1.78082830e-02 1.70266891e+02] [ 3.91503318e-01 9.16786020e-01 -7.89211337e-02 6.03408231e+00] [ 1.45609042e-02 7.95842972e-02 9.96721787e-01 -7.08151099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.33, Y:5.96, Z:-70.82 [[ 9.21058055e-01 -3.85177812e-01 -5.73594965e-02 1.70332500e+02] [ 3.86403503e-01 9.22256460e-01 1.16342283e-02 5.96130215e+00] [ 4.84189196e-02 -3.28797101e-02 9.98285797e-01 -7.08228261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.35, Y:6.01, Z:-70.82 [[ 9.21836008e-01 -3.85644274e-01 -3.86893871e-02 1.70348003e+02] [ 3.85005942e-01 9.22625493e-01 -2.30786380e-02 6.00689852e+00] [ 4.45959595e-02 6.37907562e-03 9.98984739e-01 -7.08185644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.37, Y:6.03, Z:-70.82 [[ 9.22090849e-01 -3.85327835e-01 -3.56500538e-02 1.70373890e+02] [ 3.84710229e-01 9.22748685e-01 -2.30847173e-02 6.02559860e+00] [ 4.17912245e-02 7.57126621e-03 9.99097678e-01 -7.08168506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.42, Y:6.00, Z:-70.82 [[ 9.21870491e-01 -3.83807395e-01 -5.33543025e-02 1.70415419e+02] [ 3.85427911e-01 9.22425617e-01 2.40063837e-02 6.00228401e+00] [ 4.00015478e-02 -4.26950141e-02 9.98287039e-01 -7.08190834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.42, Y:6.08, Z:-70.81 [[ 9.21577707e-01 -3.87550917e-01 -2.23342242e-02 1.70416553e+02] [ 3.86012059e-01 9.20971345e-01 -5.29761417e-02 6.08154883e+00] [ 4.11001328e-02 4.02003513e-02 9.98345988e-01 -7.08110346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.17864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.46, Y:6.06, Z:-70.81 [[ 9.20945502e-01 -3.88049748e-01 -3.57319919e-02 1.70458220e+02] [ 3.87772536e-01 9.21638363e-01 -1.46692647e-02 6.06364057e+00] [ 3.86243790e-02 -3.46291768e-04 9.99253740e-01 -7.08132491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:170.49, Y:6.08, Z:-70.81 [[ 9.20474595e-01 -3.89350331e-01 -3.36576783e-02 1.70485036e+02] [ 3.88932776e-01 9.21081559e-01 -1.84406715e-02 6.08075175e+00] [ 3.81813483e-02 3.88359542e-03 9.99263280e-01 -7.08115994e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:170.51, Y:6.11, Z:-70.81 [[ 9.20047454e-01 -3.91804488e-01 1.38743062e-03 1.70506836e+02] [ 3.91728515e-01 9.19786669e-01 -2.32648702e-02 6.11036071e+00] [ 7.83914036e-03 2.19482807e-02 9.99728374e-01 -7.08087177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.26864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:170.55, Y:6.09, Z:-70.81 [[ 9.20476068e-01 -3.88220171e-01 -4.48208381e-02 1.70553181e+02] [ 3.89007896e-01 9.21179194e-01 1.00871286e-02 6.08641223e+00] [ 3.73719967e-02 -2.67206204e-02 9.98944114e-01 -7.08118380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.29864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.58, Y:6.11, Z:-70.81 [[ 9.21130163e-01 -3.87290769e-01 -3.90523063e-02 1.70576307e+02] [ 3.87390367e-01 9.21900594e-01 -5.29130721e-03 6.11250440e+00] [ 3.80516189e-02 -1.02545046e-02 9.99223158e-01 -7.08084407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.32864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:170.60, Y:6.13, Z:-70.81 [[ 9.21638846e-01 -3.86129152e-01 -3.85501577e-02 1.70603030e+02] [ 3.86035251e-01 9.22428176e-01 -1.01511038e-02 6.12974575e+00] [ 3.94793888e-02 -5.52606817e-03 9.99205104e-01 -7.08065476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.35864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:170.65, Y:6.11, Z:-70.81 [[ 9.23322665e-01 -3.80274100e-01 -5.35431147e-02 1.70646069e+02] [ 3.82391220e-01 9.23261780e-01 3.69410340e-02 6.10657319e+00] [ 3.53865929e-02 -5.45829109e-02 9.97882004e-01 -7.08087742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.64, Y:6.20, Z:-70.80 [[ 9.24661741e-01 -3.80392021e-01 -1.73946738e-02 1.70639118e+02] [ 3.78792325e-01 9.23524242e-01 -6.01610300e-02 6.20197613e+00] [ 3.89491787e-02 4.90396338e-02 9.98037111e-01 -7.07960659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.41864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:170.67, Y:6.21, Z:-70.80 [[ 9.24664828e-01 -3.80324158e-01 1.86678906e-02 1.70666121e+02] [ 3.80781711e-01 9.23615801e-01 -4.40356789e-02 6.21479015e+00] [-4.94126200e-04 4.78266348e-02 9.98855530e-01 -7.07967163e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.44864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.71, Y:6.19, Z:-70.80 [[ 9.26170247e-01 -3.77097144e-01 -2.53324017e-03 1.70711345e+02] [ 3.77095502e-01 9.26173708e-01 -1.11535350e-03 6.19479178e+00] [ 2.76681706e-03 7.77337527e-05 9.99996169e-01 -7.08028868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.47864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:170.74, Y:6.21, Z:-70.80 [[ 9.26696844e-01 -3.75783516e-01 -4.43928338e-03 1.70740463e+02] [ 3.75778537e-01 9.26707469e-01 -1.93878378e-03 6.20999353e+00] [ 4.84248004e-03 1.28477399e-04 9.99988267e-01 -7.08028101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.50864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:170.80, Y:6.14, Z:-70.81 [[ 9.25879870e-01 -3.69059848e-01 -8.08782722e-02 1.70803992e+02] [ 3.75221758e-01 9.23254632e-01 8.25197992e-02 6.13808610e+00] [ 4.42164949e-02 -1.06750708e-01 9.93302163e-01 -7.08056754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.53864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:170.80, Y:6.23, Z:-70.80 [[ 9.26717022e-01 -3.73956310e-01 -3.67728005e-02 1.70797013e+02] [ 3.74141240e-01 9.27369628e-01 -1.97615135e-03 6.22834684e+00] [ 3.48409726e-02 -1.19268881e-02 9.99321698e-01 -7.07966526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:170.78, Y:6.34, Z:-70.78 [[ 9.25240008e-01 -3.75973154e-01 5.07455911e-02 1.70780600e+02] [ 3.79312452e-01 9.19323484e-01 -1.04720554e-01 6.34266049e+00] [-7.27949647e-03 1.16140081e-01 9.93206167e-01 -7.07752018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.59864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:170.87, Y:6.23, Z:-70.80 [[ 9.25243830e-01 -3.75490382e-01 -5.41371139e-02 1.70867306e+02] [ 3.77526169e-01 9.25380084e-01 3.38480777e-02 6.22714255e+00] [ 3.73877794e-02 -5.17559023e-02 9.97959659e-01 -7.07977686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.62864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:170.86, Y:6.32, Z:-70.79 [[ 9.22867396e-01 -3.84209154e-01 2.64404165e-02 1.70858579e+02] [ 3.85044146e-01 9.21856851e-01 -4.38286618e-02 6.32017182e+00] [-7.53490601e-03 5.06287706e-02 9.98689117e-01 -7.07859165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.65864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:170.91, Y:6.29, Z:-70.79 [[ 9.22020184e-01 -3.87077359e-01 7.06390025e-03 1.70905963e+02] [ 3.87065441e-01 9.22047240e-01 3.03825283e-03 6.29425053e+00] [-7.68928861e-03 -6.71387707e-05 9.99970435e-01 -7.07919664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:170.98, Y:6.20, Z:-70.80 [[ 9.17402684e-01 -3.88538206e-01 -8.60835575e-02 1.70978973e+02] [ 3.96319423e-01 9.11612048e-01 1.09061395e-01 6.19792166e+00] [ 3.61002896e-02 -1.34169802e-01 9.90300577e-01 -7.07970836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:170.95, Y:6.34, Z:-70.78 [[ 9.17928844e-01 -3.96346449e-01 -1.77800246e-02 1.70954322e+02] [ 3.95525184e-01 9.17698682e-01 -3.72687241e-02 6.33635073e+00] [ 3.10880316e-02 2.71775894e-02 9.99147093e-01 -7.07831181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.74864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:170.96, Y:6.40, Z:-70.77 [[ 9.14555597e-01 -4.01154208e-01 5.16077718e-02 1.70959942e+02] [ 4.04244068e-01 9.10766280e-01 -8.42111453e-02 6.39840871e+00] [-1.32209631e-02 9.78779099e-02 9.95110607e-01 -7.07711835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.77864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:171.02, Y:6.33, Z:-70.79 [[ 9.15321313e-01 -4.02516961e-01 1.29224533e-02 1.71023783e+02] [ 4.02478540e-01 9.15412521e-01 5.56237911e-03 6.33487763e+00] [-1.40683275e-02 1.09645968e-04 9.99901030e-01 -7.07861502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.80864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:171.08, Y:6.28, Z:-70.79 [[ 9.15151257e-01 -3.98600759e-01 -6.01299506e-02 1.71080734e+02] [ 4.02199222e-01 9.12891790e-01 6.97449978e-02 6.27587017e+00] [ 2.70917291e-02 -8.80114418e-02 9.95750985e-01 -7.07892209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.83864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:171.05, Y:6.42, Z:-70.77 [[ 9.14520788e-01 -4.01425853e-01 5.00900502e-02 1.71052627e+02] [ 4.04182172e-01 9.11881824e-01 -7.14724535e-02 6.42094876e+00] [-1.69853157e-02 8.56085498e-02 9.96184057e-01 -7.07704509e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.86864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:171.13, Y:6.32, Z:-70.78 [[ 9.15757931e-01 -3.99447202e-01 -4.27708390e-02 1.71128800e+02] [ 4.01049709e-01 9.15205612e-01 3.94692137e-02 6.32248344e+00] [ 2.33782449e-02 -5.32974780e-02 9.98304982e-01 -7.07849768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.89864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:171.12, Y:6.42, Z:-70.77 [[ 9.15525405e-01 -4.00374630e-01 3.89022954e-02 1.71123457e+02] [ 4.01776128e-01 9.14880369e-01 -3.96213810e-02 6.41649575e+00] [-1.97275506e-02 5.19043945e-02 9.98457189e-01 -7.07743512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.92864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:171.17, Y:6.38, Z:-70.78 [[ 9.16440691e-01 -3.99792089e-01 1.73995716e-02 1.71172569e+02] [ 3.99722320e-01 9.16605844e-01 7.46945063e-03 6.38497882e+00] [-1.89347763e-02 1.09688629e-04 9.99820715e-01 -7.07811432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.95864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:171.20, Y:6.40, Z:-70.78 [[ 9.17009663e-01 -3.98563520e-01 1.55048244e-02 1.71203761e+02] [ 3.98508112e-01 9.17140727e-01 6.64613801e-03 6.39581065e+00] [-1.68690141e-02 8.42255127e-05 9.99857705e-01 -7.07808566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.98864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:171.23, Y:6.41, Z:-70.78 [[ 9.17098928e-01 -3.98358063e-01 1.55051543e-02 1.71234541e+02] [ 3.98302639e-01 9.17229986e-01 6.64536723e-03 6.40910274e+00] [-1.68690281e-02 8.12847119e-05 9.99857705e-01 -7.07805094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.01864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:171.28, Y:6.38, Z:-70.78 [[ 9.17151748e-01 -3.96395675e-01 -4.12691194e-02 1.71278556e+02] [ 3.97731399e-01 9.16960143e-01 3.15250895e-02 6.38420763e+00] [ 2.53457284e-02 -4.53273155e-02 9.98650604e-01 -7.07827925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.04864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:171.29, Y:6.43, Z:-70.78 [[ 9.18142887e-01 -3.95481830e-01 -2.46528307e-02 1.71294001e+02] [ 3.95429364e-01 9.18468363e-01 -7.17529612e-03 6.43033419e+00] [ 2.54805443e-02 -3.16050608e-03 9.99670322e-01 -7.07786233e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.07864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:171.31, Y:6.48, Z:-70.77 [[ 9.18144925e-01 -3.94617666e-01 3.58719115e-02 1.71306941e+02] [ 3.95778219e-01 9.17689954e-01 -3.47095000e-02 6.48083525e+00] [-1.92223110e-02 4.60656726e-02 9.98753451e-01 -7.07731256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.10864 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:171.37, Y:6.42, Z:-70.78 [[ 9.19142325e-01 -3.91571279e-01 -4.30037156e-02 1.71367703e+02] [ 3.93062735e-01 9.18869322e-01 3.43635639e-02 6.41527147e+00] [ 2.60590104e-02 -4.84881641e-02 9.98483763e-01 -7.07780941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.13864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:171.37, Y:6.50, Z:-70.77 [[ 9.19932925e-01 -3.90439372e-01 3.57842067e-02 1.71365356e+02] [ 3.91631317e-01 9.19399463e-01 -3.64628377e-02 6.50340736e+00] [-1.86634530e-02 4.75575809e-02 9.98694123e-01 -7.07704608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.16864 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:171.41, Y:6.48, Z:-70.77 [[ 9.21955282e-01 -3.86980401e-01 1.56405489e-02 1.71411093e+02] [ 3.86922917e-01 9.22087935e-01 6.67057193e-03 6.47992388e+00] [-1.70033420e-02 -9.82822290e-05 9.99855428e-01 -7.07747378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.19864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:171.44, Y:6.49, Z:-70.78 [[ 9.22619759e-01 -3.85373924e-01 1.61157668e-02 1.71440914e+02] [ 3.85312820e-01 9.22760491e-01 6.86346500e-03 6.49340621e+00] [-1.75159934e-02 -1.22756862e-04 9.99846576e-01 -7.07752874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.22864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:171.49, Y:6.46, Z:-70.78 [[ 9.21783868e-01 -3.83983430e-01 -5.35838176e-02 1.71487797e+02] [ 3.86354982e-01 9.21280781e-01 4.44021319e-02 6.45607106e+00] [ 3.23160585e-02 -6.16315438e-02 9.97575674e-01 -7.07757352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.25864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:171.48, Y:6.57, Z:-70.76 [[ 9.22401652e-01 -3.83975229e-01 4.16919069e-02 1.71476918e+02] [ 3.85715460e-01 9.21366510e-01 -4.80347530e-02 6.56556279e+00] [-1.99693715e-02 6.03885486e-02 9.97975174e-01 -7.07645103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.28864000000002 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:171.53, Y:6.53, Z:-70.77 [[ 9.22808729e-01 -3.84853718e-01 1.76540381e-02 1.71527334e+02] [ 3.84780759e-01 9.22977573e-01 7.49443850e-03 6.53119338e+00] [-1.91785437e-02 -1.22999104e-04 9.99816067e-01 -7.07727672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.31864000000002 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:171.57, Y:6.49, Z:-70.77 [[ 9.20733957e-01 -3.85931889e-01 -5.74939761e-02 1.71574893e+02] [ 3.88538323e-01 9.20373877e-01 4.41576588e-02 6.49189161e+00] [ 3.58741050e-02 -6.29960690e-02 9.97368810e-01 -7.07732600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.34864000000002 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:171.56, Y:6.60, Z:-70.76 [[ 9.21879908e-01 -3.85255305e-01 4.14220479e-02 1.71563649e+02] [ 3.87003627e-01 9.20755817e-01 -4.93651411e-02 6.60244659e+00] [-1.91214091e-02 6.15392145e-02 9.97921488e-01 -7.07619702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.37864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:171.61, Y:6.57, Z:-70.77 [[ 9.22029812e-01 -3.86633875e-01 1.93719353e-02 1.71614014e+02] [ 3.86546976e-01 9.22233290e-01 8.19715760e-03 6.56816470e+00] [-2.10347424e-02 -6.98606788e-05 9.99778743e-01 -7.07674870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.40864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:171.64, Y:6.58, Z:-70.77 [[ 9.21807600e-01 -3.87179288e-01 1.90511866e-02 1.71644174e+02] [ 3.87095603e-01 9.22004445e-01 8.04966670e-03 6.58194286e+00] [-2.06819429e-02 -4.56133815e-05 9.99786105e-01 -7.07673619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:171.67, Y:6.60, Z:-70.77 [[ 9.21799946e-01 -3.87297299e-01 1.69015272e-02 1.71674373e+02] [ 3.87231648e-01 9.21954880e-01 7.13088398e-03 6.59522011e+00] [-1.83442176e-02 -2.84422309e-05 9.99831730e-01 -7.07655396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:171.71, Y:6.61, Z:-70.77 [[ 9.21919910e-01 -3.87016796e-01 1.67832862e-02 1.71705118e+02] [ 3.86952202e-01 9.22072665e-01 7.07067222e-03 6.60818212e+00] [-1.82118783e-02 -2.42639600e-05 9.99834150e-01 -7.07650810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.49864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:171.74, Y:6.62, Z:-70.76 [[ 9.21972125e-01 -3.86858467e-01 1.75478524e-02 1.71735757e+02] [ 3.86788029e-01 9.22139103e-01 7.38203275e-03 6.62173794e+00] [-1.90373628e-02 -1.87291682e-05 9.99818773e-01 -7.07640358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.52864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:171.77, Y:6.64, Z:-70.76 [[ 9.21496082e-01 -3.88001394e-01 1.73173155e-02 1.71765600e+02] [ 3.87933195e-01 9.21658786e-01 7.27449451e-03 6.63664838e+00] [-1.87831700e-02 1.45433415e-05 9.99823581e-01 -7.07624717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.55864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:171.80, Y:6.65, Z:-70.76 [[ 9.21465111e-01 -3.88112976e-01 1.64428611e-02 1.71795893e+02] [ 3.88051690e-01 9.21611804e-01 6.89699164e-03 6.65003624e+00] [-1.78307468e-02 2.53428694e-05 9.99841019e-01 -7.07626942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.58864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:171.83, Y:6.66, Z:-70.76 [[ 9.22129420e-01 -3.86606122e-01 1.45958440e-02 1.71825828e+02] [ 3.86557788e-01 9.22244927e-01 6.11311902e-03 6.66389382e+00] [-1.58243123e-02 5.05026152e-06 9.99874788e-01 -7.07630089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.61864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:171.86, Y:6.68, Z:-70.76 [[ 9.22659375e-01 -3.85373312e-01 1.36780022e-02 1.71856022e+02] [ 3.85330858e-01 9.22760755e-01 5.72013534e-03 6.67859473e+00] [-1.48259111e-02 -7.18017788e-06 9.99890090e-01 -7.07615597e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.64864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:171.89, Y:6.69, Z:-70.76 [[ 9.22553037e-01 -3.85607903e-01 1.42281108e-02 1.71885870e+02] [ 3.85562126e-01 9.22662747e-01 5.94147870e-03 6.69296413e+00] [-1.54188290e-02 4.49145012e-06 9.99881123e-01 -7.07616145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.67864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:171.92, Y:6.71, Z:-70.76 [[ 9.22554032e-01 -3.85550768e-01 1.56416916e-02 1.71915601e+02] [ 3.85495594e-01 9.22686623e-01 6.52241070e-03 6.70829265e+00] [-1.69471000e-02 1.25268899e-05 9.99856388e-01 -7.07604077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.70864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:171.95, Y:6.72, Z:-70.76 [[ 9.21771150e-01 -3.87368467e-01 1.68409594e-02 1.71946690e+02] [ 3.87304997e-01 9.21924979e-01 7.01226833e-03 6.71943902e+00] [-1.82424328e-02 5.88810886e-05 9.99833591e-01 -7.07599636e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.73864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:171.98, Y:6.73, Z:-70.76 [[ 9.21163491e-01 -3.88835542e-01 1.62709387e-02 1.71977067e+02] [ 3.88776702e-01 9.21307176e-01 6.76488220e-03 6.73148582e+00] [-1.76209592e-02 9.41993861e-05 9.99844734e-01 -7.07601648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.76864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:172.01, Y:6.74, Z:-70.76 [[ 9.20741852e-01 -3.89847750e-01 1.59114373e-02 1.72007890e+02] [ 3.89791797e-01 9.20879318e-01 6.60583945e-03 6.74354070e+00] [-1.72277852e-02 1.19874880e-04 9.99851584e-01 -7.07604396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.79864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:172.04, Y:6.75, Z:-70.76 [[ 9.19608636e-01 -3.92491245e-01 1.64492750e-02 1.72040081e+02] [ 3.92432044e-01 9.19755722e-01 6.81928168e-03 6.75293346e+00] [-1.78058231e-02 1.84152265e-04 9.99841447e-01 -7.07606570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.07, Y:6.76, Z:-70.76 [[ 9.19216125e-01 -3.93444588e-01 1.55907227e-02 1.72071278e+02] [ 3.93391701e-01 9.19348310e-01 6.45400882e-03 6.76324290e+00] [-1.68725994e-02 2.00631942e-04 9.99857627e-01 -7.07604602e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.85864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:172.10, Y:6.77, Z:-70.76 [[ 9.19026487e-01 -3.93870828e-01 1.60027457e-02 1.72103111e+02] [ 3.93815336e-01 9.19165775e-01 6.61512707e-03 6.77275821e+00] [-1.73146817e-02 2.22649680e-04 9.99850065e-01 -7.07600368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.13, Y:6.78, Z:-70.76 [[ 9.19582095e-01 -3.92564689e-01 1.61782474e-02 1.72134469e+02] [ 3.92507939e-01 9.19724372e-01 6.67806532e-03 6.78464352e+00] [-1.75011011e-02 2.09061245e-04 9.99846822e-01 -7.07604487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:172.17, Y:6.80, Z:-70.76 [[ 9.20557684e-01 -3.90308639e-01 1.52550412e-02 1.72165479e+02] [ 3.90258023e-01 9.20684060e-01 6.28779089e-03 6.79608983e+00] [-1.64992524e-02 1.65128007e-04 9.99863864e-01 -7.07604872e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:172.20, Y:6.81, Z:-70.76 [[ 9.22851721e-01 -3.84787665e-01 1.68271857e-02 1.72196783e+02] [ 3.84725342e-01 9.23005117e-01 6.92570723e-03 6.80580158e+00] [-1.81965052e-02 8.24439359e-05 9.99834426e-01 -7.07604551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.97864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:172.25, Y:6.76, Z:-70.76 [[ 9.23642991e-01 -3.78676295e-01 -5.90583521e-02 1.72250630e+02] [ 3.81979888e-01 9.22131547e-01 6.13577618e-02 6.75528073e+00] [ 3.12248397e-02 -7.92317693e-02 9.96367069e-01 -7.07599079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.23, Y:6.89, Z:-70.75 [[ 9.25923887e-01 -3.74524325e-01 4.89539202e-02 1.72228918e+02] [ 3.77091456e-01 9.24025454e-01 -6.30792663e-02 6.88942981e+00] [-2.16099487e-02 7.68667044e-02 9.96807163e-01 -7.07483972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.30, Y:6.80, Z:-70.76 [[ 9.28062075e-01 -3.70338802e-01 -3.93694957e-02 1.72302901e+02] [ 3.71930917e-01 9.27082772e-01 4.67432022e-02 6.79712658e+00] [ 1.91879597e-02 -5.80233259e-02 9.98130811e-01 -7.07587214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.06864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:172.29, Y:6.90, Z:-70.75 [[ 9.27762962e-01 -3.70508498e-01 4.44897578e-02 1.72293435e+02] [ 3.72316433e-01 9.27098112e-01 -4.32384482e-02 6.89895322e+00] [-2.52261580e-02 5.66792987e-02 9.98073694e-01 -7.07491134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:172.36, Y:6.83, Z:-70.76 [[ 9.29786618e-01 -3.66494158e-01 -3.43347928e-02 1.72359273e+02] [ 3.67762058e-01 9.28875585e-01 4.40592452e-02 6.82760628e+00] [ 1.57452948e-02 -5.35927306e-02 9.98438734e-01 -7.07563929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.12864000000002 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:172.38, Y:6.87, Z:-70.75 [[ 9.30113696e-01 -3.66313674e-01 -2.65104721e-02 1.72376183e+02] [ 3.66644655e-01 9.30319769e-01 8.76492359e-03 6.86747064e+00] [ 2.14525049e-02 -1.78722984e-02 9.99610109e-01 -7.07533396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.15864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:172.41, Y:6.86, Z:-70.75 [[ 9.29396544e-01 -3.68315373e-01 -2.37876210e-02 1.72408884e+02] [ 3.68954387e-01 9.28841268e-01 3.35642471e-02 6.86158656e+00] [ 9.73269588e-03 -3.99710424e-02 9.99153437e-01 -7.07536802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:172.39, Y:6.99, Z:-70.74 [[ 9.27151335e-01 -3.67661481e-01 7.22179808e-02 1.72387776e+02] [ 3.73235158e-01 9.23192821e-01 -9.17089507e-02 6.99186197e+00] [-3.29532727e-02 1.11982366e-01 9.93163648e-01 -7.07369241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:172.45, Y:6.92, Z:-70.75 [[ 9.28227972e-01 -3.70727181e-01 3.08899511e-02 1.72453933e+02] [ 3.70509930e-01 9.28741753e-01 1.26944256e-02 6.91894917e+00] [-3.33949560e-02 -3.38287306e-04 9.99442176e-01 -7.07515897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.24864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:172.48, Y:6.93, Z:-70.75 [[ 9.28137587e-01 -3.70989140e-01 3.04578056e-02 1.72484535e+02] [ 3.70778680e-01 9.28637154e-01 1.24982837e-02 6.93238093e+00] [-3.29209774e-02 -3.07021915e-04 9.99457911e-01 -7.07514131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.27864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:172.51, Y:6.94, Z:-70.75 [[ 9.28065112e-01 -3.71150384e-01 3.07008068e-02 1.72514811e+02] [ 3.70937265e-01 9.28572728e-01 1.25791445e-02 6.94497008e+00] [-3.31766862e-02 -2.86191889e-04 9.99449461e-01 -7.07519432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.30864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:172.55, Y:6.96, Z:-70.75 [[ 9.27880530e-01 -3.71726501e-01 2.92767812e-02 1.72545879e+02] [ 3.71533545e-01 9.28342260e-01 1.19779899e-02 6.95713492e+00] [-3.16314095e-02 -2.36837247e-04 9.99499574e-01 -7.07521507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.33864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:172.59, Y:6.93, Z:-70.75 [[ 9.28459402e-01 -3.70360160e-01 -2.82221541e-02 1.72592817e+02] [ 3.71304183e-01 9.27459996e-01 4.41719286e-02 6.92842459e+00] [ 9.81539641e-03 -5.14908463e-02 9.98625230e-01 -7.07533753e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.36864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:172.60, Y:6.98, Z:-70.75 [[ 9.28597110e-01 -3.71088301e-01 -9.38311639e-04 1.72603073e+02] [ 3.71075661e-01 9.28581371e-01 -6.28425789e-03 6.98317262e+00] [ 3.20331329e-03 5.48735910e-03 9.99979814e-01 -7.07498864e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.39864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:172.64, Y:6.99, Z:-70.75 [[ 9.29584177e-01 -3.68590529e-01 -3.77893351e-03 1.72635365e+02] [ 3.68605447e-01 9.29574487e-01 4.61497824e-03 6.98771470e+00] [ 1.81176290e-03 -5.68294622e-03 9.99982211e-01 -7.07499742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.42864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:172.64, Y:7.05, Z:-70.75 [[ 9.28655687e-01 -3.67147682e-01 5.29263054e-02 1.72644633e+02] [ 3.69100133e-01 9.28792566e-01 -3.33085792e-02 7.04506353e+00] [-3.69283913e-02 5.04673079e-02 9.98042757e-01 -7.07452479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.45864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:172.72, Y:6.92, Z:-70.75 [[ 9.30163339e-01 -3.64394216e-01 -4.48666733e-02 1.72724722e+02] [ 3.67145543e-01 9.23377073e-01 1.12155839e-01 6.92427357e+00] [ 5.59918504e-04 -1.20795849e-01 9.92677213e-01 -7.07542336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.48864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:172.70, Y:7.07, Z:-70.74 [[ 9.31726241e-01 -3.62708705e-01 1.81275430e-02 1.72700678e+02] [ 3.63158196e-01 9.30346416e-01 -5.07116473e-02 7.07409712e+00] [ 1.52866127e-03 5.38325383e-02 9.98548808e-01 -7.07426951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.51864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:172.74, Y:7.05, Z:-70.75 [[ 9.31660027e-01 -3.63331170e-01 -2.35884814e-04 1.72744529e+02] [ 3.63328660e-01 9.31655648e-01 -3.16830450e-03 7.04726529e+00] [ 1.37090720e-03 2.86607894e-03 9.99994953e-01 -7.07474549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.54864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:172.77, Y:7.06, Z:-70.75 [[ 9.31598752e-01 -3.63486855e-01 1.03470439e-03 1.72771295e+02] [ 3.63487216e-01 9.31599169e-01 -1.78811094e-04 7.06126129e+00] [-8.98934269e-04 5.42682011e-04 9.99999449e-01 -7.07470885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.57864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:172.80, Y:7.08, Z:-70.75 [[ 9.31395685e-01 -3.63974395e-01 4.97170354e-03 1.72797545e+02] [ 3.63982700e-01 9.31405320e-01 -8.50499025e-04 7.07643187e+00] [-4.32111126e-03 2.60176520e-03 9.99987279e-01 -7.07466600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.60864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:172.82, Y:7.10, Z:-70.75 [[ 9.30957944e-01 -3.64963516e-01 1.09058805e-02 1.72823041e+02] [ 3.65055704e-01 9.30950189e-01 -8.12890582e-03 7.09673898e+00] [-7.18607742e-03 1.15489233e-02 9.99907487e-01 -7.07479297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.63864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:172.84, Y:7.13, Z:-70.74 [[ 9.29095020e-01 -3.64922222e-01 6.01183529e-02 1.72840929e+02] [ 3.66795560e-01 9.30006814e-01 -2.34167386e-02 7.13405427e+00] [-4.73651895e-02 4.38075202e-02 9.97916550e-01 -7.07444989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.66864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:172.91, Y:7.04, Z:-70.75 [[ 9.29509423e-01 -3.68056034e-01 -2.33877899e-02 1.72911854e+02] [ 3.68546683e-01 9.24662967e-01 9.57692030e-02 7.03588684e+00] [-1.36226098e-02 -9.76378690e-02 9.95128771e-01 -7.07531437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.69864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:172.88, Y:7.20, Z:-70.73 [[ 9.28242205e-01 -3.62977032e-01 8.13270119e-02 1.72881893e+02] [ 3.68563708e-01 9.27022721e-01 -6.92074284e-02 7.19890525e+00] [-5.02712810e-02 9.42154410e-02 9.94281775e-01 -7.07340603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.72864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:172.96, Y:7.10, Z:-70.75 [[ 9.29916288e-01 -3.67675503e-01 -8.39172260e-03 1.72955235e+02] [ 3.67641819e-01 9.28741649e-01 4.77330217e-02 7.10122247e+00] [-9.75652050e-03 -4.74728625e-02 9.98824878e-01 -7.07520826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.75864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:172.95, Y:7.19, Z:-70.74 [[ 9.29188238e-01 -3.63971828e-01 6.42940663e-02 1.72954832e+02] [ 3.66045008e-01 9.30295465e-01 -2.36938681e-02 7.18723616e+00] [-5.11885778e-02 4.55505855e-02 9.97649675e-01 -7.07439388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.78864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:173.00, Y:7.17, Z:-70.75 [[ 9.30241851e-01 -3.64046614e-01 4.60452005e-02 1.72999237e+02] [ 3.63566162e-01 9.31380493e-01 1.87088984e-02 7.16531174e+00] [-4.96965127e-02 -6.63323441e-04 9.98764145e-01 -7.07508797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.81864000000002 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:173.04, Y:7.13, Z:-70.75 [[ 9.31579525e-01 -3.63225294e-01 -1.50656590e-02 1.73044462e+02] [ 3.63458936e-01 9.29715733e-01 5.93823033e-02 7.13237024e+00] [-7.56237435e-03 -6.07950863e-02 9.98121620e-01 -7.07540774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.84864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:173.05, Y:7.18, Z:-70.75 [[ 9.32122256e-01 -3.61391777e-01 2.33255921e-02 1.73053013e+02] [ 3.60885492e-01 9.32319380e-01 2.32859350e-02 7.18155435e+00] [-3.01622470e-02 -1.32874705e-02 9.99456693e-01 -7.07504138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.87864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:173.08, Y:7.20, Z:-70.75 [[ 9.32799652e-01 -3.59779987e-01 2.10516060e-02 1.73080575e+02] [ 3.59346213e-01 9.32949919e-01 2.17886962e-02 7.19881716e+00] [-2.74792310e-02 -1.27596733e-02 9.99540936e-01 -7.07508758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.90864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:173.10, Y:7.22, Z:-70.75 [[ 9.32926330e-01 -3.58950022e-01 2.83433315e-02 1.73104810e+02] [ 3.58780329e-01 9.33356773e-01 1.10367691e-02 7.22040193e+00] [-3.04160890e-02 -1.27462662e-04 9.99537316e-01 -7.07495153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:173.11, Y:7.30, Z:-70.74 [[ 9.31301294e-01 -3.53430965e-01 8.81161289e-02 1.73107217e+02] [ 3.58940941e-01 9.31621071e-01 -5.69524448e-02 7.30137632e+00] [-6.19620848e-02 8.46683719e-02 9.94480752e-01 -7.07386164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:173.16, Y:7.25, Z:-70.75 [[ 9.32164429e-01 -3.57566964e-01 5.67040022e-02 1.73162593e+02] [ 3.56835607e-01 9.33886857e-01 2.28842296e-02 7.24994298e+00] [-6.11377669e-02 -1.09785774e-03 9.98128733e-01 -7.07530707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.99864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:173.21, Y:7.22, Z:-70.76 [[ 9.32585578e-01 -3.60948811e-01 3.09730207e-04 1.73205506e+02] [ 3.60307504e-01 9.30979076e-01 5.87916923e-02 7.22433753e+00] [-2.15091438e-02 -5.47166862e-02 9.98270224e-01 -7.07578261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.02864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:173.20, Y:7.33, Z:-70.75 [[ 9.30487721e-01 -3.57836033e-01 7.83962697e-02 1.73200146e+02] [ 3.60681636e-01 9.32345989e-01 -2.52925755e-02 7.32643286e+00] [-6.40418527e-02 5.18105258e-02 9.96601380e-01 -7.07453382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.05864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:173.25, Y:7.30, Z:-70.75 [[ 9.30773097e-01 -3.60722051e-01 5.95066685e-02 1.73245646e+02] [ 3.59927511e-01 9.32672958e-01 2.39445183e-02 7.30127013e+00] [-6.41375763e-02 -8.68826387e-04 9.97940688e-01 -7.07547911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.08864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:173.28, Y:7.32, Z:-70.76 [[ 9.30604706e-01 -3.61238934e-01 5.90026680e-02 1.73275003e+02] [ 3.60461128e-01 9.32472951e-01 2.37059247e-02 7.31714058e+00] [-6.35818949e-02 -7.92676877e-04 9.97976309e-01 -7.07565315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.11864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:173.30, Y:7.34, Z:-70.76 [[ 9.29902865e-01 -3.62742523e-01 6.08154934e-02 1.73303146e+02] [ 3.61921811e-01 9.31889159e-01 2.43966757e-02 7.33549292e+00] [-6.55230107e-02 -6.76085191e-04 9.97850830e-01 -7.07575807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.14864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:173.33, Y:7.35, Z:-70.76 [[ 9.29334714e-01 -3.64233045e-01 6.05910754e-02 1.73332983e+02] [ 3.63423943e-01 9.31307685e-01 2.42700371e-02 7.35032197e+00] [-6.52688836e-02 -5.34740525e-04 9.97867570e-01 -7.07595908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.17864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:173.36, Y:7.37, Z:-70.76 [[ 9.27913694e-01 -3.68147841e-01 5.86800121e-02 1.73362197e+02] [ 3.67399024e-01 9.29767239e-01 2.34699476e-02 7.36728146e+00] [-6.31991634e-02 -2.19106641e-04 9.98000911e-01 -7.07611572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.20864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:173.39, Y:7.38, Z:-70.76 [[ 9.26983696e-01 -3.70523791e-01 5.84238614e-02 1.73391528e+02] [ 3.69788421e-01 9.28822975e-01 2.33324688e-02 7.38177432e+00] [-6.29106596e-02 -2.43507317e-05 9.98019162e-01 -7.07622852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.23864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:173.42, Y:7.40, Z:-70.76 [[ 9.25801734e-01 -3.73393105e-01 5.88960025e-02 1.73421804e+02] [ 3.72653830e-01 9.27673190e-01 2.34856472e-02 7.39598132e+00] [-6.34056213e-02 2.04768045e-04 9.97987818e-01 -7.07636178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.26864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:173.45, Y:7.41, Z:-70.77 [[ 9.23558297e-01 -3.79084162e-01 5.77517969e-02 1.73451967e+02] [ 3.78386566e-01 9.25361994e-01 2.29953558e-02 7.40936569e+00] [-6.21584931e-02 6.14952519e-04 9.98066102e-01 -7.07658708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.29864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:173.48, Y:7.42, Z:-70.77 [[ 9.22361950e-01 -3.82024697e-01 5.74940375e-02 1.73482157e+02] [ 3.81341110e-01 9.24151732e-01 2.28589881e-02 7.42163046e+00] [-6.18659124e-02 8.40579220e-04 9.98084116e-01 -7.07677795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.32864 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:173.54, Y:7.35, Z:-70.78 [[ 9.18032313e-01 -3.95561606e-01 -2.73438938e-02 1.73537476e+02] [ 3.96208726e-01 9.12493044e-01 1.01858188e-01 7.34651742e+00] [-1.53400756e-02 -1.04342997e-01 9.94423059e-01 -7.07787715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.35864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:173.51, Y:7.52, Z:-70.75 [[ 9.18434661e-01 -3.83388275e-01 9.74228111e-02 1.73510099e+02] [ 3.90652073e-01 9.17797320e-01 -7.09861729e-02 7.52337490e+00] [-6.21991286e-02 1.03254585e-01 9.92708295e-01 -7.07489590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.38864 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:173.57, Y:7.45, Z:-70.77 [[ 9.18341554e-01 -3.91325250e-01 5.92734337e-02 1.73572350e+02] [ 3.90624345e-01 9.20251040e-01 2.34658252e-02 7.45484260e+00] [-6.37292089e-02 1.60400388e-03 9.97965939e-01 -7.07708287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.41864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:173.60, Y:7.46, Z:-70.77 [[ 9.17755850e-01 -3.92894107e-01 5.79518807e-02 1.73604343e+02] [ 3.92229274e-01 9.19582142e-01 2.29102738e-02 7.46294150e+00] [-6.22928261e-02 1.70438632e-03 9.98056461e-01 -7.07730748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.44864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:173.64, Y:7.47, Z:-70.77 [[ 9.17296575e-01 -3.93959798e-01 5.79885411e-02 1.73636698e+02] [ 3.93298280e-01 9.19125894e-01 2.28922122e-02 7.47171257e+00] [-6.23173810e-02 1.80784560e-03 9.98054746e-01 -7.07748165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.47864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:173.67, Y:7.48, Z:-70.78 [[ 9.17389212e-01 -3.93795089e-01 5.76407921e-02 1.73668146e+02] [ 3.93143150e-01 9.19196460e-01 2.27229222e-02 7.48190746e+00] [-6.19313872e-02 1.81531891e-03 9.98078758e-01 -7.07758196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.50864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:173.72, Y:7.43, Z:-70.78 [[ 9.17713755e-01 -3.96995154e-01 -1.40111272e-02 1.73718850e+02] [ 3.96828759e-01 9.14578881e-01 7.79256488e-02 7.42709596e+00] [-1.81218239e-02 -7.70734580e-02 9.96860713e-01 -7.07818015e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.53864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:173.71, Y:7.55, Z:-70.76 [[ 9.17851884e-01 -3.86524522e-01 9.02591488e-02 1.73706687e+02] [ 3.91491760e-01 9.19065056e-01 -4.53169435e-02 7.55484915e+00] [-6.54379197e-02 7.69299550e-02 9.94886758e-01 -7.07637524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.56864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:173.76, Y:7.51, Z:-70.78 [[ 9.18874448e-01 -3.89496779e-01 6.29444801e-02 1.73760418e+02] [ 3.88715536e-01 9.21026158e-01 2.47193897e-02 7.50559375e+00] [-6.76016353e-02 1.75348176e-03 9.97710852e-01 -7.07775464e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.59864000000002 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:173.79, Y:7.51, Z:-70.78 [[ 9.20273541e-01 -3.86282288e-01 6.23105523e-02 1.73792591e+02] [ 3.85511212e-01 9.22379348e-01 2.44426691e-02 7.51326489e+00] [-6.69157367e-02 1.52747489e-03 9.97757461e-01 -7.07800880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.62864000000002 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:173.84, Y:7.46, Z:-70.79 [[ 9.21792891e-01 -3.87610631e-01 -7.47431956e-03 1.73841105e+02] [ 3.87103181e-01 9.19190169e-01 7.23917134e-02 7.46491162e+00] [-2.11894767e-02 -6.96234997e-02 9.97348271e-01 -7.07858195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.65864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:173.83, Y:7.58, Z:-70.77 [[ 9.22722912e-01 -3.74909550e-01 8.95837989e-02 1.73832280e+02] [ 3.79286049e-01 9.24516280e-01 -3.75731387e-02 7.58143467e+00] [-6.87351520e-02 6.86474810e-02 9.95270316e-01 -7.07705957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:173.88, Y:7.54, Z:-70.78 [[ 9.24187427e-01 -3.76034495e-01 6.69003618e-02 1.73883815e+02] [ 3.75125495e-01 9.26605197e-01 2.61471062e-02 7.53963704e+00] [-7.18224368e-02 9.31204535e-04 9.97416999e-01 -7.07807647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:173.91, Y:7.55, Z:-70.78 [[ 9.25290231e-01 -3.73097342e-01 6.80908314e-02 1.73914370e+02] [ 3.72150638e-01 9.27791899e-01 2.65724549e-02 7.55166218e+00] [-7.30882340e-02 7.52813462e-04 9.97325194e-01 -7.07811840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.74864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:173.94, Y:7.56, Z:-70.78 [[ 9.27252296e-01 -3.68330450e-01 6.73487828e-02 1.73944783e+02] [ 3.67394533e-01 9.29694849e-01 2.62439441e-02 7.56317587e+00] [-7.22802602e-02 4.08817189e-04 9.97384277e-01 -7.07833394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.77864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:173.99, Y:7.52, Z:-70.79 [[ 9.29062407e-01 -3.69917406e-01 2.03879570e-03 1.73990545e+02] [ 3.68958342e-01 9.27023299e-01 6.70637349e-02 7.52457331e+00] [-2.66980540e-02 -6.15541643e-02 9.97746611e-01 -7.07878646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.80864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:174.00, Y:7.60, Z:-70.78 [[ 9.29913392e-01 -3.66284187e-01 3.31206446e-02 1.73995739e+02] [ 3.66490495e-01 9.30421780e-01 -1.70114380e-04 7.59541451e+00] [-3.07538589e-02 1.22965931e-02 9.99451346e-01 -7.07820007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.83864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:174.01, Y:7.64, Z:-70.78 [[ 9.27879628e-01 -3.62372117e-01 8.78967786e-02 1.74014447e+02] [ 3.65227177e-01 9.30737400e-01 -1.83576114e-02 7.63766338e+00] [-7.51565326e-02 4.91359460e-02 9.95960418e-01 -7.07791379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.86864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:174.06, Y:7.61, Z:-70.79 [[ 9.28764283e-01 -3.64218829e-01 6.88589211e-02 1.74058836e+02] [ 3.63238706e-01 9.31313373e-01 2.67028640e-02 7.61240086e+00] [-7.38549200e-02 2.11559104e-04 9.97268974e-01 -7.07883176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.89864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:174.09, Y:7.63, Z:-70.79 [[ 9.28897276e-01 -3.64245810e-01 6.68942551e-02 1.74089424e+02] [ 3.63323752e-01 9.31302814e-01 2.59021385e-02 7.62575650e+00] [-7.17335534e-02 2.43845854e-04 9.97423801e-01 -7.07912494e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.92864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:174.12, Y:7.64, Z:-70.79 [[ 9.29000700e-01 -3.64141497e-01 6.60202182e-02 1.74119420e+02] [ 3.63245887e-01 9.31343598e-01 2.55250351e-02 7.63904407e+00] [-7.07822320e-02 2.68797240e-04 9.97491756e-01 -7.07934512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:174.15, Y:7.65, Z:-70.79 [[ 9.28905984e-01 -3.64211902e-01 6.69579214e-02 1.74149502e+02] [ 3.63293701e-01 9.31316053e-01 2.58475476e-02 7.65264686e+00] [-7.17729716e-02 3.15449433e-04 9.97420945e-01 -7.07942949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.98864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:174.19, Y:7.62, Z:-70.80 [[ 9.29151855e-01 -3.69578217e-01 9.42187294e-03 1.74191849e+02] [ 3.68425546e-01 9.27765235e-01 5.92814119e-02 7.62232847e+00] [-3.06504047e-02 -5.16101751e-02 9.98196846e-01 -7.07990288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.01864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:174.19, Y:7.72, Z:-70.79 [[ 9.27585727e-01 -3.62924892e-01 8.87143791e-02 1.74192504e+02] [ 3.65928627e-01 9.30433158e-01 -1.97579944e-02 7.71518992e+00] [-7.53721319e-02 5.07903646e-02 9.95861125e-01 -7.07884364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.04864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:174.25, Y:7.65, Z:-70.80 [[ 9.29057940e-01 -3.69691544e-01 1.33979787e-02 1.74248799e+02] [ 3.68323901e-01 9.27782464e-01 5.96422916e-02 7.64597119e+00] [-3.44796605e-02 -5.04763488e-02 9.98129897e-01 -7.07996934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.07864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:174.25, Y:7.74, Z:-70.79 [[ 9.27293711e-01 -3.63587941e-01 8.90515709e-02 1.74250427e+02] [ 3.66536541e-01 9.30214100e-01 -1.87801341e-02 7.73793292e+00] [-7.60087966e-02 5.00553550e-02 9.95849951e-01 -7.07900366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.10864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:174.30, Y:7.71, Z:-70.80 [[ 9.28082131e-01 -3.65496650e-01 7.12443469e-02 1.74295763e+02] [ 3.64472412e-01 9.30812472e-01 2.73496417e-02 7.71200989e+00] [-7.63113291e-02 5.83885189e-04 9.97083868e-01 -7.08003795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.13864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:174.33, Y:7.72, Z:-70.80 [[ 9.28281999e-01 -3.65024215e-01 7.10623167e-02 1.74326759e+02] [ 3.64006992e-01 9.30997843e-01 2.72383290e-02 7.72464855e+00] [-7.61015133e-02 5.82329619e-04 9.97099905e-01 -7.08021315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.16864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:174.36, Y:7.74, Z:-70.80 [[ 9.28915362e-01 -3.63440850e-01 7.09013267e-02 1.74356857e+02] [ 3.62426755e-01 9.31617147e-01 2.71355617e-02 7.73752379e+00] [-7.59150633e-02 4.89897645e-04 9.97114168e-01 -7.08036189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.19864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:174.39, Y:7.75, Z:-70.81 [[ 9.29389370e-01 -3.62079470e-01 7.16509307e-02 1.74386571e+02] [ 3.61042996e-01 9.32147134e-01 2.73802046e-02 7.75137805e+00] [-7.67030196e-02 4.22195581e-04 9.97053894e-01 -7.08055657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.22864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:174.42, Y:7.77, Z:-70.81 [[ 9.29779030e-01 -3.60985720e-01 7.21128644e-02 1.74416653e+02] [ 3.59935827e-01 9.32571268e-01 2.75141904e-02 7.76533816e+00] [-7.71826152e-02 3.73886158e-04 9.97016903e-01 -7.08067557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.25864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:174.45, Y:7.78, Z:-70.81 [[ 9.29969811e-01 -3.60251517e-01 7.33143578e-02 1.74446690e+02] [ 3.59167407e-01 9.32855142e-01 2.79295111e-02 7.77857463e+00] [-7.84533244e-02 3.58525586e-04 9.96917723e-01 -7.08078647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.28864000000002 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:174.50, Y:7.72, Z:-70.82 [[ 9.31596925e-01 -3.63324500e-01 1.10669053e-02 1.74500862e+02] [ 3.60338690e-01 9.27086848e-01 1.03276354e-01 7.71654659e+00] [-4.77828119e-02 -9.22240995e-02 9.94591131e-01 -7.08164589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.31864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:174.48, Y:7.87, Z:-70.79 [[ 9.29329219e-01 -3.52700098e-01 1.09315337e-01 1.74478152e+02] [ 3.59908721e-01 9.31385692e-01 -5.46480176e-02 7.87320895e+00] [-8.25403800e-02 9.01295428e-02 9.92503779e-01 -7.07940116e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.34864000000002 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:174.53, Y:7.81, Z:-70.81 [[ 9.30158127e-01 -3.58735152e-01 7.81981424e-02 1.74534830e+02] [ 3.57503648e-01 9.33439330e-01 2.97011626e-02 7.81499547e+00] [-8.36480727e-02 3.29343400e-04 9.96495304e-01 -7.08117953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.37864000000002 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:174.58, Y:7.77, Z:-70.82 [[ 9.31470588e-01 -3.63712415e-01 8.70756284e-03 1.74580626e+02] [ 3.61899478e-01 9.28750547e-01 8.03193006e-02 7.76853442e+00] [-3.73002806e-02 -7.16638037e-02 9.96731151e-01 -7.08185152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.40864000000002 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:174.57, Y:7.89, Z:-70.80 [[ 9.29465040e-01 -3.53664927e-01 1.04956460e-01 1.74571541e+02] [ 3.58832046e-01 9.32758360e-01 -3.46612761e-02 7.89347651e+00] [-8.56405382e-02 6.98781858e-02 9.93872596e-01 -7.08022458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:174.62, Y:7.85, Z:-70.82 [[ 9.30191352e-01 -3.58248022e-01 8.00150178e-02 1.74622069e+02] [ 3.56966643e-01 9.33626368e-01 3.02757495e-02 7.85100391e+00] [-8.55503578e-02 4.00451960e-04 9.96333767e-01 -7.08158389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:174.65, Y:7.86, Z:-70.82 [[ 9.29909722e-01 -3.58993917e-01 7.99454555e-02 1.74653093e+02] [ 3.57721513e-01 9.33339759e-01 3.02028780e-02 7.86353594e+00] [-8.54589216e-02 5.12259392e-04 9.96341563e-01 -7.08173529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.49864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:174.68, Y:7.88, Z:-70.82 [[ 9.29622322e-01 -3.59449653e-01 8.12298298e-02 1.74683772e+02] [ 3.58141842e-01 9.33164282e-01 3.06405529e-02 7.87515061e+00] [-8.68145119e-02 6.07658925e-04 9.96224308e-01 -7.08193320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.52864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:174.72, Y:7.89, Z:-70.82 [[ 9.29385257e-01 -3.59558629e-01 8.34304227e-02 1.74715645e+02] [ 3.58183716e-01 9.33122247e-01 3.14212858e-02 7.88508345e+00] [-8.91485779e-02 6.80939036e-04 9.96018106e-01 -7.08205538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.55864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:174.77, Y:7.82, Z:-70.83 [[ 9.31538078e-01 -3.63244279e-01 1.70412191e-02 1.74770298e+02] [ 3.59633283e-01 9.27192955e-01 1.04771775e-01 7.82242167e+00] [-5.38582462e-02 -9.14703083e-02 9.94350276e-01 -7.08289575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.58864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:174.75, Y:7.98, Z:-70.81 [[ 9.28391386e-01 -3.53065313e-01 1.15906506e-01 1.74747660e+02] [ 3.60668835e-01 9.31228687e-01 -5.22601532e-02 7.97787867e+00] [-8.94842158e-02 9.03217405e-02 9.91884347e-01 -7.08083306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.61864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:174.80, Y:7.92, Z:-70.83 [[ 9.29754191e-01 -3.58499483e-01 8.38764881e-02 1.74803904e+02] [ 3.57112252e-01 9.33529697e-01 3.15141997e-02 7.91834683e+00] [-8.95990168e-02 6.52862349e-04 9.95977706e-01 -7.08271236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.64864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:174.85, Y:7.88, Z:-70.83 [[ 9.31512638e-01 -3.62939953e-01 2.36388593e-02 1.74845673e+02] [ 3.60768745e-01 9.30276171e-01 6.65744605e-02 7.88376055e+00] [-4.61531991e-02 -5.34867898e-02 9.97501401e-01 -7.08322843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.67864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:174.86, Y:7.93, Z:-70.83 [[ 9.32723831e-01 -3.58152284e-01 4.18711857e-02 1.74863429e+02] [ 3.57531665e-01 9.33648147e-01 2.17312236e-02 7.93351728e+00] [-4.68760423e-02 -5.29895545e-03 9.98886659e-01 -7.08275632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.70864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:174.88, Y:7.99, Z:-70.82 [[ 9.30426831e-01 -3.51363404e-01 1.04161753e-01 1.74876662e+02] [ 3.55195631e-01 9.34572709e-01 -2.02463609e-02 7.99264634e+00] [-9.02329013e-02 5.58355570e-02 9.94354270e-01 -7.08215762e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.73864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:174.95, Y:7.87, Z:-70.84 [[ 9.33283499e-01 -3.59054063e-01 7.87968183e-03 1.74952492e+02] [ 3.55506594e-01 9.26731039e-01 1.21592120e-01 7.87039388e+00] [-5.09604906e-02 -1.10678641e-01 9.92548874e-01 -7.08382766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.76864 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:174.95, Y:7.97, Z:-70.83 [[ 9.34122584e-01 -3.55281288e-01 3.44993280e-02 1.74951572e+02] [ 3.54952147e-01 9.34756893e-01 1.54442328e-02 7.96836587e+00] [-3.77355316e-02 -2.18119612e-03 9.99285381e-01 -7.08280738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.79864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:174.95, Y:8.07, Z:-70.81 [[ 9.29888424e-01 -3.44772352e-01 1.28216787e-01 1.74949413e+02] [ 3.54971095e-01 9.32471973e-01 -6.70189686e-02 8.06603048e+00] [-9.64522725e-02 1.07833416e-01 9.89479112e-01 -7.08126155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.82864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:175.01, Y:7.99, Z:-70.83 [[ 9.30926240e-01 -3.53703491e-01 9.09405078e-02 1.75010875e+02] [ 3.52069828e-01 9.35357513e-01 3.39582066e-02 7.99324779e+00] [-9.70730234e-02 4.04823254e-04 9.95277180e-01 -7.08339751e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.85864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:175.04, Y:8.00, Z:-70.84 [[ 9.31076899e-01 -3.53226597e-01 9.12511884e-02 1.75041887e+02] [ 3.51582558e-01 9.35537718e-01 3.40423692e-02 8.00461157e+00] [-9.73935988e-02 3.86262695e-04 9.95245868e-01 -7.08361373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.88864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:175.07, Y:8.01, Z:-70.84 [[ 9.30497928e-01 -3.54723748e-01 9.13491610e-02 1.75073729e+02] [ 3.53088605e-01 9.34970967e-01 3.40253946e-02 8.01464607e+00] [-9.74784289e-02 5.93788666e-04 9.95237461e-01 -7.08390211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.91864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:175.10, Y:8.03, Z:-70.84 [[ 9.30239948e-01 -3.55415659e-01 9.12871754e-02 1.75104724e+02] [ 3.53791280e-01 9.34708081e-01 3.39489853e-02 8.02534501e+00] [-9.73928615e-02 7.15904294e-04 9.95245758e-01 -7.08409413e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.94864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:175.17, Y:7.93, Z:-70.85 [[ 9.31824569e-01 -3.62898173e-01 2.80872616e-03 1.75167851e+02] [ 3.59098220e-01 9.23130733e-01 1.37397661e-01 7.93212825e+00] [-5.24541817e-02 -1.27021908e-01 9.90511986e-01 -7.08498536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.97864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:175.16, Y:8.05, Z:-70.84 [[ 9.32553666e-01 -3.58608563e-01 4.17559344e-02 1.75160093e+02] [ 3.58837953e-01 9.33397458e-01 2.12359586e-03 8.05294158e+00] [-3.97364227e-02 1.30032469e-02 9.99125584e-01 -7.08388007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.00864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:175.16, Y:8.14, Z:-70.83 [[ 9.26388446e-01 -3.52078506e-01 1.33585827e-01 1.75162570e+02] [ 3.62568738e-01 9.29767862e-01 -6.38406826e-02 8.13564953e+00] [-1.01726877e-01 1.07575316e-01 9.88978864e-01 -7.08273187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.03864000000002 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:175.22, Y:8.06, Z:-70.85 [[ 9.27103310e-01 -3.61955453e-01 9.73021225e-02 1.75224505e+02] [ 3.60152224e-01 9.32194091e-01 3.61185950e-02 8.06084809e+00] [-1.03777786e-01 1.55790679e-03 9.94599288e-01 -7.08479937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.06864000000002 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:175.26, Y:8.07, Z:-70.85 [[ 9.27527212e-01 -3.60858040e-01 9.73383038e-02 1.75255722e+02] [ 3.59053212e-01 9.32619570e-01 3.60767052e-02 8.07129089e+00] [-1.03798176e-01 1.48750485e-03 9.94597268e-01 -7.08505512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.09864000000002 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:175.33, Y:7.96, Z:-70.86 [[ 9.30155036e-01 -3.67163804e-01 -1.53284696e-03 1.75327298e+02] [ 3.62452266e-01 9.17536169e-01 1.63571800e-01 7.95675623e+00] [-5.86512015e-02 -1.52702717e-01 9.86530241e-01 -7.08560761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.12864000000002 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:175.29, Y:8.15, Z:-70.84 [[ 9.32018545e-01 -3.52481685e-01 8.42501850e-02 1.75291344e+02] [ 3.57451682e-01 9.32406067e-01 -5.33593558e-02 8.15091783e+00] [-5.97471880e-02 7.98472796e-02 9.95014917e-01 -7.08402399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.15864000000002 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:175.34, Y:8.10, Z:-70.85 [[ 9.31852295e-01 -3.58356778e-01 5.68482209e-02 1.75342450e+02] [ 3.57559673e-01 9.33582545e-01 2.39731514e-02 8.09524884e+00] [-6.16634481e-02 -2.01280489e-03 9.98094969e-01 -7.08546324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:175.35, Y:8.16, Z:-70.85 [[ 9.27447767e-01 -3.50830380e-01 1.29455336e-01 1.75352257e+02] [ 3.57138667e-01 9.33617257e-01 -2.84743917e-02 8.16384419e+00] [-1.10872054e-01 7.26420169e-02 9.91176334e-01 -7.08490467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:175.40, Y:8.12, Z:-70.86 [[ 9.28096909e-01 -3.57232707e-01 1.04980568e-01 1.75403165e+02] [ 3.55127112e-01 9.34014486e-01 3.87514453e-02 8.11849690e+00] [-1.11896655e-01 1.31634925e-03 9.93718977e-01 -7.08617950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.24864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:175.46, Y:8.04, Z:-70.87 [[ 9.31612192e-01 -3.63230042e-01 1.27537955e-02 1.75464430e+02] [ 3.58696785e-01 9.24511294e-01 1.28901061e-01 8.03506338e+00] [-5.86117658e-02 -1.15511055e-01 9.91575442e-01 -7.08663883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.27864 meters Centerline goodness : 0.996754 Centerline is valid? [True, True] Translation: X:175.45, Y:8.16, Z:-70.86 [[ 9.34016813e-01 -3.52234009e-01 5.95297886e-02 1.75454601e+02] [ 3.53130097e-01 9.35561285e-01 -4.92100234e-03 8.15891055e+00] [-5.39604211e-02 2.56180590e-02 9.98214400e-01 -7.08578236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.30864 meters Centerline goodness : 0.997446 Centerline is valid? [True, True] Translation: X:175.49, Y:8.14, Z:-70.86 [[ 9.33120704e-01 -3.54640051e-01 5.92974377e-02 1.75488037e+02] [ 3.53665780e-01 9.34995202e-01 2.65421915e-02 8.14479464e+00] [-6.48557439e-02 -3.79559388e-03 9.97887432e-01 -7.08645117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.33864 meters Centerline goodness : 0.997246 Centerline is valid? [True, True] Translation: X:175.51, Y:8.17, Z:-70.87 [[ 9.33126612e-01 -3.52753387e-01 6.95684838e-02 1.75511127e+02] [ 3.53193299e-01 9.35529276e-01 6.28235852e-03 8.17370824e+00] [-6.72994765e-02 1.87088864e-02 9.97557396e-01 -7.08651803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.36864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:175.52, Y:8.23, Z:-70.86 [[ 9.27102736e-01 -3.48217704e-01 1.38654054e-01 1.75524638e+02] [ 3.55081533e-01 9.34431054e-01 -2.74901757e-02 8.22841022e+00] [-1.19990088e-01 7.47197110e-02 9.89959264e-01 -7.08617863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.39864 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:175.58, Y:8.18, Z:-70.88 [[ 9.27760691e-01 -3.55778346e-01 1.12613807e-01 1.75575804e+02] [ 3.53366447e-01 9.34569313e-01 4.13805868e-02 8.18099834e+00] [-1.19967725e-01 1.40265910e-03 9.92776801e-01 -7.08750849e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.42864 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:175.62, Y:8.14, Z:-70.88 [[ 9.31331477e-01 -3.61019573e-01 4.78178577e-02 1.75621432e+02] [ 3.56373669e-01 9.30524375e-01 8.43930969e-02 8.13979417e+00] [-7.49632420e-02 -6.15569222e-02 9.95284511e-01 -7.08790848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.45864 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:175.62, Y:8.25, Z:-70.87 [[ 9.26548560e-01 -3.50684278e-01 1.36118710e-01 1.75617094e+02] [ 3.55868123e-01 9.34415502e-01 -1.50182914e-02 8.24977476e+00] [-1.21924754e-01 6.23554861e-02 9.90578693e-01 -7.08704970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.48864 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:175.67, Y:8.21, Z:-70.88 [[ 9.27170790e-01 -3.56877325e-01 1.13986408e-01 1.75665216e+02] [ 3.54428433e-01 9.34149762e-01 4.17696980e-02 8.21260009e+00] [-1.21387034e-01 1.67238019e-03 9.92603844e-01 -7.08816228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.51864 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:175.70, Y:8.22, Z:-70.88 [[ 9.27444477e-01 -3.56131381e-01 1.14092869e-01 1.75696964e+02] [ 3.53680264e-01 9.34434459e-01 4.17434203e-02 8.22310042e+00] [-1.21478450e-01 1.63769140e-03 9.92592718e-01 -7.08843360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.54864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:175.73, Y:8.23, Z:-70.89 [[ 9.27440527e-01 -3.55707118e-01 1.15440524e-01 1.75728377e+02] [ 3.53202555e-01 9.34595997e-01 4.21696359e-02 8.23450868e+00] [-1.22890291e-01 1.66405868e-03 9.92418867e-01 -7.08869988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.57864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:175.76, Y:8.24, Z:-70.89 [[ 9.27884261e-01 -3.54695483e-01 1.14986574e-01 1.75759644e+02] [ 3.52211012e-01 9.34980534e-01 4.19380893e-02 8.24460854e+00] [-1.22385459e-01 1.58584447e-03 9.92481377e-01 -7.08894717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.60864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:175.79, Y:8.26, Z:-70.89 [[ 9.28334216e-01 -3.53781316e-01 1.14168140e-01 1.75790609e+02] [ 3.51333269e-01 9.35326939e-01 4.15746531e-02 8.25573960e+00] [-1.21492872e-01 1.51589268e-03 9.92591147e-01 -7.08942526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.63864 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:175.84, Y:8.20, Z:-70.90 [[ 9.32430605e-01 -3.59664616e-01 3.48501146e-02 1.75841523e+02] [ 3.54821379e-01 9.29567268e-01 1.00032410e-01 8.19877824e+00] [-6.83736443e-02 -8.09077153e-02 9.94373665e-01 -7.08988467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.66864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:175.83, Y:8.34, Z:-70.89 [[ 9.27287694e-01 -3.45771542e-01 1.43455825e-01 1.75826868e+02] [ 3.53605251e-01 9.34831589e-01 -3.24534576e-02 8.33845348e+00] [-1.22885554e-01 8.08204248e-02 9.89124461e-01 -7.08868985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:175.88, Y:8.28, Z:-70.90 [[ 9.28159691e-01 -3.53419175e-01 1.16681081e-01 1.75880653e+02] [ 3.50874372e-01 9.35463666e-01 4.23663228e-02 8.28496638e+00] [-1.24123983e-01 1.61768802e-03 9.92265398e-01 -7.09013166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.72864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:175.91, Y:8.30, Z:-70.91 [[ 9.28545479e-01 -3.52626615e-01 1.16007605e-01 1.75912348e+02] [ 3.50113229e-01 9.35762802e-01 4.20559777e-02 8.29512314e+00] [-1.23385658e-01 1.56490930e-03 9.92357562e-01 -7.09052389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.75864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:175.94, Y:8.31, Z:-70.91 [[ 9.28840729e-01 -3.52093113e-01 1.15262045e-01 1.75943775e+02] [ 3.49616068e-01 9.35963701e-01 4.17199717e-02 8.30529641e+00] [-1.22570405e-01 1.54625390e-03 9.92458616e-01 -7.09083260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.78864000000002 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:175.99, Y:8.27, Z:-70.91 [[ 9.33053511e-01 -3.55345159e-01 5.60443056e-02 1.75991200e+02] [ 3.50262822e-01 9.32906117e-01 8.36787428e-02 8.26604288e+00] [-8.20189117e-02 -5.84465081e-02 9.94915526e-01 -7.09132351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.81864000000002 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:175.99, Y:8.37, Z:-70.91 [[ 9.28866641e-01 -3.44737830e-01 1.35508642e-01 1.75987939e+02] [ 3.49577972e-01 9.36817777e-01 -1.29496482e-02 8.37045211e+00] [-1.22482672e-01 5.93993327e-02 9.90691533e-01 -7.09064768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.84864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:176.03, Y:8.33, Z:-70.92 [[ 9.30471004e-01 -3.47931872e-01 1.14748088e-01 1.76034948e+02] [ 3.45459048e-01 9.37519177e-01 4.14226912e-02 8.33441886e+00] [-1.21990808e-01 1.09815218e-03 9.92530623e-01 -7.09159921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.87864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:176.07, Y:8.35, Z:-70.92 [[ 9.30877274e-01 -3.47029199e-01 1.14185099e-01 1.76065785e+02] [ 3.44581940e-01 9.37853752e-01 4.11537021e-02 8.34556072e+00] [-1.21370460e-01 1.03707690e-03 9.92606738e-01 -7.09191674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.90864000000002 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:176.12, Y:8.29, Z:-70.92 [[ 9.35012684e-01 -3.51401957e-01 4.76229581e-02 1.76115069e+02] [ 3.45948592e-01 9.33408169e-01 9.52300469e-02 8.29466699e+00] [-7.79156830e-02 -7.25662065e-02 9.94315489e-01 -7.09242043e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93864 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:176.14, Y:8.29, Z:-70.92 [[ 9.34023555e-01 -3.55306514e-01 3.68412675e-02 1.76144894e+02] [ 3.49623763e-01 9.30453018e-01 1.09637612e-01 8.28818276e+00] [-7.32340264e-02 -8.95235299e-02 9.93288636e-01 -7.09246420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96864 meters Centerline goodness : 0.998624 Centerline is valid? [True, True] Translation: X:176.12, Y:8.46, Z:-70.91 [[ 9.35252663e-01 -3.33492436e-01 1.18681301e-01 1.76123528e+02] [ 3.42852169e-01 9.36827213e-01 -6.93337126e-02 8.45512536e+00] [-8.80616038e-02 1.05534681e-01 9.90508751e-01 -7.09101619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.99864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:176.17, Y:8.42, Z:-70.92 [[ 9.28550082e-01 -3.43217734e-01 1.41408387e-01 1.76166625e+02] [ 3.47585471e-01 9.37624685e-01 -6.65517309e-03 8.42189753e+00] [-1.30303821e-01 5.53311623e-02 9.89928976e-01 -7.09220918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.02864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:176.21, Y:8.39, Z:-70.93 [[ 9.29019255e-01 -3.49161207e-01 1.22513985e-01 1.76213291e+02] [ 3.46385289e-01 9.37061326e-01 4.39693528e-02 8.38806135e+00] [-1.30155509e-01 1.58866654e-03 9.91492319e-01 -7.09304333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.05864 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:176.25, Y:8.40, Z:-70.93 [[ 9.29454887e-01 -3.47980168e-01 1.22570042e-01 1.76246048e+02] [ 3.45200845e-01 9.37500709e-01 4.39180871e-02 8.39524072e+00] [-1.30192125e-01 1.49140148e-03 9.91487663e-01 -7.09334470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.08864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:176.28, Y:8.41, Z:-70.94 [[ 9.30086207e-01 -3.46193047e-01 1.22841447e-01 1.76276851e+02] [ 3.43395165e-01 9.38162382e-01 4.39443505e-02 8.40551668e+00] [-1.30458453e-01 1.31112464e-03 9.91452910e-01 -7.09375429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.11864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:176.31, Y:8.42, Z:-70.94 [[ 9.30791671e-01 -3.44267877e-01 1.22908478e-01 1.76307866e+02] [ 3.41459589e-01 9.38870810e-01 4.38970440e-02 8.41666201e+00] [-1.30507525e-01 1.10927551e-03 9.91446698e-01 -7.09414900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.14864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:176.34, Y:8.43, Z:-70.94 [[ 9.32296940e-01 -3.40083438e-01 1.23148979e-01 1.76338744e+02] [ 3.37237154e-01 9.40395079e-01 4.39112437e-02 8.42755432e+00] [-1.30742181e-01 5.92093248e-04 9.91416225e-01 -7.09446376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.17864 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:176.37, Y:8.44, Z:-70.95 [[ 9.32552152e-01 -3.39012187e-01 1.24166104e-01 1.76369775e+02] [ 3.36118735e-01 9.40781841e-01 4.42009500e-02 8.43841439e+00] [-1.31797877e-01 5.14862656e-04 9.91276477e-01 -7.09475404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.20864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:176.40, Y:8.45, Z:-70.95 [[ 9.32930121e-01 -3.37358773e-01 1.25819105e-01 1.76401299e+02] [ 3.34382532e-01 9.41376084e-01 4.47145483e-02 8.44928524e+00] [-1.33527942e-01 3.56161937e-04 9.91044985e-01 -7.09501308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.23864 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:176.43, Y:8.46, Z:-70.95 [[ 9.33047859e-01 -3.36700982e-01 1.26704944e-01 1.76431651e+02] [ 3.33686622e-01 9.41611564e-01 4.49544404e-02 8.46098886e+00] [-1.34443044e-01 3.35100335e-04 9.90921266e-01 -7.09539057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.26864 meters Centerline goodness : 0.998182 Centerline is valid? [True, True] Translation: X:176.47, Y:8.43, Z:-70.96 [[ 9.37311936e-01 -3.41882288e-01 6.75487644e-02 1.76474512e+02] [ 3.35965383e-01 9.37984797e-01 8.55089628e-02 8.42522935e+00] [-9.25937139e-02 -5.74545250e-02 9.94044960e-01 -7.09583333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.29864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:176.49, Y:8.47, Z:-70.96 [[ 9.38459266e-01 -3.36802888e-01 7.65377026e-02 1.76492401e+02] [ 3.33623391e-01 9.41299558e-01 5.14837400e-02 8.46550831e+00] [-8.93847780e-02 -2.27806249e-02 9.95736614e-01 -7.09585978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.32864 meters Centerline goodness : 0.997984 Centerline is valid? [True, True] Translation: X:176.51, Y:8.51, Z:-70.96 [[ 9.38426184e-01 -3.31114259e-01 9.85882580e-02 1.76508352e+02] [ 3.31817940e-01 9.43294075e-01 9.65100050e-03 8.51395982e+00] [-9.61933035e-02 2.36566011e-02 9.95081511e-01 -7.09579223e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.35864 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:176.55, Y:8.48, Z:-70.96 [[ 9.39047025e-01 -3.36327989e-01 7.12331974e-02 1.76551045e+02] [ 3.32620666e-01 9.41208435e-01 5.90776908e-02 8.48319408e+00] [-8.69147672e-02 -3.17830962e-02 9.95708621e-01 -7.09631231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.38864 meters Centerline goodness : 0.998178 Centerline is valid? [True, True] Translation: X:176.56, Y:8.54, Z:-70.96 [[ 9.38851993e-01 -3.30054072e-01 9.80879443e-02 1.76563566e+02] [ 3.30319264e-01 9.43765502e-01 1.39950649e-02 8.53552323e+00] [-9.71911461e-02 1.92610430e-02 9.95079340e-01 -7.09632056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.41864 meters Centerline goodness : 0.998180 Centerline is valid? [True, True] Translation: X:176.61, Y:8.49, Z:-70.97 [[ 9.38234846e-01 -3.37063888e-01 7.81236834e-02 1.76611256e+02] [ 3.30094681e-01 9.39661595e-01 8.98531513e-02 8.48564858e+00] [-1.03696078e-01 -5.85151452e-02 9.92886248e-01 -7.09723500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.44864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:176.61, Y:8.60, Z:-70.96 [[ 9.39617051e-01 -3.19724725e-01 1.22048748e-01 1.76607042e+02] [ 3.25875721e-01 9.44809970e-01 -3.37510730e-02 8.60375638e+00] [-1.04521821e-01 7.14858074e-02 9.91950084e-01 -7.09637092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.47864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:176.65, Y:8.56, Z:-70.97 [[ 9.39074132e-01 -3.28742510e-01 1.00340101e-01 1.76652312e+02] [ 3.27014096e-01 9.44418855e-01 3.36868922e-02 8.56009552e+00] [-1.05837397e-01 1.17813846e-03 9.94382752e-01 -7.09747512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.50864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:176.67, Y:8.62, Z:-70.97 [[ 9.34304202e-01 -3.19810698e-01 1.57469922e-01 1.76666900e+02] [ 3.23684965e-01 9.46164274e-01 1.10010993e-03 8.61706681e+00] [-1.49344241e-01 4.99428088e-02 9.87523171e-01 -7.09743361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.53864000000002 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:176.71, Y:8.59, Z:-70.98 [[ 9.34932775e-01 -3.25354474e-01 1.41580973e-01 1.76710761e+02] [ 3.21525595e-01 9.45591578e-01 4.97781088e-02 8.59002110e+00] [-1.50073306e-01 -1.01727901e-03 9.88674349e-01 -7.09841180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.56864000000002 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:176.74, Y:8.60, Z:-70.99 [[ 9.35243387e-01 -3.24765989e-01 1.40878881e-01 1.76740612e+02] [ 3.20981130e-01 9.45793846e-01 4.94481083e-02 8.60276198e+00] [-1.49301443e-01 -1.02655372e-03 9.88791194e-01 -7.09889761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.59864000000002 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:176.77, Y:8.62, Z:-70.99 [[ 9.35278093e-01 -3.24693900e-01 1.40814629e-01 1.76769825e+02] [ 3.20924322e-01 9.45818669e-01 4.93419172e-02 8.61816592e+00] [-1.49206125e-01 -9.57574771e-04 9.88805651e-01 -7.09921429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.62864000000002 meters Centerline goodness : 0.998820 Centerline is valid? [True, True] Translation: X:176.80, Y:8.63, Z:-71.00 [[ 9.35249203e-01 -3.25227379e-01 1.39771530e-01 1.76799562e+02] [ 3.21532017e-01 9.45635518e-01 4.88940691e-02 8.63205500e+00] [-1.48074613e-01 -7.87117103e-04 9.88975879e-01 -7.09972705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.65864000000002 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:176.83, Y:8.65, Z:-71.00 [[ 9.34562133e-01 -3.26882129e-01 1.40505135e-01 1.76828497e+02] [ 3.23178790e-01 9.45065010e-01 4.90672683e-02 8.64718885e+00] [-1.48825700e-01 -4.48131432e-04 9.88863343e-01 -7.10025590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:176.86, Y:8.66, Z:-71.01 [[ 9.34636868e-01 -3.26658212e-01 1.40528778e-01 1.76859862e+02] [ 3.22962550e-01 9.45142446e-01 4.89994685e-02 8.65827404e+00] [-1.48825791e-01 -4.11177343e-04 9.88863345e-01 -7.10067783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:176.89, Y:8.67, Z:-71.01 [[ 9.34068469e-01 -3.27924307e-01 1.41356795e-01 1.76890066e+02] [ 3.24205846e-01 9.44703986e-01 4.92437691e-02 8.66982941e+00] [-1.49688556e-01 -1.68352758e-04 9.88733183e-01 -7.10112915e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.74864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:176.92, Y:8.68, Z:-71.02 [[ 9.32636297e-01 -3.30969869e-01 1.43695800e-01 1.76920395e+02] [ 3.27175746e-01 9.43641235e-01 4.99725071e-02 8.68127574e+00] [-1.52136676e-01 4.07606531e-04 9.88359381e-01 -7.10160734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.77864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:176.95, Y:8.69, Z:-71.02 [[ 9.32152287e-01 -3.32120236e-01 1.44181355e-01 1.76950745e+02] [ 3.28327016e-01 9.43236815e-01 5.00567845e-02 8.69332181e+00] [-1.52622033e-01 6.78087952e-04 9.88284400e-01 -7.10193848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.80864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:176.98, Y:8.70, Z:-71.02 [[ 9.31305838e-01 -3.34771385e-01 1.43518487e-01 1.76981617e+02] [ 3.31057110e-01 9.42298633e-01 4.97441044e-02 8.70419332e+00] [-1.51890177e-01 1.18584074e-03 9.88396665e-01 -7.10236313e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.83864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:177.01, Y:8.71, Z:-71.03 [[ 9.30865060e-01 -3.35816598e-01 1.43935587e-01 1.77012421e+02] [ 3.32105711e-01 9.41926293e-01 4.98061772e-02 8.71409349e+00] [-1.52302455e-01 1.43900040e-03 9.88332885e-01 -7.10279479e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.86864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:177.04, Y:8.72, Z:-71.03 [[ 9.30354991e-01 -3.36826113e-01 1.44871529e-01 1.77044237e+02] [ 3.33091583e-01 9.41565346e-01 5.00469514e-02 8.72486184e+00] [-1.53263132e-01 1.69405599e-03 9.88183962e-01 -7.10299487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.89864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:177.08, Y:8.74, Z:-71.03 [[ 9.29750880e-01 -3.37887750e-01 1.46270874e-01 1.77075174e+02] [ 3.34106529e-01 9.41184359e-01 5.04463131e-02 8.73730586e+00] [-1.54713050e-01 1.96754986e-03 9.87957489e-01 -7.10336166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.92864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:177.11, Y:8.75, Z:-71.04 [[ 9.29850278e-01 -3.37830082e-01 1.45771384e-01 1.77105911e+02] [ 3.34085960e-01 9.41204941e-01 5.01979159e-02 8.74883049e+00] [-1.54159113e-01 2.02362661e-03 9.88043963e-01 -7.10381941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:177.14, Y:8.76, Z:-71.04 [[ 9.30418366e-01 -3.36559539e-01 1.45083911e-01 1.77136330e+02] [ 3.32843818e-01 9.41660360e-01 4.99075023e-02 8.76043002e+00] [-1.53416613e-01 1.85542600e-03 9.88159856e-01 -7.10424051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.98864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:177.17, Y:8.77, Z:-71.05 [[ 9.30900984e-01 -3.35428043e-01 1.44607696e-01 1.77167128e+02] [ 3.31736013e-01 9.42064219e-01 4.96610915e-02 8.77337341e+00] [-1.52887459e-01 1.74202169e-03 9.88242071e-01 -7.10455975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.01864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:177.20, Y:8.79, Z:-71.05 [[ 9.31309920e-01 -3.34729604e-01 1.43589436e-01 1.77196668e+02] [ 3.31093752e-01 9.42312702e-01 4.92310694e-02 8.78696276e+00] [-1.51785246e-01 1.69218198e-03 9.88412047e-01 -7.10507914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.04864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:177.24, Y:8.74, Z:-71.06 [[ 9.36624156e-01 -3.42008668e-01 7.59293199e-02 1.77243802e+02] [ 3.34066161e-01 9.37179123e-01 1.00474336e-01 8.73995917e+00] [-1.05522467e-01 -6.87412737e-02 9.92038127e-01 -7.10573934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.07864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:177.26, Y:8.81, Z:-71.05 [[ 9.37357224e-01 -3.33877682e-01 9.94340394e-02 1.77255791e+02] [ 3.31789996e-01 9.42614281e-01 3.73325010e-02 8.80504333e+00] [-1.06192434e-01 -2.00266989e-03 9.94343581e-01 -7.10533101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.10864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:177.28, Y:8.82, Z:-71.06 [[ 9.37242023e-01 -3.31864364e-01 1.06973985e-01 1.77282559e+02] [ 3.30280782e-01 9.43315562e-01 3.27162768e-02 8.82249986e+00] [-1.11767592e-01 4.66838211e-03 9.93723408e-01 -7.10561059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.13864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:177.29, Y:8.89, Z:-71.05 [[ 9.30438438e-01 -3.22862023e-01 1.73333282e-01 1.77294735e+02] [ 3.29941457e-01 9.43913213e-01 -1.29027996e-02 8.88578693e+00] [-1.59445751e-01 6.91950962e-02 9.84778702e-01 -7.10519775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.16864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:177.34, Y:8.84, Z:-71.07 [[ 9.31276611e-01 -3.30732006e-01 1.52775040e-01 1.77342423e+02] [ 3.26606934e-01 9.43723698e-01 5.20911909e-02 8.84285371e+00] [-1.61405650e-01 1.38607977e-03 9.86887174e-01 -7.10681853e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.19864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:177.39, Y:8.80, Z:-71.08 [[ 9.37116921e-01 -3.38771441e-01 8.39391901e-02 1.77388900e+02] [ 3.30440738e-01 9.38614810e-01 9.90512905e-02 8.79788923e+00] [-1.12342315e-01 -6.50857124e-02 9.91535705e-01 -7.10763928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.22864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:177.40, Y:8.86, Z:-71.07 [[ 9.36771848e-01 -3.31985365e-01 1.10653613e-01 1.77400433e+02] [ 3.30032402e-01 9.43280562e-01 3.60609861e-02 8.86326629e+00] [-1.16349122e-01 2.73836096e-03 9.93204603e-01 -7.10730183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.25864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:177.41, Y:8.93, Z:-71.07 [[ 9.29400417e-01 -3.25429004e-01 1.74100052e-01 1.77413440e+02] [ 3.31876066e-01 9.43285031e-01 -8.46321604e-03 8.92569414e+00] [-1.61471797e-01 6.56453569e-02 9.84691599e-01 -7.10690263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.28864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:177.46, Y:8.88, Z:-71.08 [[ 9.29765105e-01 -3.34606042e-01 1.53543628e-01 1.77460605e+02] [ 3.30532721e-01 9.42355277e-01 5.21023180e-02 8.88489723e+00] [-1.62126399e-01 2.30827601e-03 9.86767299e-01 -7.10844336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.31864000000002 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:177.49, Y:8.89, Z:-71.09 [[ 9.30124622e-01 -3.34049746e-01 1.52574425e-01 1.77493047e+02] [ 3.30034514e-01 9.42552691e-01 5.16879563e-02 8.89220841e+00] [-1.61075783e-01 2.27858524e-03 9.86939411e-01 -7.10888476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.34864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:177.52, Y:8.90, Z:-71.09 [[ 9.29453579e-01 -3.34615577e-01 1.55397746e-01 1.77524772e+02] [ 3.30472144e-01 9.42351383e-01 5.25550383e-02 8.90143466e+00] [-1.64025015e-01 2.50715792e-03 9.86452994e-01 -7.10933815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.37864000000002 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:177.56, Y:8.91, Z:-71.10 [[ 9.29398625e-01 -3.35164786e-01 1.54540488e-01 1.77556559e+02] [ 3.31089136e-01 9.42155733e-01 5.21781506e-02 8.91005666e+00] [-1.63089485e-01 2.67237517e-03 9.86607662e-01 -7.10974239e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:177.59, Y:8.92, Z:-71.10 [[ 9.29678242e-01 -3.34399261e-01 1.54516994e-01 1.77588296e+02] [ 3.30328569e-01 9.42427860e-01 5.20842174e-02 8.91861998e+00] [-1.63038044e-01 2.61981372e-03 9.86616305e-01 -7.11026827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:177.64, Y:8.87, Z:-71.11 [[ 9.35696626e-01 -3.42219820e-01 8.57753976e-02 1.77635723e+02] [ 3.33040670e-01 9.37007357e-01 1.05361879e-01 8.86627305e+00] [-1.16429102e-01 -7.00200592e-02 9.90727740e-01 -7.11104839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:177.65, Y:8.93, Z:-71.10 [[ 9.36454387e-01 -3.36188443e-01 1.00152443e-01 1.77647171e+02] [ 3.33935549e-01 9.41789788e-01 3.89749135e-02 8.92510310e+00] [-1.07425463e-01 -3.05376788e-03 9.94208451e-01 -7.11044107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.49864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:177.66, Y:9.00, Z:-71.10 [[ 9.30709016e-01 -3.19309393e-01 1.78387888e-01 1.77660231e+02] [ 3.27535619e-01 9.44668660e-01 -1.79315872e-02 9.00150844e+00] [-1.62791723e-01 7.51174771e-02 9.83796839e-01 -7.11026430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.52864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:177.73, Y:8.89, Z:-71.12 [[ 9.36751066e-01 -3.38610642e-01 8.85453171e-02 1.77725334e+02] [ 3.29543035e-01 9.38533350e-01 1.02745015e-01 8.89087970e+00] [-1.17893289e-01 -6.70670099e-02 9.90758895e-01 -7.11187375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.55864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:177.72, Y:9.01, Z:-71.11 [[ 9.30604666e-01 -3.20249991e-01 1.77242484e-01 1.77722668e+02] [ 3.27274345e-01 9.44863970e-01 -1.11167189e-02 9.00904843e+00] [-1.63909908e-01 6.83521883e-02 9.84104426e-01 -7.11113174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.58864 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:177.79, Y:8.90, Z:-71.12 [[ 9.36015643e-01 -3.40122716e-01 9.05055540e-02 1.77785884e+02] [ 3.30301282e-01 9.37691259e-01 1.07871062e-01 8.90313455e+00] [-1.21555665e-01 -7.10749005e-02 9.90036655e-01 -7.11247452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.61864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:177.78, Y:9.03, Z:-71.12 [[ 9.29736236e-01 -3.19637926e-01 1.82817200e-01 1.77781655e+02] [ 3.27461891e-01 9.44767820e-01 -1.35083515e-02 9.02798056e+00] [-1.68402026e-01 7.24248698e-02 9.83054116e-01 -7.11165858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.64864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:177.83, Y:8.98, Z:-71.13 [[ 9.30355232e-01 -3.29893388e-01 1.60029671e-01 1.77831347e+02] [ 3.25556350e-01 9.44015034e-01 5.33730049e-02 8.97769181e+00] [-1.68677816e-01 2.44282121e-03 9.85668213e-01 -7.11314407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.67864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:177.86, Y:8.99, Z:-71.14 [[ 9.30759969e-01 -3.29036672e-01 1.59438857e-01 1.77862356e+02] [ 3.24734584e-01 9.44314184e-01 5.30864606e-02 8.98725396e+00] [-1.68027766e-01 2.36455843e-03 9.85779427e-01 -7.11369493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.70864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:177.92, Y:8.91, Z:-71.14 [[ 9.35740411e-01 -3.42701656e-01 8.33394129e-02 1.77917829e+02] [ 3.28948252e-01 9.33265945e-01 1.44248823e-01 8.90641025e+00] [-1.27212146e-01 -1.07565098e-01 9.86025770e-01 -7.11424715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.73864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:177.90, Y:9.09, Z:-71.13 [[ 9.29700254e-01 -3.13522555e-01 1.93290056e-01 1.77895515e+02] [ 3.28135309e-01 9.43407803e-01 -4.80513862e-02 9.09114343e+00] [-1.67286154e-01 1.08098678e-01 9.79964294e-01 -7.11290881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.76864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:177.95, Y:9.01, Z:-71.15 [[ 9.29579339e-01 -3.31528902e-01 1.61154709e-01 1.77953687e+02] [ 3.27207631e-01 9.43440121e-01 5.34406614e-02 9.01440388e+00] [-1.69756942e-01 3.05371595e-03 9.85481230e-01 -7.11479686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.79864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:177.99, Y:9.02, Z:-71.15 [[ 9.28331008e-01 -3.34602122e-01 1.61996790e-01 1.77986283e+02] [ 3.30297589e-01 9.42352143e-01 5.36278074e-02 9.02188808e+00] [-1.70602000e-01 3.72279268e-03 9.85332989e-01 -7.11513713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.82864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:178.02, Y:9.03, Z:-71.16 [[ 9.28366824e-01 -3.34614787e-01 1.61765212e-01 1.78017140e+02] [ 3.30338569e-01 9.42347310e-01 5.34600481e-02 9.03199007e+00] [-1.70327535e-01 3.80675371e-03 9.85380150e-01 -7.11560873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.85864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:178.05, Y:9.04, Z:-71.16 [[ 9.27903300e-01 -3.35660040e-01 1.62258449e-01 1.78048430e+02] [ 3.31389076e-01 9.41974281e-01 5.35325478e-02 9.04160501e+00] [-1.70812023e-01 4.09764966e-03 9.85295114e-01 -7.11614574e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.88864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:178.08, Y:9.05, Z:-71.17 [[ 9.28692343e-01 -3.34400347e-01 1.60333838e-01 1.78080457e+02] [ 3.30227172e-01 9.42423035e-01 5.28094597e-02 9.04832456e+00] [-1.68761804e-01 3.90284900e-03 9.85649137e-01 -7.11674589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.91864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:178.11, Y:9.06, Z:-71.17 [[ 9.28871450e-01 -3.33743812e-01 1.60663929e-01 1.78112161e+02] [ 3.29558776e-01 9.42655845e-01 5.28296400e-02 9.05797502e+00] [-1.69082357e-01 3.87626341e-03 9.85594304e-01 -7.11717613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.94864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:178.14, Y:9.07, Z:-71.18 [[ 9.29391248e-01 -3.32491773e-01 1.60253326e-01 1.78142939e+02] [ 3.28324856e-01 9.43098806e-01 5.26063766e-02 9.06810160e+00] [-1.68625908e-01 3.72324395e-03 9.85673090e-01 -7.11759820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.97864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:178.17, Y:9.08, Z:-71.18 [[ 9.29536751e-01 -3.32534526e-01 1.59317976e-01 1.78174018e+02] [ 3.28432016e-01 9.43083455e-01 5.22111914e-02 9.07684333e+00] [-1.67612171e-01 3.79290267e-03 9.85845715e-01 -7.11810436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.00864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:178.21, Y:9.08, Z:-71.19 [[ 9.29238740e-01 -3.32764162e-01 1.60572032e-01 1.78205715e+02] [ 3.28615233e-01 9.43001802e-01 5.25321871e-02 9.08430616e+00] [-1.68900545e-01 3.95147226e-03 9.85625178e-01 -7.11863904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.03864000000002 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:178.24, Y:9.09, Z:-71.19 [[ 9.29091964e-01 -3.33481442e-01 1.59932016e-01 1.78238443e+02] [ 3.29391482e-01 9.42747528e-01 5.22336071e-02 9.09115467e+00] [-1.68194451e-01 4.15041916e-03 9.85745099e-01 -7.11900269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.06864000000002 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:178.27, Y:9.10, Z:-71.19 [[ 9.29003169e-01 -3.33738943e-01 1.59910691e-01 1.78269910e+02] [ 3.29668915e-01 9.42655818e-01 5.21384130e-02 9.10064319e+00] [-1.68141362e-01 4.28083306e-03 9.85753598e-01 -7.11945147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.09864000000002 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:178.30, Y:9.11, Z:-71.20 [[ 9.28580803e-01 -3.34629271e-01 1.60502161e-01 1.78302693e+02] [ 3.30557292e-01 9.42338901e-01 5.22424331e-02 9.10605903e+00] [-1.68729277e-01 4.54383907e-03 9.85651959e-01 -7.11988315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.12864000000002 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:178.33, Y:9.11, Z:-71.20 [[ 9.28367514e-01 -3.35085835e-01 1.60783217e-01 1.78334742e+02] [ 3.31021534e-01 9.42175782e-01 5.22450005e-02 9.11386440e+00] [-1.68992612e-01 4.72014584e-03 9.85606015e-01 -7.12039380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:178.37, Y:9.12, Z:-71.21 [[ 9.28292635e-01 -3.35118417e-01 1.61147235e-01 1.78366455e+02] [ 3.31051239e-01 9.42163680e-01 5.22750177e-02 9.12176271e+00] [-1.69345393e-01 4.82147772e-03 9.85544972e-01 -7.12084865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:178.40, Y:9.13, Z:-71.21 [[ 9.27876483e-01 -3.36044409e-01 1.61614933e-01 1.78399836e+02] [ 3.31982679e-01 9.41832387e-01 5.23379042e-02 9.12640151e+00] [-1.69802039e-01 5.09024809e-03 9.85465046e-01 -7.12128618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:178.43, Y:9.13, Z:-71.22 [[ 9.27574201e-01 -3.36255229e-01 1.62906483e-01 1.78431785e+02] [ 3.32146754e-01 9.41756224e-01 5.26663839e-02 9.13323738e+00] [-1.71127541e-01 5.25688053e-03 9.85234860e-01 -7.12178482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.24864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:178.47, Y:9.14, Z:-71.22 [[ 9.27363879e-01 -3.36634518e-01 1.63320047e-01 1.78465356e+02] [ 3.32526363e-01 9.41619754e-01 5.27110690e-02 9.13650753e+00] [-1.71529748e-01 5.42587999e-03 9.85163999e-01 -7.12220565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.27864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:178.50, Y:9.14, Z:-71.23 [[ 9.27612036e-01 -3.36108188e-01 1.62994470e-01 1.78497071e+02] [ 3.32023811e-01 9.41807890e-01 5.25174912e-02 9.14410120e+00] [-1.71161037e-01 5.40218813e-03 9.85228256e-01 -7.12265711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.30864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:178.53, Y:9.15, Z:-71.23 [[ 9.28372098e-01 -3.33981437e-01 1.63038793e-01 1.78530052e+02] [ 3.29877767e-01 9.42565873e-01 5.24426716e-02 9.14860508e+00] [-1.71189681e-01 5.09656010e-03 9.85224907e-01 -7.12311452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.33864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:178.56, Y:9.16, Z:-71.24 [[ 9.28678617e-01 -3.32574329e-01 1.64165592e-01 1.78562226e+02] [ 3.28407431e-01 9.43064012e-01 5.27145920e-02 9.15595320e+00] [-1.72350182e-01 4.95828591e-03 9.85023264e-01 -7.12350269e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.36864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:178.61, Y:9.10, Z:-71.23 [[ 9.35495485e-01 -3.40692481e-01 9.36847395e-02 1.78607834e+02] [ 3.30510652e-01 9.37493991e-01 1.08939094e-01 9.10013806e+00] [-1.24943610e-01 -7.09482263e-02 9.89623890e-01 -7.12315532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:178.60, Y:9.23, Z:-71.24 [[ 9.30939901e-01 -3.13821017e-01 1.86727797e-01 1.78603965e+02] [ 3.21930294e-01 9.46659711e-01 -1.40099284e-02 9.22575135e+00] [-1.72371072e-01 7.31557361e-02 9.82311789e-01 -7.12386567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.42864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:178.65, Y:9.18, Z:-71.25 [[ 9.32209296e-01 -3.21880558e-01 1.65465210e-01 1.78652861e+02] [ 3.17532957e-01 9.46774553e-01 5.28277003e-02 9.17951065e+00] [-1.73662460e-01 3.29418424e-03 9.84799725e-01 -7.12473687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.45864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:178.68, Y:9.19, Z:-71.25 [[ 9.33519623e-01 -3.18430747e-01 1.64751244e-01 1.78683950e+02] [ 3.14082501e-01 9.47942217e-01 5.25141431e-02 9.18931509e+00] [-1.72896777e-01 2.72249966e-03 9.84936187e-01 -7.12528418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.48864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:178.72, Y:9.20, Z:-71.26 [[ 9.34611464e-01 -3.14121570e-01 1.66820414e-01 1.78715365e+02] [ 3.09603325e-01 9.49380665e-01 5.31237652e-02 9.19778493e+00] [-1.75063396e-01 1.99807488e-03 9.84555136e-01 -7.12568404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.51864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:178.78, Y:9.08, Z:-71.25 [[ 9.40621007e-01 -3.32979786e-01 6.60044208e-02 1.78780919e+02] [ 3.16728698e-01 9.30841390e-01 1.82255972e-01 9.08239070e+00] [-1.22127201e-01 -1.50528302e-01 9.81033219e-01 -7.12478807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.54864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:178.74, Y:9.33, Z:-71.25 [[ 9.34460339e-01 -2.84619684e-01 2.13952121e-01 1.78738466e+02] [ 3.08062506e-01 9.47565311e-01 -8.49557117e-02 9.33337936e+00] [-1.78553541e-01 1.45298370e-01 9.73142855e-01 -7.12492447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.57864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:178.82, Y:9.16, Z:-71.26 [[ 9.42269000e-01 -3.20805734e-01 9.59834002e-02 1.78821698e+02] [ 3.09222734e-01 9.43614497e-01 1.18207364e-01 9.15869674e+00] [-1.28492928e-01 -8.17028851e-02 9.88339115e-01 -7.12594042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.60864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:178.81, Y:9.30, Z:-71.27 [[ 9.35762309e-01 -2.92658647e-01 1.96722690e-01 1.78810765e+02] [ 3.02507542e-01 9.52908035e-01 -2.13416144e-02 9.30144674e+00] [-1.81212824e-01 7.94807759e-02 9.80226871e-01 -7.12654708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.63864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:178.86, Y:9.25, Z:-71.27 [[ 9.36328113e-01 -3.05419075e-01 1.73230636e-01 1.78861745e+02] [ 3.00480696e-01 9.52217676e-01 5.47069440e-02 9.24767715e+00] [-1.81661818e-01 8.28812516e-04 9.83360716e-01 -7.12749562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.66864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:178.93, Y:9.13, Z:-71.27 [[ 9.43330648e-01 -3.24913356e-01 6.75174072e-02 1.78928410e+02] [ 3.07765952e-01 9.32658866e-01 1.88222097e-01 9.13037608e+00] [-1.24126582e-01 -1.56776114e-01 9.79802961e-01 -7.12681634e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.69864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:178.90, Y:9.33, Z:-71.28 [[ 9.45770925e-01 -2.89812701e-01 1.46717265e-01 1.78901470e+02] [ 2.96430047e-01 9.54728266e-01 -2.49632672e-02 9.32607603e+00] [-1.32840448e-01 6.71009381e-02 9.88863428e-01 -7.12765287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.72864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:178.94, Y:9.28, Z:-71.28 [[ 9.44807993e-01 -3.00209347e-01 1.31195288e-01 1.78943919e+02] [ 2.97779850e-01 9.53868785e-01 3.82295998e-02 9.28415031e+00] [-1.36619973e-01 2.94768175e-03 9.90619147e-01 -7.12837167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.75864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:178.96, Y:9.36, Z:-71.29 [[ 9.36351576e-01 -2.84989039e-01 2.05004813e-01 1.78955751e+02] [ 2.94563638e-01 9.55478095e-01 -1.71427315e-02 9.35605844e+00] [-1.90992117e-01 7.64385871e-02 9.78610828e-01 -7.12859548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.78864000000002 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:179.02, Y:9.26, Z:-71.29 [[ 9.43497401e-01 -3.09767829e-01 1.17713836e-01 1.79016609e+02] [ 2.98745614e-01 9.48826490e-01 1.02368699e-01 9.25644892e+00] [-1.43400535e-01 -6.14181090e-02 9.87757107e-01 -7.12929688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.81864000000002 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:179.02, Y:9.37, Z:-71.30 [[ 9.35651941e-01 -2.89112000e-01 2.02409726e-01 1.79016414e+02] [ 2.94974456e-01 9.55504313e-01 1.25656651e-03 9.36603326e+00] [-1.93766655e-01 5.85299900e-02 9.79300119e-01 -7.12962488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.84864000000002 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:179.06, Y:9.33, Z:-71.31 [[ 9.35441409e-01 -3.01668196e-01 1.84243507e-01 1.79061378e+02] [ 2.96091075e-01 9.53412822e-01 5.77413763e-02 9.32915090e+00] [-1.93078859e-01 5.39183659e-04 9.81183094e-01 -7.13055217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.87864000000002 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:179.10, Y:9.29, Z:-71.31 [[ 9.42098669e-01 -3.13019951e-01 1.20285523e-01 1.79104363e+02] [ 3.02150918e-01 9.47960107e-01 1.00381565e-01 9.28991570e+00] [-1.45447310e-01 -5.82249575e-02 9.87651221e-01 -7.13073897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:179.11, Y:9.40, Z:-71.31 [[ 9.33040849e-01 -2.96234487e-01 2.04156566e-01 1.79106369e+02] [ 3.01999796e-01 9.53303104e-01 3.05211758e-03 9.39522065e+00] [-1.95527230e-01 5.88074907e-02 9.78933492e-01 -7.13102165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:179.18, Y:9.25, Z:-71.31 [[ 9.39747651e-01 -3.27788251e-01 9.71041489e-02 1.79181798e+02] [ 3.08154978e-01 9.35179455e-01 1.74584928e-01 9.24565650e+00] [-1.48036693e-01 -1.34142649e-01 9.79842277e-01 -7.13119615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:179.16, Y:9.42, Z:-71.32 [[ 9.39629734e-01 -2.97235888e-01 1.69548783e-01 1.79161334e+02] [ 3.05824611e-01 9.51721791e-01 -2.63996356e-02 9.42198319e+00] [-1.53516352e-01 7.66580732e-02 9.85168143e-01 -7.13160019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.99864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:179.21, Y:9.38, Z:-71.33 [[ 9.38393695e-01 -3.09384720e-01 1.53942741e-01 1.79205572e+02] [ 3.07221781e-01 9.50868678e-01 3.82561576e-02 9.37588388e+00] [-1.58215201e-01 1.13952260e-02 9.87338898e-01 -7.13261444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.02864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:179.23, Y:9.42, Z:-71.33 [[ 9.30492636e-01 -3.01371503e-01 2.08227452e-01 1.79227260e+02] [ 3.05474673e-01 9.52112074e-01 1.29546468e-02 9.41719185e+00] [-2.02160033e-01 5.15540095e-02 9.77994635e-01 -7.13319887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.05864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:179.27, Y:9.39, Z:-71.34 [[ 9.30936263e-01 -3.09356256e-01 1.94052522e-01 1.79270749e+02] [ 3.03456171e-01 9.50941957e-01 6.01975637e-02 9.38505199e+00] [-2.03155178e-01 2.84634026e-03 9.79142417e-01 -7.13405501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.08864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:179.30, Y:9.39, Z:-71.35 [[ 9.31117366e-01 -3.08923291e-01 1.93873287e-01 1.79302478e+02] [ 3.03047663e-01 9.51082670e-01 6.00322346e-02 9.39317519e+00] [-2.02934879e-01 2.85579025e-03 9.79188072e-01 -7.13462268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.11864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:179.34, Y:9.36, Z:-71.35 [[ 9.38191881e-01 -3.16296046e-01 1.40544675e-01 1.79343720e+02] [ 3.06033120e-01 9.47754399e-01 9.00295926e-02 9.36210595e+00] [-1.61677838e-01 -4.14537074e-02 9.85972549e-01 -7.13474205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:179.35, Y:9.44, Z:-71.35 [[ 9.31308152e-01 -2.99321324e-01 2.07537639e-01 1.79354784e+02] [ 3.01872115e-01 9.53137833e-01 2.00374055e-02 9.44038254e+00] [-2.03809598e-01 4.39888270e-02 9.78021795e-01 -7.13545281e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.17864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:179.41, Y:9.37, Z:-71.36 [[ 9.38769573e-01 -3.15379483e-01 1.38735254e-01 1.79406818e+02] [ 3.03891945e-01 9.47658963e-01 9.79396506e-02 9.36964960e+00] [-1.62361863e-01 -4.97822377e-02 9.85474685e-01 -7.13587099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.20864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:179.42, Y:9.42, Z:-71.36 [[ 9.39226733e-01 -3.06873940e-01 1.53888039e-01 1.79423905e+02] [ 3.02947427e-01 9.51749943e-01 4.89377392e-02 9.41781506e+00] [-1.61480650e-01 6.56352728e-04 9.86875660e-01 -7.13636688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.23864 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:179.47, Y:9.37, Z:-71.37 [[ 9.39311855e-01 -3.17989857e-01 1.28746610e-01 1.79470654e+02] [ 3.04680259e-01 9.45732259e-01 1.12962093e-01 9.37024999e+00] [-1.57680622e-01 -6.68800824e-02 9.85222755e-01 -7.13655351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.26864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:179.47, Y:9.48, Z:-71.37 [[ 9.39065494e-01 -2.94114157e-01 1.77912506e-01 1.79470177e+02] [ 3.00721634e-01 9.53651217e-01 -1.07636360e-02 9.48272406e+00] [-1.66500740e-01 6.36098986e-02 9.83987441e-01 -7.13703021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.29864 meters Centerline goodness : 0.989350 Centerline is valid? [True, True] Translation: X:179.55, Y:9.43, Z:-71.39 [[ 9.48072948e-01 -2.78300911e-01 1.53968464e-01 1.79547262e+02] [ 2.66145218e-01 9.59237271e-01 9.50293642e-02 9.42763841e+00] [-1.74139048e-01 -4.91167989e-02 9.83495364e-01 -7.13862336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.32864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:179.53, Y:9.50, Z:-71.38 [[ 9.39386890e-01 -2.92201933e-01 1.79360812e-01 1.79525950e+02] [ 2.99288876e-01 9.54071316e-01 -1.31944323e-02 9.49523764e+00] [-1.67267567e-01 6.60753725e-02 9.83694875e-01 -7.13793814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.35864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:179.57, Y:9.45, Z:-71.39 [[ 9.38886646e-01 -3.03899016e-01 1.61670201e-01 1.79570828e+02] [ 2.99153900e-01 9.52702372e-01 5.35269423e-02 9.44804939e+00] [-1.70290369e-01 -1.89146028e-03 9.85392111e-01 -7.13850448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.38864 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:179.60, Y:9.47, Z:-71.39 [[ 9.39421843e-01 -2.98890852e-01 1.67782177e-01 1.79597177e+02] [ 2.96218724e-01 9.54225378e-01 4.13327337e-02 9.46780182e+00] [-1.72455987e-01 1.08713495e-02 9.84957231e-01 -7.13900249e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.41864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:179.62, Y:9.51, Z:-71.40 [[ 9.30609127e-01 -2.90319826e-01 2.22892465e-01 1.79617515e+02] [ 2.93853088e-01 9.55682848e-01 1.79068992e-02 9.50776044e+00] [-2.18213233e-01 4.88333152e-02 9.74678558e-01 -7.13978633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.44864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:179.67, Y:9.43, Z:-71.40 [[ 9.39497133e-01 -3.08993053e-01 1.47879784e-01 1.79673701e+02] [ 2.95604675e-01 9.49431822e-01 1.05816308e-01 9.42847756e+00] [-1.73098277e-01 -5.57001622e-02 9.83328266e-01 -7.14009712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.47864 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:179.69, Y:9.48, Z:-71.41 [[ 9.39845018e-01 -2.97317058e-01 1.68207933e-01 1.79688576e+02] [ 2.93621674e-01 9.54764650e-01 4.70188831e-02 9.48427003e+00] [-1.74578504e-01 5.19903171e-03 9.84629532e-01 -7.14073379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.50864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:179.71, Y:9.53, Z:-71.41 [[ 9.30858199e-01 -2.87736711e-01 2.25190138e-01 1.79706357e+02] [ 2.91863354e-01 9.56334518e-01 1.54942502e-02 9.53135661e+00] [-2.19815367e-01 5.13017992e-02 9.74191629e-01 -7.14146876e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.53864000000002 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:179.75, Y:9.50, Z:-71.42 [[ 9.31380364e-01 -2.96605224e-01 2.11082823e-01 1.79749612e+02] [ 2.89363124e-01 9.55000093e-01 6.51444964e-02 9.49970884e+00] [-2.20906314e-01 4.05280366e-04 9.75294948e-01 -7.14216752e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.56864000000002 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:179.78, Y:9.51, Z:-71.43 [[ 9.31685786e-01 -2.95453155e-01 2.11350488e-01 1.79781345e+02] [ 2.88191902e-01 9.55357194e-01 6.51003854e-02 9.50755412e+00] [-2.21149323e-01 2.56395405e-04 9.75239925e-01 -7.14279709e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.59864000000002 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:179.81, Y:9.52, Z:-71.43 [[ 9.32249147e-01 -2.93908002e-01 2.11020411e-01 1.79812871e+02] [ 2.86658903e-01 9.55833712e-01 6.48736269e-02 9.51708887e+00] [-2.20767301e-01 1.24962896e-05 9.75326509e-01 -7.14336846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.62864000000002 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:179.84, Y:9.53, Z:-71.44 [[ 9.33251397e-01 -2.91674084e-01 2.09685620e-01 1.79843810e+02] [ 2.84489665e-01 9.56517682e-01 6.43393747e-02 9.52731067e+00] [-2.19334131e-01 -3.91419439e-04 9.75649725e-01 -7.14396289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65864 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:179.89, Y:9.47, Z:-71.44 [[ 9.42106977e-01 -3.06161950e-01 1.36745397e-01 1.79892309e+02] [ 2.89728371e-01 9.48556987e-01 1.27660144e-01 9.47017537e+00] [-1.68795481e-01 -8.06504914e-02 9.82345959e-01 -7.14375813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68864 meters Centerline goodness : 0.997495 Centerline is valid? [True, True] Translation: X:179.90, Y:9.55, Z:-71.45 [[ 9.42216335e-01 -2.88604714e-01 1.70104958e-01 1.79898185e+02] [ 2.85893812e-01 9.57393776e-01 4.07662270e-02 9.55228218e+00] [-1.74622753e-01 1.02213497e-02 9.84582357e-01 -7.14469801e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:179.93, Y:9.55, Z:-71.45 [[ 9.41678730e-01 -2.89531012e-01 1.71502075e-01 1.79928604e+02] [ 2.85096455e-01 9.57167693e-01 5.04977178e-02 9.55342833e+00] [-1.78776901e-01 1.34200671e-03 9.83888723e-01 -7.14528033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.74864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:179.94, Y:9.62, Z:-71.46 [[ 9.31625689e-01 -2.74459416e-01 2.38213360e-01 1.79941729e+02] [ 2.82215720e-01 9.59349624e-01 1.60832028e-03 9.61648740e+00] [-2.28971316e-01 6.57292025e-02 9.71211516e-01 -7.14597813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.77864 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:180.00, Y:9.53, Z:-71.46 [[ 9.41531749e-01 -2.96033118e-01 1.60879950e-01 1.80000557e+02] [ 2.81882725e-01 9.53669715e-01 1.05148490e-01 9.53007358e+00] [-1.84553772e-01 -5.36513631e-02 9.81356936e-01 -7.14621007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.80864 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:180.02, Y:9.58, Z:-71.47 [[ 9.41734456e-01 -2.85413222e-01 1.77976142e-01 1.80017803e+02] [ 2.79504748e-01 9.58392264e-01 5.79772775e-02 9.57976562e+00] [-1.87118440e-01 -4.85402307e-03 9.82325368e-01 -7.14690503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.83864 meters Centerline goodness : 0.997742 Centerline is valid? [True, True] Translation: X:180.04, Y:9.60, Z:-71.48 [[ 9.41310559e-01 -2.83551718e-01 1.83119780e-01 1.80044737e+02] [ 2.78627440e-01 9.58955810e-01 5.26355807e-02 9.59504862e+00] [-1.90528686e-01 1.47576755e-03 9.81680519e-01 -7.14752981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.86864 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:180.08, Y:9.57, Z:-71.48 [[ 9.41767179e-01 -2.91310138e-01 1.67967211e-01 1.80078620e+02] [ 2.77837473e-01 9.55479778e-01 9.93213613e-02 9.56672653e+00] [-1.89422593e-01 -4.68700127e-02 9.80776368e-01 -7.14768771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.89864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:180.09, Y:9.64, Z:-71.49 [[ 9.43012139e-01 -2.70997110e-01 1.93102751e-01 1.80092737e+02] [ 2.71634014e-01 9.62109012e-01 2.36899248e-02 9.64434464e+00] [-1.92205798e-01 3.01133887e-02 9.80892509e-01 -7.14855796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.92864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:180.11, Y:9.68, Z:-71.49 [[ 9.32838723e-01 -2.62784409e-01 2.46487871e-01 1.80113931e+02] [ 2.69331460e-01 9.63019122e-01 7.39831803e-03 9.68034701e+00] [-2.39316696e-01 5.94855006e-02 9.69117637e-01 -7.14941566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.95864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:180.16, Y:9.64, Z:-71.50 [[ 9.33913366e-01 -2.75950963e-01 2.27281523e-01 1.80158950e+02] [ 2.67253844e-01 9.61165218e-01 6.88244673e-02 9.64160018e+00] [-2.37447272e-01 -3.53422932e-03 9.71393999e-01 -7.15038090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.98864 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:180.20, Y:9.61, Z:-71.51 [[ 9.42976233e-01 -2.88122602e-01 1.66676903e-01 1.80200449e+02] [ 2.71893058e-01 9.55595058e-01 1.13632079e-01 9.60788858e+00] [-1.92015595e-01 -6.18340572e-02 9.79441964e-01 -7.15057275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.01864 meters Centerline goodness : 0.997496 Centerline is valid? [True, True] Translation: X:180.20, Y:9.71, Z:-71.51 [[ 9.33239033e-01 -2.61423532e-01 2.46419653e-01 1.80202317e+02] [ 2.66386368e-01 9.63770447e-01 1.35951736e-02 9.71482271e+00] [-2.41046077e-01 5.29552895e-02 9.69067865e-01 -7.15146681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.04864 meters Centerline goodness : 0.997544 Centerline is valid? [True, True] Translation: X:180.26, Y:9.63, Z:-71.52 [[ 9.42567434e-01 -2.86940603e-01 1.70972873e-01 1.80257048e+02] [ 2.70415087e-01 9.56010362e-01 1.13665603e-01 9.63484182e+00] [-1.96067115e-01 -6.09038512e-02 9.78697301e-01 -7.15189244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.07864 meters Centerline goodness : 0.996955 Centerline is valid? [True, True] Translation: X:180.27, Y:9.71, Z:-71.53 [[ 9.41893601e-01 -2.70885991e-01 1.98638424e-01 1.80268278e+02] [ 2.67244209e-01 9.62556556e-01 4.54467748e-02 9.70568477e+00] [-2.03511612e-01 1.02789420e-02 9.79018574e-01 -7.15255983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.10864 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:180.30, Y:9.71, Z:-71.53 [[ 9.41410943e-01 -2.71401860e-01 2.00216051e-01 1.80297927e+02] [ 2.66343294e-01 9.62457486e-01 5.23147862e-02 9.71242813e+00] [-2.06897767e-01 4.07649023e-03 9.78354075e-01 -7.15324296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.13864 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:180.33, Y:9.72, Z:-71.54 [[ 9.40772497e-01 -2.74479755e-01 1.99017519e-01 1.80327610e+02] [ 2.67638314e-01 9.61583869e-01 6.10425673e-02 9.71941214e+00] [-2.08126985e-01 -4.16245537e-03 9.78092957e-01 -7.15388160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.16864 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:180.35, Y:9.74, Z:-71.54 [[ 9.40009270e-01 -2.74498551e-01 2.02566329e-01 1.80354869e+02] [ 2.68468218e-01 9.61587331e-01 5.72242991e-02 9.73518312e+00] [-2.10493203e-01 5.91249722e-04 9.77595142e-01 -7.15448812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.19864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:180.38, Y:9.77, Z:-71.55 [[ 9.30733650e-01 -2.68511548e-01 2.48266835e-01 1.80377974e+02] [ 2.66799377e-01 9.62871995e-01 4.11778362e-02 9.77250622e+00] [-2.50105907e-01 2.79118392e-02 9.67816080e-01 -7.15532389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.22864 meters Centerline goodness : 0.996659 Centerline is valid? [True, True] Translation: X:180.42, Y:9.72, Z:-71.56 [[ 9.39559246e-01 -2.87875268e-01 1.85354399e-01 1.80422522e+02] [ 2.73195754e-01 9.56646918e-01 1.00949269e-01 9.72219376e+00] [-2.06379512e-01 -4.42097841e-02 9.77472758e-01 -7.15600279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.25864 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:180.44, Y:9.75, Z:-71.57 [[ 9.39489505e-01 -2.85163526e-01 1.89845288e-01 1.80444678e+02] [ 2.75434238e-01 9.58281253e-01 7.63742131e-02 9.75494315e+00] [-2.03704321e-01 -1.94628793e-02 9.78838979e-01 -7.15653172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.28864000000002 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:180.47, Y:9.79, Z:-71.57 [[ 9.38128130e-01 -2.80127499e-01 2.03578474e-01 1.80468211e+02] [ 2.75113821e-01 9.59942959e-01 5.31215590e-02 9.78747954e+00] [-2.10304532e-01 6.17242302e-03 9.77616441e-01 -7.15710290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.31864000000002 meters Centerline goodness : 0.996906 Centerline is valid? [True, True] Translation: X:180.50, Y:9.79, Z:-71.58 [[ 9.37350636e-01 -2.85073034e-01 2.00267698e-01 1.80499012e+02] [ 2.77325907e-01 9.58482761e-01 6.63410680e-02 9.78620261e+00] [-2.10865186e-01 -6.64542114e-03 9.77492564e-01 -7.15768902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.34864000000002 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:180.52, Y:9.85, Z:-71.58 [[ 9.24652921e-01 -2.73298659e-01 2.65188271e-01 1.80517164e+02] [ 2.77940942e-01 9.60376619e-01 2.06296378e-02 9.84609100e+00] [-2.60318667e-01 5.46314229e-02 9.63975933e-01 -7.15822463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.37864000000002 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:180.56, Y:9.81, Z:-71.59 [[ 9.24405529e-01 -2.89411684e-01 2.48425633e-01 1.80560550e+02] [ 2.80028219e-01 9.57202694e-01 7.31245411e-02 9.81025196e+00] [-2.58956782e-01 1.96945747e-03 9.65886901e-01 -7.15942837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40864 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:180.60, Y:9.78, Z:-71.60 [[ 9.33691979e-01 -3.02672490e-01 1.91333877e-01 1.80600160e+02] [ 2.85463661e-01 9.51757242e-01 1.12555102e-01 9.77507526e+00] [-2.16170736e-01 -5.04729268e-02 9.75050099e-01 -7.15998074e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43864 meters Centerline goodness : 0.996270 Centerline is valid? [True, True] Translation: X:180.61, Y:9.87, Z:-71.60 [[ 9.23523512e-01 -2.78090708e-01 2.64139890e-01 1.80608758e+02] [ 2.81801151e-01 9.59158840e-01 2.45444635e-02 9.86968289e+00] [-2.60177698e-01 5.17675360e-02 9.64172022e-01 -7.16046486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46864 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:180.65, Y:9.84, Z:-71.62 [[ 9.23930137e-01 -2.89628975e-01 2.49936310e-01 1.80650198e+02] [ 2.80242524e-01 9.57135907e-01 7.31777563e-02 9.83754863e+00] [-2.60417416e-01 2.43164806e-03 9.65493064e-01 -7.16164724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.49864 meters Centerline goodness : 0.996467 Centerline is valid? [True, True] Translation: X:180.68, Y:9.85, Z:-71.62 [[ 9.24087915e-01 -2.89091406e-01 2.49975369e-01 1.80681376e+02] [ 2.79721784e-01 9.57298429e-01 7.30441099e-02 9.84712307e+00] [-2.60417452e-01 2.42437696e-03 9.65493073e-01 -7.16243339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.52864 meters Centerline goodness : 0.995488 Centerline is valid? [True, True] Translation: X:180.72, Y:9.81, Z:-71.63 [[ 9.34144600e-01 -3.00673390e-01 1.92274229e-01 1.80722232e+02] [ 2.83428370e-01 9.52393113e-01 1.12319708e-01 9.81154219e+00] [-2.16892199e-01 -5.04268774e-02 9.74892253e-01 -7.16302248e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.55864 meters Centerline goodness : 0.995237 Centerline is valid? [True, True] Translation: X:180.74, Y:9.86, Z:-71.64 [[ 9.34582360e-01 -2.86702886e-01 2.10611650e-01 1.80739974e+02] [ 2.79842392e-01 9.58019315e-01 6.23476365e-02 9.86313465e+00] [-2.19645276e-01 6.69066742e-04 9.75579574e-01 -7.16358851e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.58864 meters Centerline goodness : 0.995382 Centerline is valid? [True, True] Translation: X:180.77, Y:9.87, Z:-71.64 [[ 9.34768923e-01 -2.85919089e-01 2.10849082e-01 1.80770968e+02] [ 2.77906801e-01 9.58243825e-01 6.73541493e-02 9.86814004e+00] [-2.21302668e-01 -4.36417172e-03 9.75195408e-01 -7.16423402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.61864 meters Centerline goodness : 0.995045 Centerline is valid? [True, True] Translation: X:180.80, Y:9.88, Z:-71.65 [[ 9.34584036e-01 -2.82646675e-01 2.16017444e-01 1.80798607e+02] [ 2.76629151e-01 9.59209381e-01 5.82552670e-02 9.88436653e+00] [-2.23671617e-01 5.31227963e-03 9.74650085e-01 -7.16483984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.64864 meters Centerline goodness : 0.994497 Centerline is valid? [True, True] Translation: X:180.83, Y:9.89, Z:-71.65 [[ 9.32862022e-01 -2.83834257e-01 2.21825521e-01 1.80830153e+02] [ 2.76758590e-01 9.58869859e-01 6.30339373e-02 9.88874674e+00] [-2.30592997e-01 2.59015223e-03 9.73046844e-01 -7.16539430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.67864 meters Centerline goodness : 0.993963 Centerline is valid? [True, True] Translation: X:180.86, Y:9.90, Z:-71.66 [[ 9.32573509e-01 -2.84680287e-01 2.21954464e-01 1.80858814e+02] [ 2.77640276e-01 9.58618176e-01 6.29846769e-02 9.89677236e+00] [-2.30700079e-01 2.88565759e-03 9.73020630e-01 -7.16596878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.70864 meters Centerline goodness : 0.994556 Centerline is valid? [True, True] Translation: X:180.89, Y:9.90, Z:-71.67 [[ 9.32242338e-01 -2.83876616e-01 2.24361964e-01 1.80889021e+02] [ 2.76507437e-01 9.58858521e-01 6.42959814e-02 9.90408015e+00] [-2.33383506e-01 2.09831549e-03 9.72382505e-01 -7.16668904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.73864 meters Centerline goodness : 0.993770 Centerline is valid? [True, True] Translation: X:180.92, Y:9.91, Z:-71.67 [[ 9.32808656e-01 -2.83523877e-01 2.22446000e-01 1.80920306e+02] [ 2.75211088e-01 9.58962194e-01 6.81936047e-02 9.90811443e+00] [-2.32651820e-01 -2.39197898e-03 9.72557150e-01 -7.16745190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.76864 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:180.94, Y:9.96, Z:-71.68 [[ 9.22855003e-01 -2.68302873e-01 2.76319040e-01 1.80938764e+02] [ 2.72143499e-01 9.61928914e-01 2.51133674e-02 9.96178333e+00] [-2.72537262e-01 5.20224335e-02 9.60737793e-01 -7.16806288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.79864 meters Centerline goodness : 0.995289 Centerline is valid? [True, True] Translation: X:180.98, Y:9.93, Z:-71.69 [[ 9.24242285e-01 -2.78885390e-01 2.60766442e-01 1.80981574e+02] [ 2.68643712e-01 9.60324027e-01 7.48887102e-02 9.92913832e+00] [-2.71305647e-01 8.37952263e-04 9.62492880e-01 -7.16919773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.82864 meters Centerline goodness : 0.995769 Centerline is valid? [True, True] Translation: X:181.01, Y:9.94, Z:-71.70 [[ 9.24823122e-01 -2.77608289e-01 2.60068897e-01 1.81013373e+02] [ 2.67420706e-01 9.60694144e-01 7.45179689e-02 9.93685960e+00] [-2.70533472e-01 6.31867258e-04 9.62710362e-01 -7.17006556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.85864 meters Centerline goodness : 0.994357 Centerline is valid? [True, True] Translation: X:181.06, Y:9.90, Z:-71.71 [[ 9.34411600e-01 -2.92021786e-01 2.03956460e-01 1.81055275e+02] [ 2.72536215e-01 9.54821062e-01 1.18493678e-01 9.89834196e+00] [-2.29344660e-01 -5.51363460e-02 9.71782388e-01 -7.17055523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.88864 meters Centerline goodness : 0.994750 Centerline is valid? [True, True] Translation: X:181.14, Y:10.80, Z:-70.92 [[ 9.06940208e-01 2.76366290e-01 3.17932593e-01 1.81142890e+02] [ 2.80997052e-01 1.65395607e-01 -9.45349115e-01 1.08005906e+01] [-3.13847282e-01 9.46713244e-01 7.23458136e-02 -7.09168959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.91864 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:181.16, Y:9.93, Z:-71.68 [[ 9.18194461e-01 -2.91358701e-01 2.68382262e-01 1.81156616e+02] [ 2.60448467e-01 9.54510635e-01 1.45175909e-01 9.92666107e+00] [-2.98471987e-01 -6.33999666e-02 9.52310305e-01 -7.16785525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.94864 meters Centerline goodness : 0.993913 Centerline is valid? [True, True] Translation: X:181.19, Y:9.99, Z:-71.69 [[ 9.19530993e-01 -2.67937718e-01 2.87527621e-01 1.81192180e+02] [ 2.54083336e-01 9.63421685e-01 8.52074859e-02 9.99308385e+00] [-2.99840645e-01 -5.29494695e-03 9.53974607e-01 -7.16933342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.97864 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:181.27, Y:10.08, Z:-71.72 [[ 9.20890511e-01 -2.27402729e-01 3.16620696e-01 1.81267904e+02] [ 2.31585018e-01 9.72495954e-01 2.48997878e-02 1.00821951e+01] [-3.13574626e-01 5.03946313e-02 9.48225361e-01 -7.17184888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.00864 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:181.31, Y:10.05, Z:-71.73 [[ 9.19939905e-01 -2.43591504e-01 3.07203108e-01 1.81306784e+02] [ 2.31636916e-01 9.69876248e-01 7.53949787e-02 1.00485918e+01] [-3.16314574e-01 1.80073084e-03 9.48652649e-01 -7.17306151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.03864000000002 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:181.47, Y:10.90, Z:-71.07 [[ 0.89670998 0.32967486 0.29533996 181.47402033] [ 0.20134999 0.29038814 -0.93548539 10.89548327] [ -0.39416923 0.89832579 0.19401391 -71.0727496 ] [ 0. 0. 0. 1. ]] SLAMing on 234.06864000000002 meters Centerline goodness : 0.993158 Centerline is valid? [True, True] Translation: X:181.41, Y:10.07, Z:-71.72 [[ 8.98092031e-01 -2.41825580e-01 3.67356901e-01 1.81410745e+02] [ 2.17802393e-01 9.70198103e-01 1.06196794e-01 1.00659095e+01] [-3.82090070e-01 -1.53632825e-02 9.23997375e-01 -7.17165904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.09864000000002 meters Centerline goodness : 0.994397 Centerline is valid? [True, True] Translation: X:181.69, Y:10.96, Z:-70.97 [[ 8.54171232e-01 4.40773829e-01 2.75880297e-01 1.81686171e+02] [ 2.31620110e-01 1.52497303e-01 -9.60779214e-01 1.09605980e+01] [-4.65557334e-01 8.84569389e-01 2.81667261e-02 -7.09716260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.12864000000002 meters Centerline goodness : 0.993621 Centerline is valid? [True, True] Translation: X:181.53, Y:10.11, Z:-71.72 [[ 8.50321650e-01 -2.29739212e-01 4.73469097e-01 1.81528808e+02] [ 1.99876668e-01 9.73250760e-01 1.13279632e-01 1.01113619e+01] [-4.86828932e-01 -1.68869840e-03 8.73495701e-01 -7.17185882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15864 meters Centerline goodness : 0.992833 Centerline is valid? [True, True] Translation: X:181.58, Y:10.06, Z:-71.73 [[ 8.71804281e-01 -2.60061228e-01 4.15121010e-01 1.81576775e+02] [ 2.04414168e-01 9.63266225e-01 1.74163796e-01 1.00610281e+01] [-4.45165299e-01 -6.69801271e-02 8.92939818e-01 -7.17337169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18864 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:181.71, Y:10.84, Z:-71.44 [[ 8.46945867e-01 2.88299754e-01 4.46728049e-01 1.81707620e+02] [ 1.49595843e-01 6.77059760e-01 -7.20563089e-01 1.08438623e+01] [-5.10199747e-01 6.77106589e-01 5.30304521e-01 -7.14411721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21864 meters Centerline goodness : 0.993627 Centerline is valid? [True, True] Translation: X:181.67, Y:10.20, Z:-71.75 [[ 8.46736698e-01 -1.77513746e-01 5.01523514e-01 1.81671636e+02] [ 1.59994358e-01 9.84017989e-01 7.81690657e-02 1.02006853e+01] [-5.07384243e-01 1.40523163e-02 8.61605340e-01 -7.17518454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.24864 meters Centerline goodness : 0.993471 Centerline is valid? [True, True] Translation: X:181.98, Y:11.03, Z:-71.26 [[ 8.08514553e-01 4.93736683e-01 3.20200415e-01 1.81981430e+02] [ 1.19348016e-01 3.95234885e-01 -9.10793850e-01 1.10300985e+01] [-5.76246708e-01 7.74605366e-01 2.60626663e-01 -7.12597454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.27864 meters Centerline goodness : 0.993324 Centerline is valid? [True, True] Translation: X:182.71, Y:10.72, Z:-70.56 [[ 0.76093914 0.5108941 -0.39994855 182.71000595] [ 0.20115882 -0.77181341 -0.60319084 10.71877798] [ -0.6168523 0.37853834 -0.69007389 -70.55691421] [ 0. 0. 0. 1. ]] SLAMing on 234.30864 meters Centerline goodness : 0.995034 Centerline is valid? [True, True] Translation: X:182.91, Y:9.66, Z:-70.90 [[ 0.79126939 -0.24778391 -0.55901332 182.91407174] [ 0.26770785 -0.68155867 0.68103619 9.66482984] [ -0.54975018 -0.68853534 -0.47296281 -70.89532328] [ 0. 0. 0. 1. ]] SLAMing on 234.33864 meters Centerline goodness : 0.995187 Centerline is valid? [True, True] Translation: X:182.08, Y:10.13, Z:-71.99 [[ 7.91539778e-01 -3.08485986e-01 5.27542582e-01 1.82080058e+02] [ 2.23763824e-01 9.49594787e-01 2.19543827e-01 1.01307475e+01] [-5.68677880e-01 -5.57327267e-02 8.20670051e-01 -7.19869503e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.36864 meters Centerline goodness : 0.994139 Centerline is valid? [True, True] Translation: X:182.12, Y:10.13, Z:-72.01 [[ 8.15463553e-01 -3.16659732e-01 4.84505737e-01 1.82119224e+02] [ 2.32316715e-01 9.45753582e-01 2.27110338e-01 1.01291871e+01] [-5.30139735e-01 -7.26414214e-02 8.44792925e-01 -7.20056474e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.39864 meters Centerline goodness : 0.993767 Centerline is valid? [True, True] Translation: X:182.18, Y:10.29, Z:-72.06 [[ 8.14736468e-01 -2.22987010e-01 5.35239462e-01 1.82181648e+02] [ 1.99679563e-01 9.74532508e-01 1.02051273e-01 1.02864727e+01] [-5.44364363e-01 2.37314884e-02 8.38513122e-01 -7.20621062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.42864 meters Centerline goodness : 0.993214 Centerline is valid? [True, True] Translation: X:182.51, Y:11.14, Z:-71.53 [[ 7.59030204e-01 5.46464637e-01 3.53906132e-01 1.82509353e+02] [ 1.69927031e-01 3.58463628e-01 -9.17948055e-01 1.11396665e+01] [-6.28488627e-01 7.56888517e-01 1.79225608e-01 -7.15300345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.45864 meters Centerline goodness : 0.993603 Centerline is valid? [True, True] Translation: X:183.29, Y:10.79, Z:-70.91 [[ 0.70865713 0.55785992 -0.43196918 183.28846983] [ 0.2576095 -0.7745541 -0.57767057 10.79290206] [ -0.65684276 0.298091 -0.69260331 -70.91090843] [ 0. 0. 0. 1. ]] SLAMing on 234.48864 meters Centerline goodness : 0.994364 Centerline is valid? [True, True] Translation: X:183.41, Y:9.68, Z:-71.46 [[ 0.7784853 -0.38260107 -0.49757116 183.4119683 ] [ 0.28096747 -0.4964534 0.82133508 9.67680971] [ -0.56126457 -0.77919859 -0.27898322 -71.46112331] [ 0. 0. 0. 1. ]] SLAMing on 234.51864 meters Centerline goodness : 0.993529 Centerline is valid? [True, True] Translation: X:182.72, Y:11.12, Z:-71.89 [[ 0.73193122 0.43624148 0.52342149 182.72025868] [ 0.23284451 0.56180054 -0.79382844 11.12461195] [ -0.64035937 0.70290364 0.30962293 -71.88761763] [ 0. 0. 0. 1. ]] SLAMing on 234.54864 meters Centerline goodness : 0.994259 Centerline is valid? [True, True] Translation: X:183.56, Y:10.99, Z:-71.21 [[ 0.66450214 0.68112587 -0.30741576 183.56249271] [ 0.31276056 -0.62710378 -0.71338747 10.99393098] [ -0.67868825 0.37789998 -0.62974111 -71.21016547] [ 0. 0. 0. 1. ]] SLAMing on 234.57864 meters Centerline goodness : 0.993912 Centerline is valid? [True, True] Translation: X:183.95, Y:10.01, Z:-71.51 [[ 6.86111086e-01 -9.79462816e-02 -7.20873153e-01 1.83946297e+02] [ 3.92117484e-01 -7.84850344e-01 4.79847702e-01 1.00067260e+01] [-6.12776840e-01 -6.11895795e-01 -5.00088073e-01 -7.15131274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.60864 meters Centerline goodness : 0.993717 Centerline is valid? [True, True] Translation: X:183.00, Y:10.19, Z:-72.58 [[ 7.21893318e-01 -5.34831194e-01 4.39119153e-01 1.82999093e+02] [ 3.54783881e-01 8.30863630e-01 4.28712055e-01 1.01899944e+01] [-5.94136714e-01 -1.53691970e-01 7.89544390e-01 -7.25838644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.63864 meters Centerline goodness : 0.992881 Centerline is valid? [True, True] Translation: X:182.98, Y:10.37, Z:-72.63 [[ 7.21641148e-01 -4.26339585e-01 5.45406831e-01 1.82980306e+02] [ 3.37648597e-01 9.04555577e-01 2.60331775e-01 1.03744570e+01] [-6.04340531e-01 -3.71026948e-03 7.96717488e-01 -7.26326820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.66864 meters Centerline goodness : 0.994306 Centerline is valid? [True, True] Translation: X:183.16, Y:11.30, Z:-72.15 [[ 0.66882481 0.48354074 0.56467842 183.16259003] [ 0.29847171 0.52100813 -0.79966566 11.2955231 ] [ -0.68087297 0.70337677 0.20413993 -72.15145109] [ 0. 0. 0. 1. ]] SLAMing on 234.69864 meters Centerline goodness : 0.994004 Centerline is valid? [True, True] Translation: X:184.07, Y:11.12, Z:-71.57 [[ 0.60663613 0.71455325 -0.34843401 184.06758977] [ 0.36672294 -0.64040278 -0.67483225 11.12156205] [ -0.70534169 0.28159888 -0.65053453 -71.56818451] [ 0. 0. 0. 1. ]] SLAMing on 234.72864 meters Centerline goodness : 0.995777 Centerline is valid? [True, True] Translation: X:184.44, Y:10.18, Z:-71.96 [[ 6.25491839e-01 -1.32214833e-01 -7.68946810e-01 1.84437570e+02] [ 4.32235951e-01 -7.61767837e-01 4.82578330e-01 1.01767393e+01] [-6.49562962e-01 -6.34215263e-01 -4.19331561e-01 -7.19626270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.75864 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:183.43, Y:10.34, Z:-72.94 [[ 6.47054888e-01 -6.15293703e-01 4.50259516e-01 1.83429175e+02] [ 4.21229240e-01 7.80727519e-01 4.61552238e-01 1.03361063e+01] [-6.35520180e-01 -1.08987158e-01 7.64353256e-01 -7.29435581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.78864000000002 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:183.43, Y:10.51, Z:-73.01 [[ 6.55802035e-01 -5.22251431e-01 5.45139554e-01 1.83428625e+02] [ 4.03373820e-01 8.52788324e-01 3.31725241e-01 1.05070139e+01] [-6.38132629e-01 2.34893659e-03 7.69922873e-01 -7.30137531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.81864000000002 meters Centerline goodness : 0.997054 Centerline is valid? [True, True] Translation: X:183.66, Y:11.54, Z:-72.40 [[ 5.89078536e-01 6.02257246e-01 5.38769605e-01 1.83664618e+02] [ 3.94801059e-01 3.67238957e-01 -8.42180309e-01 1.15433884e+01] [-7.05066381e-01 7.08817154e-01 -2.14392113e-02 -7.24013094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.84864000000002 meters Centerline goodness : 0.996613 Centerline is valid? [True, True] Translation: X:183.82, Y:11.62, Z:-72.45 [[ 5.70214105e-01 6.61377232e-01 4.87274083e-01 1.83816532e+02] [ 3.34483092e-01 3.54843146e-01 -8.73044903e-01 1.16216720e+01] [-7.50317890e-01 6.60807460e-01 -1.88829345e-02 -7.24533447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.87864000000002 meters Centerline goodness : 0.995824 Centerline is valid? [True, True] Translation: X:184.87, Y:11.16, Z:-72.10 [[ 5.40756470e-01 5.55902314e-01 -6.31312171e-01 1.84873553e+02] [ 4.19888691e-01 -8.28704702e-01 -3.70056757e-01 1.11591481e+01] [-7.28886772e-01 -6.49702551e-02 -6.81544525e-01 -7.21035425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90864 meters Centerline goodness : 0.993957 Centerline is valid? [True, True] Translation: X:183.84, Y:10.51, Z:-73.23 [[ 5.25283971e-01 -6.73387605e-01 5.20217149e-01 1.83842971e+02] [ 4.26210365e-01 7.37346054e-01 5.24085415e-01 1.05139607e+01] [-7.36492685e-01 -5.35717266e-02 6.74320840e-01 -7.32263369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93864 meters Centerline goodness : 0.993215 Centerline is valid? [True, True] Translation: X:183.84, Y:10.62, Z:-73.29 [[ 5.36096886e-01 -6.12837652e-01 5.80542971e-01 1.83838678e+02] [ 4.15201885e-01 7.90208610e-01 4.50752424e-01 1.06190276e+01] [-7.34988111e-01 -6.04435066e-04 6.78079724e-01 -7.32858080e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96864 meters Centerline goodness : 0.993327 Centerline is valid? [True, True] Translation: X:183.86, Y:11.60, Z:-72.96 [[ 0.50305986 0.42515439 0.7524457 183.86291916] [ 0.33952608 0.70341321 -0.62444527 11.59812076] [ -0.79476589 0.56960829 0.20950795 -72.96029508] [ 0. 0. 0. 1. ]] SLAMing on 234.99864 meters Centerline goodness : 0.994061 Centerline is valid? [True, True] Translation: X:184.95, Y:11.67, Z:-72.48 [[ 4.34416864e-01 8.23705334e-01 -3.64405696e-01 1.84947315e+02] [ 4.15440553e-01 -5.42208533e-01 -7.30355430e-01 1.16654405e+01] [-7.99181541e-01 1.65889812e-01 -5.77745130e-01 -7.24829472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.02864 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:184.08, Y:10.67, Z:-73.48 [[ 4.07179037e-01 -6.79691858e-01 6.10101803e-01 1.84078105e+02] [ 3.72340423e-01 7.33484711e-01 5.68649970e-01 1.06715078e+01] [-8.34007099e-01 -4.37678403e-03 5.51736352e-01 -7.34771487e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.05864 meters Centerline goodness : 0.991407 Centerline is valid? [True, True] Translation: X:184.15, Y:10.66, Z:-73.54 [[ 4.44190525e-01 -7.14953565e-01 5.39940901e-01 1.84147368e+02] [ 3.96975041e-01 6.97328362e-01 5.96777992e-01 1.06647912e+01] [-8.03184657e-01 -5.07400680e-02 5.93565373e-01 -7.35379523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.08864 meters Centerline goodness : 0.989176 Centerline is valid? [True, True] Translation: X:184.13, Y:10.76, Z:-73.61 [[ 4.58613094e-01 -6.55065736e-01 6.00468910e-01 1.84133899e+02] [ 3.76501624e-01 7.55308851e-01 5.36428063e-01 1.07613512e+01] [-8.04935126e-01 -1.99354138e-02 5.93027842e-01 -7.36066565e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.11864 meters Centerline goodness : 0.990573 Centerline is valid? [True, True] Translation: X:184.35, Y:11.95, Z:-73.14 [[ 3.84467910e-01 7.38136222e-01 5.54381947e-01 1.84352992e+02] [ 3.24469682e-01 4.54168922e-01 -8.29728881e-01 1.19544123e+01] [-8.64235993e-01 4.98884263e-01 -6.48894493e-02 -7.31420193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.14864 meters Centerline goodness : 0.989745 Centerline is valid? [True, True] Translation: X:185.31, Y:11.84, Z:-72.95 [[ 3.02765060e-01 8.21616921e-01 -4.82989599e-01 1.85312532e+02] [ 3.82272402e-01 -5.68913150e-01 -7.28152209e-01 1.18366105e+01] [-8.73041310e-01 3.58254533e-02 -4.86328498e-01 -7.29481587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.17864 meters Centerline goodness : 0.989845 Centerline is valid? [True, True] Translation: X:185.68, Y:11.04, Z:-73.35 [[ 3.15967238e-01 -8.76800798e-02 -9.44709960e-01 1.85684811e+02] [ 4.72089955e-01 -8.49176190e-01 2.36708413e-01 1.10432386e+01] [-8.22979817e-01 -5.20780185e-01 -2.26918970e-01 -7.33523519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.20864 meters Centerline goodness : 0.989095 Centerline is valid? [True, True] Translation: X:184.62, Y:10.72, Z:-74.05 [[ 3.66112914e-01 -8.78334329e-01 3.07392487e-01 1.84622497e+02] [ 4.57380342e-01 4.57518773e-01 7.62548225e-01 1.07182742e+01] [-8.10410117e-01 -1.38583472e-01 5.69236387e-01 -7.40525309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.23864 meters Centerline goodness : 0.988869 Centerline is valid? [True, True] Translation: X:184.51, Y:10.86, Z:-74.12 [[ 3.77560502e-01 -7.95314461e-01 4.74260451e-01 1.84512203e+02] [ 4.44963186e-01 6.04987531e-01 6.60301334e-01 1.08553794e+01] [-8.12068858e-01 -3.82752621e-02 5.82305052e-01 -7.41232922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.26864 meters Centerline goodness : 0.988212 Centerline is valid? [True, True] Translation: X:184.31, Y:11.88, Z:-73.86 [[ 3.35158202e-01 3.11754630e-01 8.89088314e-01 1.84313012e+02] [ 3.59943777e-01 8.29718184e-01 -4.26624204e-01 1.18808383e+01] [-8.70694813e-01 4.63008407e-01 1.65872716e-01 -7.38551930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.29864 meters Centerline goodness : 0.988864 Centerline is valid? [True, True] Translation: X:185.45, Y:12.17, Z:-73.49 [[ 2.46262184e-01 9.21990691e-01 -2.98811150e-01 1.85449508e+02] [ 4.44985889e-01 -3.81447739e-01 -8.10237731e-01 1.21736400e+01] [-8.61012482e-01 6.65641677e-02 -5.04209001e-01 -7.34892101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.32864 meters Centerline goodness : 0.987148 Centerline is valid? [True, True] Translation: X:184.75, Y:10.93, Z:-74.34 [[ 2.88947553e-01 -8.77215550e-01 3.83408647e-01 1.84748947e+02] [ 4.22325148e-01 4.76214129e-01 7.71272697e-01 1.09323349e+01] [-8.59157018e-01 -6.09342453e-02 5.08071094e-01 -7.43434267e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.35864 meters Centerline goodness : 0.986850 Centerline is valid? [True, True] Translation: X:184.48, Y:12.08, Z:-74.07 [[ 2.02061709e-01 3.77307985e-01 9.03775276e-01 1.84483399e+02] [ 3.46128098e-01 8.35745226e-01 -4.26292456e-01 1.20768963e+01] [-9.16169420e-01 3.98959399e-01 3.82752129e-02 -7.40714585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.38864 meters Centerline goodness : 0.984792 Centerline is valid? [True, True] Translation: X:184.76, Y:11.06, Z:-74.45 [[ 2.60356278e-01 -8.54294945e-01 4.49883046e-01 1.84755650e+02] [ 3.54141357e-01 5.17973301e-01 7.78644694e-01 1.10594335e+01] [-8.98219632e-01 -4.34028422e-02 4.37398772e-01 -7.44529391e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.41864 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:184.58, Y:12.23, Z:-74.23 [[ 1.75346804e-01 4.33329748e-01 8.84012911e-01 1.84576205e+02] [ 2.87462615e-01 8.36260207e-01 -4.66941229e-01 1.22285245e+01] [-9.41604345e-01 3.35997316e-01 2.20694514e-02 -7.42340187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.44864 meters Centerline goodness : 0.985427 Centerline is valid? [True, True] Translation: X:184.75, Y:11.20, Z:-74.57 [[ 2.07991042e-01 -8.08564083e-01 5.50421520e-01 1.84747903e+02] [ 2.55198510e-01 5.88096062e-01 7.67474262e-01 1.11984062e+01] [-9.44252851e-01 -1.91610197e-02 3.28663062e-01 -7.45743794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.47864 meters Centerline goodness : 0.984246 Centerline is valid? [True, True] Translation: X:184.80, Y:11.18, Z:-74.62 [[ 2.32308083e-01 -8.43747321e-01 4.83863011e-01 1.84797458e+02] [ 2.96091886e-01 5.35209139e-01 7.91126269e-01 1.11818699e+01] [-9.26478575e-01 -4.05171151e-02 3.74160144e-01 -7.46204462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.50864 meters Centerline goodness : 0.985446 Centerline is valid? [True, True] Translation: X:184.67, Y:12.38, Z:-74.47 [[ 1.49489568e-01 4.74343932e-01 8.67554438e-01 1.84670716e+02] [ 2.26831428e-01 8.37560945e-01 -4.97030347e-01 1.23755228e+01] [-9.62393045e-01 2.71089464e-01 1.76105129e-02 -7.44661382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.53864000000002 meters Centerline goodness : 0.984117 Centerline is valid? [True, True] Translation: X:184.80, Y:11.30, Z:-74.75 [[ 1.94062397e-01 -8.10323077e-01 5.52916175e-01 1.84801872e+02] [ 2.29657405e-01 5.85495959e-01 7.77465085e-01 1.13011441e+01] [-9.53728086e-01 -2.38954437e-02 2.99719444e-01 -7.47467921e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.56864000000002 meters Centerline goodness : 0.982981 Centerline is valid? [True, True] Translation: X:184.65, Y:12.33, Z:-74.71 [[ 1.70359896e-01 3.00138733e-01 9.38559666e-01 1.84645195e+02] [ 1.44269159e-01 9.34622072e-01 -3.25066135e-01 1.23343029e+01] [-9.74763518e-01 1.90783446e-01 1.15921356e-01 -7.47129159e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.59864000000002 meters Centerline goodness : 0.984130 Centerline is valid? [True, True] Translation: X:185.61, Y:12.80, Z:-74.66 [[ 7.97189181e-02 9.95826160e-01 -4.44426935e-02 1.85611508e+02] [ 1.45136268e-01 -5.57049827e-02 -9.87842305e-01 1.27975300e+01] [-9.86194888e-01 7.22994731e-02 -1.48971233e-01 -7.46588338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.62864000000002 meters Centerline goodness : 0.984309 Centerline is valid? [True, True] Translation: X:186.32, Y:11.88, Z:-74.92 [[ 1.04158133e-01 5.40253492e-02 -9.93092314e-01 1.86316858e+02] [ 2.34166382e-01 -9.71784372e-01 -2.83061871e-02 1.18836088e+01] [-9.66600843e-01 -2.29600515e-01 -1.13870166e-01 -7.49242088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65864 meters Centerline goodness : 0.983951 Centerline is valid? [True, True] Translation: X:185.12, Y:11.26, Z:-75.26 [[ 7.75156591e-02 -9.47054187e-01 3.11576136e-01 1.85122039e+02] [ 2.06577727e-01 3.20991196e-01 9.24278256e-01 1.12570074e+01] [-9.75354789e-01 -7.28134821e-03 2.20522145e-01 -7.52617665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68864 meters Centerline goodness : 0.984070 Centerline is valid? [True, True] Translation: X:185.09, Y:11.29, Z:-75.35 [[ 8.43343085e-02 -9.33449492e-01 3.48654227e-01 1.85094724e+02] [ 2.03285911e-01 3.58659384e-01 9.11064369e-01 1.12948308e+01] [-9.75480683e-01 -5.95749142e-03 2.20004421e-01 -7.53456412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71864 meters Centerline goodness : 0.984696 Centerline is valid? [True, True] Translation: X:185.07, Y:11.33, Z:-75.41 [[ 8.75301532e-02 -9.18718323e-01 3.85091049e-01 1.85069986e+02] [ 2.02139114e-01 3.94913003e-01 8.96205054e-01 1.13261928e+01] [-9.75437466e-01 -6.03002142e-04 2.20275704e-01 -7.54050603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.74864 meters Centerline goodness : 0.984107 Centerline is valid? [True, True] Translation: X:185.15, Y:11.30, Z:-75.46 [[ 1.02131058e-01 -9.51959579e-01 2.88690505e-01 1.85148682e+02] [ 2.32332473e-01 3.05008532e-01 9.23575345e-01 1.13011784e+01] [-9.67259463e-01 -2.72535485e-02 2.52321968e-01 -7.54588589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.77864 meters Centerline goodness : 0.984881 Centerline is valid? [True, True] Translation: X:184.77, Y:12.48, Z:-75.41 [[ 5.97033298e-02 2.97348120e-01 9.52900628e-01 1.84767613e+02] [ 1.68333960e-01 9.37933162e-01 -3.03224441e-01 1.24751337e+01] [-9.83920317e-01 1.78509045e-01 5.94394637e-03 -7.54095339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.80864 meters Centerline goodness : 0.985243 Centerline is valid? [True, True] Translation: X:186.25, Y:11.68, Z:-75.59 [[ 1.28389993e-01 -3.69385976e-01 -9.20364064e-01 1.86245544e+02] [ 1.89839177e-01 -9.01728857e-01 3.88389180e-01 1.16753928e+01] [-9.73384352e-01 -2.24586441e-01 -4.56490317e-02 -7.55869902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.83864 meters Centerline goodness : 0.984541 Centerline is valid? [True, True] Translation: X:185.06, Y:11.44, Z:-75.83 [[ 8.80200782e-02 -8.91322603e-01 4.44743165e-01 1.85056799e+02] [ 1.92853681e-01 4.53276873e-01 8.70257166e-01 1.14382417e+01] [-9.77271673e-01 9.17025253e-03 2.11792310e-01 -7.58304818e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.86864 meters Centerline goodness : 0.985486 Centerline is valid? [True, True] Translation: X:185.05, Y:11.46, Z:-75.88 [[ 9.15765407e-02 -8.83228628e-01 4.59914044e-01 1.85049288e+02] [ 1.90923047e-01 4.68859427e-01 8.62391575e-01 1.14607715e+01] [-9.77323962e-01 8.83335323e-03 2.11565225e-01 -7.58846628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.89864 meters Centerline goodness : 0.984947 Centerline is valid? [True, True] Translation: X:185.04, Y:11.48, Z:-75.94 [[ 9.43039058e-02 -8.75054258e-01 4.74749216e-01 1.85041647e+02] [ 1.87737441e-01 4.83949764e-01 8.54720585e-01 1.14837656e+01] [-9.77681659e-01 8.52471318e-03 2.09918800e-01 -7.59394891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.92864 meters Centerline goodness : 0.984006 Centerline is valid? [True, True] Translation: X:185.03, Y:11.51, Z:-75.99 [[ 9.73823877e-02 -8.66477680e-01 4.89625469e-01 1.85034546e+02] [ 1.86058647e-01 4.99140290e-01 8.46310316e-01 1.15051007e+01] [-9.77700798e-01 8.68333289e-03 2.09823138e-01 -7.59933589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.95864 meters Centerline goodness : 0.984322 Centerline is valid? [True, True] Translation: X:185.03, Y:11.53, Z:-76.05 [[ 9.99588065e-02 -8.57909591e-01 5.03983502e-01 1.85027711e+02] [ 1.83817797e-01 5.13724064e-01 8.38032579e-01 1.15279595e+01] [-9.77864640e-01 8.87240091e-03 2.09050296e-01 -7.60474031e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.98864 meters Centerline goodness : 0.983618 Centerline is valid? [True, True] Translation: X:185.02, Y:11.55, Z:-76.12 [[ 1.05030030e-01 -8.48717660e-01 5.18311708e-01 1.85021909e+02] [ 1.80813597e-01 5.28804786e-01 8.29259876e-01 1.15537253e+01] [-9.77893213e-01 6.62061487e-03 2.09000075e-01 -7.61190321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.01864 meters Centerline goodness : 0.984310 Centerline is valid? [True, True] Translation: X:185.01, Y:11.61, Z:-76.26 [[ 1.21708958e-01 -8.30969604e-01 5.42841088e-01 1.85009229e+02] [ 1.70379151e-01 5.56279822e-01 8.13341075e-01 1.16063076e+01] [-9.77833255e-01 -6.50209143e-03 2.09284133e-01 -7.62573047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.04864 meters Centerline goodness : 0.984910 Centerline is valid? [True, True] Translation: X:184.96, Y:11.68, Z:-76.34 [[ 1.26950833e-01 -7.74795241e-01 6.19334983e-01 1.84961708e+02] [ 1.67892014e-01 6.32162239e-01 7.56427905e-01 1.16810583e+01] [-9.77596930e-01 7.95224490e-03 2.10335456e-01 -7.63412869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.07864 meters Centerline goodness : 0.985203 Centerline is valid? [True, True] Translation: X:185.00, Y:11.66, Z:-76.39 [[ 1.45472451e-01 -8.01158431e-01 5.80502312e-01 1.84996649e+02] [ 1.89091691e-01 5.98442153e-01 7.78531516e-01 1.16649457e+01] [-9.71124142e-01 -3.48672390e-03 2.38549250e-01 -7.63935020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.10864 meters Centerline goodness : 0.985795 Centerline is valid? [True, True] Translation: X:185.05, Y:12.92, Z:-76.34 [[ 1.07586818e-01 6.17039924e-01 7.79542692e-01 1.85051605e+02] [ 1.55041408e-01 7.64087801e-01 -6.26204435e-01 1.29204057e+01] [-9.82032198e-01 1.88232739e-01 -1.34609637e-02 -7.63403592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.13864 meters Centerline goodness : 0.985634 Centerline is valid? [True, True] Translation: X:186.17, Y:11.67, Z:-76.55 [[ 1.65966229e-01 -6.40017481e-01 -7.50221857e-01 1.86166629e+02] [ 1.33145706e-01 -7.39262868e-01 6.60123196e-01 1.16651998e+01] [-9.77101546e-01 -2.09446976e-01 -3.74770909e-02 -7.65464022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.16864 meters Centerline goodness : 0.985976 Centerline is valid? [True, True] Translation: X:186.24, Y:11.73, Z:-76.70 [[ 1.83096959e-01 -5.27926041e-01 -8.29318756e-01 1.86235435e+02] [ 2.04780293e-01 -8.04594338e-01 5.57398406e-01 1.17316786e+01] [-9.61530309e-01 -2.71886091e-01 -3.92099276e-02 -7.67019174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.19864 meters Centerline goodness : 0.987103 Centerline is valid? [True, True] Translation: X:185.14, Y:11.66, Z:-77.03 [[ 1.73163711e-01 -8.66664941e-01 4.67874137e-01 1.85141650e+02] [ 2.01632752e-01 4.96184288e-01 8.44479358e-01 1.16564136e+01] [-9.64032449e-01 -5.18944300e-02 2.60669150e-01 -7.70280404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.22864 meters Centerline goodness : 0.987176 Centerline is valid? [True, True] Translation: X:185.00, Y:11.82, Z:-77.09 [[ 1.75731546e-01 -7.19430319e-01 6.71966100e-01 1.85000449e+02] [ 2.05703868e-01 6.94355555e-01 6.89605889e-01 1.18218006e+01] [-9.62706779e-01 1.70405175e-02 2.70009775e-01 -7.70933240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.25864 meters Centerline goodness : 0.987064 Centerline is valid? [True, True] Translation: X:185.01, Y:11.86, Z:-77.19 [[ 1.86120089e-01 -7.03912612e-01 6.85467977e-01 1.85007523e+02] [ 1.97379186e-01 7.10222674e-01 6.75740490e-01 1.18596981e+01] [-9.62497153e-01 9.52823107e-03 2.71124405e-01 -7.71920284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.28864000000002 meters Centerline goodness : 0.987614 Centerline is valid? [True, True] Translation: X:185.00, Y:11.91, Z:-77.28 [[ 1.95927028e-01 -6.72848701e-01 7.13363319e-01 1.85004723e+02] [ 1.90098390e-01 7.39723678e-01 6.45500955e-01 1.19066029e+01] [-9.62016217e-01 9.13813483e-03 2.72839317e-01 -7.72774262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.31864000000002 meters Centerline goodness : 0.987729 Centerline is valid? [True, True] Translation: X:185.05, Y:11.88, Z:-77.33 [[ 2.22512040e-01 -7.11020241e-01 6.67037188e-01 1.85045229e+02] [ 2.07911233e-01 7.03057978e-01 6.80060585e-01 1.18813305e+01] [-9.52502657e-01 -1.26371439e-02 3.04267960e-01 -7.73262941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.34864000000002 meters Centerline goodness : 0.987677 Centerline is valid? [True, True] Translation: X:185.21, Y:13.09, Z:-77.23 [[ 1.74501744e-01 6.61311729e-01 7.29531315e-01 1.85206521e+02] [ 1.67196076e-01 7.10239501e-01 -6.83816732e-01 1.30894003e+01] [-9.70357982e-01 2.41301985e-01 1.33693061e-02 -7.72323576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.37864000000002 meters Centerline goodness : 0.989208 Centerline is valid? [True, True] Translation: X:185.30, Y:13.17, Z:-77.39 [[ 1.26281357e-01 7.02159768e-01 7.00731531e-01 1.85301182e+02] [ 1.20808169e-01 6.90243096e-01 -7.13421232e-01 1.31712702e+01] [-9.84610789e-01 1.74745894e-01 2.33819929e-03 -7.73858142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40864 meters Centerline goodness : 0.989937 Centerline is valid? [True, True] Translation: X:185.08, Y:12.18, Z:-77.68 [[ 1.33967187e-01 -5.55454408e-01 8.20684589e-01 1.85079862e+02] [ 4.24830459e-02 8.30607438e-01 5.55235513e-01 1.21783703e+01] [-9.90074736e-01 -3.95181585e-02 1.34871537e-01 -7.76801246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43864 meters Centerline goodness : 0.989533 Centerline is valid? [True, True] Translation: X:185.54, Y:11.78, Z:-77.80 [[ 2.09204434e-01 -9.58254877e-01 1.94887390e-01 1.85539767e+02] [ 7.28341718e-03 2.00818875e-01 9.79601312e-01 1.17846481e+01] [-9.77844802e-01 -2.03517492e-01 4.89915691e-02 -7.78009303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46864 meters Centerline goodness : 0.989701 Centerline is valid? [True, True] Translation: X:185.00, Y:12.57, Z:-78.01 [[ 2.02693110e-01 -1.36833350e-01 9.69635054e-01 1.84998252e+02] [ 3.12929276e-02 9.90588471e-01 1.33248770e-01 1.25723720e+01] [-9.78742180e-01 3.33411191e-03 2.05067374e-01 -7.80149304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.49864 meters Centerline goodness : 0.989599 Centerline is valid? [True, True] Translation: X:185.01, Y:12.62, Z:-78.07 [[ 2.04647170e-01 -7.83281848e-02 9.75696793e-01 1.85011003e+02] [ 3.04854588e-02 9.96819591e-01 7.36297452e-02 1.26229925e+01] [-9.78360962e-01 1.46764453e-02 2.06384179e-01 -7.80666684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.52864 meters Centerline goodness : 0.990922 Centerline is valid? [True, True] Translation: X:185.77, Y:11.76, Z:-78.08 [[ 2.80656134e-01 -9.58710799e-01 -4.58883300e-02 1.85772444e+02] [-9.31382010e-03 -5.05279614e-02 9.98679217e-01 1.17575109e+01] [-9.59763193e-01 -2.79858053e-01 -2.31102422e-02 -7.80785592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.55864 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:185.77, Y:11.76, Z:-78.26 [[ 3.44535217e-01 -9.37844053e-01 -4.17614264e-02 1.85772658e+02] [-6.07659960e-03 -4.67121052e-02 9.98889911e-01 1.17590110e+01] [-9.38753727e-01 -3.43898984e-01 -2.17928681e-02 -7.82641366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.58864 meters Centerline goodness : 0.989928 Centerline is valid? [True, True] Translation: X:185.92, Y:13.43, Z:-78.35 [[ 3.18122321e-01 9.43489477e-01 9.28751578e-02 1.85918412e+02] [ 1.33711312e-02 9.34895369e-02 -9.95530471e-01 1.34291158e+01] [-9.47955380e-01 3.17942310e-01 1.71255869e-02 -7.83492984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.61864 meters Centerline goodness : 0.989227 Centerline is valid? [True, True] Translation: X:186.75, Y:12.76, Z:-78.28 [[ 2.68975686e-01 3.47357873e-01 -8.98328775e-01 1.86754558e+02] [ 6.91229264e-02 -9.37258456e-01 -3.41714220e-01 1.27570938e+01] [-9.60663365e-01 2.98177029e-02 -2.76110128e-01 -7.82817244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.64864 meters Centerline goodness : 0.989825 Centerline is valid? [True, True] Translation: X:186.36, Y:11.79, Z:-78.67 [[ 3.33656000e-01 -7.90244258e-01 -5.13991912e-01 1.86360231e+02] [ 1.00694471e-01 -5.12241301e-01 8.52918210e-01 1.17909551e+01] [-9.37301604e-01 -3.36337422e-01 -9.13391564e-02 -7.86709611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.67864 meters Centerline goodness : 0.990134 Centerline is valid? [True, True] Translation: X:186.42, Y:11.81, Z:-78.84 [[ 3.86569935e-01 -7.37421469e-01 -5.53871160e-01 1.86416265e+02] [ 1.37253692e-01 -5.47870253e-01 8.25227005e-01 1.18065874e+01] [-9.11989643e-01 -3.95028812e-01 -1.10576349e-01 -7.88369259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.70864 meters Centerline goodness : 0.989727 Centerline is valid? [True, True] Translation: X:186.47, Y:11.82, Z:-79.00 [[ 4.33415760e-01 -6.86383209e-01 -5.83976772e-01 1.86473438e+02] [ 1.77024763e-01 -5.70534537e-01 8.01967939e-01 1.18231671e+01] [-8.83636244e-01 -4.50963894e-01 -1.25771835e-01 -7.90025798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.73864 meters Centerline goodness : 0.989892 Centerline is valid? [True, True] Translation: X:185.68, Y:13.28, Z:-79.25 [[ 3.83324636e-01 6.80242355e-01 6.24766006e-01 1.85677851e+02] [ 1.97377363e-01 6.00478287e-01 -7.74898706e-01 1.32848531e+01] [-9.02277341e-01 4.20352431e-01 9.59136784e-02 -7.92469063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.76864 meters Centerline goodness : 0.989348 Centerline is valid? [True, True] Translation: X:186.58, Y:11.88, Z:-79.30 [[ 4.16900619e-01 -7.13579424e-01 -5.63026003e-01 1.86577534e+02] [ 1.94301789e-01 -5.35142152e-01 8.22112944e-01 1.18787486e+01] [-8.87941827e-01 -4.52136355e-01 -8.44513357e-02 -7.93043896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.79864 meters Centerline goodness : 0.989781 Centerline is valid? [True, True] Translation: X:185.55, Y:12.27, Z:-79.81 [[ 4.12796846e-01 -5.27519994e-01 7.42510216e-01 1.85549557e+02] [ 1.95806223e-01 8.47544102e-01 4.93283811e-01 1.22657925e+01] [-8.89527227e-01 -5.82378804e-02 4.53155229e-01 -7.98136611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.82864 meters Centerline goodness : 0.991500 Centerline is valid? [True, True] Translation: X:185.52, Y:12.40, Z:-79.86 [[ 4.15771823e-01 -4.00998773e-01 8.16292702e-01 1.85519458e+02] [ 1.99421155e-01 9.15902743e-01 3.48358105e-01 1.23999527e+01] [-8.87335897e-01 1.79485490e-02 4.60774191e-01 -7.98600606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.85864 meters Centerline goodness : 0.990920 Centerline is valid? [True, True] Translation: X:185.54, Y:12.41, Z:-79.91 [[ 4.18349309e-01 -3.94479079e-01 8.18150422e-01 1.85540419e+02] [ 1.96623105e-01 9.18736187e-01 3.42437108e-01 1.24148549e+01] [-8.86748674e-01 1.76089491e-02 4.61916350e-01 -7.99068430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.88864 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:185.58, Y:12.38, Z:-79.95 [[ 4.48651717e-01 -4.41768369e-01 7.76886314e-01 1.85579919e+02] [ 2.08869706e-01 8.97042490e-01 3.89471715e-01 1.23770630e+01] [-8.68956318e-01 -1.24691372e-02 4.94731683e-01 -7.99488363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.91864 meters Centerline goodness : 0.990820 Centerline is valid? [True, True] Translation: X:185.95, Y:13.42, Z:-79.74 [[ 3.98001501e-01 7.24332402e-01 5.62971915e-01 1.85950622e+02] [ 1.75158582e-01 5.42380884e-01 -8.21670522e-01 1.34247364e+01] [-9.00507788e-01 4.25635464e-01 8.89953697e-02 -7.97394403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.94864 meters Centerline goodness : 0.992229 Centerline is valid? [True, True] Translation: X:186.76, Y:11.97, Z:-79.80 [[ 4.29657504e-01 -7.51223084e-01 -5.01057189e-01 1.86762996e+02] [ 1.63176515e-01 -4.81158148e-01 8.61313103e-01 1.19673826e+01] [-8.88126035e-01 -4.51830404e-01 -8.41512441e-02 -7.97984272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.97864 meters Centerline goodness : 0.992540 Centerline is valid? [True, True] Translation: X:185.76, Y:12.40, Z:-80.31 [[ 4.25872725e-01 -4.73151477e-01 7.71206913e-01 1.85764413e+02] [ 1.67919720e-01 8.78891126e-01 4.46490041e-01 1.24040638e+01] [-8.89064334e-01 -6.06470816e-02 4.53747222e-01 -8.03110531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.00864 meters Centerline goodness : 0.991162 Centerline is valid? [True, True] Translation: X:185.77, Y:12.57, Z:-80.43 [[ 4.35342720e-01 -3.30475074e-01 8.37414438e-01 1.85773731e+02] [ 1.51481450e-01 9.43814175e-01 2.93714441e-01 1.25677181e+01] [-8.87428919e-01 -1.01369025e-03 4.60943474e-01 -8.04304075e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.03864000000002 meters Centerline goodness : 0.991063 Centerline is valid? [True, True] Translation: X:185.79, Y:12.61, Z:-80.48 [[ 4.37581883e-01 -2.95149393e-01 8.49357952e-01 1.85790520e+02] [ 1.48539820e-01 9.55342865e-01 2.55452407e-01 1.26080406e+01] [-8.86824683e-01 1.43821320e-02 4.61882168e-01 -8.04776645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.06864000000002 meters Centerline goodness : 0.991693 Centerline is valid? [True, True] Translation: X:185.84, Y:12.63, Z:-80.57 [[ 4.40987587e-01 -2.82064132e-01 8.52038599e-01 1.85837746e+02] [ 1.32515720e-01 9.59390559e-01 2.49016745e-01 1.26328540e+01] [-8.87676479e-01 3.09521503e-03 4.60457259e-01 -8.05702693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.09864000000002 meters Centerline goodness : 0.991900 Centerline is valid? [True, True] Translation: X:186.60, Y:11.99, Z:-80.45 [[ 5.14969853e-01 -8.55462403e-01 -5.46820501e-02 1.86598480e+02] [ 9.70080090e-02 -5.22196940e-03 9.95269902e-01 1.19902431e+01] [-8.51701530e-01 -5.17838592e-01 8.02975477e-02 -8.04494241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.12864000000002 meters Centerline goodness : 0.990918 Centerline is valid? [True, True] Translation: X:186.71, Y:13.66, Z:-80.34 [[ 4.76019083e-01 8.77423740e-01 5.94425185e-02 1.86708173e+02] [ 1.48328028e-01 -1.34797522e-02 -9.88846344e-01 1.36563082e+01] [-8.66835987e-01 4.79526722e-01 -1.36563152e-01 -8.03388298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15864 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:186.81, Y:13.68, Z:-80.48 [[ 4.13259096e-01 9.06273285e-01 8.88011994e-02 1.86806761e+02] [ 1.45695848e-01 3.04564487e-02 -9.88860518e-01 1.36798364e+01] [-8.98882439e-01 4.21593569e-01 -1.19453850e-01 -8.04759887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18864 meters Centerline goodness : 0.991412 Centerline is valid? [True, True] Translation: X:186.92, Y:12.05, Z:-80.83 [[ 4.64677738e-01 -8.78918002e-01 -1.07599937e-01 1.86921121e+02] [ 1.03338856e-01 -6.68578313e-02 9.92396650e-01 1.20478270e+01] [-8.79429179e-01 -4.72263885e-01 5.97590349e-02 -8.08304347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21864 meters Centerline goodness : 0.991665 Centerline is valid? [True, True] Translation: X:186.98, Y:12.07, Z:-80.98 [[ 5.16141620e-01 -8.40563268e-01 -1.64472556e-01 1.86980642e+02] [ 1.51008083e-01 -9.97136778e-02 9.83490590e-01 1.20696895e+01] [-8.43086228e-01 -5.32457112e-01 7.54654687e-02 -8.09802760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.24864 meters Centerline goodness : 0.994798 Centerline is valid? [True, True] Translation: X:186.25, Y:12.70, Z:-81.42 [[ 5.10234746e-01 -3.11186003e-01 8.01762917e-01 1.86251928e+02] [ 1.17797522e-01 9.48745131e-01 2.93268511e-01 1.26981736e+01] [-8.51929720e-01 -5.51900991e-02 5.20739671e-01 -8.14196835e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.27864 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:186.27, Y:12.75, Z:-81.46 [[ 5.50976199e-01 -2.71156144e-01 7.89239871e-01 1.86266088e+02] [ 1.33622562e-01 9.62203211e-01 2.37297264e-01 1.27459301e+01] [-8.23753749e-01 -2.52848911e-02 5.66383647e-01 -8.14566561e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.30864 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:186.30, Y:12.79, Z:-81.52 [[ 5.50008011e-01 -2.32908709e-01 8.02025387e-01 1.86297238e+02] [ 1.22797991e-01 9.72441736e-01 1.98186084e-01 1.27927248e+01] [-8.26082224e-01 -1.05168274e-02 5.63451466e-01 -8.15160421e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.33864 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:186.33, Y:12.80, Z:-81.57 [[ 5.38052599e-01 -2.31598911e-01 8.10469830e-01 1.86332135e+02] [ 1.13165524e-01 9.72655578e-01 2.02816888e-01 1.28019208e+01] [-8.35280172e-01 -1.74089110e-02 5.49548874e-01 -8.15711951e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.36864 meters Centerline goodness : 0.994994 Centerline is valid? [True, True] Translation: X:186.83, Y:13.74, Z:-81.36 [[ 4.64651183e-01 7.73236638e-01 4.31514056e-01 1.86827056e+02] [ 9.02316097e-02 4.43432571e-01 -8.91754345e-01 1.37353291e+01] [-8.80884518e-01 4.53290919e-01 1.36271082e-01 -8.13557663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.39864 meters Centerline goodness : 0.994247 Centerline is valid? [True, True] Translation: X:187.43, Y:12.18, Z:-81.34 [[ 5.06018889e-01 -7.89994689e-01 -3.46198318e-01 1.87429193e+02] [ 1.07254454e-01 -3.40631371e-01 9.34059287e-01 1.21831781e+01] [-8.55827884e-01 -5.09782954e-01 -8.76354588e-02 -8.13375532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.42864 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:186.53, Y:12.81, Z:-81.91 [[ 5.05787528e-01 -2.57356964e-01 8.23374987e-01 1.86531954e+02] [ 7.89381076e-02 9.64265773e-01 2.52903726e-01 1.28095505e+01] [-8.59038854e-01 -6.29198867e-02 5.08028873e-01 -8.19130957e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.45864 meters Centerline goodness : 0.995877 Centerline is valid? [True, True] Translation: X:186.54, Y:12.93, Z:-81.96 [[ 5.06175815e-01 -1.45464082e-01 8.50074258e-01 1.86540991e+02] [ 7.87356532e-02 9.89351059e-01 1.22413965e-01 1.29256061e+01] [-8.58828703e-01 4.96816350e-03 5.12238788e-01 -8.19577562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.48864 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:187.50, Y:13.80, Z:-81.48 [[ 4.79775009e-01 8.72206898e-01 -9.52421528e-02 1.87495033e+02] [ 1.08795561e-01 -1.66853733e-01 -9.79960896e-01 1.38020499e+01] [-8.70620162e-01 4.59798824e-01 -1.74944490e-01 -8.14813599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.51864 meters Centerline goodness : 0.995876 Centerline is valid? [True, True] Translation: X:187.32, Y:12.19, Z:-81.92 [[ 5.22512016e-01 -8.49000285e-01 7.86111326e-02 1.87318289e+02] [ 5.29667544e-02 1.24341097e-01 9.90824815e-01 1.21933810e+01] [-8.50985145e-01 -5.13554095e-01 1.09938507e-01 -8.19211497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.54864 meters Centerline goodness : 0.993806 Centerline is valid? [True, True] Translation: X:187.60, Y:13.83, Z:-81.78 [[ 4.74966360e-01 8.78094807e-01 -5.79350279e-02 1.87601484e+02] [ 6.43154755e-02 -1.00296716e-01 -9.92876673e-01 1.38327393e+01] [-8.77650544e-01 4.67856900e-01 -1.04112651e-01 -8.17814084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.57864 meters Centerline goodness : 0.995729 Centerline is valid? [True, True] Translation: X:188.34, Y:12.91, Z:-81.66 [[ 4.90859348e-01 3.85857249e-02 -8.70383962e-01 1.88339675e+02] [ 1.58702298e-01 -9.86264630e-01 4.57783833e-02 1.29062233e+01] [-8.56662525e-01 -1.60602682e-01 -4.90240857e-01 -8.16617126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.60864 meters Centerline goodness : 0.993418 Centerline is valid? [True, True] Translation: X:186.95, Y:12.74, Z:-82.50 [[ 4.86298822e-01 -3.73457841e-01 7.89963731e-01 1.86949128e+02] [ 1.66912445e-01 9.27118226e-01 3.35547361e-01 1.27431623e+01] [-8.57702566e-01 -3.13215086e-02 5.13191262e-01 -8.24990699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.63864 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:186.99, Y:12.85, Z:-82.60 [[ 4.90332830e-01 -2.90227927e-01 8.21791620e-01 1.86986152e+02] [ 1.36288887e-01 9.56857706e-01 2.56609958e-01 1.28466176e+01] [-8.60813020e-01 -1.38232220e-02 5.08733588e-01 -8.26044873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.66864 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:187.46, Y:13.82, Z:-82.38 [[ 4.20278383e-01 7.98833904e-01 4.30384100e-01 1.87463453e+02] [ 8.45990131e-02 4.37745522e-01 -8.95109974e-01 1.38196142e+01] [-9.03442908e-01 4.12605442e-01 1.16394420e-01 -8.23759728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.69864 meters Centerline goodness : 0.995274 Centerline is valid? [True, True] Translation: X:188.57, Y:13.36, Z:-82.11 [[ 3.92852624e-01 4.68109154e-01 -7.91543199e-01 1.88568006e+02] [ 1.84868667e-01 -8.83375012e-01 -4.30664794e-01 1.33594827e+01] [-9.00827615e-01 2.28562589e-02 -4.33574907e-01 -8.21074866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.72864 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:187.22, Y:12.73, Z:-82.84 [[ 4.01847728e-01 -4.61728673e-01 7.90774959e-01 1.87216982e+02] [ 1.74661256e-01 8.86362119e-01 4.28783907e-01 1.27251877e+01] [-8.98894793e-01 -3.41880916e-02 4.36828714e-01 -8.28422742e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.75864 meters Centerline goodness : 0.994697 Centerline is valid? [True, True] Translation: X:187.68, Y:13.86, Z:-82.62 [[ 3.02004646e-01 8.44851797e-01 4.41609143e-01 1.87676498e+02] [ 1.55614398e-01 4.13336310e-01 -8.97182955e-01 1.38598622e+01] [-9.40519725e-01 3.39674162e-01 -6.64161793e-03 -8.26189707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.78864000000002 meters Centerline goodness : 0.993321 Centerline is valid? [True, True] Translation: X:188.28, Y:12.31, Z:-82.81 [[ 3.74170995e-01 -8.45728806e-01 -3.80445597e-01 1.88275721e+02] [ 1.80987329e-01 -3.35760457e-01 9.24396291e-01 1.23139328e+01] [-9.09527159e-01 -4.14738113e-01 2.74343732e-02 -8.28140283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.81864000000002 meters Centerline goodness : 0.992689 Centerline is valid? [True, True] Translation: X:187.37, Y:12.74, Z:-83.18 [[ 4.04568801e-01 -5.18322894e-01 7.53435772e-01 1.87370617e+02] [ 1.60053291e-01 8.51285795e-01 4.99695346e-01 1.27361103e+01] [-9.00392709e-01 -8.15712724e-02 4.27362958e-01 -8.31833846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.84864000000002 meters Centerline goodness : 0.993808 Centerline is valid? [True, True] Translation: X:187.51, Y:13.72, Z:-83.13 [[ 3.55251046e-01 5.57098398e-01 7.50625119e-01 1.87512991e+02] [ 7.98320367e-02 7.81989090e-01 -6.18158482e-01 1.37207427e+01] [-9.31355754e-01 2.79525379e-01 2.33328142e-01 -8.31315607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.87864000000002 meters Centerline goodness : 0.994989 Centerline is valid? [True, True] Translation: X:188.69, Y:13.79, Z:-82.87 [[ 2.86784175e-01 7.99148165e-01 -5.28315292e-01 1.88693494e+02] [ 1.60937068e-01 -5.83831940e-01 -7.95763486e-01 1.37930145e+01] [-9.44380272e-01 1.43186861e-01 -2.96046324e-01 -8.28735773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90864 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:187.54, Y:12.81, Z:-83.48 [[ 3.17107129e-01 -5.16473842e-01 7.95423057e-01 1.87540147e+02] [ 1.43505095e-01 8.55182410e-01 4.98065592e-01 1.28101774e+01] [-9.37469656e-01 -4.37928893e-02 3.45301067e-01 -8.34802225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93864 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:187.97, Y:13.98, Z:-83.36 [[ 2.11561157e-01 8.55000112e-01 4.73515242e-01 1.87973638e+02] [ 1.09965082e-01 4.60582316e-01 -8.80778980e-01 1.39831016e+01] [-9.71158874e-01 2.38408762e-01 3.42117005e-03 -8.33641431e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96864 meters Centerline goodness : 0.994593 Centerline is valid? [True, True] Translation: X:188.13, Y:14.04, Z:-83.49 [[ 1.71487552e-01 9.09770956e-01 3.78032838e-01 1.88129521e+02] [ 4.86808779e-02 3.75423343e-01 -9.25574138e-01 1.40413137e+01] [-9.83982821e-01 1.77127413e-01 2.00919811e-02 -8.34887275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.99864 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:189.02, Y:13.83, Z:-83.51 [[ 9.97401300e-02 7.68319806e-01 -6.32247247e-01 1.89021527e+02] [ 1.05448965e-01 -6.39999409e-01 -7.61105296e-01 1.38271447e+01] [-9.89410138e-01 9.24292302e-03 -1.44852153e-01 -8.35144570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.02864 meters Centerline goodness : 0.994793 Centerline is valid? [True, True] Translation: X:189.20, Y:12.83, Z:-83.79 [[ 1.21563098e-01 -3.82970121e-01 -9.15727197e-01 1.89195521e+02] [ 1.99324919e-01 -8.94357136e-01 4.00493308e-01 1.28268480e+01] [-9.72364124e-01 -2.31212457e-01 -3.23853362e-02 -8.37866952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.05864 meters Centerline goodness : 0.994643 Centerline is valid? [True, True] Translation: X:188.15, Y:12.48, Z:-84.08 [[ 1.62932383e-01 -9.34466598e-01 3.16583662e-01 1.88148961e+02] [ 2.14632350e-01 3.46757025e-01 9.13067643e-01 1.24753267e+01] [-9.63008823e-01 -8.08191915e-02 2.57064710e-01 -8.40822869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.08864 meters Centerline goodness : 0.994211 Centerline is valid? [True, True] Translation: X:188.02, Y:12.57, Z:-84.14 [[ 1.70659855e-01 -8.56783315e-01 4.86618500e-01 1.88020496e+02] [ 2.01513055e-01 5.13773919e-01 8.33923767e-01 1.25659254e+01] [-9.64503863e-01 -4.42573286e-02 2.60333606e-01 -8.41443298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.11864 meters Centerline goodness : 0.995576 Centerline is valid? [True, True] Translation: X:187.88, Y:12.73, Z:-84.25 [[ 1.86159195e-01 -7.05631451e-01 6.83687801e-01 1.87878082e+02] [ 1.73165549e-01 7.08522354e-01 6.84112393e-01 1.27323319e+01] [-9.67139311e-01 -8.96263899e-03 2.54089008e-01 -8.42487983e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.14864 meters Centerline goodness : 0.993218 Centerline is valid? [True, True] Translation: X:187.88, Y:12.78, Z:-84.35 [[ 2.05164491e-01 -6.84239108e-01 6.99803097e-01 1.87879006e+02] [ 1.59786440e-01 7.28836749e-01 6.65781711e-01 1.27773588e+01] [-9.65596098e-01 -2.47757203e-02 2.58863552e-01 -8.43544072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.17864 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:187.80, Y:12.94, Z:-84.48 [[ 2.10245522e-01 -5.32368500e-01 8.19988171e-01 1.87802136e+02] [ 1.04375286e-01 8.46164211e-01 5.22601118e-01 1.29432432e+01] [-9.72061017e-01 -2.42880447e-02 2.33468350e-01 -8.44809183e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.20864 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:188.13, Y:14.08, Z:-84.48 [[ 9.67359523e-02 8.00889793e-01 5.90946441e-01 1.88129354e+02] [ 5.43651395e-02 5.88592918e-01 -8.06599534e-01 1.40823822e+01] [-9.93824223e-01 1.10154060e-01 1.33976111e-02 -8.44775721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.23864 meters Centerline goodness : 0.994741 Centerline is valid? [True, True] Translation: X:188.81, Y:12.58, Z:-84.63 [[ 1.81473859e-01 -9.11272033e-01 -3.69662711e-01 1.88807383e+02] [ 1.04215033e-01 -3.55966379e-01 9.28669567e-01 1.25818066e+01] [-9.77858101e-01 -2.07053662e-01 3.03696525e-02 -8.46323883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.26864 meters Centerline goodness : 0.992230 Centerline is valid? [True, True] Translation: X:187.95, Y:12.85, Z:-84.84 [[ 2.17740549e-01 -6.87546303e-01 6.92725872e-01 1.87945144e+02] [ 7.20845112e-02 7.19145457e-01 6.91110436e-01 1.28465167e+01] [-9.73341090e-01 -1.00547960e-01 2.06148566e-01 -8.48394888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.29864 meters Centerline goodness : 0.993807 Centerline is valid? [True, True] Translation: X:187.82, Y:13.08, Z:-84.92 [[ 2.20815040e-01 -4.30128544e-01 8.75345734e-01 1.87820086e+02] [ 5.21095909e-02 9.01420976e-01 4.29796247e-01 1.30833711e+01] [-9.73922640e-01 -4.92915673e-02 2.21461131e-01 -8.49166580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.32864 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:187.80, Y:13.22, Z:-85.02 [[ 2.16194473e-01 -2.89729017e-01 9.32371732e-01 1.87799012e+02] [ 2.77577256e-02 9.56394063e-01 2.90757468e-01 1.32200840e+01] [-9.75955664e-01 -3.69796390e-02 2.14809329e-01 -8.50159129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.35864 meters Centerline goodness : 0.993719 Centerline is valid? [True, True] Translation: X:187.80, Y:13.27, Z:-85.09 [[ 1.99868575e-01 -2.39845705e-01 9.50013995e-01 1.87803956e+02] [ 1.20474359e-02 9.70105698e-01 2.42383568e-01 1.32720184e+01] [-9.79748647e-01 -3.69996256e-02 1.96783169e-01 -8.50852533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.38864 meters Centerline goodness : 0.994747 Centerline is valid? [True, True] Translation: X:188.46, Y:14.24, Z:-85.13 [[ 7.45115372e-02 9.34340782e-01 3.48504426e-01 1.88460010e+02] [-3.98203511e-04 3.49503765e-01 -9.36934875e-01 1.42361779e+01] [-9.97220072e-01 6.96736821e-02 2.64141206e-02 -8.51320986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.41864 meters Centerline goodness : 0.994695 Centerline is valid? [True, True] Translation: X:188.65, Y:12.59, Z:-85.27 [[ 1.76196826e-01 -9.81497856e-01 -7.49442322e-02 1.88651618e+02] [-2.25795989e-02 -8.01452956e-02 9.96527417e-01 1.25939077e+01] [-9.84095951e-01 -1.73892757e-01 -3.62831746e-02 -8.52656652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.44864 meters Centerline goodness : 0.992929 Centerline is valid? [True, True] Translation: X:187.85, Y:13.46, Z:-85.47 [[ 1.95542716e-01 -4.74827175e-02 9.79545016e-01 1.87846588e+02] [-1.92998208e-02 9.98447431e-01 5.22517453e-02 1.34581859e+01] [-9.80505259e-01 -2.91224914e-02 1.94322714e-01 -8.54671702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.47864 meters Centerline goodness : 0.994056 Centerline is valid? [True, True] Translation: X:187.88, Y:13.58, Z:-85.59 [[ 1.72279230e-01 8.43153891e-02 9.81433025e-01 1.87881132e+02] [-4.79471150e-02 9.95866795e-01 -7.71388392e-02 1.35829609e+01] [-9.83880552e-01 -3.37674622e-02 1.75609845e-01 -8.55934478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.50864 meters Centerline goodness : 0.994457 Centerline is valid? [True, True] Translation: X:187.93, Y:13.69, Z:-85.70 [[ 1.58710825e-01 2.07134712e-01 9.65352829e-01 1.87925496e+02] [-6.75137426e-02 9.77733888e-01 -1.98691566e-01 1.36885003e+01] [-9.85014096e-01 -3.36400800e-02 1.69161392e-01 -8.57008478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.53864000000002 meters Centerline goodness : 0.995081 Centerline is valid? [True, True] Translation: X:188.02, Y:13.86, Z:-85.84 [[ 1.28307065e-01 3.95943487e-01 9.09266766e-01 1.88021326e+02] [-1.03781841e-01 9.17171587e-01 -3.84740965e-01 1.38563642e+01] [-9.86289322e-01 -4.50003948e-02 1.58771338e-01 -8.58428771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.56864000000002 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:189.12, Y:14.21, Z:-85.92 [[ 3.67757417e-02 9.61559194e-01 -2.72123981e-01 1.89115840e+02] [-4.99874239e-02 -2.70197245e-01 -9.61506477e-01 1.42125246e+01] [-9.98072544e-01 4.89628906e-02 3.81291629e-02 -8.59237860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.59864000000002 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:188.17, Y:12.88, Z:-86.04 [[ 8.32917611e-02 -7.46820854e-01 6.59788674e-01 1.88172497e+02] [-1.32017745e-01 6.47984197e-01 7.50125186e-01 1.28843851e+01] [-9.87741767e-01 -1.49583061e-01 -4.46218603e-02 -8.60387388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.62864000000002 meters Centerline goodness : 0.995583 Centerline is valid? [True, True] Translation: X:188.30, Y:14.12, Z:-86.24 [[ 1.03200148e-01 7.46868394e-01 6.56915010e-01 1.88300806e+02] [-1.42487811e-01 6.64730417e-01 -7.33369414e-01 1.41164020e+01] [-9.84401825e-01 -1.79185496e-02 1.75019920e-01 -8.62423379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65864 meters Centerline goodness : 0.996514 Centerline is valid? [True, True] Translation: X:189.40, Y:14.03, Z:-86.31 [[ 3.00789044e-02 8.06454849e-01 -5.90530132e-01 1.89400521e+02] [-5.86036924e-02 -5.88358290e-01 -8.06473886e-01 1.40266005e+01] [-9.97828075e-01 5.88650971e-02 2.95640591e-02 -8.63101746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68864 meters Centerline goodness : 0.994653 Centerline is valid? [True, True] Translation: X:188.63, Y:14.20, Z:-86.39 [[ 3.02259697e-02 9.35990057e-01 3.50726396e-01 1.88632727e+02] [-1.03195351e-01 3.51933846e-01 -9.30318917e-01 1.42037774e+01] [-9.94201745e-01 -8.07354206e-03 1.07227364e-01 -8.63928654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71864 meters Centerline goodness : 0.993863 Centerline is valid? [True, True] Translation: X:188.56, Y:14.17, Z:-86.46 [[ 2.33493851e-02 8.94646304e-01 4.46164540e-01 1.88557428e+02] [-9.96415901e-02 4.46146600e-01 -8.89395730e-01 1.41706693e+01] [-9.94749395e-01 -2.36897008e-02 9.95612291e-02 -8.64575089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.74864 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:189.61, Y:13.75, Z:-86.59 [[-2.41583991e-02 5.75514681e-01 -8.17434538e-01 1.89612004e+02] [ 5.56659000e-03 -8.17583065e-01 -5.75783766e-01 1.37501887e+01] [-9.99692645e-01 -1.84603369e-02 1.65478437e-02 -8.65904162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.77864 meters Centerline goodness : 0.994906 Centerline is valid? [True, True] Translation: X:188.80, Y:12.51, Z:-86.66 [[ 3.93216398e-02 -9.99154348e-01 -1.20165280e-02 1.88797128e+02] [-4.26294069e-03 -1.21934627e-02 9.99916570e-01 1.25057606e+01] [-9.99217512e-01 -3.92671335e-02 -4.73880268e-03 -8.66575547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.80864 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:188.09, Y:13.03, Z:-86.77 [[ 2.92246752e-02 -4.56343620e-01 8.89323574e-01 1.88094301e+02] [-5.13441082e-02 8.87843755e-01 4.57271526e-01 1.30327404e+01] [-9.98253325e-01 -5.90251376e-02 2.51638917e-03 -8.67666089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.83864 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:188.33, Y:13.97, Z:-86.86 [[ 1.92839888e-02 6.81726186e-01 7.31353222e-01 1.88328868e+02] [-3.64694049e-02 7.31482075e-01 -6.80884687e-01 1.39671135e+01] [-9.99148693e-01 -1.35418441e-02 3.89680404e-02 -8.68637472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.86864 meters Centerline goodness : 0.996370 Centerline is valid? [True, True] Translation: X:188.43, Y:12.62, Z:-86.97 [[ 9.76067314e-02 -9.12615297e-01 3.96996531e-01 1.88427924e+02] [-8.76689554e-02 3.89466116e-01 9.16858931e-01 1.26222955e+01] [-9.91356182e-01 -1.24295875e-01 -4.19935152e-02 -8.69737342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.89864 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:188.22, Y:13.90, Z:-87.15 [[ 7.73201667e-02 5.78506820e-01 8.12004588e-01 1.88222032e+02] [-6.87081276e-02 8.15598311e-01 -5.74524662e-01 1.38975359e+01] [-9.94636006e-01 -1.13689722e-02 1.02810318e-01 -8.71457290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.92864 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:188.24, Y:13.90, Z:-87.20 [[ 1.09194736e-01 5.86317812e-01 8.02687943e-01 1.88235650e+02] [-9.19434177e-02 8.10012282e-01 -5.79160178e-01 1.39000150e+01] [-9.89759020e-01 -1.05606304e-02 1.42357140e-01 -8.72009360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.95864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:188.19, Y:13.84, Z:-87.26 [[ 1.01281594e-01 5.07209365e-01 8.55850862e-01 1.88193571e+02] [-9.28822440e-02 8.61337963e-01 -4.99469521e-01 1.38356566e+01] [-9.90512457e-01 -2.89062792e-02 1.34348426e-01 -8.72625007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.98864 meters Centerline goodness : 0.995438 Centerline is valid? [True, True] Translation: X:189.37, Y:14.01, Z:-87.35 [[ 2.37602501e-02 8.97208387e-01 -4.40967754e-01 1.89366038e+02] [-3.00331018e-02 -4.40252590e-01 -8.97371534e-01 1.40140381e+01] [-9.99266463e-01 3.45654016e-02 1.64854392e-02 -8.73458124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.01864 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:188.71, Y:14.11, Z:-87.43 [[ 6.05461508e-03 9.34124473e-01 3.56896079e-01 1.88711010e+02] [-3.30448996e-02 3.56894599e-01 -9.33560003e-01 1.41147713e+01] [-9.99435529e-01 -6.14124863e-03 3.30289088e-02 -8.74252304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.04864 meters Centerline goodness : 0.995782 Centerline is valid? [True, True] Translation: X:188.14, Y:12.98, Z:-87.55 [[ 3.31124126e-02 -5.26041161e-01 8.49814253e-01 1.88142193e+02] [-1.16072991e-01 8.42502840e-01 5.26038045e-01 1.29811675e+01] [-9.92688586e-01 -1.16058871e-01 -3.31618691e-02 -8.75488273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.07864 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:188.61, Y:14.12, Z:-87.71 [[ 5.89899027e-02 8.93875309e-01 4.44417735e-01 1.88612901e+02] [-1.23359977e-01 4.48308133e-01 -8.85326004e-01 1.41156413e+01] [-9.90607141e-01 -2.59806695e-03 1.36714091e-01 -8.77147070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.10864 meters Centerline goodness : 0.996024 Centerline is valid? [True, True] Translation: X:189.62, Y:13.77, Z:-87.81 [[ 1.50555075e-02 6.69205317e-01 -7.42925013e-01 1.89622911e+02] [-4.89266441e-02 -7.41626119e-01 -6.69026818e-01 1.37708143e+01] [-9.98688898e-01 4.64213660e-02 2.15764128e-02 -8.78060638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.13864 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:189.56, Y:13.84, Z:-87.90 [[-3.53537550e-02 7.56986245e-01 -6.52473706e-01 1.89561163e+02] [-4.49801098e-03 -6.52995764e-01 -7.57348203e-01 1.38421422e+01] [-9.99364738e-01 -2.38402689e-02 2.64907847e-02 -8.78986069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.16864 meters Centerline goodness : 0.995722 Centerline is valid? [True, True] Translation: X:188.90, Y:14.11, Z:-87.94 [[-1.17139556e-01 9.78287000e-01 1.70976227e-01 1.88901566e+02] [ 8.92375317e-03 1.73191383e-01 -9.84847761e-01 1.41058028e+01] [-9.93075370e-01 -1.13838880e-01 -2.90175535e-02 -8.79354252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.19864 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:189.69, Y:13.68, Z:-88.05 [[-9.84985620e-02 5.69752177e-01 -8.15892450e-01 1.89685928e+02] [-3.98295156e-03 -8.20098510e-01 -5.72208502e-01 1.36756301e+01] [-9.95129222e-01 -5.31120545e-02 8.30478192e-02 -8.80459821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.22864 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:189.78, Y:13.32, Z:-88.13 [[-1.06670736e-01 1.70526957e-01 -9.79562102e-01 1.89778583e+02] [ 7.72515499e-03 -9.85011287e-01 -1.72316819e-01 1.33248136e+01] [-9.94264389e-01 -2.59484309e-02 1.03754531e-01 -8.81264766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.25864 meters Centerline goodness : 0.996611 Centerline is valid? [True, True] Translation: X:188.87, Y:12.43, Z:-88.10 [[-7.10045176e-02 -9.97003576e-01 -3.06957151e-02 1.88869418e+02] [-3.39474291e-03 -3.05316715e-02 9.99528035e-01 1.24320609e+01] [-9.97470217e-01 7.10752101e-02 -1.21668421e-03 -8.81041778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.28864000000002 meters Centerline goodness : 0.996224 Centerline is valid? [True, True] Translation: X:189.06, Y:14.09, Z:-88.16 [[-1.18331522e-01 9.91609595e-01 -5.20390486e-02 1.89063220e+02] [ 4.63786689e-02 -4.68307647e-02 -9.97825585e-01 1.40947418e+01] [-9.91890453e-01 -1.20487722e-01 -4.04479774e-02 -8.81600049e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.31864000000002 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:189.76, Y:13.33, Z:-88.30 [[-1.06741001e-01 1.67149091e-01 -9.80136490e-01 1.89762047e+02] [ 2.43871163e-02 -9.85031646e-01 -1.70639754e-01 1.33281452e+01] [-9.93987740e-01 -4.21169608e-02 1.01066980e-01 -8.83001515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.34864000000002 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:188.92, Y:14.10, Z:-88.25 [[-1.87124445e-01 9.76057741e-01 1.10886104e-01 1.88918802e+02] [ 4.57754252e-02 1.21421364e-01 -9.91544988e-01 1.41049914e+01] [-9.81269103e-01 -1.80466447e-01 -6.74003633e-02 -8.82487066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.37864000000002 meters Centerline goodness : 0.997154 Centerline is valid? [True, True] Translation: X:188.77, Y:12.45, Z:-88.34 [[-1.42301995e-01 -9.87273490e-01 7.10014019e-02 1.88771711e+02] [-6.18943489e-04 7.18201308e-02 9.97417408e-01 1.24488037e+01] [-9.89823095e-01 1.41890541e-01 -1.08312144e-02 -8.83399387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40864 meters Centerline goodness : 0.996272 Centerline is valid? [True, True] Translation: X:189.07, Y:14.09, Z:-88.43 [[-1.82243271e-01 9.77789447e-01 -1.03514187e-01 1.89070400e+02] [ 4.45779900e-02 -9.69524719e-02 -9.94290210e-01 1.40923652e+01] [-9.82242431e-01 -1.85817155e-01 -2.59189526e-02 -8.84296937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43864 meters Centerline goodness : 0.997005 Centerline is valid? [True, True] Translation: X:189.04, Y:14.10, Z:-88.51 [[-2.49492083e-01 9.65485042e-01 -7.47819146e-02 1.89038310e+02] [ 4.91811010e-02 -6.44911698e-02 -9.96705628e-01 1.40984419e+01] [-9.67127148e-01 -2.52348020e-01 -3.13935811e-02 -8.85058938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46864 meters Centerline goodness : 0.995923 Centerline is valid? [True, True] Translation: X:188.84, Y:12.44, Z:-88.55 [[-2.06422804e-01 -9.77933985e-01 -3.21674907e-02 1.88839440e+02] [ 2.66522801e-02 -3.84830329e-02 9.98903755e-01 1.24411653e+01] [-9.78099832e-01 2.05339177e-01 3.40079460e-02 -8.85499151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.49864 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:188.06, Y:13.09, Z:-88.47 [[-2.11134432e-01 -3.20691798e-01 9.23352057e-01 1.88064693e+02] [-4.04511521e-02 9.46704642e-01 3.19552852e-01 1.30889568e+01] [-9.76619658e-01 3.01179554e-02 -2.12854300e-01 -8.84744789e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.52864 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:188.59, Y:14.08, Z:-88.70 [[-2.40985328e-01 8.89147036e-01 3.89029073e-01 1.88591710e+02] [-4.29227681e-02 3.90686025e-01 -9.19522738e-01 1.40809506e+01] [-9.69579139e-01 -2.38289693e-01 -5.59849480e-02 -8.87027322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.55864 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:188.76, Y:14.12, Z:-88.80 [[-3.05556284e-01 9.33997375e-01 1.85160096e-01 1.88758517e+02] [-4.10470413e-02 1.81358879e-01 -9.82559971e-01 1.41198401e+01] [-9.51288861e-01 -3.07827648e-01 -1.70775162e-02 -8.87982683e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.58864 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:189.59, Y:13.56, Z:-89.07 [[-2.90798865e-01 4.04804920e-01 -8.66930791e-01 1.89589217e+02] [-6.46802886e-02 -9.12332628e-01 -4.04308839e-01 1.35597566e+01] [-9.54595454e-01 -6.14992178e-02 2.91488192e-01 -8.90685738e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.61864 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:188.71, Y:12.46, Z:-88.79 [[-2.51538212e-01 -9.67124656e-01 3.73955606e-02 1.88713316e+02] [-9.05088666e-02 6.19737434e-02 9.93965492e-01 1.24576390e+01] [-9.63606078e-01 2.46635673e-01 -1.03122121e-01 -8.87851046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.64864 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:188.83, Y:14.11, Z:-88.99 [[-3.12860763e-01 9.48804091e-01 4.34619305e-02 1.88833591e+02] [-3.53557892e-02 3.40934828e-02 -9.98793073e-01 1.41114377e+01] [-9.49140723e-01 -3.14019794e-01 2.28792044e-02 -8.89886686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.67864 meters Centerline goodness : 0.996319 Centerline is valid? [True, True] Translation: X:189.56, Y:13.50, Z:-89.22 [[-2.96680302e-01 3.51270279e-01 -8.88025895e-01 1.89561356e+02] [-5.26429781e-02 -9.34494332e-01 -3.52064002e-01 1.35023042e+01] [-9.53524785e-01 -5.77021264e-02 2.95737974e-01 -8.92201730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.70864 meters Centerline goodness : 0.995094 Centerline is valid? [True, True] Translation: X:188.68, Y:12.44, Z:-88.95 [[-2.46720461e-01 -9.68742749e-01 2.58166683e-02 1.88677441e+02] [-8.42047003e-02 4.79695730e-02 9.95293167e-01 1.24447009e+01] [-9.65421453e-01 2.43385304e-01 -9.34077680e-02 -8.89450663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.73864 meters Centerline goodness : 0.995040 Centerline is valid? [True, True] Translation: X:188.89, Y:14.08, Z:-89.19 [[-3.16376665e-01 9.45574446e-01 -7.61234004e-02 1.88885926e+02] [-3.93534890e-02 -9.32585978e-02 -9.94863879e-01 1.40847771e+01] [-9.47817023e-01 -3.11755995e-01 6.67164977e-02 -8.91943387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.76864 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:189.53, Y:13.32, Z:-89.44 [[-3.08455207e-01 1.58357520e-01 -9.37964968e-01 1.89526377e+02] [ 1.67997358e-02 -9.84984992e-01 -1.71820645e-01 1.33223291e+01] [-9.51090508e-01 -6.87565363e-02 3.01163385e-01 -8.94418573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.79864 meters Centerline goodness : 0.996071 Centerline is valid? [True, True] Translation: X:188.53, Y:12.44, Z:-89.19 [[-2.58180435e-01 -9.59104842e-01 1.16020538e-01 1.88534139e+02] [-2.00916735e-02 1.25396535e-01 9.91903238e-01 1.24358202e+01] [-9.65887772e-01 2.53758963e-01 -5.16449534e-02 -8.91933676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.82864 meters Centerline goodness : 0.994157 Centerline is valid? [True, True] Translation: X:188.48, Y:12.44, Z:-89.27 [[-1.91816343e-01 -9.70649738e-01 1.45070934e-01 1.88478570e+02] [-1.15178743e-02 1.50031959e-01 9.88614055e-01 1.24426712e+01] [-9.81363250e-01 1.87961424e-01 -3.99584033e-02 -8.92735375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.85864 meters Centerline goodness : 0.995436 Centerline is valid? [True, True] Translation: X:187.85, Y:13.42, Z:-89.22 [[-2.20582771e-01 7.40161340e-02 9.72555835e-01 1.87854983e+02] [-8.24198132e-02 9.92135775e-01 -9.41996766e-02 1.34175831e+01] [-9.71879733e-01 -1.00936696e-01 -2.12747662e-01 -8.92237871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.88864 meters Centerline goodness : 0.996220 Centerline is valid? [True, True] Translation: X:188.70, Y:14.09, Z:-89.54 [[-2.69209198e-01 9.62583754e-01 3.09665076e-02 1.88703680e+02] [-6.43000680e-02 1.41173832e-02 -9.97830748e-01 1.40891598e+01] [-9.60932833e-01 -2.70616364e-01 5.80936714e-02 -8.95355839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.91864 meters Centerline goodness : 0.994405 Centerline is valid? [True, True] Translation: X:188.52, Y:12.43, Z:-89.44 [[-1.99750203e-01 -9.79486778e-01 2.65614139e-02 1.88521483e+02] [-8.86766629e-02 4.50673375e-02 9.95040393e-01 1.24273433e+01] [-9.75825961e-01 1.96404143e-01 -9.58598287e-02 -8.94371903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.94864 meters Centerline goodness : 0.994353 Centerline is valid? [True, True] Translation: X:187.79, Y:13.18, Z:-89.43 [[-1.90778244e-01 -2.21956594e-01 9.56210715e-01 1.87790141e+02] [-1.59349112e-01 9.68184234e-01 1.92943384e-01 1.31773422e+01] [-9.68613195e-01 -1.15561928e-01 -2.20077075e-01 -8.94321526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.97864 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:189.20, Y:13.80, Z:-89.83 [[-1.83350829e-01 7.36072300e-01 -6.51598069e-01 1.89203308e+02] [-1.37337323e-01 -6.75514122e-01 -7.24444015e-01 1.37959944e+01] [-9.73406869e-01 -4.33386763e-02 2.24946273e-01 -8.98320472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.00864 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:189.29, Y:13.67, Z:-89.87 [[-1.85761394e-01 6.06932564e-01 -7.72739003e-01 1.89285595e+02] [-1.32530365e-01 -7.94716788e-01 -5.92335149e-01 1.36703985e+01] [-9.73616150e-01 -7.62162078e-03 2.28064692e-01 -8.98684588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.03864000000002 meters Centerline goodness : 0.995630 Centerline is valid? [True, True] Translation: X:189.29, Y:13.64, Z:-89.91 [[-1.87579613e-01 5.72241088e-01 -7.98344554e-01 1.89293961e+02] [-1.28974824e-01 -8.20083859e-01 -5.57519470e-01 1.36360165e+01] [-9.73745030e-01 -1.61293784e-03 2.27635706e-01 -8.99064550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.06864000000002 meters Centerline goodness : 0.993228 Centerline is valid? [True, True] Translation: X:189.30, Y:13.62, Z:-89.94 [[-2.11080373e-01 5.52848324e-01 -8.06104092e-01 1.89295482e+02] [-1.39029928e-01 -8.33281447e-01 -5.35081965e-01 1.36154089e+01] [-9.67530752e-01 -8.72706615e-04 2.52751822e-01 -8.99364557e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.09864000000002 meters Centerline goodness : 0.995386 Centerline is valid? [True, True] Translation: X:188.87, Y:12.45, Z:-89.79 [[-1.56819469e-01 -8.66670857e-01 -4.73591892e-01 1.88874444e+02] [-1.20831583e-01 -4.59086160e-01 8.80136141e-01 1.24528686e+01] [-9.80207826e-01 1.95247341e-01 -3.27275637e-02 -8.97856330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.12864000000002 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:189.28, Y:13.57, Z:-90.02 [[-1.33664245e-01 5.20587617e-01 -8.43280738e-01 1.89281086e+02] [-8.30561577e-02 -8.53807191e-01 -5.13921157e-01 1.35747982e+01] [-9.87540148e-01 1.34677444e-03 1.57361501e-01 -9.00172685e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15864 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:188.49, Y:14.04, Z:-90.00 [[-2.19787671e-01 9.64035426e-01 1.49429170e-01 1.88487835e+02] [-5.24670937e-02 1.41271778e-01 -9.88579531e-01 1.40416661e+01] [-9.74135814e-01 -2.25117707e-01 1.95303420e-02 -8.99952018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18864 meters Centerline goodness : 0.996076 Centerline is valid? [True, True] Translation: X:189.26, Y:13.58, Z:-90.16 [[-2.01432799e-01 5.28678310e-01 -8.24575086e-01 1.89258943e+02] [-7.91515727e-02 -8.47863177e-01 -5.24273842e-01 1.35822018e+01] [-9.76299061e-01 -4.03395327e-02 2.12633173e-01 -9.01611761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21864 meters Centerline goodness : 0.996419 Centerline is valid? [True, True] Translation: X:188.90, Y:12.46, Z:-90.07 [[-1.76259967e-01 -8.21117577e-01 -5.42861261e-01 1.88900619e+02] [-7.44191787e-02 -5.38801246e-01 8.39139442e-01 1.24620117e+01] [-9.81526469e-01 1.88305979e-01 3.38621940e-02 -9.00710908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.24864 meters Centerline goodness : 0.995926 Centerline is valid? [True, True] Translation: X:188.22, Y:13.98, Z:-90.09 [[-2.34347663e-01 8.76969051e-01 4.19531235e-01 1.88218261e+02] [-4.33815709e-02 4.21685064e-01 -9.05704006e-01 1.39760482e+01] [-9.71184438e-01 -2.30449542e-01 -6.07766144e-02 -9.00947061e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.27864 meters Centerline goodness : 0.995336 Centerline is valid? [True, True] Translation: X:188.05, Y:13.90, Z:-90.13 [[-2.84073743e-01 7.48160148e-01 5.99631972e-01 1.88053209e+02] [-1.01945859e-01 5.98282835e-01 -7.94773359e-01 1.38986970e+01] [-9.53367269e-01 -2.86904239e-01 -9.36846157e-02 -9.01312533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.30864 meters Centerline goodness : 0.994844 Centerline is valid? [True, True] Translation: X:189.23, Y:13.49, Z:-90.46 [[-2.86303513e-01 4.44626798e-01 -8.48726876e-01 1.89230294e+02] [-1.14914598e-01 -8.95348261e-01 -4.30286100e-01 1.34942054e+01] [-9.51222862e-01 -2.56613143e-02 3.07435461e-01 -9.04594469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.33864 meters Centerline goodness : 0.994984 Centerline is valid? [True, True] Translation: X:188.89, Y:12.47, Z:-90.32 [[-2.42905037e-01 -7.81922945e-01 -5.74102475e-01 1.88889056e+02] [-7.44001236e-02 -5.75067310e-01 8.14716030e-01 1.24688531e+01] [-9.67192724e-01 2.40611922e-01 8.15115823e-02 -9.03208540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.36864 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:187.79, Y:12.71, Z:-90.14 [[-2.14669955e-01 -6.43603982e-01 7.34636458e-01 1.87786893e+02] [-1.28693608e-01 7.64253452e-01 6.31945105e-01 1.27126386e+01] [-9.68170835e-01 4.11166105e-02 -2.46889972e-01 -9.01418390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.39864 meters Centerline goodness : 0.995879 Centerline is valid? [True, True] Translation: X:189.15, Y:13.55, Z:-90.56 [[-1.79993440e-01 5.29492277e-01 -8.28999572e-01 1.89154047e+02] [-1.04444210e-01 -8.48287048e-01 -5.19134367e-01 1.35532107e+01] [-9.78107238e-01 -6.85657558e-03 2.07988507e-01 -9.05605336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.42864 meters Centerline goodness : 0.995882 Centerline is valid? [True, True] Translation: X:189.18, Y:13.51, Z:-90.57 [[-1.83509679e-01 4.76250397e-01 -8.59947531e-01 1.89175203e+02] [-1.01170099e-01 -8.79308253e-01 -4.65383291e-01 1.35061396e+01] [-9.77797939e-01 1.59863879e-03 2.09543875e-01 -9.05703205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.45864 meters Centerline goodness : 0.994892 Centerline is valid? [True, True] Translation: X:188.44, Y:12.34, Z:-90.38 [[-1.40526088e-01 -9.82918837e-01 -1.18840141e-01 1.88438060e+02] [-1.03322277e-01 -1.04816851e-01 9.89109668e-01 1.23415863e+01] [-9.84670973e-01 1.51274546e-01 -8.68279100e-02 -9.03778332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.48864 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:187.57, Y:13.08, Z:-90.41 [[-1.42244735e-01 -2.08509580e-01 9.67620892e-01 1.87574030e+02] [-1.66202694e-01 9.68713369e-01 1.84312431e-01 1.30844295e+01] [-9.75778202e-01 -1.34603727e-01 -1.72449230e-01 -9.04108164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.51864 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:188.92, Y:13.79, Z:-90.72 [[-1.09892448e-01 8.09985066e-01 -5.76062360e-01 1.88920744e+02] [-1.53489048e-01 -5.86449615e-01 -7.95309978e-01 1.37904633e+01] [-9.82020754e-01 1.02070251e-03 1.88770220e-01 -9.07175513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.54864 meters Centerline goodness : 0.994591 Centerline is valid? [True, True] Translation: X:188.93, Y:13.77, Z:-90.74 [[-1.14323000e-01 7.94399324e-01 -5.96539996e-01 1.88933245e+02] [-1.51418060e-01 -6.07394713e-01 -7.79836030e-01 1.37734337e+01] [-9.81836454e-01 1.17373427e-03 1.89725590e-01 -9.07388361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.57864 meters Centerline goodness : 0.994797 Centerline is valid? [True, True] Translation: X:188.95, Y:13.76, Z:-90.76 [[-1.14258736e-01 7.76392541e-01 -6.19806069e-01 1.88946032e+02] [-1.48978881e-01 -6.30227577e-01 -7.61983264e-01 1.37554522e+01] [-9.82217000e-01 5.27476954e-03 1.87675098e-01 -9.07578713e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.60864 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:188.95, Y:13.74, Z:-90.79 [[-1.17818820e-01 7.63473977e-01 -6.35000954e-01 1.88952945e+02] [-1.45370323e-01 -6.45826185e-01 -7.49517183e-01 1.37405909e+01] [-9.82337109e-01 4.00306303e-03 1.87076938e-01 -9.07850492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.63864 meters Centerline goodness : 0.994789 Centerline is valid? [True, True] Translation: X:188.94, Y:13.74, Z:-90.82 [[-1.26762814e-01 7.68342331e-01 -6.27360543e-01 1.88939720e+02] [-1.37419294e-01 -6.39966763e-01 -7.56014868e-01 1.37437617e+01] [-9.82368122e-01 -9.62312931e-03 1.86709049e-01 -9.08235660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.66864 meters Centerline goodness : 0.992925 Centerline is valid? [True, True] Translation: X:189.05, Y:12.67, Z:-90.78 [[-1.23475316e-01 -4.87212064e-01 -8.64510411e-01 1.89049032e+02] [-9.08614508e-02 -8.61966742e-01 4.98755985e-01 1.26723928e+01] [-9.88179155e-01 1.40134723e-01 6.21628205e-02 -9.07761453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.69864 meters Centerline goodness : 0.994501 Centerline is valid? [True, True] Translation: X:188.23, Y:12.31, Z:-90.71 [[-5.65416633e-02 -9.95688740e-01 7.35321240e-02 1.88225092e+02] [-1.11773315e-01 7.94997353e-02 9.90548595e-01 1.23075756e+01] [-9.92123866e-01 4.77883359e-02 -1.15786478e-01 -9.07118510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.72864 meters Centerline goodness : 0.995083 Centerline is valid? [True, True] Translation: X:187.51, Y:13.20, Z:-90.84 [[-6.38063212e-02 1.73611933e-02 9.97811276e-01 1.87509571e+02] [-1.51982509e-01 9.88016800e-01 -2.69094929e-02 1.32027004e+01] [-9.86321484e-01 -1.53366857e-01 -6.04031195e-02 -9.08448355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.75864 meters Centerline goodness : 0.992831 Centerline is valid? [True, True] Translation: X:188.58, Y:13.91, Z:-91.02 [[-4.50598187e-02 9.71063938e-01 -2.34530256e-01 1.88578092e+02] [-1.63114738e-01 -2.38769804e-01 -9.57278728e-01 1.39111307e+01] [-9.85577595e-01 -4.87946470e-03 1.69153764e-01 -9.10220147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.78864000000002 meters Centerline goodness : 0.995084 Centerline is valid? [True, True] Translation: X:189.15, Y:12.96, Z:-90.97 [[-2.28044853e-02 -1.11264495e-01 -9.93529148e-01 1.89146364e+02] [-9.79545771e-02 -9.88757186e-01 1.12978440e-01 1.29632201e+01] [-9.94929574e-01 9.98971427e-02 1.16492322e-02 -9.09651473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.81864000000002 meters Centerline goodness : 0.995238 Centerline is valid? [True, True] Translation: X:188.71, Y:13.84, Z:-91.04 [[-3.64964328e-02 9.13937538e-01 -4.04210572e-01 1.88709673e+02] [-7.28819192e-02 -4.05837175e-01 -9.11034803e-01 1.38388491e+01] [-9.96672582e-01 -3.78987823e-03 8.14211310e-02 -9.10372734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.84864000000002 meters Centerline goodness : 0.995138 Centerline is valid? [True, True] Translation: X:188.74, Y:13.82, Z:-91.05 [[-3.87422862e-02 8.96018442e-01 -4.42323395e-01 1.88738944e+02] [-7.07656242e-02 -4.44004541e-01 -8.93225724e-01 1.38201999e+01] [-9.96740318e-01 -3.30431548e-03 8.06090554e-02 -9.10514154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.87864000000002 meters Centerline goodness : 0.995335 Centerline is valid? [True, True] Translation: X:188.77, Y:13.80, Z:-91.07 [[-4.25582609e-02 8.76342449e-01 -4.79804863e-01 1.88768044e+02] [-6.90508050e-02 -4.81671586e-01 -8.73627192e-01 1.38009616e+01] [-9.96704962e-01 -4.04914193e-03 8.10112566e-02 -9.10658541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90864 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:188.78, Y:13.79, Z:-91.10 [[-5.90704176e-02 8.65316272e-01 -4.97733298e-01 1.88782612e+02] [-8.61785961e-02 -5.01162898e-01 -8.61051102e-01 1.37885268e+01] [-9.94526991e-01 -7.96869129e-03 1.04175643e-01 -9.11004020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93864 meters Centerline goodness : 0.995878 Centerline is valid? [True, True] Translation: X:189.08, Y:12.75, Z:-91.09 [[-1.33658073e-02 -3.50460708e-01 -9.36482059e-01 1.89076827e+02] [-2.59491197e-02 -9.36128716e-01 3.50698831e-01 1.27464573e+01] [-9.99573908e-01 2.89882581e-02 3.41796916e-03 -9.10913834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96864 meters Centerline goodness : 0.996075 Centerline is valid? [True, True] Translation: X:189.06, Y:13.46, Z:-91.13 [[-1.96109294e-02 5.04794637e-01 -8.63016677e-01 1.89060231e+02] [-1.77849947e-03 -8.63198926e-01 -5.04860824e-01 1.34572208e+01] [-9.99806105e-01 -8.36591526e-03 1.78259102e-02 -9.11274438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.99864 meters Centerline goodness : 0.994690 Centerline is valid? [True, True] Translation: X:189.11, Y:13.33, Z:-91.21 [[-5.23232998e-02 3.60926057e-01 -9.31125477e-01 1.89108164e+02] [ 7.77688804e-03 -9.32227142e-01 -3.61790100e-01 1.33327515e+01] [-9.98599916e-01 -2.61713104e-02 4.59703187e-02 -9.12075204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.02864 meters Centerline goodness : 0.994649 Centerline is valid? [True, True] Translation: X:189.14, Y:13.04, Z:-91.24 [[-5.11841916e-02 8.76127739e-03 -9.98650799e-01 1.89144675e+02] [ 2.14509172e-02 -9.99721181e-01 -9.87009918e-03 1.30366270e+01] [-9.98458831e-01 -2.19271686e-02 5.09819830e-02 -9.12415408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.05864 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:189.10, Y:12.82, Z:-91.27 [[-1.87124586e-02 -2.55534213e-01 -9.66618906e-01 1.89101768e+02] [ 3.43194489e-02 -9.66382626e-01 2.54807371e-01 1.28177597e+01] [-9.99235718e-01 -2.84057558e-02 2.68531883e-02 -9.12730317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.08864 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:188.88, Y:12.48, Z:-91.35 [[ 5.27910375e-03 -6.81202588e-01 -7.32075928e-01 1.88879281e+02] [ 5.46501377e-02 -7.30795509e-01 6.80405237e-01 1.24772659e+01] [-9.98491609e-01 -4.35999801e-02 3.33698699e-02 -9.13491642e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.11864 meters Centerline goodness : 0.996368 Centerline is valid? [True, True] Translation: X:188.39, Y:12.26, Z:-91.37 [[ 1.09491667e-03 -9.86335950e-01 -1.64742813e-01 1.88392582e+02] [ 4.74302997e-02 -1.64506279e-01 9.85235023e-01 1.22556233e+01] [-9.98873950e-01 -8.89255123e-03 4.66020891e-02 -9.13726450e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.14864 meters Centerline goodness : 0.996765 Centerline is valid? [True, True] Translation: X:188.85, Y:13.72, Z:-91.36 [[-5.53174812e-02 8.06412926e-01 -5.88759857e-01 1.88846753e+02] [ 1.19793035e-01 -5.80043213e-01 -8.05729173e-01 1.37165256e+01] [-9.91256579e-01 -1.15100239e-01 -6.45161225e-02 -9.13596379e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.17864 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:188.69, Y:12.34, Z:-91.51 [[-4.48741263e-02 -8.60088826e-01 -5.08166828e-01 1.88688460e+02] [ 9.33536272e-02 -5.10063682e-01 8.55055636e-01 1.23448788e+01] [-9.94621241e-01 -9.06934200e-03 1.03181074e-01 -9.15082272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.20864 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:188.70, Y:12.35, Z:-91.52 [[-3.82951582e-02 -8.51630330e-01 -5.22742061e-01 1.88701683e+02] [ 9.50101865e-02 -5.23858989e-01 8.46489707e-01 1.23495484e+01] [-9.94739436e-01 -1.72493635e-02 1.00974819e-01 -9.15174132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.23864 meters Centerline goodness : 0.995435 Centerline is valid? [True, True] Translation: X:187.63, Y:12.62, Z:-91.51 [[-1.95465260e-02 -6.32916718e-01 7.73973101e-01 1.87626431e+02] [ 3.83644270e-02 7.73076084e-01 6.33152067e-01 1.26174438e+01] [-9.99072622e-01 4.20689579e-02 9.17053547e-03 -9.15122021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.26864 meters Centerline goodness : 0.995828 Centerline is valid? [True, True] Translation: X:188.40, Y:12.28, Z:-91.55 [[ 2.50350735e-04 -9.83129475e-01 -1.82910831e-01 1.88400059e+02] [ 3.85397749e-02 -1.82765461e-01 9.82400871e-01 1.22755593e+01] [-9.99257036e-01 -7.29528705e-03 3.78438332e-02 -9.15507919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.29864 meters Centerline goodness : 0.995872 Centerline is valid? [True, True] Translation: X:188.33, Y:12.27, Z:-91.56 [[ 3.63449636e-03 -9.94513800e-01 -1.04542294e-01 1.88333426e+02] [ 3.60291551e-02 -1.04344877e-01 9.93888347e-01 1.22722808e+01] [-9.99344130e-01 -7.37885410e-03 3.54522509e-02 -9.15648826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.32864 meters Centerline goodness : 0.994016 Centerline is valid? [True, True] Translation: X:188.27, Y:12.27, Z:-91.61 [[ 1.13483508e-02 -9.99348125e-01 -3.42715732e-02 1.88272869e+02] [ 5.81967807e-02 -3.35555912e-02 9.97741027e-01 1.22746835e+01] [-9.98240627e-01 -1.33172104e-02 5.77780431e-02 -9.16113886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.35864 meters Centerline goodness : 0.994647 Centerline is valid? [True, True] Translation: X:187.47, Y:13.10, Z:-91.76 [[ 3.46548931e-03 -1.31312154e-01 9.91335013e-01 1.87471068e+02] [-4.43596986e-02 9.90344916e-01 1.31336078e-01 1.31033839e+01] [-9.99009613e-01 -4.44304662e-02 -2.39293787e-03 -9.17600757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.38864 meters Centerline goodness : 0.995242 Centerline is valid? [True, True] Translation: X:188.97, Y:13.65, Z:-91.92 [[-1.33609811e-02 7.03750780e-01 -7.10321282e-01 1.88967590e+02] [ 2.11018594e-02 -7.10028031e-01 -7.03857163e-01 1.36512259e+01] [-9.99688049e-01 -2.43933220e-02 -5.36377891e-03 -9.19192999e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.41864 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:188.53, Y:13.92, Z:-91.98 [[-8.97720990e-02 9.84329360e-01 -1.51778398e-01 1.88530771e+02] [ 3.79091583e-02 -1.48906210e-01 -9.88124403e-01 1.39160878e+01] [-9.95240607e-01 -9.44597930e-02 -2.39474746e-02 -9.19820959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.44864 meters Centerline goodness : 0.994309 Centerline is valid? [True, True] Translation: X:188.34, Y:12.28, Z:-92.07 [[-2.42270777e-02 -9.96056902e-01 -8.53445718e-02 1.88338548e+02] [ 5.31344008e-03 -8.54967204e-02 9.96324284e-01 1.22835009e+01] [-9.99692361e-01 2.36845526e-02 7.36382436e-03 -9.20701036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.47864 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:188.66, Y:13.87, Z:-92.12 [[-8.33762124e-02 9.42933300e-01 -3.22374314e-01 1.88662626e+02] [ 6.56407972e-02 -3.17601433e-01 -9.45949584e-01 1.38678473e+01] [-9.94353907e-01 -1.00030600e-01 -3.54144890e-02 -9.21189500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.50864 meters Centerline goodness : 0.994509 Centerline is valid? [True, True] Translation: X:189.06, Y:12.72, Z:-92.23 [[-6.03208936e-02 -4.04248504e-01 -9.12657952e-01 1.89063389e+02] [ 4.39029750e-02 -9.14512556e-01 4.02168266e-01 1.27183902e+01] [-9.97213076e-01 -1.58092500e-02 7.29119265e-02 -9.22301044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.53864000000002 meters Centerline goodness : 0.993725 Centerline is valid? [True, True] Translation: X:187.96, Y:12.37, Z:-92.24 [[-2.70273938e-02 -9.33981345e-01 3.56298145e-01 1.87962815e+02] [ 1.02796784e-02 3.56149824e-01 9.34372319e-01 1.23689739e+01] [-9.99581837e-01 2.89162790e-02 -2.47737167e-05 -9.22431970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.56864000000002 meters Centerline goodness : 0.992690 Centerline is valid? [True, True] Translation: X:188.76, Y:12.41, Z:-92.27 [[-3.33704469e-03 -8.02960525e-01 -5.96022869e-01 1.88759150e+02] [ 1.08692231e-02 -5.96020103e-01 8.02895944e-01 1.24146179e+01] [-9.99935360e-01 -3.79900590e-03 1.07165028e-02 -9.22650696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.59864000000002 meters Centerline goodness : 0.993868 Centerline is valid? [True, True] Translation: X:187.60, Y:12.70, Z:-92.45 [[ 4.02508038e-02 -6.06102897e-01 7.94367139e-01 1.87598263e+02] [-7.51046270e-02 7.90927142e-01 6.07283748e-01 1.27015594e+01] [-9.96362970e-01 -8.41043067e-02 -1.36856787e-02 -9.24516157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.62864000000002 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:187.73, Y:13.75, Z:-92.57 [[ 7.41227001e-02 6.72234844e-01 7.36618042e-01 1.87733248e+02] [-7.58379331e-02 7.40310726e-01 -6.67973530e-01 1.37476992e+01] [-9.94361319e-01 -6.35158809e-03 1.05854731e-01 -9.25662886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65864 meters Centerline goodness : 0.993870 Centerline is valid? [True, True] Translation: X:188.95, Y:13.66, Z:-92.66 [[ 2.52639293e-02 7.25936547e-01 -6.87297508e-01 1.88952248e+02] [-1.00324588e-02 -6.87298217e-01 -7.26306073e-01 1.36630823e+01] [-9.99630474e-01 2.52446292e-02 -1.00809251e-02 -9.26631106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68864 meters Centerline goodness : 0.993915 Centerline is valid? [True, True] Translation: X:188.37, Y:13.93, Z:-92.74 [[ 1.09366513e-02 9.99400211e-01 3.28573978e-02 1.88374718e+02] [ 4.44026593e-03 3.28105007e-02 -9.99451727e-01 1.39310752e+01] [-9.99930334e-01 1.10765506e-02 -4.07876570e-03 -9.27356147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71864 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:188.66, Y:13.87, Z:-92.82 [[-3.67431316e-02 9.46735677e-01 -3.19908580e-01 1.88663952e+02] [ 1.52279952e-02 -3.19557140e-01 -9.47444638e-01 1.38662259e+01] [-9.99208712e-01 -3.96836494e-02 -2.67535632e-03 -9.28242607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.74864 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:188.40, Y:13.93, Z:-92.89 [[-1.08853600e-01 9.94057782e-01 1.42688176e-04 1.88403314e+02] [ 2.42580132e-02 2.79985505e-03 -9.99701810e-01 1.39255720e+01] [-9.93761763e-01 -1.08817680e-01 -2.44186411e-02 -9.28944200e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.77864 meters Centerline goodness : 0.993625 Centerline is valid? [True, True] Translation: X:188.31, Y:13.93, Z:-92.97 [[-1.75924045e-01 9.78480067e-01 1.07830835e-01 1.88312712e+02] [ 4.03967047e-03 1.10255905e-01 -9.93895023e-01 1.39253759e+01] [-9.84395455e-01 -1.74414431e-01 -2.33494017e-02 -9.29717038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.80864 meters Centerline goodness : 0.995190 Centerline is valid? [True, True] Translation: X:189.15, Y:13.28, Z:-93.14 [[-1.70306929e-01 2.51960889e-01 -9.52633854e-01 1.89152962e+02] [-9.30603668e-03 -9.67125291e-01 -2.54130025e-01 1.32774366e+01] [-9.85347120e-01 -3.44148586e-02 1.67052895e-01 -9.31417213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.83864 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:188.51, Y:12.29, Z:-93.11 [[-1.48578129e-01 -9.55377214e-01 -2.55301623e-01 1.88509691e+02] [-4.18034426e-04 -2.58106403e-01 9.66116406e-01 1.22948464e+01] [-9.88900584e-01 1.43650493e-01 3.79495859e-02 -9.31070682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.86864 meters Centerline goodness : 0.995340 Centerline is valid? [True, True] Translation: X:188.34, Y:13.92, Z:-93.12 [[-1.83971213e-01 9.82629379e-01 2.43741112e-02 1.88335591e+02] [ 3.95990756e-02 3.21865449e-02 -9.98697121e-01 1.39236973e+01] [-9.82133650e-01 -1.82766328e-01 -4.48326127e-02 -9.31156975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.89864 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:188.24, Y:13.92, Z:-93.17 [[-2.53342337e-01 9.58556315e-01 1.30335920e-01 1.88238560e+02] [ 3.12168468e-02 1.42761845e-01 -9.89264658e-01 1.39207923e+01] [-9.66872881e-01 -2.46553944e-01 -6.60907251e-02 -9.31731935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.92864 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:188.13, Y:13.91, Z:-93.22 [[-3.19559225e-01 9.15817698e-01 2.43227969e-01 1.88130749e+02] [ 1.39726425e-02 2.61213390e-01 -9.65179947e-01 1.39055934e+01] [-9.47463280e-01 -3.05033618e-01 -9.62695416e-02 -9.32221811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.95864 meters Centerline goodness : 0.994067 Centerline is valid? [True, True] Translation: X:188.03, Y:13.88, Z:-93.27 [[-3.81512660e-01 8.60882313e-01 3.36644819e-01 1.88033687e+02] [-1.02679597e-02 3.60221578e-01 -9.32810261e-01 1.38805434e+01] [-9.24306583e-01 -3.59335579e-01 -1.28589588e-01 -9.32671656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.98864 meters Centerline goodness : 0.994698 Centerline is valid? [True, True] Translation: X:187.97, Y:13.86, Z:-93.32 [[-4.39203474e-01 8.09269027e-01 3.90107613e-01 1.87967338e+02] [-3.84049218e-02 4.16920996e-01 -9.08131018e-01 1.38627630e+01] [-8.97566360e-01 -4.13836350e-01 -1.52033236e-01 -9.33196095e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.01864 meters Centerline goodness : 0.995633 Centerline is valid? [True, True] Translation: X:188.14, Y:12.30, Z:-93.38 [[-3.95751330e-01 -9.09837970e-01 1.24802856e-01 1.88136511e+02] [-8.59503003e-02 1.71996643e-01 9.81340767e-01 1.23027061e+01] [-9.14326764e-01 3.77640071e-01 -1.46268747e-01 -9.33815047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.04864 meters Centerline goodness : 0.994108 Centerline is valid? [True, True] Translation: X:188.22, Y:12.29, Z:-93.50 [[-3.25176557e-01 -9.45507524e-01 -1.66050684e-02 1.88218066e+02] [-7.83266717e-02 9.43058038e-03 9.96883141e-01 1.22858088e+01] [-9.42403915e-01 3.25463648e-01 -7.71250611e-02 -9.34954501e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.07864 meters Centerline goodness : 0.994795 Centerline is valid? [True, True] Translation: X:187.41, Y:13.01, Z:-93.35 [[-3.22691844e-01 -1.68094645e-01 9.31458085e-01 1.87412435e+02] [-1.40593214e-01 9.81699021e-01 1.28454589e-01 1.30056431e+01] [-9.36004018e-01 -8.95054372e-02 -3.40419234e-01 -9.33527361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.10864 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:188.85, Y:13.46, Z:-93.94 [[-3.20807604e-01 4.51093055e-01 -8.32825034e-01 1.88851729e+02] [-1.31614442e-01 -8.92001709e-01 -4.32447209e-01 1.34596373e+01] [-9.37955287e-01 -2.91205508e-02 3.45531292e-01 -9.39433736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.13864 meters Centerline goodness : 0.993463 Centerline is valid? [True, True] Translation: X:188.86, Y:13.42, Z:-93.98 [[-3.08957374e-01 4.10337551e-01 -8.58002585e-01 1.88858329e+02] [-1.04368981e-01 -9.11318392e-01 -3.98253568e-01 1.34235122e+01] [-9.45331929e-01 -3.34945205e-02 3.24385049e-01 -9.39770101e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.16864 meters Centerline goodness : 0.993910 Centerline is valid? [True, True] Translation: X:188.54, Y:12.38, Z:-93.83 [[-2.44136068e-01 -8.18739713e-01 -5.19675729e-01 1.88542555e+02] [-8.52898242e-02 -5.15686010e-01 8.52521897e-01 1.23804548e+01] [-9.65983036e-01 2.52454396e-01 5.60673888e-02 -9.38284590e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.19864 meters Centerline goodness : 0.993083 Centerline is valid? [True, True] Translation: X:187.76, Y:13.82, Z:-93.85 [[-3.26388723e-01 8.40058435e-01 4.33326928e-01 1.87755807e+02] [-1.19699723e-01 4.18008947e-01 -9.00522346e-01 1.38224096e+01] [-9.37625926e-01 -3.45789452e-01 -3.58786443e-02 -9.38480875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.22864 meters Centerline goodness : 0.992633 Centerline is valid? [True, True] Translation: X:188.77, Y:13.46, Z:-94.18 [[-3.39208248e-01 4.72398243e-01 -8.13497182e-01 1.88768657e+02] [-8.73792595e-02 -8.76851842e-01 -4.72753332e-01 1.34562300e+01] [-9.36644345e-01 -8.92790481e-02 3.38713186e-01 -9.41763638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.25864 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:188.82, Y:13.29, Z:-94.23 [[-3.39390311e-01 2.88596728e-01 -8.95279926e-01 1.88817428e+02] [-6.53566017e-02 -9.56706415e-01 -2.83621845e-01 1.32880900e+01] [-9.38372384e-01 -3.77460525e-02 3.43558589e-01 -9.42300470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.28864000000002 meters Centerline goodness : 0.992735 Centerline is valid? [True, True] Translation: X:188.48, Y:12.37, Z:-94.12 [[-2.56381551e-01 -7.92643840e-01 -5.53158426e-01 1.88480629e+02] [-2.24589932e-02 -5.67247014e-01 8.23241410e-01 1.23733567e+01] [-9.66314697e-01 2.23487291e-01 1.27629686e-01 -9.41244756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.31864000000002 meters Centerline goodness : 0.994310 Centerline is valid? [True, True] Translation: X:187.40, Y:12.56, Z:-93.90 [[-2.17216563e-01 -6.48163815e-01 7.29863435e-01 1.87403211e+02] [-1.16434030e-01 7.59582682e-01 6.39904107e-01 1.25554580e+01] [-9.69154313e-01 5.40168296e-02 -2.40462264e-01 -9.38985591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.34864000000002 meters Centerline goodness : 0.993479 Centerline is valid? [True, True] Translation: X:187.98, Y:13.87, Z:-94.24 [[-3.02856651e-01 9.50341258e-01 7.16194255e-02 1.87975743e+02] [-8.60473784e-02 4.75748815e-02 -9.95154500e-01 1.38724236e+01] [-9.49143666e-01 -3.07551823e-01 6.73660046e-02 -9.42373693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.37864000000002 meters Centerline goodness : 0.991361 Centerline is valid? [True, True] Translation: X:187.91, Y:13.86, Z:-94.32 [[-3.63455098e-01 9.20530695e-01 1.43260711e-01 1.87908316e+02] [-1.12657709e-01 1.09219727e-01 -9.87612926e-01 1.38610260e+01] [-9.24774909e-01 -3.75092377e-01 6.40084127e-02 -9.43154772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40864 meters Centerline goodness : 0.993280 Centerline is valid? [True, True] Translation: X:188.71, Y:13.31, Z:-94.55 [[-3.45927733e-01 3.63450749e-01 -8.65007258e-01 1.88713854e+02] [-8.04220470e-02 -9.30018742e-01 -3.58604843e-01 1.33113976e+01] [-9.34808161e-01 -5.44857059e-02 3.50948728e-01 -9.45530072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43864 meters Centerline goodness : 0.991711 Centerline is valid? [True, True] Translation: X:187.98, Y:13.86, Z:-94.42 [[-4.22964368e-01 9.04950256e-01 4.65422024e-02 1.87975296e+02] [-1.05169181e-01 1.99037089e-03 -9.94452353e-01 1.38562393e+01] [-9.00022548e-01 -4.25512716e-01 9.43310209e-02 -9.44248443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46864 meters Centerline goodness : 0.992541 Centerline is valid? [True, True] Translation: X:188.68, Y:13.27, Z:-94.70 [[-4.30465458e-01 3.27766836e-01 -8.40992503e-01 1.88677534e+02] [-8.62100395e-02 -9.42407598e-01 -3.23165203e-01 1.32696176e+01] [-8.98480561e-01 -6.66094602e-02 4.33930711e-01 -9.47042880e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.49864 meters Centerline goodness : 0.992395 Centerline is valid? [True, True] Translation: X:188.69, Y:13.02, Z:-94.75 [[-4.27175014e-01 5.71297732e-02 -9.02362287e-01 1.88690378e+02] [-2.80308565e-02 -9.98358900e-01 -4.99377430e-02 1.30233317e+01] [-9.03734352e-01 3.96183175e-03 4.28075374e-01 -9.47548047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.52864 meters Centerline goodness : 0.993571 Centerline is valid? [True, True] Translation: X:187.99, Y:12.20, Z:-94.47 [[-3.53881140e-01 -9.24117714e-01 -1.44133928e-01 1.87987908e+02] [-3.15165446e-02 -1.42236244e-01 9.89330864e-01 1.22026138e+01] [-9.34759245e-01 3.54648138e-01 2.12097271e-02 -9.44672757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.55864 meters Centerline goodness : 0.990724 Centerline is valid? [True, True] Translation: X:187.85, Y:13.84, Z:-94.54 [[-4.13081138e-01 9.04689161e-01 1.04410223e-01 1.87847567e+02] [-3.12508142e-02 1.00499958e-01 -9.94446150e-01 1.38369562e+01] [-9.10157876e-01 -4.14049852e-01 -1.32423641e-02 -9.45398908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.58864 meters Centerline goodness : 0.990682 Centerline is valid? [True, True] Translation: X:188.63, Y:13.12, Z:-94.89 [[-4.24783892e-01 1.75352719e-01 -8.88149801e-01 1.88625726e+02] [-2.32795990e-02 -9.82852822e-01 -1.82916346e-01 1.31236118e+01] [-9.04995417e-01 -5.70241464e-02 4.21582189e-01 -9.48917831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.61864 meters Centerline goodness : 0.993223 Centerline is valid? [True, True] Translation: X:188.02, Y:12.22, Z:-94.70 [[-3.62143383e-01 -8.90353525e-01 -2.75903553e-01 1.88021654e+02] [-1.04770478e-02 -2.92088195e-01 9.56333999e-01 1.22166766e+01] [-9.32063518e-01 3.49220685e-01 9.64495308e-02 -9.47006304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.64864 meters Centerline goodness : 0.994504 Centerline is valid? [True, True] Translation: X:187.65, Y:13.82, Z:-94.63 [[-4.12836337e-01 8.75679974e-01 2.50500982e-01 1.87651127e+02] [ 2.04106971e-02 2.83858047e-01 -9.58649056e-01 1.38158744e+01] [-9.10576500e-01 -3.90652265e-01 -1.35060155e-01 -9.46317823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.67864 meters Centerline goodness : 0.993428 Centerline is valid? [True, True] Translation: X:188.54, Y:13.18, Z:-95.07 [[-4.01606198e-01 2.40146215e-01 -8.83765951e-01 1.88540438e+02] [-9.57179276e-03 -9.66055523e-01 -2.58157135e-01 1.31822782e+01] [-9.15762438e-01 -9.52182811e-02 3.90272516e-01 -9.50706097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.70864 meters Centerline goodness : 0.992738 Centerline is valid? [True, True] Translation: X:187.98, Y:12.23, Z:-94.92 [[-3.72427605e-01 -8.72188473e-01 -3.17151299e-01 1.87975148e+02] [ 2.52739894e-03 -3.42687219e-01 9.39446157e-01 1.22290464e+01] [-9.28057806e-01 3.49074115e-01 1.29830548e-01 -9.49162963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.73864 meters Centerline goodness : 0.993967 Centerline is valid? [True, True] Translation: X:187.84, Y:13.82, Z:-94.91 [[-3.99873369e-01 9.13686561e-01 -7.26509230e-02 1.87837945e+02] [ 4.36614142e-02 -6.01856045e-02 -9.97231856e-01 1.38245226e+01] [-9.15529885e-01 -4.01938503e-01 -1.58262270e-02 -9.49143965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.76864 meters Centerline goodness : 0.993667 Centerline is valid? [True, True] Translation: X:187.83, Y:13.83, Z:-95.00 [[-4.59845875e-01 8.83737006e-01 -8.68946275e-02 1.87825643e+02] [ 5.03091015e-02 -7.17699851e-02 -9.96151627e-01 1.38259024e+01] [-8.86572482e-01 -4.62447807e-01 -1.14568831e-02 -9.49953180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.79864 meters Centerline goodness : 0.994943 Centerline is valid? [True, True] Translation: X:188.42, Y:12.98, Z:-95.39 [[-4.69918492e-01 1.10267447e-03 -8.82709122e-01 1.88423132e+02] [ 1.82966705e-02 -9.99772207e-01 -1.09893133e-02 1.29814367e+01] [-8.82520165e-01 -2.13147195e-02 4.69791273e-01 -9.53929016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.82864 meters Centerline goodness : 0.992984 Centerline is valid? [True, True] Translation: X:187.64, Y:13.83, Z:-95.01 [[-5.19934185e-01 8.49477652e-01 8.97561290e-02 1.87635686e+02] [ 5.28527097e-02 1.36866190e-01 -9.89178567e-01 1.38333854e+01] [-8.52569665e-01 -5.09563897e-01 -1.16058607e-01 -9.50080525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.85864 meters Centerline goodness : 0.994116 Centerline is valid? [True, True] Translation: X:187.58, Y:13.84, Z:-95.07 [[-5.77130250e-01 8.08748292e-01 1.13344059e-01 1.87581146e+02] [ 4.23486380e-02 1.68242625e-01 -9.84835525e-01 1.38351834e+01] [-8.15553351e-01 -5.63578406e-01 -1.31347297e-01 -9.50681964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.88864 meters Centerline goodness : 0.993656 Centerline is valid? [True, True] Translation: X:187.68, Y:12.21, Z:-95.28 [[-5.58685107e-01 -8.16093933e-01 -1.47856836e-01 1.87683506e+02] [ 1.82180057e-02 -1.90306339e-01 9.81555705e-01 1.22141109e+01] [-8.29179749e-01 5.45686897e-01 1.21188921e-01 -9.52760809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.91864 meters Centerline goodness : 0.993575 Centerline is valid? [True, True] Translation: X:186.94, Y:12.66, Z:-94.85 [[-5.32111638e-01 -4.26686283e-01 7.31297491e-01 1.86944261e+02] [-1.57910095e-02 8.68580638e-01 4.95296194e-01 1.26636169e+01] [-8.46526933e-01 2.52004944e-01 -4.68919673e-01 -9.48471258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.94864 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:187.10, Y:13.71, Z:-95.11 [[-5.50406009e-01 6.47735233e-01 5.26775373e-01 1.87099304e+02] [-4.87631579e-02 6.04928769e-01 -7.94785090e-01 1.37102998e+01] [-8.33471883e-01 -4.63141720e-01 -3.01370814e-01 -9.51064029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.97864 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:188.17, Y:13.09, Z:-95.81 [[-5.48384768e-01 1.35569294e-01 -8.25163689e-01 1.88170770e+02] [-8.45833990e-02 -9.90702711e-01 -1.06554155e-01 1.30949440e+01] [-8.31937375e-01 1.13624742e-02 5.54753187e-01 -9.58142707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.00864 meters Centerline goodness : 0.993137 Centerline is valid? [True, True] Translation: X:188.14, Y:13.08, Z:-95.87 [[-5.52532421e-01 1.08017802e-01 -8.26462388e-01 1.88135813e+02] [-5.65391140e-02 -9.94140174e-01 -9.21338269e-02 1.30781228e+01] [-8.31571556e-01 -4.17947528e-03 5.55401908e-01 -9.58668688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.03864000000002 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:187.57, Y:12.23, Z:-95.54 [[-5.23581722e-01 -8.22807957e-01 -2.21018658e-01 1.87565598e+02] [-3.41749511e-02 -2.38927043e-01 9.70435954e-01 1.22285890e+01] [-8.51289759e-01 5.15655829e-01 9.69784109e-02 -9.55360894e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.06864000000002 meters Centerline goodness : 0.993408 Centerline is valid? [True, True] Translation: X:187.50, Y:12.22, Z:-95.59 [[-4.66440597e-01 -8.60782607e-01 -2.03682283e-01 1.87501719e+02] [-1.88205809e-02 -2.20556030e-01 9.75192711e-01 1.22212336e+01] [-8.84352280e-01 4.58702889e-01 8.66758579e-02 -9.55903007e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.09864000000002 meters Centerline goodness : 0.993819 Centerline is valid? [True, True] Translation: X:187.21, Y:13.83, Z:-95.54 [[-4.91663547e-01 8.53340784e-01 1.73425669e-01 1.87209901e+02] [-2.95525638e-03 1.97523770e-01 -9.80293643e-01 1.38291809e+01] [-8.70780238e-01 -4.82487167e-01 -9.45933967e-02 -9.55397008e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.12864000000002 meters Centerline goodness : 0.993466 Centerline is valid? [True, True] Translation: X:187.46, Y:12.22, Z:-95.70 [[-4.66098636e-01 -8.57957140e-01 -2.16012978e-01 1.87464833e+02] [-6.32389061e-03 -2.40919199e-01 9.70524574e-01 1.22225941e+01] [-8.84710161e-01 4.53726223e-01 1.06866483e-01 -9.57039192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15864 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:186.69, Y:12.50, Z:-95.44 [[-4.25662390e-01 -6.10920182e-01 6.67523828e-01 1.86693360e+02] [-4.56260277e-02 7.51243524e-01 6.58446227e-01 1.25020402e+01] [-9.03731042e-01 2.49819334e-01 -3.47649975e-01 -9.54373260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18864 meters Centerline goodness : 0.993136 Centerline is valid? [True, True] Translation: X:186.56, Y:13.43, Z:-95.53 [[-4.38276893e-01 3.93542227e-01 8.08107592e-01 1.86561014e+02] [-8.97401202e-02 8.75405463e-01 -4.74986301e-01 1.34301718e+01] [-8.94348968e-01 -2.80695193e-01 -3.48353460e-01 -9.55287875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21864 meters Centerline goodness : 0.993409 Centerline is valid? [True, True] Translation: X:187.15, Y:12.22, Z:-95.75 [[-3.94555299e-01 -9.18669814e-01 1.92844452e-02 1.87146735e+02] [-1.32804806e-01 7.77793311e-02 9.88085654e-01 1.22202621e+01] [-9.09224395e-01 3.87293363e-01 -1.52692014e-01 -9.57457552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.24864 meters Centerline goodness : 0.993569 Centerline is valid? [True, True] Translation: X:187.15, Y:13.82, Z:-96.04 [[-4.15289246e-01 9.09599953e-01 1.27580427e-02 1.87149336e+02] [-1.07354621e-01 -3.50778444e-02 -9.93601797e-01 1.38239417e+01] [-9.03332623e-01 -4.14001776e-01 1.12217210e-01 -9.60447259e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.27864 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:187.08, Y:12.20, Z:-95.88 [[-3.92819768e-01 -9.19063192e-01 3.18665906e-02 1.87079845e+02] [-1.31643765e-01 9.04939199e-02 9.87157925e-01 1.22029860e+01] [-9.10144246e-01 3.83580109e-01 -1.56536740e-01 -9.58796932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.30864 meters Centerline goodness : 0.994848 Centerline is valid? [True, True] Translation: X:186.40, Y:12.69, Z:-95.75 [[-3.60581607e-01 -4.29362006e-01 8.28027278e-01 1.86403914e+02] [-1.75707292e-01 9.03122618e-01 3.91786273e-01 1.26915529e+01] [-9.16028303e-01 -4.21950631e-03 -4.01091440e-01 -9.57465901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.33864 meters Centerline goodness : 0.994301 Centerline is valid? [True, True] Translation: X:186.44, Y:13.52, Z:-96.02 [[-3.81017002e-01 5.37502441e-01 7.52274664e-01 1.86444059e+02] [-2.16576683e-01 7.39124895e-01 -6.37800070e-01 1.35214780e+01] [-8.98844027e-01 -4.05937822e-01 -1.65208656e-01 -9.60218425e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.36864 meters Centerline goodness : 0.995239 Centerline is valid? [True, True] Translation: X:187.66, Y:13.40, Z:-96.53 [[-3.67198095e-01 5.45807307e-01 -7.53166610e-01 1.87661347e+02] [-2.40196983e-01 -8.37910199e-01 -4.90114179e-01 1.33972789e+01] [-8.98593884e-01 9.39354120e-04 4.38780298e-01 -9.65329097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.39864 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:187.61, Y:12.42, Z:-96.34 [[-3.55003911e-01 -5.94632188e-01 -7.21377005e-01 1.87607679e+02] [-1.92649263e-01 -7.08544065e-01 6.78860493e-01 1.24242570e+01] [-9.14799696e-01 3.79970879e-01 1.36980461e-01 -9.63432647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.42864 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:186.98, Y:12.16, Z:-96.14 [[-2.90143508e-01 -9.56950327e-01 7.92569788e-03 1.86981707e+02] [-1.83592309e-01 6.37887617e-02 9.80930608e-01 1.21604803e+01] [-9.39207436e-01 2.83155551e-01 -1.94196615e-01 -9.61351086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.45864 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:186.72, Y:12.20, Z:-96.13 [[-2.25885014e-01 -9.27494694e-01 2.97875062e-01 1.86717226e+02] [-2.09810174e-01 3.44922085e-01 9.14881657e-01 1.22023651e+01] [-9.51291570e-01 1.44160837e-01 -2.72510553e-01 -9.61303018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.48864 meters Centerline goodness : 0.995924 Centerline is valid? [True, True] Translation: X:186.14, Y:13.07, Z:-96.27 [[-2.22043075e-01 1.03552569e-01 9.69522428e-01 1.86143451e+02] [-2.74474514e-01 9.47495514e-01 -1.64060939e-01 1.30668061e+01] [-9.35607083e-01 -3.02537792e-01 -1.81962277e-01 -9.62728749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.51864 meters Centerline goodness : 0.995191 Centerline is valid? [True, True] Translation: X:186.35, Y:13.51, Z:-96.52 [[-2.79918439e-01 6.68821414e-01 6.88711538e-01 1.86351156e+02] [-3.05338498e-01 6.18114177e-01 -7.24364042e-01 1.35111457e+01] [-9.10172549e-01 -4.13052999e-01 3.11953700e-02 -9.65237129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.54864 meters Centerline goodness : 0.994702 Centerline is valid? [True, True] Translation: X:187.34, Y:13.53, Z:-96.85 [[-2.60722743e-01 7.98652606e-01 -5.42381477e-01 1.87343991e+02] [-3.12422706e-01 -6.01380162e-01 -7.35346145e-01 1.35349966e+01] [-9.13463575e-01 -2.22691753e-02 4.06310694e-01 -9.68538797e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.57864 meters Centerline goodness : 0.995528 Centerline is valid? [True, True] Translation: X:187.38, Y:13.50, Z:-96.87 [[-2.65893178e-01 7.56389075e-01 -5.97642355e-01 1.87382475e+02] [-3.10011010e-01 -6.54119437e-01 -6.89942705e-01 1.34989867e+01] [-9.12794605e-01 1.82465183e-03 4.08414837e-01 -9.68684905e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.60864 meters Centerline goodness : 0.995733 Centerline is valid? [True, True] Translation: X:187.38, Y:13.49, Z:-96.90 [[-2.74939083e-01 7.46324465e-01 -6.06142140e-01 1.87379894e+02] [-3.02060286e-01 -6.65566749e-01 -6.82481125e-01 1.34864677e+01] [-9.12780414e-01 -4.54926655e-03 4.08425293e-01 -9.68951168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.63864 meters Centerline goodness : 0.995781 Centerline is valid? [True, True] Translation: X:187.39, Y:13.48, Z:-96.90 [[-2.79632044e-01 7.30425790e-01 -6.23124454e-01 1.87387438e+02] [-2.97533904e-01 -6.82991123e-01 -6.67080732e-01 1.34758487e+01] [-9.12841441e-01 -1.13649681e-03 4.08312640e-01 -9.69040687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.66864 meters Centerline goodness : 0.996021 Centerline is valid? [True, True] Translation: X:187.39, Y:13.47, Z:-96.92 [[-2.84999081e-01 7.22769162e-01 -6.29587375e-01 1.87388002e+02] [-2.93266226e-01 -6.91079965e-01 -6.60608358e-01 1.34686767e+01] [-9.12562570e-01 -3.63606154e-03 4.08920939e-01 -9.69152657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.69864 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:187.36, Y:13.47, Z:-96.94 [[-2.94545910e-01 7.33458001e-01 -6.12602700e-01 1.87363867e+02] [-2.82962055e-01 -6.79232817e-01 -6.77181848e-01 1.34740760e+01] [-9.12784302e-01 -2.61178247e-02 4.07606032e-01 -9.69420773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.72864 meters Centerline goodness : 0.995535 Centerline is valid? [True, True] Translation: X:187.52, Y:12.38, Z:-96.73 [[-2.48234110e-01 -5.82524040e-01 -7.73980341e-01 1.87516235e+02] [-2.50296955e-01 -7.33286499e-01 6.32172718e-01 1.23774168e+01] [-9.35805140e-01 3.50651755e-01 3.62227275e-02 -9.67292939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.75864 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:187.37, Y:13.42, Z:-96.99 [[-2.69019127e-01 6.92892438e-01 -6.68975917e-01 1.87372002e+02] [-2.34525527e-01 -7.20801575e-01 -6.52259815e-01 1.34204523e+01] [-9.34144789e-01 -1.85784365e-02 3.56410375e-01 -9.69923065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.78864000000002 meters Centerline goodness : 0.996761 Centerline is valid? [True, True] Translation: X:187.49, Y:12.35, Z:-96.83 [[-2.18703290e-01 -5.86057653e-01 -7.80195679e-01 1.87490050e+02] [-1.82995710e-01 -7.60732587e-01 6.22734695e-01 1.23545313e+01] [-9.58478712e-01 2.78966589e-01 5.91286832e-02 -9.68340010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.81864000000002 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:186.34, Y:12.19, Z:-96.61 [[-1.69588839e-01 -7.76112938e-01 6.07361781e-01 1.86338354e+02] [-2.53701659e-01 6.29898926e-01 7.34072756e-01 1.21924371e+01] [-9.52299897e-01 -2.95981450e-02 -3.03724967e-01 -9.66101439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.84864000000002 meters Centerline goodness : 0.996760 Centerline is valid? [True, True] Translation: X:187.22, Y:13.47, Z:-97.11 [[-1.82271481e-01 8.01842958e-01 -5.69056216e-01 1.87223647e+02] [-2.05819770e-01 -5.97044492e-01 -7.75355465e-01 1.34692724e+01] [-9.61465199e-01 -2.42021696e-02 2.73859317e-01 -9.71127445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.87864000000002 meters Centerline goodness : 0.997152 Centerline is valid? [True, True] Translation: X:187.24, Y:13.45, Z:-97.14 [[-1.87931402e-01 7.83008779e-01 -5.92941009e-01 1.87244285e+02] [-1.99901340e-01 -6.21554530e-01 -7.57436083e-01 1.34462473e+01] [-9.61624273e-01 -2.38163226e-02 2.73334118e-01 -9.71359047e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90864 meters Centerline goodness : 0.996809 Centerline is valid? [True, True] Translation: X:187.23, Y:13.44, Z:-97.16 [[-1.99157965e-01 7.89502136e-01 -5.80536375e-01 1.87233665e+02] [-2.11277502e-01 -6.13064359e-01 -7.61258109e-01 1.34439568e+01] [-9.56921064e-01 -2.89563405e-02 2.88900689e-01 -9.71608332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93864 meters Centerline goodness : 0.997301 Centerline is valid? [True, True] Translation: X:187.33, Y:12.19, Z:-96.96 [[-1.05565740e-01 -7.41813124e-01 -6.62245546e-01 1.87328209e+02] [-1.76067841e-01 -6.41501587e-01 7.46643040e-01 1.21884589e+01] [-9.78701175e-01 1.95420069e-01 -6.28888452e-02 -9.69622798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96864 meters Centerline goodness : 0.997494 Centerline is valid? [True, True] Translation: X:187.22, Y:13.43, Z:-97.19 [[-1.46276085e-01 7.96960051e-01 -5.86052885e-01 1.87215006e+02] [-1.47919927e-01 -6.03385728e-01 -7.83610463e-01 1.34298877e+01] [-9.78122182e-01 -2.79345702e-02 2.06147175e-01 -9.71940290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.99864 meters Centerline goodness : 0.998376 Centerline is valid? [True, True] Translation: X:187.23, Y:13.41, Z:-97.21 [[-1.49925327e-01 7.82712464e-01 -6.04055953e-01 1.87230723e+02] [-1.46114250e-01 -6.21793379e-01 -7.69430711e-01 1.34148699e+01] [-9.77841000e-01 -2.70959686e-02 2.07588021e-01 -9.72071576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.02864 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:187.24, Y:13.40, Z:-97.22 [[-1.50517412e-01 7.71743887e-01 -6.17863966e-01 1.87244734e+02] [-1.41197182e-01 -6.35358674e-01 -7.59198730e-01 1.34004244e+01] [-9.78472209e-01 -2.70319767e-02 2.04600605e-01 -9.72227862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.05864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:186.33, Y:13.46, Z:-97.17 [[-2.30393972e-01 8.37224657e-01 4.95957146e-01 1.86333793e+02] [-1.94915769e-01 4.59634236e-01 -8.66454968e-01 1.34569794e+01] [-9.53376348e-01 -2.96295870e-01 5.72913304e-02 -9.71748628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.08864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:186.62, Y:11.96, Z:-97.00 [[-1.19538685e-01 -9.80717198e-01 1.54610094e-01 1.86621486e+02] [-2.37417258e-01 1.79445418e-01 9.54689681e-01 1.19634492e+01] [-9.64024662e-01 7.74152444e-02 -2.54289857e-01 -9.69981514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.11864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:187.14, Y:13.42, Z:-97.40 [[-1.44298301e-01 8.41558876e-01 -5.20534973e-01 1.87141743e+02] [-1.87316135e-01 -5.39760024e-01 -8.20714190e-01 1.34224847e+01] [-9.71643281e-01 -2.09230641e-02 2.35524010e-01 -9.74048403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.14864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:187.14, Y:13.42, Z:-97.43 [[-1.53035186e-01 8.44895586e-01 -5.12573586e-01 1.87136158e+02] [-2.06151559e-01 -5.34566192e-01 -8.19597780e-01 1.34202903e+01] [-9.66479056e-01 -1.97594549e-02 2.55983979e-01 -9.74265964e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.17864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:187.28, Y:12.14, Z:-97.23 [[-7.34577305e-02 -7.21128342e-01 -6.88896129e-01 1.87282516e+02] [-1.69686854e-01 -6.71652682e-01 7.21171995e-01 1.21388781e+01] [-9.82756497e-01 1.69872275e-01 -7.30279181e-02 -9.72284078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.20864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:187.10, Y:13.42, Z:-97.44 [[-9.52177239e-02 8.65163845e-01 -4.92366842e-01 1.87097224e+02] [-1.38185065e-01 -5.01313082e-01 -8.54160455e-01 1.34228844e+01] [-9.85818682e-01 -1.32934702e-02 1.67286613e-01 -9.74388530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.23864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:187.12, Y:13.40, Z:-97.46 [[-9.73805039e-02 8.44776639e-01 -5.26183873e-01 1.87124004e+02] [-1.34756167e-01 -5.35019731e-01 -8.34023179e-01 1.34038859e+01] [-9.86082052e-01 -1.03110757e-02 1.65939353e-01 -9.74567084e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.26864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:187.12, Y:13.40, Z:-97.47 [[-1.07367345e-01 8.44533204e-01 -5.24629318e-01 1.87124343e+02] [-1.53222326e-01 -5.35431036e-01 -8.30563980e-01 1.34021404e+01] [-9.82341678e-01 -8.79052553e-03 1.86889150e-01 -9.74714727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.29864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:187.32, Y:12.16, Z:-97.36 [[-4.69126828e-02 -6.59458976e-01 -7.50275322e-01 1.87316298e+02] [-1.16574523e-01 -7.42355482e-01 6.59786874e-01 1.21647871e+01] [-9.92073375e-01 1.18415360e-01 -4.20502281e-02 -9.73604608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.32864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:187.10, Y:13.39, Z:-97.51 [[-6.19617331e-02 8.51102503e-01 -5.21330292e-01 1.87103535e+02] [-7.85590213e-02 -5.24872259e-01 -8.47547988e-01 1.33938016e+01] [-9.94982022e-01 -1.15603447e-02 9.93837744e-02 -9.75095114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.35864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:187.17, Y:13.34, Z:-97.54 [[-6.05269333e-02 7.90043937e-01 -6.10054971e-01 1.87174544e+02] [-7.78234892e-02 -6.13050215e-01 -7.86201589e-01 1.33422502e+01] [-9.95128130e-01 -1.09764729e-04 9.85900252e-02 -9.75394992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.38864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:187.20, Y:13.32, Z:-97.56 [[-6.19738047e-02 7.61460677e-01 -6.45241726e-01 1.87201474e+02] [-7.52643441e-02 -6.48209121e-01 -7.57733603e-01 1.33182359e+01] [-9.95235915e-01 1.60406094e-03 9.74828239e-02 -9.75577886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.41864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:187.22, Y:13.30, Z:-97.58 [[-6.21371943e-02 7.33122696e-01 -6.77251859e-01 1.87222341e+02] [-7.41609160e-02 -6.80078717e-01 -7.29378569e-01 1.32967486e+01] [-9.95308559e-01 4.90408037e-03 9.66272341e-02 -9.75785491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.44864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:187.24, Y:13.28, Z:-97.60 [[-6.55724269e-02 7.09296708e-01 -7.01853572e-01 1.87239571e+02] [-7.12952456e-02 -7.04900004e-01 -7.05714511e-01 1.32773151e+01] [-9.95297566e-01 3.76340959e-03 9.67914870e-02 -9.76023778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.47864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:187.27, Y:13.24, Z:-97.63 [[-7.07036618e-02 6.71046666e-01 -7.38036153e-01 1.87266597e+02] [-6.38348173e-02 -7.41415105e-01 -6.68003562e-01 1.32448257e+01] [-9.95452715e-01 -1.17894891e-04 9.52569041e-02 -9.76344459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.50864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:187.31, Y:13.19, Z:-97.68 [[-7.92994982e-02 6.04555135e-01 -7.92606257e-01 1.87307886e+02] [-5.11156775e-02 -7.96530231e-01 -6.02434045e-01 1.31902460e+01] [-9.95539440e-01 -7.25811157e-03 9.40666929e-02 -9.76843012e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.53864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:187.37, Y:13.09, Z:-97.74 [[-9.00252979e-02 4.78857262e-01 -8.73264661e-01 1.87370878e+02] [-3.55453960e-02 -8.77811257e-01 -4.77686009e-01 1.30872827e+01] [-9.95304964e-01 -1.19632870e-02 9.60463909e-02 -9.77416168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.56864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:186.81, Y:11.86, Z:-97.69 [[-5.58447448e-02 -9.87004277e-01 -1.50678203e-01 1.86809653e+02] [-5.90180499e-02 -1.47386637e-01 9.87316590e-01 1.18605196e+01] [-9.96693651e-01 6.40291767e-02 -5.00202985e-02 -9.76923885e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.59864000000002 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:186.45, Y:13.46, Z:-97.79 [[-1.18241043e-01 9.69175985e-01 2.16141077e-01 1.86446441e+02] [-1.70566444e-02 2.15653576e-01 -9.76320954e-01 1.34572658e+01] [-9.92838419e-01 -1.19127850e-01 -8.96821378e-03 -9.77901066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.62864000000002 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:186.57, Y:13.48, Z:-97.87 [[-1.83200724e-01 9.80609276e-01 6.95912577e-02 1.86566071e+02] [-2.24537386e-02 6.65970007e-02 -9.97527277e-01 1.34780040e+01] [-9.82819070e-01 -1.84310303e-01 9.81772565e-03 -9.78730321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:187.42, Y:12.94, Z:-98.04 [[-1.78813058e-01 2.91954608e-01 -9.39568197e-01 1.87415744e+02] [-3.66276108e-02 -9.56272559e-01 -2.90174451e-01 1.29386336e+01] [-9.83201052e-01 -1.74728425e-02 1.81687620e-01 -9.80403584e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:186.93, Y:11.89, Z:-97.97 [[-1.14356445e-01 -9.44099006e-01 -3.09191962e-01 1.86926110e+02] [-4.07411689e-02 -3.06515035e-01 9.50993528e-01 1.18870580e+01] [-9.92604030e-01 1.21349081e-01 -3.41172738e-03 -9.79672981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:186.84, Y:11.86, Z:-98.03 [[-4.89238073e-02 -9.73532029e-01 -2.23252883e-01 1.86839562e+02] [-2.69195343e-02 -2.22154125e-01 9.74639874e-01 1.18606692e+01] [-9.98439683e-01 5.36929570e-02 -1.53384032e-02 -9.80298452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.74864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:186.77, Y:11.85, Z:-98.10 [[ 1.96468988e-02 -9.87416550e-01 -1.56915760e-01 1.86772889e+02] [-1.59536820e-02 -1.57235687e-01 9.87432235e-01 1.18456149e+01] [-9.99679688e-01 -1.68965970e-02 -1.88421232e-02 -9.81019044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.77864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:186.01, Y:12.08, Z:-98.22 [[ 7.70455699e-03 -6.60700057e-01 7.50610468e-01 1.86008351e+02] [-2.42100150e-02 7.50289473e-01 6.60666013e-01 1.20809956e+01] [-9.99677205e-01 -2.32624297e-02 -1.02149103e-02 -9.82220178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.80864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:186.77, Y:11.86, Z:-98.36 [[ 1.01517535e-01 -9.72457154e-01 -2.09812473e-01 1.86771949e+02] [-1.15669244e-02 -2.12041584e-01 9.77192188e-01 1.18551950e+01] [-9.94766503e-01 -9.67752575e-02 -3.27742774e-02 -9.83633093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.83864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:185.75, Y:12.51, Z:-98.54 [[ 6.69974590e-02 -1.18527363e-01 9.90687945e-01 1.85750979e+02] [-1.18085075e-02 9.92755153e-01 1.19573263e-01 1.25053801e+01] [-9.97683266e-01 -1.97096508e-02 6.51124414e-02 -9.85355860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.86864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:186.54, Y:11.83, Z:-98.63 [[ 1.67205106e-01 -9.84844092e-01 4.60930156e-02 1.86537743e+02] [-2.81198908e-02 4.19684420e-02 9.98723146e-01 1.18335385e+01] [-9.85521042e-01 -1.68287740e-01 -2.06763705e-02 -9.86264626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.89864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:186.49, Y:11.84, Z:-98.80 [[ 2.35358602e-01 -9.68507565e-01 8.12368421e-02 1.86487780e+02] [-3.43139701e-02 7.52523112e-02 9.96573952e-01 1.18377127e+01] [-9.71302672e-01 -2.37339811e-01 -1.55220608e-02 -9.87978819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.92864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:186.61, Y:13.47, Z:-98.95 [[ 1.47143373e-01 9.84522230e-01 -9.52092740e-02 1.86612498e+02] [ 2.48271122e-02 -9.99028843e-02 -9.94687402e-01 1.34745958e+01] [-9.88803541e-01 1.43997888e-01 -3.91428913e-02 -9.89484255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.95864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:186.41, Y:11.86, Z:-99.14 [[ 2.38244263e-01 -9.38849069e-01 2.48600276e-01 1.86407879e+02] [-1.09261245e-02 2.53363721e-01 9.67309384e-01 1.18635126e+01] [-9.71143806e-01 -2.33172148e-01 5.01044711e-02 -9.91373939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.98864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:185.78, Y:12.58, Z:-99.36 [[ 1.97431386e-01 -4.21294543e-02 9.79411026e-01 1.85781806e+02] [-4.96316632e-02 9.97365324e-01 5.29065975e-02 1.25769521e+01] [-9.79059521e-01 -5.90552210e-02 1.94820263e-01 -9.93598858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.01864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:186.70, Y:11.86, Z:-99.29 [[ 3.04539121e-01 -9.45559244e-01 -1.14776475e-01 1.86700666e+02] [-7.25693006e-03 -1.22800084e-01 9.92404895e-01 1.18580268e+01] [-9.52472184e-01 -3.01393190e-01 -4.42592871e-02 -9.92922090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.04864 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:185.81, Y:12.51, Z:-99.64 [[ 3.04742503e-01 -1.15433445e-01 9.45413733e-01 1.85813586e+02] [-5.37120778e-02 9.88965726e-01 1.38064499e-01 1.25069089e+01] [-9.50919039e-01 -9.28542570e-02 2.95179720e-01 -9.96407681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.07864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:186.66, Y:13.48, Z:-99.59 [[ 1.88117770e-01 9.82049260e-01 -1.38186477e-02 1.86655539e+02] [-7.11273430e-03 -1.27072553e-02 -9.99893962e-01 1.34787600e+01] [-9.82120723e-01 1.88196110e-01 4.59459494e-03 -9.95925606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.10864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:186.77, Y:13.47, Z:-99.74 [[ 1.20071654e-01 9.91715555e-01 -4.56405038e-02 1.86769559e+02] [-4.09786748e-03 -4.54776177e-02 -9.98956953e-01 1.34720387e+01] [-9.92756771e-01 1.20133442e-01 -1.39665385e-03 -9.97380787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.13864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:186.89, Y:13.46, Z:-99.89 [[ 5.34786865e-02 9.93969666e-01 -9.57305255e-02 1.86888309e+02] [ 4.49829776e-03 -9.61065385e-02 -9.95360889e-01 1.34611940e+01] [-9.98558859e-01 5.27999685e-02 -9.61082296e-03 -9.98903783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.16864 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:187.22, Y:13.37, Z:-100.03 [[-1.18545032e-02 9.02908571e-01 -4.29669155e-01 1.87223155e+02] [ 9.96848833e-03 -4.29571283e-01 -9.02977930e-01 1.33652223e+01] [-9.99880043e-01 -1.49875068e-02 -3.90827939e-03 -1.00026225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.19864 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:187.51, Y:12.07, Z:-100.20 [[ 1.06545017e-01 -6.45623741e-01 -7.56186580e-01 1.87514744e+02] [ 7.09967627e-02 -7.53634536e-01 6.53448121e-01 1.20657405e+01] [-9.91769943e-01 -1.23308440e-01 -3.44588086e-02 -1.00198865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.22864 meters Centerline goodness : 0.850795 Centerline is valid? [True, False] Translation: X:187.53, Y:12.16, Z:-100.74 [[ 1.08308053e-01 5.67207188e-01 -8.16422300e-01 1.87534447e+02] [-1.90931225e-01 8.17832856e-01 5.42857888e-01 1.21637842e+01] [ 9.75609877e-01 9.70846287e-02 1.96875447e-01 -1.00743022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.25864 meters Centerline goodness : 0.996265 Centerline is valid? [False, True] Translation: X:187.57, Y:12.27, Z:-100.81 [[ 1.19179651e-01 4.61396381e-01 -8.79152769e-01 1.87569643e+02] [-1.87954911e-01 8.79937600e-01 4.36328743e-01 1.22685626e+01] [ 9.74920080e-01 1.13239573e-01 1.91592372e-01 -1.00807627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.28864000000002 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:187.32, Y:11.98, Z:-100.80 [[ 1.36181626e-01 8.10663662e-01 -5.69454995e-01 1.87315545e+02] [-2.02313554e-01 5.85453300e-01 7.85056469e-01 1.19804382e+01] [ 9.69806058e-01 8.29819738e-03 2.43736229e-01 -1.00795536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.31864000000002 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:187.35, Y:12.00, Z:-100.77 [[ 1.15811701e-01 7.85266644e-01 -6.08230177e-01 1.87345367e+02] [-1.72615778e-01 6.18944414e-01 7.66232084e-01 1.19988469e+01] [ 9.78157167e-01 1.62514842e-02 2.07230418e-01 -1.00768668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.34864000000002 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:187.37, Y:12.01, Z:-100.74 [[ 1.18010866e-01 7.66604397e-01 -6.31182331e-01 1.87370516e+02] [-1.76725468e-01 6.41690570e-01 7.46325212e-01 1.20116007e+01] [ 9.77159938e-01 2.34715077e-02 2.11204981e-01 -1.00741211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.37864000000002 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:187.36, Y:12.00, Z:-100.71 [[ 1.18152679e-01 7.83268754e-01 -6.10352360e-01 1.87359376e+02] [-1.77773777e-01 6.21412419e-01 7.63048550e-01 1.19964776e+01] [ 9.76952624e-01 1.83484140e-02 2.12666186e-01 -1.00714303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40864 meters Centerline goodness : 0.995734 Centerline is valid? [True, True] Translation: X:187.37, Y:12.00, Z:-100.69 [[ 1.18444706e-01 7.73258693e-01 -6.22930048e-01 1.87374831e+02] [-1.78939769e-01 6.33697539e-01 7.52600816e-01 1.20011943e+01] [ 9.76704362e-01 2.23253766e-02 2.13424851e-01 -1.00686997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43864 meters Centerline goodness : 0.996964 Centerline is valid? [True, True] Translation: X:187.39, Y:12.01, Z:-100.66 [[ 1.44175239e-01 7.62211900e-01 -6.31067762e-01 1.87392626e+02] [-2.06839516e-01 6.46856139e-01 7.34026260e-01 1.20050064e+01] [ 9.67693606e-01 2.47013388e-02 2.50916179e-01 -1.00661207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46864 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:187.41, Y:12.01, Z:-100.63 [[ 1.45445580e-01 7.53482615e-01 -6.41178238e-01 1.87405921e+02] [-2.05732356e-01 6.56936996e-01 7.25333014e-01 1.20082585e+01] [ 9.67739521e-01 2.64146287e-02 2.50564336e-01 -1.00633759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.49864 meters Centerline goodness : 0.995778 Centerline is valid? [True, True] Translation: X:187.39, Y:11.99, Z:-100.61 [[ 1.25036462e-01 7.74823192e-01 -6.19689361e-01 1.87387993e+02] [-1.75893216e-01 6.32008699e-01 7.54736100e-01 1.19878156e+01] [ 9.76436101e-01 1.46296225e-02 2.15310275e-01 -1.00606486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.52864 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:187.43, Y:12.02, Z:-100.58 [[ 1.51570510e-01 7.35910866e-01 -6.59895126e-01 1.87432352e+02] [-2.04558640e-01 6.76509191e-01 7.07453940e-01 1.20158144e+01] [ 9.67048160e-01 2.77580950e-02 2.53075769e-01 -1.00579526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.55864 meters Centerline goodness : 0.996621 Centerline is valid? [True, True] Translation: X:187.43, Y:12.00, Z:-100.55 [[ 1.50874170e-01 7.48522245e-01 -6.45717766e-01 1.87428711e+02] [-2.01709267e-01 6.62762850e-01 7.21151008e-01 1.20033515e+01] [ 9.67755318e-01 2.14441980e-02 2.50977668e-01 -1.00552269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.58864 meters Centerline goodness : 0.995635 Centerline is valid? [True, True] Translation: X:187.41, Y:11.98, Z:-100.53 [[ 1.26778867e-01 7.74071795e-01 -6.20274113e-01 1.87407433e+02] [-1.71524764e-01 6.33007628e-01 7.54904364e-01 1.19803560e+01] [ 9.76988421e-01 1.06864511e-02 2.13024472e-01 -1.00525078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.61864 meters Centerline goodness : 0.996366 Centerline is valid? [True, True] Translation: X:187.46, Y:12.02, Z:-100.50 [[ 1.54620590e-01 7.22004333e-01 -6.74390255e-01 1.87464642e+02] [-2.01066195e-01 6.91310036e-01 6.94019322e-01 1.20210053e+01] [ 9.67297709e-01 2.82874051e-02 2.52061430e-01 -1.00497592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.64864 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:187.41, Y:11.97, Z:-100.47 [[ 1.27619201e-01 7.78880685e-01 -6.14050665e-01 1.87413816e+02] [-1.66307339e-01 6.27152108e-01 7.60935018e-01 1.19719387e+01] [ 9.77780757e-01 5.01121331e-03 2.09570225e-01 -1.00471329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.67864 meters Centerline goodness : 0.995830 Centerline is valid? [True, True] Translation: X:187.50, Y:12.04, Z:-100.44 [[ 1.58524547e-01 6.93754677e-01 -7.02548515e-01 1.87499227e+02] [-2.01145221e-01 7.19315726e-01 6.64925174e-01 1.20398836e+01] [ 9.66649144e-01 3.59073140e-02 2.53574638e-01 -1.00441615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.70864 meters Centerline goodness : 0.996914 Centerline is valid? [True, True] Translation: X:187.47, Y:12.00, Z:-100.42 [[ 1.56993008e-01 7.42626229e-01 -6.51044913e-01 1.87465982e+02] [-2.00974701e-01 6.69448633e-01 7.15155716e-01 1.19969249e+01] [ 9.66934520e-01 1.85691099e-02 2.54347838e-01 -1.00415405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.73864 meters Centerline goodness : 0.996472 Centerline is valid? [True, True] Translation: X:187.47, Y:12.00, Z:-100.39 [[ 1.58153741e-01 7.40983601e-01 -6.52633662e-01 1.87472944e+02] [-2.00524587e-01 6.71281392e-01 7.13562319e-01 1.19957607e+01] [ 9.66838810e-01 1.80165452e-02 2.54751094e-01 -1.00388154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.76864 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:187.42, Y:11.95, Z:-100.36 [[ 1.31013806e-01 7.95296877e-01 -5.91893791e-01 1.87422902e+02] [-1.64116942e-01 6.06201039e-01 7.78194018e-01 1.19521455e+01] [ 9.77701903e-01 -4.81436167e-03 2.09942397e-01 -1.00361599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.79864 meters Centerline goodness : 0.996128 Centerline is valid? [True, True] Translation: X:187.48, Y:12.00, Z:-100.34 [[ 1.33718097e-01 7.41493744e-01 -6.57500188e-01 1.87479750e+02] [-1.66514641e-01 6.70836731e-01 7.22669326e-01 1.19969533e+01] [ 9.76930061e-01 1.28494408e-02 2.13172576e-01 -1.00338648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.82864 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:187.58, Y:12.10, Z:-100.30 [[ 1.44665530e-01 6.17142790e-01 -7.73438207e-01 1.87581570e+02] [-1.81828844e-01 7.84930278e-01 5.92302904e-01 1.20988068e+01] [ 9.72630534e-01 5.49475614e-02 2.25766715e-01 -1.00303575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.85864 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:187.47, Y:11.97, Z:-100.28 [[ 1.47434667e-01 7.70631587e-01 -6.19991916e-01 1.87468531e+02] [-1.75656223e-01 6.37278583e-01 7.50347186e-01 1.19653242e+01] [ 9.73348812e-01 -1.72174919e-03 2.29323189e-01 -1.00283307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.88864 meters Centerline goodness : 0.996278 Centerline is valid? [True, True] Translation: X:187.50, Y:11.99, Z:-100.26 [[ 1.47505511e-01 7.42485895e-01 -6.53419329e-01 1.87500204e+02] [-1.73888950e-01 6.69823621e-01 7.21871838e-01 1.19874355e+01] [ 9.73655358e-01 7.14232668e-03 2.27912769e-01 -1.00256960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.91864 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:187.55, Y:12.03, Z:-100.23 [[ 1.78643495e-01 6.92167383e-01 -6.99278782e-01 1.87550164e+02] [-2.01534735e-01 7.21384132e-01 6.62562212e-01 1.20290802e+01] [ 9.63052570e-01 2.25665346e-02 2.68366353e-01 -1.00227539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.94864 meters Centerline goodness : 0.995295 Centerline is valid? [True, True] Translation: X:187.49, Y:11.96, Z:-100.20 [[ 1.54775765e-01 7.67373004e-01 -6.22240416e-01 1.87489884e+02] [-1.72659156e-01 6.41147280e-01 7.47742591e-01 1.19603678e+01] [ 9.72745228e-01 -8.29692680e-03 2.31728036e-01 -1.00202983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.97864 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:187.54, Y:12.00, Z:-100.18 [[ 1.55210150e-01 7.19662640e-01 -6.76753644e-01 1.87538089e+02] [-1.71273167e-01 6.94284319e-01 6.99024167e-01 1.19990210e+01] [ 9.72921020e-01 7.41409405e-03 2.31018873e-01 -1.00176330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.00864 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:187.57, Y:12.02, Z:-100.15 [[ 1.87678207e-01 6.85634078e-01 -7.03336904e-01 1.87573049e+02] [-1.99068620e-01 7.27751640e-01 6.56314890e-01 1.20240783e+01] [ 9.61846441e-01 1.68363046e-02 2.73071353e-01 -1.00147250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.03864000000002 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:187.54, Y:11.98, Z:-100.12 [[ 1.87994075e-01 7.30420225e-01 -6.56615963e-01 1.87542477e+02] [-1.98293654e-01 6.82995221e-01 7.02991575e-01 1.19793065e+01] [ 9.61944829e-01 -1.95547205e-03 2.73236750e-01 -1.00121474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.06864000000002 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:187.55, Y:11.98, Z:-100.09 [[ 1.91063684e-01 7.28465765e-01 -6.57899914e-01 1.87548256e+02] [-1.96875903e-01 6.85067544e-01 7.01371755e-01 1.19764511e+01] [ 9.61631191e-01 -4.48203180e-03 2.74308885e-01 -1.00093909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.09864000000002 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:187.52, Y:11.94, Z:-100.07 [[ 1.71003533e-01 7.60649876e-01 -6.26234428e-01 1.87520343e+02] [-1.61009679e-01 6.48626274e-01 7.43881604e-01 1.19437132e+01] [ 9.72025553e-01 -2.63765781e-02 2.33389376e-01 -1.00069641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.12864000000002 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:187.59, Y:12.01, Z:-100.04 [[ 1.72225332e-01 6.81755518e-01 -7.11018880e-01 1.87590538e+02] [-1.62191172e-01 7.31578966e-01 6.62182935e-01 1.20089305e+01] [ 9.71613328e-01 1.27630914e-03 2.36571157e-01 -1.00039695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:187.60, Y:12.01, Z:-100.01 [[ 2.04454099e-01 6.72407051e-01 -7.11384059e-01 1.87601971e+02] [-1.85794507e-01 7.40181569e-01 6.46228788e-01 1.20081993e+01] [ 9.61082162e-01 4.71256427e-05 2.76262692e-01 -1.00010289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:187.48, Y:11.89, Z:-99.99 [[ 1.77036560e-01 8.04967658e-01 -5.66290672e-01 1.87482660e+02] [-1.48122857e-01 5.90617423e-01 7.93240618e-01 1.18865117e+01] [ 9.72994181e-01 -5.65519982e-02 2.23794986e-01 -9.99890107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:187.71, Y:12.15, Z:-99.94 [[ 2.09353074e-01 5.00313664e-01 -8.40153277e-01 1.87707768e+02] [-1.78874541e-01 8.64289623e-01 4.70114185e-01 1.21470843e+01] [ 9.61340309e-01 5.18621820e-02 2.70435066e-01 -9.99418831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.24864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:187.57, Y:11.95, Z:-99.93 [[ 2.11065308e-01 7.23511220e-01 -6.57254098e-01 1.87571858e+02] [-1.88487267e-01 6.89907882e-01 6.98927510e-01 1.19456567e+01] [ 9.59126679e-01 -2.36353218e-02 2.81988272e-01 -9.99272440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.27864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:187.58, Y:11.94, Z:-99.90 [[ 2.11560049e-01 7.22196444e-01 -6.58539780e-01 1.87576847e+02] [-1.88511868e-01 6.91291001e-01 6.97552885e-01 1.19402056e+01] [ 9.59012837e-01 -2.34317583e-02 2.82392159e-01 -9.99002151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.30864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:187.50, Y:11.86, Z:-99.88 [[ 1.89490151e-01 8.01778429e-01 -5.66784645e-01 1.87496083e+02] [-1.56415719e-01 5.94520504e-01 7.88720162e-01 1.18641860e+01] [ 9.69343905e-01 -6.08006745e-02 2.38066529e-01 -9.98782279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.72, Y:12.12, Z:-99.83 [[ 2.14869549e-01 5.00891425e-01 -8.38414490e-01 1.87720643e+02] [-1.79752994e-01 8.64082877e-01 4.70159168e-01 1.21194412e+01] [ 9.59958300e-01 4.96846261e-02 2.75701831e-01 -9.98317788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.58, Y:11.92, Z:-99.82 [[ 2.15725139e-01 7.21991808e-01 -6.57411966e-01 1.87584374e+02] [-1.90197809e-01 6.91438485e-01 6.96948789e-01 1.19221028e+01] [ 9.57751251e-01 -2.53110586e-02 2.86481923e-01 -9.98156821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.59, Y:11.92, Z:-99.79 [[ 2.16601851e-01 7.20594993e-01 -6.58655065e-01 1.87589330e+02] [-1.89952593e-01 6.92885306e-01 6.95577433e-01 1.19174378e+01] [ 9.57602032e-01 -2.55501219e-02 2.86959127e-01 -9.97881676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.42864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:187.52, Y:11.85, Z:-99.76 [[ 1.89008472e-01 7.92942456e-01 -5.79239207e-01 1.87518613e+02] [-1.55962276e-01 6.06624464e-01 7.79539947e-01 1.18503774e+01] [ 9.69510993e-01 -5.70001890e-02 2.38326273e-01 -9.97636366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.45864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.70, Y:12.04, Z:-99.73 [[ 2.18941640e-01 5.63786357e-01 -7.96372716e-01 1.87703701e+02] [-1.84184947e-01 8.25381665e-01 5.33686249e-01 1.20409275e+01] [ 9.58196464e-01 2.98337242e-02 2.84551375e-01 -9.97255846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.48864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:187.60, Y:11.90, Z:-99.70 [[ 2.18309703e-01 7.19837093e-01 -6.58919899e-01 1.87600019e+02] [-1.91502538e-01 6.93678132e-01 6.94361164e-01 1.18999043e+01] [ 9.56905247e-01 -2.54009468e-02 2.89287297e-01 -9.97047349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.61, Y:11.89, Z:-99.68 [[ 2.19586048e-01 7.18274928e-01 -6.60199284e-01 1.87605446e+02] [-1.90509140e-01 6.95257935e-01 6.93053152e-01 1.18938447e+01] [ 9.56811494e-01 -2.64108052e-02 2.89506881e-01 -9.96775733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.57, Y:11.86, Z:-99.65 [[ 1.93880071e-01 7.54855394e-01 -6.26581082e-01 1.87572022e+02] [-1.60486106e-01 6.54500672e-01 7.38832241e-01 1.18587679e+01] [ 9.67809241e-01 -4.26872893e-02 2.48038440e-01 -9.96526125e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.57864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:187.61, Y:11.88, Z:-99.63 [[ 1.94679922e-01 7.17411524e-01 -6.68894934e-01 1.87605148e+02] [-1.53591781e-01 6.95826782e-01 7.01594366e-01 1.18813127e+01] [ 9.68766893e-01 -3.38495725e-02 2.45652017e-01 -9.96252290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.60864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:187.68, Y:11.95, Z:-99.59 [[ 2.28208739e-01 6.27879206e-01 -7.44102462e-01 1.87678199e+02] [-1.80752881e-01 7.78306032e-01 6.01305343e-01 1.19473478e+01] [ 9.56686556e-01 -2.72447049e-03 2.91107214e-01 -9.95936581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.63864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:187.56, Y:11.82, Z:-99.57 [[ 2.03623804e-01 7.67810723e-01 -6.07457027e-01 1.87560949e+02] [-1.56645298e-01 6.38013021e-01 7.53924158e-01 1.18243947e+01] [ 9.66436546e-01 -5.83616175e-02 2.50188578e-01 -9.95703321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.69, Y:11.94, Z:-99.54 [[ 2.31204244e-01 6.17912177e-01 -7.51484623e-01 1.87687922e+02] [-1.78700879e-01 7.86243247e-01 5.91512935e-01 1.19393253e+01] [ 9.56352756e-01 -2.46933789e-03 2.92204225e-01 -9.95377483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.69864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:187.62, Y:11.85, Z:-99.51 [[ 2.29774800e-01 7.12613448e-01 -6.62861686e-01 1.87617501e+02] [-1.82515963e-01 7.00552288e-01 6.89865506e-01 1.18485007e+01] [ 9.55976707e-01 -3.75308698e-02 2.91032591e-01 -9.95136658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.56, Y:11.80, Z:-99.49 [[ 1.99850930e-01 7.70156223e-01 -6.05738391e-01 1.87561635e+02] [-1.50990012e-01 6.35032395e-01 7.57585556e-01 1.17967468e+01] [ 9.68122731e-01 -5.99437304e-02 2.43197712e-01 -9.94877963e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.69, Y:11.91, Z:-99.46 [[ 2.27532026e-01 6.19601671e-01 -7.51214315e-01 1.87693535e+02] [-1.78365650e-01 7.84915746e-01 5.93374222e-01 1.19120391e+01] [ 9.57295603e-01 -1.02080936e-03 2.89109124e-01 -9.94581763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.78864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.62, Y:11.83, Z:-99.43 [[ 2.28173400e-01 7.11494645e-01 -6.64614377e-01 1.87624759e+02] [-1.84788428e-01 7.01861021e-01 6.87927572e-01 1.18274319e+01] [ 9.55923709e-01 -3.41537270e-02 2.91621992e-01 -9.94326229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.55, Y:11.76, Z:-99.40 [[ 2.02244190e-01 7.85836605e-01 -5.84429737e-01 1.87549485e+02] [-1.61985449e-01 6.15384355e-01 7.71403144e-01 1.17608990e+01] [ 9.65845744e-01 -6.13426903e-02 2.51752005e-01 -9.94046115e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.72, Y:11.91, Z:-99.37 [[ 2.25187095e-01 5.91094636e-01 -7.74530763e-01 1.87718807e+02] [-1.86227328e-01 8.06404754e-01 5.61276006e-01 1.19135554e+01] [ 9.56352526e-01 1.78466814e-02 2.91669919e-01 -9.93738712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.87864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.63, Y:11.81, Z:-99.35 [[ 2.26123557e-01 7.11324713e-01 -6.65496273e-01 1.87632971e+02] [-1.91994306e-01 7.02335939e-01 6.85465108e-01 1.18085279e+01] [ 9.54990222e-01 -2.72283134e-02 2.95384996e-01 -9.93486552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:187.58, Y:11.76, Z:-99.32 [[ 1.90027280e-01 7.68692340e-01 -6.10738667e-01 1.87577824e+02] [-1.62578947e-01 6.38123009e-01 7.52573659e-01 1.17585743e+01] [ 9.68224002e-01 -4.37162761e-02 2.46233970e-01 -9.93212262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:187.71, Y:11.87, Z:-99.29 [[ 2.20180717e-01 6.29242928e-01 -7.45368224e-01 1.87705883e+02] [-1.97170060e-01 7.77057065e-01 5.97751022e-01 1.18652922e+01] [ 9.55324248e-01 1.53510485e-02 2.95160848e-01 -9.92926705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.64, Y:11.79, Z:-99.27 [[ 2.18009845e-01 7.13043607e-01 -6.66363656e-01 1.87644489e+02] [-2.02134990e-01 7.00971561e-01 6.83944673e-01 1.17901193e+01] [ 9.54784349e-01 -1.44112619e-02 2.96949764e-01 -9.92661836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.65, Y:11.78, Z:-99.24 [[ 2.15636725e-01 7.12768006e-01 -6.67429826e-01 1.87648873e+02] [-2.05834458e-01 7.01331598e-01 6.82470634e-01 1.17838090e+01] [ 9.54532859e-01 -9.78567641e-03 2.97945065e-01 -9.92392596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.65, Y:11.78, Z:-99.21 [[ 2.13483507e-01 7.12047306e-01 -6.68889696e-01 1.87654461e+02] [-2.06899547e-01 7.02095932e-01 6.81361783e-01 1.17785118e+01] [ 9.54786557e-01 -7.06652799e-03 2.97208167e-01 -9.92127105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.66, Y:11.78, Z:-99.19 [[ 2.08839904e-01 7.11801644e-01 -6.70614878e-01 1.87662230e+02] [-2.08770250e-01 7.02377365e-01 6.80500566e-01 1.17755283e+01] [ 9.55406132e-01 -2.11123706e-03 2.95287429e-01 -9.91857117e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.67, Y:11.77, Z:-99.16 [[ 2.08425940e-01 7.10761347e-01 -6.71845916e-01 1.87669668e+02] [-2.09173280e-01 7.03432447e-01 6.79285898e-01 1.17716307e+01] [ 9.55408377e-01 -1.04858813e-03 2.95285851e-01 -9.91591182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.11864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:187.64, Y:11.74, Z:-99.13 [[ 1.78128780e-01 7.50826993e-01 -6.36025915e-01 1.87636396e+02] [-1.79946872e-01 6.60318802e-01 7.29107813e-01 1.17362364e+01] [ 9.67413697e-01 -1.54242113e-02 2.52730751e-01 -9.91316977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.71, Y:11.79, Z:-99.11 [[ 2.10444578e-01 6.76583620e-01 -7.05654083e-01 1.87708767e+02] [-2.13258227e-01 7.36206372e-01 6.42278060e-01 1.17938150e+01] [ 9.54061847e-01 1.53226035e-02 2.99217662e-01 -9.91054647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.69, Y:11.76, Z:-99.08 [[ 2.10957081e-01 7.08601097e-01 -6.73336169e-01 1.87688305e+02] [-2.15574310e-01 7.05603927e-01 6.75019122e-01 1.17640540e+01] [ 9.53427935e-01 2.75391686e-03 3.01608337e-01 -9.90781298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.70, Y:11.76, Z:-99.05 [[ 2.09377207e-01 7.07641434e-01 -6.74836859e-01 1.87697225e+02] [-2.15975718e-01 7.06556420e-01 6.73893548e-01 1.17626522e+01] [ 9.53685312e-01 4.65042630e-03 3.00770176e-01 -9.90510583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.23864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.70, Y:11.76, Z:-99.02 [[ 2.08576978e-01 7.06545818e-01 -6.76231211e-01 1.87704879e+02] [-2.16252346e-01 7.07642417e-01 6.72664204e-01 1.17583381e+01] [ 9.53797970e-01 5.93431929e-03 3.00390108e-01 -9.90242542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.68, Y:11.73, Z:-99.00 [[ 1.78810163e-01 7.43997288e-01 -6.43812830e-01 1.87676514e+02] [-1.86203410e-01 6.68122957e-01 7.20374905e-01 1.17264747e+01] [ 9.66103108e-01 -8.93021000e-03 2.58002007e-01 -9.89974802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.29864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.71, Y:11.75, Z:-98.97 [[ 1.77449774e-01 7.11024111e-01 -6.80408915e-01 1.87713541e+02] [-1.86943342e-01 7.03146414e-01 6.86030106e-01 1.17506120e+01] [ 9.66211035e-01 5.46202928e-03 2.57694396e-01 -9.89706292e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.75, Y:11.78, Z:-98.94 [[ 2.10899041e-01 6.73246891e-01 -7.08703195e-01 1.87752704e+02] [-2.18415092e-01 7.39135881e-01 6.37160103e-01 1.17775399e+01] [ 9.52794019e-01 2.04150188e-02 3.02930330e-01 -9.89438950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.74, Y:11.75, Z:-98.92 [[ 2.10969745e-01 7.02790656e-01 -6.79394628e-01 1.87735985e+02] [-2.19496192e-01 7.11348730e-01 6.67685859e-01 1.17485348e+01] [ 9.52529888e-01 8.26301805e-03 3.04332933e-01 -9.89168190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.74, Y:11.74, Z:-98.89 [[ 2.11272919e-01 7.01344188e-01 -6.80793716e-01 1.87742885e+02] [-2.18456267e-01 7.12778900e-01 6.66500637e-01 1.17444085e+01] [ 9.52701744e-01 7.91011850e-03 3.03803912e-01 -9.88897093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.75, Y:11.74, Z:-98.86 [[ 2.10975590e-01 6.99926034e-01 -6.82343644e-01 1.87751503e+02] [-2.17114928e-01 7.14173242e-01 6.65445481e-01 1.17411847e+01] [ 9.53074188e-01 7.75423833e-03 3.02637511e-01 -9.88625669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.76, Y:11.74, Z:-98.84 [[ 2.11082010e-01 6.98564326e-01 -6.83704810e-01 1.87758131e+02] [-2.16532655e-01 7.15504278e-01 6.64204214e-01 1.17389129e+01] [ 9.53183085e-01 7.84285716e-03 3.02292070e-01 -9.88355256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.72, Y:11.70, Z:-98.81 [[ 1.80601801e-01 7.44983958e-01 -6.42169676e-01 1.87721740e+02] [-1.86581075e-01 6.67000456e-01 7.21316778e-01 1.16976034e+01] [ 9.65696894e-01 -1.04544007e-02 2.59461391e-01 -9.88086733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.77, Y:11.74, Z:-98.78 [[ 1.80809239e-01 6.95736085e-01 -6.95168554e-01 1.87771901e+02] [-1.88932296e-01 7.18224261e-01 6.69670440e-01 1.17363244e+01] [ 9.65200811e-01 1.02571888e-02 2.61308598e-01 -9.87826258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.53864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.81, Y:11.76, Z:-98.76 [[ 2.12740320e-01 6.58075475e-01 -7.22272958e-01 1.87809273e+02] [-2.19004835e-01 7.52501347e-01 6.21110783e-01 1.17627458e+01] [ 9.52249147e-01 2.60459632e-02 3.04209088e-01 -9.87554992e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.56864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.79, Y:11.73, Z:-98.73 [[ 2.11653130e-01 6.94756188e-01 -6.87398568e-01 1.87787985e+02] [-2.19191057e-01 7.19159445e-01 6.59367101e-01 1.17279202e+01] [ 9.52448546e-01 1.11145075e-02 3.04496691e-01 -9.87286226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.59864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.80, Y:11.72, Z:-98.70 [[ 2.12319645e-01 6.93391004e-01 -6.88570464e-01 1.87796743e+02] [-2.18951034e-01 7.20476714e-01 6.58007408e-01 1.17236816e+01] [ 9.52355403e-01 1.10553157e-02 3.04790037e-01 -9.87022145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.62864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.80, Y:11.72, Z:-98.68 [[ 2.13799966e-01 6.91948169e-01 -6.89563127e-01 1.87803527e+02] [-2.19024116e-01 7.21868170e-01 6.56456230e-01 1.17209814e+01] [ 9.52007359e-01 1.06806352e-02 3.05888726e-01 -9.86752337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.72, Y:11.64, Z:-98.65 [[ 1.86291424e-01 7.82859905e-01 -5.93654676e-01 1.87723249e+02] [-1.85469020e-01 6.21389616e-01 7.61233334e-01 1.16407449e+01] [ 9.64829906e-01 -3.17066910e-02 2.60955816e-01 -9.86516381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.94, Y:11.89, Z:-98.61 [[ 2.26537653e-01 4.90794856e-01 -8.41309159e-01 1.87936708e+02] [-2.21363937e-01 8.67104702e-01 4.46236982e-01 1.18872215e+01] [ 9.48513943e-01 8.51460287e-02 3.05076146e-01 -9.86103380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.82, Y:11.71, Z:-98.59 [[ 2.22584768e-01 6.92477071e-01 -6.86244510e-01 1.87822908e+02] [-2.23940592e-01 7.21397554e-01 6.55313803e-01 1.17115902e+01] [ 9.48844894e-01 7.81513132e-03 3.15645832e-01 -9.85929792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.83, Y:11.71, Z:-98.57 [[ 2.23571802e-01 6.90769017e-01 -6.87643668e-01 1.87830168e+02] [-2.21781999e-01 7.23048563e-01 6.54227422e-01 1.17071083e+01] [ 9.49119800e-01 6.24018331e-03 3.14853403e-01 -9.85662922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.84, Y:11.70, Z:-98.54 [[ 2.25099508e-01 6.89061006e-01 -6.88857853e-01 1.87836903e+02] [-2.20129080e-01 7.24688392e-01 6.52970077e-01 1.17028071e+01] [ 9.49143508e-01 4.65440180e-03 3.14809366e-01 -9.85398734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.85, Y:11.70, Z:-98.51 [[ 2.27907242e-01 6.86834588e-01 -6.90156894e-01 1.87845584e+02] [-2.16607759e-01 7.26813149e-01 6.51785030e-01 1.16988389e+01] [ 9.49283608e-01 9.46809371e-04 3.14419681e-01 -9.85129466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.85, Y:11.69, Z:-98.49 [[ 2.30453302e-01 6.84963475e-01 -6.91170249e-01 1.87852142e+02] [-2.14985337e-01 7.28576275e-01 6.50352148e-01 1.16936913e+01] [ 9.49037713e-01 -1.28433069e-03 3.15159912e-01 -9.84860539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.86864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.83, Y:11.66, Z:-98.46 [[ 2.04900428e-01 7.20240676e-01 -6.62773856e-01 1.87825899e+02] [-1.86839166e-01 6.93470971e-01 6.95837006e-01 1.16581778e+01] [ 9.60784545e-01 -1.87451860e-02 2.76661665e-01 -9.84611924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.90, Y:11.72, Z:-98.43 [[ 2.38641790e-01 6.34970691e-01 -7.34753236e-01 1.87895549e+02] [-2.11149874e-01 7.72439789e-01 5.98959517e-01 1.17229333e+01] [ 9.47874373e-01 1.22062823e-02 3.18410395e-01 -9.84320432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.92864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.87, Y:11.68, Z:-98.41 [[ 2.40277015e-01 6.80529330e-01 -6.92204296e-01 1.87867098e+02] [-2.11676658e-01 7.32666842e-01 6.46832507e-01 1.16770861e+01] [ 9.47343628e-01 -8.89549198e-03 3.20095176e-01 -9.84065176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.87, Y:11.67, Z:-98.38 [[ 2.41910766e-01 6.78289963e-01 -6.93831325e-01 1.87871555e+02] [-2.07056839e-01 7.34685947e-01 6.46037169e-01 1.16691073e+01] [ 9.47948652e-01 -1.26208255e-02 3.18173016e-01 -9.83795196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.98864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.88, Y:11.66, Z:-98.35 [[ 2.42709065e-01 6.76641833e-01 -6.95160513e-01 1.87877233e+02] [-2.05082450e-01 7.36179708e-01 6.44965600e-01 1.16620545e+01] [ 9.48173770e-01 -1.39737768e-02 3.17444854e-01 -9.83526639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.88, Y:11.66, Z:-98.33 [[ 2.42306661e-01 6.75295190e-01 -6.96608849e-01 1.87883321e+02] [-2.03589708e-01 7.37410258e-01 6.44032098e-01 1.16557563e+01] [ 9.48598289e-01 -1.42308747e-02 3.16162568e-01 -9.83258535e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.89, Y:11.65, Z:-98.30 [[ 2.42764699e-01 6.74280994e-01 -6.97431318e-01 1.87889126e+02] [-2.04951082e-01 7.38359743e-01 6.42510656e-01 1.16492108e+01] [ 9.48187932e-01 -1.30396025e-02 3.17442300e-01 -9.82991238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.87, Y:11.62, Z:-98.27 [[ 2.15205989e-01 7.04635904e-01 -6.76146896e-01 1.87867873e+02] [-1.80355139e-01 7.09137608e-01 6.81612703e-01 1.16186850e+01] [ 9.59769976e-01 -2.47405684e-02 2.79695367e-01 -9.82726032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:11.67, Z:-98.24 [[ 2.42069716e-01 6.31126564e-01 -7.36940644e-01 1.87929878e+02] [-2.05124640e-01 7.75651163e-01 5.96899619e-01 1.16730012e+01] [ 9.48328073e-01 6.67336308e-03 3.17221266e-01 -9.82436444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.91, Y:11.63, Z:-98.22 [[ 2.42459657e-01 6.72108280e-01 -6.99631170e-01 1.87905780e+02] [-2.07045471e-01 7.40382637e-01 6.39504279e-01 1.16315753e+01] [ 9.47810892e-01 -1.01985231e-02 3.18669896e-01 -9.82170523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.91, Y:11.63, Z:-98.19 [[ 2.42756029e-01 6.70869923e-01 -7.00716103e-01 1.87912159e+02] [-2.07048410e-01 7.41509707e-01 6.38196138e-01 1.16269576e+01] [ 9.47734386e-01 -9.84380520e-03 3.18908502e-01 -9.81905058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.89, Y:11.59, Z:-98.16 [[ 2.15314060e-01 7.06040450e-01 -6.74645639e-01 1.87886016e+02] [-1.82075810e-01 7.07760160e-01 6.82586225e-01 1.15913375e+01] [ 9.59420791e-01 -2.41337596e-02 2.80943600e-01 -9.81639448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:187.96, Y:11.66, Z:-98.13 [[ 2.44776556e-01 6.18348696e-01 -7.46812780e-01 1.87958205e+02] [-2.07522334e-01 7.85806522e-01 5.82617019e-01 1.16569524e+01] [ 9.47110827e-01 1.23693440e-02 3.20668178e-01 -9.81348859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.93, Y:11.61, Z:-98.11 [[ 2.44050455e-01 6.68840813e-01 -7.02204630e-01 1.87927527e+02] [-2.07592304e-01 7.43346042e-01 6.35878995e-01 1.16072292e+01] [ 9.47282857e-01 -9.41428087e-03 3.20260146e-01 -9.81086050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.28864000000002 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:187.90, Y:11.57, Z:-98.08 [[ 2.17427755e-01 7.05776777e-01 -6.74243511e-01 1.87900308e+02] [-1.79456754e-01 7.07898975e-01 6.83135649e-01 1.15715857e+01] [ 9.59437567e-01 -2.75350989e-02 2.80573294e-01 -9.80847733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.31864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.95, Y:11.62, Z:-98.06 [[ 2.15950744e-01 6.46301519e-01 -7.31887711e-01 1.87951808e+02] [-1.78490647e-01 7.63074071e-01 6.21175539e-01 1.16159631e+01] [ 9.59951231e-01 -3.50820928e-03 2.80145190e-01 -9.80595001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.34864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.99, Y:11.64, Z:-98.03 [[ 2.48374391e-01 6.04761235e-01 -7.56686203e-01 1.87987163e+02] [-2.03830789e-01 7.96304258e-01 5.69519567e-01 1.16403364e+01] [ 9.46975803e-01 1.27818705e-02 3.21050545e-01 -9.80310841e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.37864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.95, Y:11.58, Z:-98.01 [[ 2.46071435e-01 6.65954918e-01 -7.04239232e-01 1.87948465e+02] [-2.06021798e-01 7.45914277e-01 6.33377383e-01 1.15808464e+01] [ 9.47102881e-01 -1.07674485e-02 3.20749427e-01 -9.80056627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.96, Y:11.57, Z:-97.98 [[ 2.45100617e-01 6.64979070e-01 -7.05498777e-01 1.87955226e+02] [-2.06197347e-01 7.46801588e-01 6.32273709e-01 1.15749137e+01] [ 9.47316389e-01 -9.49869966e-03 3.20158450e-01 -9.79788777e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.96, Y:11.57, Z:-97.95 [[ 2.44954597e-01 6.64068935e-01 -7.06406183e-01 1.87961360e+02] [-2.07548760e-01 7.47629442e-01 6.30851591e-01 1.15691958e+01] [ 9.47059004e-01 -7.91627036e-03 3.20961953e-01 -9.79518897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.92, Y:11.52, Z:-97.93 [[ 2.15776388e-01 7.12065800e-01 -6.68133854e-01 1.87923147e+02] [-1.77843459e-01 7.01467405e-01 6.90155913e-01 1.15247933e+01] [ 9.60110543e-01 -3.00961147e-02 2.77996348e-01 -9.79268944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.03, Y:11.63, Z:-97.90 [[ 2.49376426e-01 5.79276715e-01 -7.76047605e-01 1.88028365e+02] [-2.10798797e-01 8.14620466e-01 5.40330791e-01 1.16298228e+01] [ 9.45185307e-01 2.88441401e-02 3.25257975e-01 -9.78968787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:187.98, Y:11.55, Z:-97.87 [[ 2.46416251e-01 6.63208246e-01 -7.06706342e-01 1.87976771e+02] [-2.12912117e-01 7.48422493e-01 6.28117984e-01 1.15523904e+01] [ 9.45487949e-01 -4.31213574e-03 3.25628537e-01 -9.78712834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.55864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:187.90, Y:11.47, Z:-97.85 [[ 2.17769635e-01 7.53845219e-01 -6.19914326e-01 1.87899034e+02] [-1.83070434e-01 6.55434360e-01 7.32728473e-01 1.14715284e+01] [ 9.58677006e-01 -4.60780273e-02 2.80740473e-01 -9.78451296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.07, Y:11.64, Z:-97.81 [[ 2.14503000e-01 5.42486973e-01 -8.12216933e-01 1.88066116e+02] [-1.86656889e-01 8.39014864e-01 5.11090270e-01 1.16422417e+01] [ 9.58721893e-01 4.19754901e-02 2.81230136e-01 -9.78140900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.01, Y:11.55, Z:-97.79 [[ 2.51705945e-01 6.37198909e-01 -7.28437827e-01 1.88010412e+02] [-2.11416732e-01 7.70694657e-01 6.01109566e-01 1.15534959e+01] [ 9.44429501e-01 2.70109382e-03 3.28702938e-01 -9.77906507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:187.97, Y:11.50, Z:-97.76 [[ 2.24387337e-01 6.96522980e-01 -6.81546815e-01 1.87966674e+02] [-1.84360046e-01 7.17092797e-01 6.72152731e-01 1.14994363e+01] [ 9.56902135e-01 -2.51725591e-02 2.89317552e-01 -9.77648375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.67864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.04, Y:11.57, Z:-97.74 [[ 2.55836415e-01 6.03290988e-01 -7.55372565e-01 1.88043215e+02] [-2.05941264e-01 7.97452485e-01 5.67148772e-01 1.15687458e+01] [ 9.44529473e-01 1.04650727e-02 3.28259893e-01 -9.77364694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.01, Y:11.52, Z:-97.71 [[ 2.58502536e-01 6.56155879e-01 -7.08968195e-01 1.88009124e+02] [-2.07533561e-01 7.54498907e-01 6.22624462e-01 1.15170881e+01] [ 9.43454429e-01 -1.38153082e-02 3.31214247e-01 -9.77094679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.02, Y:11.51, Z:-97.68 [[ 2.58834270e-01 6.54879660e-01 -7.10026374e-01 1.88016366e+02] [-2.07118268e-01 7.55607448e-01 6.21417258e-01 1.15121344e+01] [ 9.43454739e-01 -1.37846497e-02 3.31214643e-01 -9.76823360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.76864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:187.99, Y:11.48, Z:-97.66 [[ 2.33505359e-01 6.86481622e-01 -6.88635048e-01 1.87994103e+02] [-1.82251102e-01 7.26561004e-01 6.62490486e-01 1.14801075e+01] [ 9.55122915e-01 -2.91905822e-02 2.94767920e-01 -9.76556507e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.06, Y:11.54, Z:-97.63 [[ 2.62282617e-01 6.06122941e-01 -7.50881355e-01 1.88061311e+02] [-2.05279594e-01 7.95357925e-01 5.70321014e-01 1.15380734e+01] [ 9.42904087e-01 4.55533137e-03 3.33033229e-01 -9.76278712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.03, Y:11.49, Z:-97.60 [[ 2.61151435e-01 6.52746402e-01 -7.11141380e-01 1.88033248e+02] [-2.06996791e-01 7.57437562e-01 6.19225862e-01 1.14935274e+01] [ 9.42842647e-01 -1.45077388e-02 3.32922317e-01 -9.76015572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.85864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.04, Y:11.49, Z:-97.57 [[ 2.57585876e-01 6.52378194e-01 -7.12777811e-01 1.88040925e+02] [-2.07626237e-01 7.57808730e-01 6.18560648e-01 1.14883318e+01] [ 9.43684726e-01 -1.13411117e-02 3.30651655e-01 -9.75747102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.05, Y:11.48, Z:-97.55 [[ 2.57687985e-01 6.51535195e-01 -7.13511592e-01 1.88048453e+02] [-2.09292066e-01 7.58556622e-01 6.17080774e-01 1.14837363e+01] [ 9.43288786e-01 -9.68198612e-03 3.31832075e-01 -9.75482131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.05, Y:11.48, Z:-97.52 [[ 2.57054690e-01 6.50585104e-01 -7.14606121e-01 1.88054960e+02] [-2.09766090e-01 7.59386685e-01 6.15897759e-01 1.14798642e+01] [ 9.43356282e-01 -8.41927502e-03 3.31674602e-01 -9.75210397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.94864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.02, Y:11.44, Z:-97.49 [[ 2.29824071e-01 6.95940240e-01 -6.80329390e-01 1.88022279e+02] [-1.84877898e-01 7.17531593e-01 6.71541939e-01 1.14387721e+01] [ 9.55510889e-01 -2.85586347e-02 2.93570000e-01 -9.74943252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.97864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.12, Y:11.53, Z:-97.47 [[ 2.60674212e-01 5.81181563e-01 -7.70893603e-01 1.88116331e+02] [-2.10787760e-01 8.13497642e-01 5.42024082e-01 1.15283116e+01] [ 9.42134532e-01 2.12032355e-02 3.34563816e-01 -9.74661959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.00864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:188.04, Y:11.43, Z:-97.44 [[ 2.29496380e-01 6.92954495e-01 -6.83480416e-01 1.88039773e+02] [-1.86369000e-01 7.20515722e-01 6.67924914e-01 1.14300734e+01] [ 9.55299957e-01 -2.59067885e-02 2.94500986e-01 -9.74404902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.03864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.09, Y:11.47, Z:-97.41 [[ 2.28207258e-01 6.35620633e-01 -7.37501090e-01 1.88090870e+02] [-1.85082235e-01 7.71998223e-01 6.08081664e-01 1.14725143e+01] [ 9.55858783e-01 -2.27029930e-03 2.93817685e-01 -9.74147871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.06864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.12, Y:11.49, Z:-97.39 [[ 2.60276468e-01 6.01200443e-01 -7.55522460e-01 1.88123151e+02] [-2.09612729e-01 7.99012949e-01 5.63596320e-01 1.14943713e+01] [ 9.42506586e-01 1.16762653e-02 3.33983534e-01 -9.73869445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.09864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.10, Y:11.45, Z:-97.36 [[ 2.62748487e-01 6.45940318e-01 -7.16745658e-01 1.88096538e+02] [-2.11228710e-01 7.63334752e-01 6.10493644e-01 1.14520608e+01] [ 9.41459327e-01 -9.00902017e-03 3.37006191e-01 -9.73595404e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.10, Y:11.45, Z:-97.33 [[ 2.62742579e-01 6.44591689e-01 -7.17960926e-01 1.88104170e+02] [-2.10180102e-01 7.64471383e-01 6.09432383e-01 1.14463121e+01] [ 9.41695631e-01 -9.22273501e-03 3.36339530e-01 -9.73327909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.11, Y:11.44, Z:-97.31 [[ 2.64050172e-01 6.42658183e-01 -7.19213436e-01 1.88110020e+02] [-2.07301530e-01 7.66065839e-01 6.08415324e-01 1.14385612e+01] [ 9.41967931e-01 -1.15581254e-02 3.35503841e-01 -9.73067407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.09, Y:11.41, Z:-97.28 [[ 2.37878627e-01 6.72730615e-01 -7.00604938e-01 1.88090093e+02] [-1.82666606e-01 7.39424734e-01 6.47984548e-01 1.14093966e+01] [ 9.53963663e-01 -2.61645487e-02 2.98778759e-01 -9.72808588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.13, Y:11.44, Z:-97.25 [[ 2.35465987e-01 6.33093152e-01 -7.37393267e-01 1.88127494e+02] [-1.84897411e-01 7.74050481e-01 6.05523576e-01 1.14388031e+01] [ 9.54132442e-01 -6.23810053e-03 2.99319845e-01 -9.72542604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.15, Y:11.45, Z:-97.23 [[ 2.66652931e-01 6.15002830e-01 -7.42069898e-01 1.88147389e+02] [-2.10399668e-01 7.88522279e-01 5.77896700e-01 1.14470395e+01] [ 9.40546753e-01 2.03341149e-03 3.39658168e-01 -9.72280251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.27864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.07, Y:11.36, Z:-97.20 [[ 2.42563419e-01 7.15572819e-01 -6.55071392e-01 1.88069466e+02] [-1.91070761e-01 6.97248887e-01 6.90895038e-01 1.13598926e+01] [ 9.51133509e-01 -4.24208733e-02 3.05852117e-01 -9.72022476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.30864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:188.22, Y:11.52, Z:-97.17 [[ 2.73121219e-01 5.17100149e-01 -8.11179533e-01 1.88220442e+02] [-2.15783399e-01 8.54683773e-01 4.72179174e-01 1.15204134e+01] [ 9.37465906e-01 4.60769259e-02 3.45013902e-01 -9.71718028e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.33864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:188.15, Y:11.41, Z:-97.15 [[ 2.70333146e-01 6.41628058e-01 -7.17797622e-01 1.88147710e+02] [-2.19954713e-01 7.66999200e-01 6.02770398e-01 1.14103906e+01] [ 9.37304601e-01 -5.06584794e-03 3.48474421e-01 -9.71471544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.36864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:188.12, Y:11.37, Z:-97.12 [[ 2.38589487e-01 6.82810533e-01 -6.90539523e-01 1.88120604e+02] [-1.93072242e-01 7.30232246e-01 6.55350270e-01 1.13702334e+01] [ 9.51734294e-01 -2.30356704e-02 3.06057498e-01 -9.71208775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.15, Y:11.39, Z:-97.10 [[ 2.36909542e-01 6.58469595e-01 -7.14347018e-01 1.88145787e+02] [-1.91179695e-01 7.52499495e-01 6.30233951e-01 1.13851367e+01] [ 9.52535665e-01 -1.27397919e-02 3.04160327e-01 -9.70963985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.42864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.21, Y:11.45, Z:-97.07 [[ 2.75224740e-01 5.77453217e-01 -7.68634585e-01 1.88210170e+02] [-2.19629517e-01 8.16135121e-01 5.34496342e-01 1.14463303e+01] [ 9.35956312e-01 2.17082259e-02 3.51446347e-01 -9.70690367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.08, Y:11.30, Z:-97.04 [[ 2.42845451e-01 7.43892409e-01 -6.22615588e-01 1.88079876e+02] [-1.92747639e-01 6.66033673e-01 7.20588297e-01 1.13032284e+01] [ 9.50723111e-01 -5.49839056e-02 3.05126753e-01 -9.70401626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.48864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:188.29, Y:11.55, Z:-97.01 [[ 2.80418349e-01 4.46532234e-01 -8.49690834e-01 1.88293740e+02] [-2.18598344e-01 8.91654693e-01 3.96442520e-01 1.15463992e+01] [ 9.34655184e-01 7.45712525e-02 3.47647544e-01 -9.70072693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.51864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.19, Y:11.38, Z:-96.99 [[ 2.76783664e-01 6.38506793e-01 -7.18122468e-01 1.88187637e+02] [-2.23394208e-01 7.69599020e-01 5.98174202e-01 1.13763450e+01] [ 9.34604639e-01 -5.14044687e-03 3.55651156e-01 -9.69873644e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.20, Y:11.37, Z:-96.96 [[ 2.77287377e-01 6.37295100e-01 -7.19003940e-01 1.88195189e+02] [-2.23189859e-01 7.70603278e-01 5.96956343e-01 1.13709521e+01] [ 9.34504145e-01 -5.05407090e-03 3.55916365e-01 -9.69611711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.57864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.20, Y:11.37, Z:-96.94 [[ 2.78058462e-01 6.36330998e-01 -7.19559833e-01 1.88202986e+02] [-2.24381434e-01 7.71405137e-01 5.95472155e-01 1.13666698e+01] [ 9.33989542e-01 -4.12020417e-03 3.57276587e-01 -9.69350736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.60864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:188.18, Y:11.33, Z:-96.91 [[ 2.46398359e-01 6.80725726e-01 -6.89855300e-01 1.88176251e+02] [-2.02451725e-01 7.32249863e-01 6.50248750e-01 1.13289452e+01] [ 9.47787501e-01 -2.05578298e-02 3.18239262e-01 -9.69063886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.63864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:188.22, Y:11.36, Z:-96.88 [[ 2.45494545e-01 6.39160951e-01 -7.28838601e-01 1.88217231e+02] [-2.04531746e-01 7.69072890e-01 6.05552355e-01 1.13597207e+01] [ 9.47575429e-01 4.10831896e-04 3.19531905e-01 -9.68815201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.66864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.19, Y:11.32, Z:-96.86 [[ 2.33843472e-01 6.85779682e-01 -6.89219456e-01 1.88188623e+02] [-1.97148477e-01 7.27592154e-01 6.57070876e-01 1.13199338e+01] [ 9.52076525e-01 -1.77731684e-02 3.05343095e-01 -9.68558055e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.69864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.26, Y:11.39, Z:-96.83 [[ 2.46801753e-01 6.00512233e-01 -7.60574752e-01 1.88262746e+02] [-2.12634023e-01 7.99284647e-01 5.62077241e-01 1.13898740e+01] [ 9.45449981e-01 2.30024209e-02 3.24954184e-01 -9.68287907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.72864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.27, Y:11.38, Z:-96.80 [[ 2.80700959e-01 6.09724260e-01 -7.41244426e-01 1.88270335e+02] [-2.41201580e-01 7.92322366e-01 5.60399024e-01 1.13826776e+01] [ 9.28993417e-01 2.14847830e-02 3.69472103e-01 -9.68032925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.75864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:188.22, Y:11.32, Z:-96.78 [[ 2.45281212e-01 6.82839055e-01 -6.88162736e-01 1.88223010e+02] [-2.15091988e-01 7.30486535e-01 6.48170394e-01 1.13185156e+01] [ 9.45289672e-01 -1.09657292e-02 3.26047832e-01 -9.67764244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.78864000000002 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:188.30, Y:11.39, Z:-96.75 [[ 2.80284990e-01 5.91629585e-01 -7.55919810e-01 1.88300670e+02] [-2.41518595e-01 8.05615927e-01 5.40972964e-01 1.13922356e+01] [ 9.29036648e-01 3.09420886e-02 3.68691597e-01 -9.67506756e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.81864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.22, Y:11.29, Z:-96.72 [[ 2.37048416e-01 7.07067874e-01 -6.66230493e-01 1.88223562e+02] [-2.03387121e-01 7.06698903e-01 6.77650603e-01 1.12941565e+01] [ 9.49969330e-01 -2.51333002e-02 3.11330355e-01 -9.67236155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.84864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.35, Y:11.44, Z:-96.70 [[ 2.85720942e-01 5.37558052e-01 -7.93344114e-01 1.88352771e+02] [-2.38522951e-01 8.41693740e-01 4.84415575e-01 1.14381049e+01] [ 9.28154268e-01 5.08231050e-02 3.68709462e-01 -9.66952807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.87864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.31, Y:11.35, Z:-96.67 [[ 2.88396545e-01 6.30592023e-01 -7.20542249e-01 1.88305376e+02] [-2.37479883e-01 7.76109995e-01 5.84171705e-01 1.13539476e+01] [ 9.27594059e-01 2.64118780e-03 3.73580361e-01 -9.66715655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.29, Y:11.32, Z:-96.64 [[ 2.60911883e-01 6.65215174e-01 -6.99581132e-01 1.88285503e+02] [-2.10428142e-01 7.46446558e-01 6.31298292e-01 1.13188085e+01] [ 9.42149132e-01 -1.75016681e-02 3.34736771e-01 -9.66445235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.32, Y:11.35, Z:-96.62 [[ 2.65313378e-01 6.23793382e-01 -7.35180677e-01 1.88321965e+02] [-2.09860919e-01 7.81587715e-01 5.87434284e-01 1.13499136e+01] [ 9.41045805e-01 -1.56848212e-03 3.38275529e-01 -9.66181260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:188.35, Y:11.36, Z:-96.59 [[ 3.00624790e-01 5.98656051e-01 -7.42452469e-01 1.88346537e+02] [-2.28428005e-01 8.00999649e-01 5.53371674e-01 1.13640537e+01] [ 9.25983467e-01 3.23969267e-03 3.77550159e-01 -9.65913931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.99864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:188.34, Y:11.34, Z:-96.57 [[ 3.01201236e-01 6.23016663e-01 -7.21891995e-01 1.88337611e+02] [-2.28284592e-01 7.82146789e-01 5.79769390e-01 1.13365893e+01] [ 9.25831497e-01 -9.83043780e-03 3.77808684e-01 -9.65656152e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.02864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:188.35, Y:11.33, Z:-96.54 [[ 3.00814742e-01 6.21792970e-01 -7.23107180e-01 1.88347268e+02] [-2.26985502e-01 7.83117458e-01 5.78968590e-01 1.13323026e+01] [ 9.26276456e-01 -1.00274409e-02 3.76711265e-01 -9.65395279e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.05864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.36, Y:11.33, Z:-96.51 [[ 2.99572937e-01 6.20967080e-01 -7.24331375e-01 1.88355512e+02] [-2.26668932e-01 7.83784670e-01 5.78189230e-01 1.13277457e+01] [ 9.26756306e-01 -9.02642660e-03 3.75554620e-01 -9.65132812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.08864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:188.35, Y:11.30, Z:-96.49 [[ 2.71762324e-01 6.44975978e-01 -7.14248715e-01 1.88345742e+02] [-2.06241631e-01 7.63970368e-01 6.11403031e-01 1.13011781e+01] [ 9.40005122e-01 -1.88484886e-02 3.40639260e-01 -9.64874530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.11864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:188.32, Y:11.26, Z:-96.46 [[ 2.64869508e-01 6.85906559e-01 -6.77773071e-01 1.88319393e+02] [-2.00658609e-01 7.26695809e-01 6.57000247e-01 1.12590255e+01] [ 9.43175629e-01 -3.80183304e-02 3.30112617e-01 -9.64617589e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.14864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:188.42, Y:11.37, Z:-96.43 [[ 2.70206497e-01 5.49421960e-01 -7.90647810e-01 1.88418247e+02] [-2.07666534e-01 8.35122806e-01 5.09356957e-01 1.13738332e+01] [ 9.40139915e-01 2.65595311e-02 3.39752162e-01 -9.64313085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.17864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.37, Y:11.29, Z:-96.41 [[ 2.77999653e-01 6.34150470e-01 -7.21504937e-01 1.88369068e+02] [-2.07677412e-01 7.73027192e-01 5.99415593e-01 1.12904603e+01] [ 9.37862615e-01 -1.67970493e-02 3.46600020e-01 -9.64084213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.20864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.39, Y:11.30, Z:-96.38 [[ 2.82264197e-01 6.17140705e-01 -7.34482317e-01 1.88385777e+02] [-2.07634988e-01 7.86767749e-01 5.81278092e-01 1.12974436e+01] [ 9.36597371e-01 -1.15697670e-02 3.50216370e-01 -9.63808665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.23864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.41, Y:11.31, Z:-96.35 [[ 3.14052253e-01 5.87568082e-01 -7.45744548e-01 1.88411971e+02] [-2.25890234e-01 8.09172526e-01 5.42414441e-01 1.13131459e+01] [ 9.22141412e-01 -1.89006667e-03 3.86848346e-01 -9.63546624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.40, Y:11.28, Z:-96.33 [[ 3.14331694e-01 6.12376908e-01 -7.25389626e-01 1.88401109e+02] [-2.25516570e-01 7.90415164e-01 5.69549072e-01 1.12805351e+01] [ 9.22137659e-01 -1.54399446e-02 3.86553677e-01 -9.63289260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.29864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.41, Y:11.27, Z:-96.30 [[ 3.12750680e-01 6.11561259e-01 -7.26759822e-01 1.88408510e+02] [-2.24810000e-01 7.91063291e-01 5.68928233e-01 1.12736553e+01] [ 9.22847482e-01 -1.45498162e-02 3.84890669e-01 -9.63030231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.42, Y:11.27, Z:-96.28 [[ 3.09099586e-01 6.11559234e-01 -7.28321872e-01 1.88416166e+02] [-2.25811435e-01 7.91118727e-01 5.68454357e-01 1.12662320e+01] [ 9.23832583e-01 -1.12455998e-02 3.82631539e-01 -9.62774690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.42, Y:11.26, Z:-96.25 [[ 3.07263302e-01 6.11267780e-01 -7.29342831e-01 1.88424848e+02] [-2.27199693e-01 7.91376262e-01 5.67541992e-01 1.12599950e+01] [ 9.24104736e-01 -8.67835951e-03 3.82040735e-01 -9.62515512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.38864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.40, Y:11.22, Z:-96.22 [[ 2.71344092e-01 6.54637731e-01 -7.05564897e-01 1.88398769e+02] [-2.08114006e-01 7.55631754e-01 6.21054920e-01 1.12186063e+01] [ 9.39713224e-01 -2.16816457e-02 3.41275493e-01 -9.62234523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.41864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.44, Y:11.26, Z:-96.20 [[ 2.74663446e-01 6.04244110e-01 -7.47963265e-01 1.88441991e+02] [-2.16562599e-01 7.96768239e-01 5.64146270e-01 1.12581930e+01] [ 9.36835435e-01 7.03051012e-03 3.49699786e-01 -9.61972305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.44864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.44, Y:11.23, Z:-96.17 [[ 2.70384291e-01 6.27708649e-01 -7.29982320e-01 1.88435304e+02] [-2.19223969e-01 7.78447727e-01 5.88183634e-01 1.12335903e+01] [ 9.37461032e-01 9.94006849e-04 3.48088818e-01 -9.61710093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.47864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.45, Y:11.24, Z:-96.15 [[ 2.68527003e-01 6.24725982e-01 -7.33219405e-01 1.88450009e+02] [-2.28190110e-01 7.80764872e-01 5.81666132e-01 1.12357011e+01] [ 9.35853900e-01 1.11203531e-02 3.52212742e-01 -9.61460701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.50864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.46, Y:11.23, Z:-96.12 [[ 2.66475454e-01 6.27221606e-01 -7.31835972e-01 1.88458866e+02] [-2.32193263e-01 7.78703726e-01 5.82843715e-01 1.12296485e+01] [ 9.35455569e-01 1.46138385e-02 3.53142060e-01 -9.61207600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.53864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.47, Y:11.23, Z:-96.09 [[ 2.64976090e-01 6.29179135e-01 -7.30699178e-01 1.88468562e+02] [-2.35174253e-01 7.77071285e-01 5.83826420e-01 1.12252160e+01] [ 9.35136751e-01 1.71415913e-02 3.53872043e-01 -9.60945337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.56864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.41, Y:11.15, Z:-96.07 [[ 2.60895645e-01 7.09103631e-01 -6.55061449e-01 1.88413097e+02] [-2.28650311e-01 7.04644237e-01 6.71710901e-01 1.11508761e+01] [ 9.37897914e-01 -2.54664444e-02 3.45975379e-01 -9.60733773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.59864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.57, Y:11.35, Z:-96.04 [[ 2.71290400e-01 4.85420931e-01 -8.31124563e-01 1.88567766e+02] [-2.43791368e-01 8.70004981e-01 4.28552332e-01 1.13485895e+01] [ 9.31110782e-01 8.63588600e-02 3.54365432e-01 -9.60353078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.62864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.50, Y:11.22, Z:-96.02 [[ 2.95166439e-01 6.25746667e-01 -7.22023464e-01 1.88503078e+02] [-2.60105942e-01 7.79777163e-01 5.69466834e-01 1.12195619e+01] [ 9.19359381e-01 1.97150957e-02 3.92924475e-01 -9.60189389e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.52, Y:11.22, Z:-95.99 [[ 2.96154962e-01 6.12989738e-01 -7.32486054e-01 1.88519419e+02] [-2.59564489e-01 7.89679492e-01 5.55906985e-01 1.12245959e+01] [ 9.19194492e-01 2.54927561e-02 3.92977868e-01 -9.59922687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:188.53, Y:11.22, Z:-95.97 [[ 2.95918592e-01 6.11650503e-01 -7.33700109e-01 1.88530221e+02] [-2.57632623e-01 7.90742321e-01 5.55294528e-01 1.12204403e+01] [ 9.19813904e-01 2.47031086e-02 3.91576478e-01 -9.59667099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.51, Y:11.18, Z:-95.94 [[ 2.64103232e-01 6.52366632e-01 -7.10399367e-01 1.88510139e+02] [-2.30354405e-01 7.57899585e-01 6.10348316e-01 1.11838300e+01] [ 9.36582261e-01 2.44866034e-03 3.50439257e-01 -9.59383607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.57, Y:11.24, Z:-95.91 [[ 3.02815094e-01 5.80881043e-01 -7.55566166e-01 1.88568032e+02] [-2.55268071e-01 8.13256089e-01 5.22927095e-01 1.12431142e+01] [ 9.18227222e-01 3.45217002e-02 3.94546603e-01 -9.59126179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.77864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:188.54, Y:11.19, Z:-95.88 [[ 2.73804829e-01 6.35239792e-01 -7.22150485e-01 1.88540302e+02] [-2.33377398e-01 7.72285429e-01 5.90855487e-01 1.11894863e+01] [ 9.33041213e-01 6.75451528e-03 3.59706089e-01 -9.58846888e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.80864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.58, Y:11.22, Z:-95.86 [[ 3.08770191e-01 5.97056319e-01 -7.40394977e-01 1.88575289e+02] [-2.48774587e-01 8.02029080e-01 5.43010644e-01 1.12169702e+01] [ 9.18026238e-01 1.65259540e-02 3.96175111e-01 -9.58604733e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.83864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.58, Y:11.21, Z:-95.83 [[ 3.10681954e-01 6.01407349e-01 -7.36061087e-01 1.88581398e+02] [-2.45714275e-01 7.98876275e-01 5.49018389e-01 1.12057360e+01] [ 9.18205434e-01 1.02906104e-02 3.95970813e-01 -9.58345283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.86864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.57, Y:11.17, Z:-95.81 [[ 2.85417388e-01 6.33391574e-01 -7.19271874e-01 1.88566105e+02] [-2.17920646e-01 7.73721557e-01 5.94865988e-01 1.11691444e+01] [ 9.33299259e-01 -1.30409051e-02 3.58862687e-01 -9.58078347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.89864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.58, Y:11.17, Z:-95.78 [[ 2.85203052e-01 6.19624542e-01 -7.31248690e-01 1.88580395e+02] [-2.12445608e-01 7.84825629e-01 5.82164578e-01 1.11744492e+01] [ 9.34626173e-01 -1.06845421e-02 3.55471177e-01 -9.57817429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.92864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.59, Y:11.17, Z:-95.76 [[ 2.88934880e-01 6.13049052e-01 -7.35314555e-01 1.88590024e+02] [-2.09407102e-01 7.89945377e-01 5.76311520e-01 1.11722458e+01] [ 9.34165564e-01 -1.25364100e-02 3.56619598e-01 -9.57562280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.95864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.63, Y:11.22, Z:-95.73 [[ 3.29003290e-01 5.49380850e-01 -7.68073901e-01 1.88634510e+02] [-2.27978730e-01 8.35504618e-01 4.99957731e-01 1.12170338e+01] [ 9.16396494e-01 1.06167737e-02 4.00130917e-01 -9.57292388e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.98864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.62, Y:11.17, Z:-95.71 [[ 3.30543056e-01 5.89286809e-01 -7.37212551e-01 1.88618438e+02] [-2.28138732e-01 8.07842802e-01 5.43454439e-01 1.11717130e+01] [ 9.15802384e-01 -1.14483543e-02 4.01465974e-01 -9.57050714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.63, Y:11.16, Z:-95.68 [[ 3.30971302e-01 5.87882487e-01 -7.38141029e-01 1.88627190e+02] [-2.26659329e-01 8.08853304e-01 5.42569702e-01 1.11644314e+01] [ 9.16015036e-01 -1.22684507e-02 4.00956281e-01 -9.56795236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.60, Y:11.11, Z:-95.65 [[ 2.99916866e-01 6.34822939e-01 -7.12074230e-01 1.88597935e+02] [-2.01773586e-01 7.71762226e-01 6.03050981e-01 1.11131556e+01] [ 9.32382589e-01 -3.71873893e-02 3.59555010e-01 -9.56542653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:188.67, Y:11.19, Z:-95.63 [[ 3.34532788e-01 5.35083120e-01 -7.75740851e-01 1.88668754e+02] [-2.22401663e-01 8.44743894e-01 4.86770227e-01 1.11926265e+01] [ 9.15764879e-01 9.68545396e-03 4.01597906e-01 -9.56272775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.62, Y:11.10, Z:-95.60 [[ 3.02251328e-01 6.27127160e-01 -7.17882762e-01 1.88615012e+02] [-2.00382696e-01 7.78080209e-01 5.95346927e-01 1.11019233e+01] [ 9.31928597e-01 -3.60931159e-02 3.60841208e-01 -9.56027299e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:188.68, Y:11.17, Z:-95.58 [[ 3.36374053e-01 5.40578108e-01 -7.71121135e-01 1.88676881e+02] [-2.21675513e-01 8.41278461e-01 4.93062388e-01 1.11667323e+01] [ 9.15266335e-01 5.08527946e-03 4.02817174e-01 -9.55762060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.16864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.66, Y:11.12, Z:-95.55 [[ 3.35516508e-01 5.82976911e-01 -7.39977428e-01 1.88658399e+02] [-2.22288336e-01 8.12322848e-01 5.39184093e-01 1.11187193e+01] [ 9.15432449e-01 -1.64168132e-02 4.02136693e-01 -9.55511050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.19864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.56, Y:11.00, Z:-95.52 [[ 3.01571893e-01 7.04978675e-01 -6.41918578e-01 1.88563757e+02] [-1.93273988e-01 7.04486688e-01 6.82893602e-01 1.09989992e+01] [ 9.33648520e-01 -8.18753527e-02 3.48707424e-01 -9.55226990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:188.77, Y:11.29, Z:-95.48 [[ 3.40220841e-01 3.66975044e-01 -8.65782361e-01 1.88771998e+02] [-2.17856763e-01 9.26417149e-01 3.07066274e-01 1.12929073e+01] [ 9.14761286e-01 8.41461969e-02 3.95134417e-01 -9.54827741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.25864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.57, Y:10.98, Z:-95.47 [[ 2.99648545e-01 7.05862528e-01 -6.41847989e-01 1.88573832e+02] [-1.93389784e-01 7.03734156e-01 6.83636329e-01 1.09843792e+01] [ 9.34243620e-01 -8.07237871e-02 3.47379517e-01 -9.54653943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.28864000000002 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:188.78, Y:11.27, Z:-95.43 [[ 3.41882720e-01 3.77713411e-01 -8.60493338e-01 1.88781288e+02] [-2.26473906e-01 9.21797050e-01 3.14642288e-01 1.12666584e+01] [ 9.12044832e-01 8.73085262e-02 4.00688714e-01 -9.54301918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.31864000000002 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:188.63, Y:11.02, Z:-95.41 [[ 2.98279409e-01 6.52877850e-01 -6.96261379e-01 1.88632472e+02] [-2.08646519e-01 7.56425606e-01 6.19908810e-01 1.10170370e+01] [ 9.31394666e-01 -3.96335201e-02 3.61846873e-01 -9.54110615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.34864000000002 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:188.68, Y:11.06, Z:-95.39 [[ 2.99483432e-01 5.97636865e-01 -7.43733724e-01 1.88678275e+02] [-2.17452330e-01 8.01751355e-01 5.56694933e-01 1.10569589e+01] [ 9.28990935e-01 -4.99427775e-03 3.70068776e-01 -9.53869960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.37864000000002 meters Centerline goodness : 0.998817 Centerline is valid? [True, True] Translation: X:188.68, Y:11.04, Z:-95.36 [[ 3.02868401e-01 6.09918046e-01 -7.32305065e-01 1.88675979e+02] [-2.20660042e-01 7.92392908e-01 5.68702580e-01 1.10377048e+01] [ 9.27135307e-01 -1.06515745e-02 3.74575315e-01 -9.53621929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:188.68, Y:11.03, Z:-95.34 [[ 3.01454131e-01 6.08991087e-01 -7.33658819e-01 1.88683049e+02] [-2.27619191e-01 7.93170260e-01 5.64863207e-01 1.10305789e+01] [ 9.25913015e-01 -3.28552001e-03 3.77722510e-01 -9.53375262e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:188.72, Y:11.06, Z:-95.31 [[ 3.37880218e-01 5.61782960e-01 -7.55140295e-01 1.88724247e+02] [-2.53607900e-01 8.26992780e-01 5.01762867e-01 1.10639399e+01] [ 9.06377400e-01 2.19737975e-02 4.21897097e-01 -9.53148935e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:188.68, Y:10.99, Z:-95.29 [[ 3.00242884e-01 6.38813357e-01 -7.08358458e-01 1.88676575e+02] [-2.33560103e-01 7.69249881e-01 5.94730442e-01 1.09925913e+01] [ 9.24826410e-01 -1.31193085e-02 3.80163117e-01 -9.52853490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.49864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:188.72, Y:11.02, Z:-95.26 [[ 3.03502806e-01 5.95516937e-01 -7.43804829e-01 1.88718602e+02] [-2.44284345e-01 8.03167348e-01 5.43366700e-01 1.10246021e+01] [ 9.20983825e-01 1.67865575e-02 3.89239009e-01 -9.52606877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.52864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:188.71, Y:10.99, Z:-95.23 [[ 3.03152538e-01 6.23672305e-01 -7.20507734e-01 1.88707844e+02] [-2.46589653e-01 7.81675653e-01 5.72867102e-01 1.09929865e+01] [ 9.20484699e-01 4.00363612e-03 3.90758096e-01 -9.52339823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.55864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:188.75, Y:11.02, Z:-95.21 [[ 3.32306498e-01 5.86204420e-01 -7.38875341e-01 1.88746124e+02] [-2.69646316e-01 8.09744234e-01 5.21157501e-01 1.10213336e+01] [ 9.03804877e-01 2.60509898e-02 4.27151133e-01 -9.52122932e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.58864 meters Centerline goodness : 0.895478 Centerline is valid? [True, False] Translation: X:188.77, Y:11.13, Z:-95.27 [[ 3.42489790e-01 4.93315881e-01 -7.99587510e-01 1.88766911e+02] [-2.68968300e-01 8.66920025e-01 4.19649525e-01 1.11291538e+01] [ 9.00198199e-01 7.13380156e-02 4.29597591e-01 -9.52746967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.61864 meters Centerline goodness : 0.998969 Centerline is valid? [False, True] Translation: X:188.77, Y:11.23, Z:-95.33 [[ 3.55260719e-01 4.02980950e-01 -8.43443048e-01 1.88774962e+02] [-2.67622056e-01 9.08380566e-01 3.21283648e-01 1.12315157e+01] [ 8.95638463e-01 1.11584503e-01 4.30558523e-01 -9.53332604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.64864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:188.71, Y:11.08, Z:-95.31 [[ 3.44660132e-01 5.66620534e-01 -7.48432070e-01 1.88705129e+02] [-2.70565928e-01 8.23410914e-01 4.98787075e-01 1.10816410e+01] [ 8.98890133e-01 3.05881992e-02 4.37105125e-01 -9.53139253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.67864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:188.70, Y:11.06, Z:-95.28 [[ 3.17775913e-01 5.92297596e-01 -7.40406663e-01 1.88697974e+02] [-2.55415843e-01 8.05490864e-01 5.34740325e-01 1.10553028e+01] [ 9.13116212e-01 1.91839968e-02 4.07247784e-01 -9.52845227e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.70864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:188.73, Y:11.08, Z:-95.26 [[ 3.45085372e-01 5.65130710e-01 -7.49361974e-01 1.88727150e+02] [-2.71524120e-01 8.24377515e-01 4.96665245e-01 1.10752177e+01] [ 8.98437943e-01 3.20779401e-02 4.37927240e-01 -9.52623938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.73864 meters Centerline goodness : 0.946646 Centerline is valid? [True, False] Translation: X:188.74, Y:11.18, Z:-95.32 [[ 3.55776314e-01 4.71290268e-01 -8.07036987e-01 1.88744203e+02] [-2.69530129e-01 8.78588199e-01 3.94254089e-01 1.11843136e+01] [ 8.94861288e-01 7.72545167e-02 4.39607797e-01 -9.53200538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.76864 meters Centerline goodness : 0.998725 Centerline is valid? [False, True] Translation: X:188.75, Y:11.29, Z:-95.37 [[ 3.67741880e-01 3.80451371e-01 -8.48541492e-01 1.88750403e+02] [-2.67069737e-01 9.17248756e-01 2.95513917e-01 1.12900029e+01] [ 8.90752303e-01 1.17946909e-01 4.38917830e-01 -9.53731180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.79864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:188.67, Y:11.12, Z:-95.35 [[ 3.33122276e-01 5.67029486e-01 -7.53330679e-01 1.88674533e+02] [-2.53239623e-01 8.23413863e-01 5.07798488e-01 1.11181332e+01] [ 9.08239639e-01 2.16141894e-02 4.17891833e-01 -9.53530914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.82864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:188.70, Y:11.13, Z:-95.33 [[ 3.59284223e-01 5.44482606e-01 -7.57927133e-01 1.88699618e+02] [-2.66123028e-01 8.38210827e-01 4.76005403e-01 1.11329391e+01] [ 8.94479391e-01 3.06806323e-02 4.46055286e-01 -9.53305771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.85864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:188.69, Y:11.10, Z:-95.30 [[ 3.32010157e-01 5.72203152e-01 -7.49901866e-01 1.88693399e+02] [-2.46062900e-01 8.20009592e-01 5.16756536e-01 1.11010694e+01] [ 9.10616442e-01 1.29546096e-02 4.13049480e-01 -9.53036155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.88864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:188.70, Y:11.09, Z:-95.28 [[ 3.26242639e-01 5.77727953e-01 -7.48195264e-01 1.88697534e+02] [-2.37761449e-01 8.16206576e-01 5.26570336e-01 1.10916486e+01] [ 9.14896297e-01 6.10229448e-03 4.03642822e-01 -9.52777127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.91864 meters Centerline goodness : 0.998231 Centerline is valid? [True, True] Translation: X:188.76, Y:11.16, Z:-95.25 [[ 3.69899770e-01 4.94294387e-01 -7.86668430e-01 1.88756034e+02] [-2.58459394e-01 8.68048832e-01 4.23898534e-01 1.11633372e+01] [ 8.92397278e-01 4.65218749e-02 4.48846091e-01 -9.52527108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.94864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:188.74, Y:11.12, Z:-95.23 [[ 3.68786833e-01 5.36903994e-01 -7.58768985e-01 1.88743372e+02] [-2.57322063e-01 8.43374676e-01 4.71703839e-01 1.11179704e+01] [ 8.93186222e-01 2.12898359e-02 4.49182720e-01 -9.52282985e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.97864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:188.74, Y:11.09, Z:-95.20 [[ 3.43096924e-01 5.64875355e-01 -7.50466744e-01 1.88735943e+02] [-2.38183560e-01 8.25170753e-01 5.12212671e-01 1.10867492e+01] [ 9.08599523e-01 3.01024849e-03 4.17657570e-01 -9.52005809e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.00864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:188.77, Y:11.12, Z:-95.18 [[ 3.74024944e-01 5.17719026e-01 -7.69462378e-01 1.88773499e+02] [-2.51931324e-01 8.55201603e-01 4.52946825e-01 1.11229499e+01] [ 8.92544648e-01 2.44382645e-02 4.50296372e-01 -9.51769664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.03864000000002 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:188.75, Y:11.07, Z:-95.15 [[ 3.44184761e-01 5.67928313e-01 -7.47659202e-01 1.88752053e+02] [-2.28040478e-01 8.23033613e-01 5.20204971e-01 1.10693637e+01] [ 9.10787786e-01 -8.55006170e-03 4.12786271e-01 -9.51500605e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.06864000000002 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:188.80, Y:11.12, Z:-95.13 [[ 3.80763561e-01 5.02664389e-01 -7.76110574e-01 1.88797642e+02] [-2.45054946e-01 8.64179548e-01 4.39478989e-01 1.11211617e+01] [ 8.91609322e-01 2.28521499e-02 4.52228477e-01 -9.51253520e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.09864000000002 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:188.77, Y:11.05, Z:-95.10 [[ 3.47010291e-01 5.68643427e-01 -7.45807288e-01 1.88767021e+02] [-2.23016069e-01 8.22442451e-01 5.23308941e-01 1.10530032e+01] [ 9.10959764e-01 -1.52665780e-02 4.12212616e-01 -9.51002513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.12864000000002 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:188.82, Y:11.12, Z:-95.08 [[ 3.83361759e-01 4.90925534e-01 -7.82320830e-01 1.88820833e+02] [-2.41690435e-01 8.70843182e-01 4.28039585e-01 1.11171416e+01] [ 8.91414323e-01 2.49854530e-02 4.52499980e-01 -9.50753349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15864 meters Centerline goodness : 0.996764 Centerline is valid? [True, True] Translation: X:188.76, Y:11.00, Z:-95.06 [[ 3.84873912e-01 5.78356660e-01 -7.19288291e-01 1.88764008e+02] [-1.96152789e-01 8.12771888e-01 5.48567172e-01 1.10021856e+01] [ 9.01884779e-01 -7.00387891e-02 4.26260969e-01 -9.50625943e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:188.90, Y:11.24, Z:-95.01 [[ 3.87494169e-01 3.48948806e-01 -8.53277797e-01 1.88898987e+02] [-2.38237257e-01 9.32055414e-01 2.72975667e-01 1.12386174e+01] [ 8.90556724e-01 9.75060830e-02 4.44298645e-01 -9.50138705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:188.81, Y:11.04, Z:-95.00 [[ 3.51647516e-01 5.66043166e-01 -7.45613277e-01 1.88808443e+02] [-2.21458972e-01 8.24175338e-01 5.21239806e-01 1.10350028e+01] [ 9.09560305e-01 -1.81699337e-02 4.15174548e-01 -9.49978824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.24864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:188.86, Y:11.10, Z:-94.97 [[ 3.87513176e-01 4.87406101e-01 -7.82476090e-01 1.88863745e+02] [-2.41058853e-01 8.72840097e-01 4.24312144e-01 1.11017789e+01] [ 8.89788834e-01 2.41962422e-02 4.55730593e-01 -9.49717350e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.27864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:188.79, Y:10.98, Z:-94.95 [[ 3.53798456e-01 6.14979477e-01 -7.04717600e-01 1.88793471e+02] [-2.16347972e-01 7.86824277e-01 5.78014803e-01 1.09785703e+01] [ 9.09956157e-01 -5.20365212e-02 4.11426777e-01 -9.49524654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.30864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:188.93, Y:11.19, Z:-94.92 [[ 3.95201765e-01 3.84657912e-01 -8.34178552e-01 1.88926843e+02] [-2.39790626e-01 9.19816774e-01 3.10543972e-01 1.11863030e+01] [ 8.86744620e-01 7.73006714e-02 4.55750574e-01 -9.49163036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.33864 meters Centerline goodness : 0.997888 Centerline is valid? [True, True] Translation: X:188.85, Y:11.02, Z:-94.90 [[ 3.61294092e-01 5.58210485e-01 -7.46905371e-01 1.88851594e+02] [-2.21107720e-01 8.29453950e-01 5.12949824e-01 1.10176573e+01] [ 9.05857580e-01 -2.01791976e-02 4.23101459e-01 -9.48985340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.36864 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:188.90, Y:11.08, Z:-94.87 [[ 3.96521992e-01 4.87238171e-01 -7.78054802e-01 1.88901840e+02] [-2.39365187e-01 8.73087455e-01 4.24761820e-01 1.10756794e+01] [ 8.86270059e-01 1.78118297e-02 4.62826233e-01 -9.48724719e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.39864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:188.89, Y:11.04, Z:-94.85 [[ 3.96120201e-01 5.21212644e-01 -7.55927355e-01 1.88894388e+02] [-2.37615754e-01 8.53416772e-01 4.63916552e-01 1.10372109e+01] [ 8.86920255e-01 -4.14646925e-03 4.61903959e-01 -9.48484133e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.42864 meters Centerline goodness : 0.997647 Centerline is valid? [True, True] Translation: X:188.91, Y:11.03, Z:-94.82 [[ 3.96168551e-01 5.20108388e-01 -7.56662239e-01 1.88905257e+02] [-2.36734527e-01 8.54089193e-01 4.63128939e-01 1.10316397e+01] [ 8.87134287e-01 -4.34904325e-03 4.61490891e-01 -9.48237568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.45864 meters Centerline goodness : 0.998133 Centerline is valid? [True, True] Translation: X:188.92, Y:11.03, Z:-94.80 [[ 3.95141737e-01 5.19962371e-01 -7.57299241e-01 1.88915965e+02] [-2.38057279e-01 8.54185845e-01 4.62271862e-01 1.10254209e+01] [ 8.87238265e-01 -2.38230967e-03 4.61305306e-01 -9.47984338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.48864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:188.87, Y:10.95, Z:-94.78 [[ 3.46976018e-01 5.96328070e-01 -7.23878772e-01 1.88874537e+02] [-2.05277681e-01 8.01402535e-01 5.61796271e-01 1.09500034e+01] [ 9.15133169e-01 -4.63336777e-02 4.00480304e-01 -9.47752865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.51864 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:188.96, Y:11.07, Z:-94.74 [[ 3.59356685e-01 4.65040028e-01 -8.09073881e-01 1.88961706e+02] [-2.23138249e-01 8.84658495e-01 4.09375951e-01 1.10676019e+01] [ 9.06130286e-01 3.34233451e-02 4.21676162e-01 -9.47435485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.54864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:188.94, Y:11.00, Z:-94.72 [[ 3.60356684e-01 5.28837203e-01 -7.68423238e-01 1.88939498e+02] [-2.24456628e-01 8.48723280e-01 4.78840282e-01 1.10037260e+01] [ 9.05407247e-01 -7.56070249e-05 4.24544123e-01 -9.47207815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.57864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:188.95, Y:11.00, Z:-94.70 [[ 3.61696700e-01 5.21268218e-01 -7.72952096e-01 1.88953668e+02] [-2.25281884e-01 8.53383045e-01 4.70090897e-01 1.10046272e+01] [ 9.04667657e-01 4.10177829e-03 4.26098117e-01 -9.46953669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.60864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:188.96, Y:11.00, Z:-94.67 [[ 3.60807293e-01 5.28160506e-01 -7.68677161e-01 1.88963316e+02] [-2.30560419e-01 8.49124982e-01 4.75214328e-01 1.09961730e+01] [ 9.03692420e-01 5.76573327e-03 4.28143394e-01 -9.46712178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.63864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:189.00, Y:11.04, Z:-94.64 [[ 3.94242645e-01 4.77531486e-01 -7.85198329e-01 1.89003794e+02] [-2.53303804e-01 8.77767370e-01 4.06646809e-01 1.10395529e+01] [ 8.83408127e-01 3.85762098e-02 4.67013872e-01 -9.46447993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.66864 meters Centerline goodness : 0.895407 Centerline is valid? [True, False] Translation: X:189.01, Y:11.11, Z:-94.66 [[ 3.95733311e-01 4.18186903e-01 -8.17627581e-01 1.89012640e+02] [-2.46182834e-01 9.06028414e-01 3.44247766e-01 1.11052591e+01] [ 8.84753727e-01 6.50555670e-02 4.61496062e-01 -9.46605024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.69864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:189.02, Y:11.16, Z:-94.67 [[ 3.98431900e-01 3.67556038e-01 -8.40330042e-01 1.89015736e+02] [-2.36583219e-01 9.26373946e-01 2.93018247e-01 1.11556080e+01] [ 8.86160483e-01 8.20601695e-02 4.56054522e-01 -9.46686123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.72864 meters Centerline goodness : 0.889227 Centerline is valid? [True, False] Translation: X:189.02, Y:11.23, Z:-94.68 [[ 4.03001625e-01 2.94832861e-01 -8.66408261e-01 1.89019666e+02] [-2.26927469e-01 9.49316005e-01 2.17492634e-01 1.12281524e+01] [ 8.86619205e-01 1.08961949e-01 4.49481568e-01 -9.46822454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.75864 meters Centerline goodness : 0.999853 Centerline is valid? [False, True] Translation: X:189.02, Y:11.28, Z:-94.69 [[ 4.08503387e-01 2.39269874e-01 -8.80837618e-01 1.89017977e+02] [-2.17076138e-01 9.62808817e-01 1.60863710e-01 1.12809947e+01] [ 8.86568064e-01 1.25495458e-01 4.45250443e-01 -9.46904575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.78864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:188.97, Y:11.09, Z:-94.68 [[ 4.19635137e-01 4.37734673e-01 -7.95169610e-01 1.88971860e+02] [-2.13871536e-01 8.99051430e-01 3.82054305e-01 1.10883917e+01] [ 8.82136791e-01 9.74073514e-03 4.70892557e-01 -9.46830769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.81864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:188.96, Y:11.04, Z:-94.67 [[ 4.22645656e-01 4.82175643e-01 -7.67383410e-01 1.88961734e+02] [-2.07614784e-01 8.75720307e-01 4.35901417e-01 1.10435627e+01] [ 8.82194282e-01 -2.49116992e-02 4.70226176e-01 -9.46671787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.84864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:189.04, Y:11.23, Z:-94.63 [[ 4.66715042e-01 2.93797548e-01 -8.34182277e-01 1.89044184e+02] [-2.27207123e-01 9.51383835e-01 2.07956055e-01 1.12250713e+01] [ 8.54724513e-01 9.24759361e-02 5.10778042e-01 -9.46295717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.87864000000002 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:188.99, Y:11.03, Z:-94.62 [[ 4.20897258e-01 4.90031777e-01 -7.63357292e-01 1.88985715e+02] [-2.02693667e-01 8.71057336e-01 4.47408533e-01 1.10314361e+01] [ 8.84172368e-01 -3.35853359e-02 4.65951982e-01 -9.46174639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:189.05, Y:11.14, Z:-94.59 [[ 4.37747123e-01 3.71361322e-01 -8.18821241e-01 1.89047547e+02] [-2.14446126e-01 9.27554749e-01 3.06031121e-01 1.11449459e+01] [ 8.73149652e-01 4.16288001e-02 4.85671420e-01 -9.45867058e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.04, Y:11.08, Z:-94.57 [[ 4.39985630e-01 4.29449292e-01 -7.88660859e-01 1.89038801e+02] [-2.10811617e-01 9.03089487e-01 3.74149490e-01 1.10826919e+01] [ 8.72909564e-01 1.63847199e-03 4.87879297e-01 -9.45662162e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.07, Y:11.12, Z:-94.54 [[ 4.72742275e-01 3.90457117e-01 -7.89973405e-01 1.89066402e+02] [-2.20309306e-01 9.20374463e-01 3.23070669e-01 1.11162213e+01] [ 8.53216591e-01 2.13093297e-02 5.21121254e-01 -9.45397372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.07, Y:11.09, Z:-94.52 [[ 4.74635399e-01 4.15225007e-01 -7.76085970e-01 1.89069859e+02] [-2.19214429e-01 9.09714595e-01 3.52653355e-01 1.10851978e+01] [ 8.52447226e-01 2.74747689e-03 5.22806062e-01 -9.45162380e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.06, Y:11.04, Z:-94.49 [[ 4.42642870e-01 4.58344983e-01 -7.70705629e-01 1.89063693e+02] [-2.02591579e-01 8.88387528e-01 4.11976034e-01 1.10371199e+01] [ 8.73512417e-01 -2.62197837e-02 4.86095238e-01 -9.44917448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.09, Y:11.07, Z:-94.47 [[ 4.44916309e-01 4.21673316e-01 -7.90089294e-01 1.89089745e+02] [-1.99559445e-01 9.06715680e-01 3.71540986e-01 1.10672990e+01] [ 8.73055271e-01 -7.63486297e-03 4.87561487e-01 -9.44679568e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.11, Y:11.09, Z:-94.44 [[ 4.48907703e-01 3.95912214e-01 -8.01083886e-01 1.89112705e+02] [-1.99698628e-01 9.18265465e-01 3.41919573e-01 1.10855462e+01] [ 8.70977802e-01 6.48502225e-03 4.91279567e-01 -9.44420922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.12, Y:11.06, Z:-94.42 [[ 4.50928607e-01 4.13999718e-01 -7.90738658e-01 1.89117260e+02] [-1.97487016e-01 9.10242259e-01 3.63947672e-01 1.10600461e+01] [ 8.70437976e-01 -7.95379865e-03 4.92213843e-01 -9.44198297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.13, Y:11.06, Z:-94.40 [[ 4.54615060e-01 4.05181098e-01 -7.93191922e-01 1.89132346e+02] [-1.97633842e-01 9.14227465e-01 3.53735786e-01 1.10619428e+01] [ 8.68484894e-01 -4.05204804e-03 4.95699071e-01 -9.43952857e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.17864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.14, Y:11.04, Z:-94.37 [[ 4.54687681e-01 4.16459778e-01 -7.87286711e-01 1.89140751e+02] [-1.97775061e-01 9.09087430e-01 3.66667519e-01 1.10446501e+01] [ 8.68414727e-01 -1.10135268e-02 4.95716214e-01 -9.43718252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.20864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:189.13, Y:10.98, Z:-94.35 [[ 4.58756604e-01 4.72708805e-01 -7.52388706e-01 1.89125956e+02] [-1.96229705e-01 8.79739689e-01 4.33072721e-01 1.09799271e+01] [ 8.66623494e-01 -5.10339571e-02 4.96345902e-01 -9.43512825e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.23864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:189.19, Y:11.11, Z:-94.32 [[ 4.55430371e-01 3.37587984e-01 -8.23782453e-01 1.89189168e+02] [-1.98951751e-01 9.40508220e-01 2.75431460e-01 1.11086139e+01] [ 8.67756520e-01 3.84531094e-02 4.95499728e-01 -9.43175757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.26864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:189.17, Y:11.02, Z:-94.30 [[ 4.55739247e-01 4.25327766e-01 -7.81919453e-01 1.89171930e+02] [-1.98094351e-01 9.04883288e-01 3.76755709e-01 1.10167956e+01] [ 8.67790509e-01 -1.68085365e-02 4.96645856e-01 -9.42995361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.20, Y:11.04, Z:-94.27 [[ 4.57718991e-01 3.99485229e-01 -7.94295208e-01 1.89195872e+02] [-1.99904726e-01 9.16739510e-01 3.45871033e-01 1.10366367e+01] [ 8.66332168e-01 4.71625188e-04 4.99468069e-01 -9.42749337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:189.20, Y:11.01, Z:-94.25 [[ 4.57989655e-01 4.15883441e-01 -7.85675785e-01 1.89201717e+02] [-1.99964307e-01 9.09363345e-01 3.64791150e-01 1.10142283e+01] [ 8.66175359e-01 -9.96345843e-03 4.99640849e-01 -9.42530046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.35864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.23, Y:11.05, Z:-94.23 [[ 4.91309435e-01 3.71784627e-01 -7.87649180e-01 1.89230103e+02] [-2.11810926e-01 9.28172452e-01 3.05993516e-01 1.10494155e+01] [ 8.44837955e-01 1.64952003e-02 5.34767929e-01 -9.42271836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.38864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:189.23, Y:11.01, Z:-94.20 [[ 4.91316069e-01 4.01858673e-01 -7.72734189e-01 1.89232623e+02] [-2.12858033e-01 9.15696817e-01 3.40867713e-01 1.10134589e+01] [ 8.44570884e-01 -2.99110472e-03 5.35435407e-01 -9.42043110e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.41864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:189.25, Y:11.01, Z:-94.18 [[ 4.91777978e-01 4.01102731e-01 -7.72833112e-01 1.89246026e+02] [-2.12854208e-01 9.16029122e-01 3.39976078e-01 1.10080924e+01] [ 8.44302971e-01 -2.69196820e-03 5.35859354e-01 -9.41802410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.26, Y:11.00, Z:-94.16 [[ 4.91384589e-01 3.99230717e-01 -7.74051691e-01 1.89259256e+02] [-2.09987210e-01 9.16840322e-01 3.39572077e-01 1.10014839e+01] [ 8.45249405e-01 -4.31953013e-03 5.34354549e-01 -9.41567397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.47864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:189.27, Y:11.00, Z:-94.13 [[ 4.92027691e-01 3.98025255e-01 -7.74263940e-01 1.89272221e+02] [-2.09069295e-01 9.17361958e-01 3.38728606e-01 1.09953057e+01] [ 8.45102823e-01 -4.78903762e-03 5.34582345e-01 -9.41330795e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.50864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:189.28, Y:10.99, Z:-94.11 [[ 4.93805423e-01 3.96307918e-01 -7.74013074e-01 1.89284445e+02] [-2.07523655e-01 9.18097228e-01 3.37685375e-01 1.09900047e+01] [ 8.44446645e-01 -6.12484699e-03 5.35604658e-01 -9.41087252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.53864000000002 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:189.28, Y:10.94, Z:-94.09 [[ 4.63323012e-01 4.44580556e-01 -7.66602841e-01 1.89275967e+02] [-1.95247078e-01 8.95009678e-01 4.01043957e-01 1.09366919e+01] [ 8.64413307e-01 -3.61359298e-02 5.01481635e-01 -9.40858209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.56864000000002 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:189.31, Y:10.98, Z:-94.06 [[ 4.65391095e-01 3.95429968e-01 -7.91862532e-01 1.89307843e+02] [-1.95746573e-01 9.18482997e-01 3.43616447e-01 1.09781684e+01] [ 8.63188512e-01 -4.91165760e-03 5.04857869e-01 -9.40608319e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.59864000000002 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.33, Y:11.00, Z:-94.04 [[ 4.96985839e-01 3.65472536e-01 -7.87041868e-01 1.89331198e+02] [-2.04486807e-01 9.30765026e-01 3.03086807e-01 1.09983271e+01] [ 8.43320948e-01 1.03098280e-02 5.37311349e-01 -9.40373477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.62864000000002 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:189.32, Y:10.93, Z:-94.01 [[ 4.68509102e-01 4.26344809e-01 -7.73776018e-01 1.89320465e+02] [-1.95069911e-01 9.04153906e-01 3.80070315e-01 1.09319687e+01] [ 8.61653615e-01 -2.71259828e-02 5.06771378e-01 -9.40141540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:189.36, Y:10.98, Z:-93.99 [[ 4.97426696e-01 3.66711443e-01 -7.86186619e-01 1.89356027e+02] [-2.04152110e-01 9.30292105e-01 3.04759766e-01 1.09836033e+01] [ 8.43142099e-01 8.90601325e-03 5.37617043e-01 -9.39890669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:189.36, Y:10.95, Z:-93.97 [[ 4.97591019e-01 3.90598074e-01 -7.74491008e-01 1.89360985e+02] [-2.04968645e-01 9.20536680e-01 3.32565898e-01 1.09530992e+01] [ 8.42846980e-01 -6.73543171e-03 5.38111142e-01 -9.39664944e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:189.37, Y:10.95, Z:-93.94 [[ 4.97881326e-01 3.90024653e-01 -7.74593413e-01 1.89372889e+02] [-2.05274411e-01 9.20783951e-01 3.31691622e-01 1.09465956e+01] [ 8.42601093e-01 -6.13885828e-03 5.38503216e-01 -9.39423382e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.74864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:189.37, Y:10.90, Z:-93.92 [[ 4.70593793e-01 4.27192219e-01 -7.72041637e-01 1.89369086e+02] [-1.93894908e-01 9.03663193e-01 3.81834516e-01 1.09039358e+01] [ 8.60782346e-01 -2.99940112e-02 5.08088686e-01 -9.39190280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:189.41, Y:10.97, Z:-93.89 [[ 5.00581767e-01 3.54519198e-01 -7.89768341e-01 1.89409704e+02] [-2.04417867e-01 9.34908010e-01 2.90104032e-01 1.09683875e+01] [ 8.41208197e-01 1.62219710e-02 5.40467962e-01 -9.38923168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.80864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:189.37, Y:10.85, Z:-93.87 [[ 4.68980314e-01 4.65452987e-01 -7.50607076e-01 1.89372464e+02] [-1.89366012e-01 8.83091240e-01 4.29290549e-01 1.08502812e+01] [ 8.62669101e-01 -5.91893478e-02 5.02293383e-01 -9.38713606e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.83864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:189.44, Y:10.98, Z:-93.84 [[ 4.70933768e-01 3.28978630e-01 -8.18531885e-01 1.89440672e+02] [-1.96908595e-01 9.43654040e-01 2.65977552e-01 1.09812592e+01] [ 8.59911851e-01 3.59181526e-02 5.09177272e-01 -9.38404212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.86864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:189.43, Y:10.91, Z:-93.82 [[ 4.69270813e-01 3.99489619e-01 -7.87523300e-01 1.89430097e+02] [-1.96525183e-01 9.16698346e-01 3.47910900e-01 1.09062609e+01] [ 8.60908100e-01 -8.49626999e-03 5.08689549e-01 -9.38221982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.89864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:189.45, Y:10.91, Z:-93.80 [[ 4.67745522e-01 3.89621731e-01 -7.93353032e-01 1.89447401e+02] [-1.98066091e-01 9.20974955e-01 3.35521916e-01 1.09122426e+01] [ 8.61384902e-01 1.97460016e-04 5.07952765e-01 -9.37993304e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.92864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.48, Y:10.95, Z:-93.77 [[ 4.98804125e-01 3.45226298e-01 -7.94992609e-01 1.89478323e+02] [-2.12732838e-01 9.37955467e-01 2.73832580e-01 1.09521295e+01] [ 8.40201871e-01 3.25322135e-02 5.41297026e-01 -9.37725668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.95864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.46, Y:10.86, Z:-93.75 [[ 4.67674077e-01 4.36979343e-01 -7.68329364e-01 1.89455284e+02] [-2.04541628e-01 8.99157135e-01 3.86883921e-01 1.08590182e+01] [ 8.59909112e-01 -2.37802415e-02 5.09892949e-01 -9.37521412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.98864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:189.49, Y:10.91, Z:-93.73 [[ 4.70404907e-01 3.82397895e-01 -7.95293074e-01 1.89490298e+02] [-2.08826049e-01 9.23872445e-01 3.20704515e-01 1.09104126e+01] [ 8.57386089e-01 1.52169328e-02 5.14448773e-01 -9.37255802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.01864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:189.50, Y:10.90, Z:-93.70 [[ 4.70800727e-01 3.96483454e-01 -7.88129144e-01 1.89497632e+02] [-2.10987615e-01 9.18005260e-01 3.35783514e-01 1.08952299e+01] [ 8.56639307e-01 8.19836564e-03 5.15850642e-01 -9.37019301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.04864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:189.53, Y:10.94, Z:-93.68 [[ 5.02317256e-01 3.46725959e-01 -7.92122771e-01 1.89530601e+02] [-2.23412398e-01 9.37020725e-01 2.68475437e-01 1.09403129e+01] [ 8.35322857e-01 4.21102024e-02 5.48144557e-01 -9.36752266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.07864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:189.51, Y:10.85, Z:-93.66 [[ 4.73935022e-01 4.31827507e-01 -7.67405108e-01 1.89511468e+02] [-2.11216199e-01 9.01803610e-01 3.77011891e-01 1.08514992e+01] [ 8.54852802e-01 -1.65907489e-02 5.18605278e-01 -9.36574283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.10864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:189.54, Y:10.89, Z:-93.63 [[ 4.70787662e-01 3.93867261e-01 -7.89447628e-01 1.89539537e+02] [-2.10600943e-01 9.19118232e-01 3.32969846e-01 1.08867620e+01] [ 8.56741630e-01 9.50031955e-03 5.15658340e-01 -9.36319746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.13864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:189.56, Y:10.90, Z:-93.61 [[ 4.72470665e-01 3.83236972e-01 -7.93662960e-01 1.89559432e+02] [-2.13097512e-01 9.23467120e-01 3.19057878e-01 1.08958061e+01] [ 8.55196422e-01 1.83821148e-02 5.17977969e-01 -9.36078352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.16864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:189.59, Y:10.93, Z:-93.58 [[ 5.04489655e-01 3.44531009e-01 -7.91699799e-01 1.89587687e+02] [-2.25414097e-01 9.37692872e-01 2.64424965e-01 1.09300655e+01] [ 8.33473858e-01 4.50606360e-02 5.50718500e-01 -9.35811827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.19864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:189.57, Y:10.84, Z:-93.56 [[ 4.76293376e-01 4.28511907e-01 -7.67803468e-01 1.89570467e+02] [-2.13217846e-01 9.03436103e-01 3.71942681e-01 1.08423705e+01] [ 8.53043241e-01 -1.34444336e-02 5.21667017e-01 -9.35600210e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.22864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:189.60, Y:10.89, Z:-93.53 [[ 4.80828570e-01 3.81240049e-01 -7.89594777e-01 1.89601450e+02] [-2.14679812e-01 9.24305015e-01 3.15551609e-01 1.08853756e+01] [ 8.50127323e-01 1.77838298e-02 5.26276800e-01 -9.35343564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.25864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:189.61, Y:10.86, Z:-93.51 [[ 4.76426454e-01 4.00591518e-01 -7.82652075e-01 1.89608548e+02] [-2.10740248e-01 9.16252998e-01 3.40688997e-01 1.08613519e+01] [ 8.53584432e-01 2.62304191e-03 5.20947922e-01 -9.35111339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.28864000000002 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:189.63, Y:10.87, Z:-93.49 [[ 4.76875438e-01 3.85956637e-01 -7.89700761e-01 1.89627215e+02] [-2.11454045e-01 9.22426858e-01 3.23134459e-01 1.08717557e+01] [ 8.53157080e-01 1.28905339e-02 5.21494804e-01 -9.34871768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.31864000000002 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:189.65, Y:10.90, Z:-93.46 [[ 5.06966129e-01 3.52251337e-01 -7.86704734e-01 1.89653626e+02] [-2.22388860e-01 9.35239038e-01 2.75447157e-01 1.09003506e+01] [ 8.32783609e-01 3.53119896e-02 5.52471288e-01 -9.34620112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.34864000000002 meters Centerline goodness : 0.998134 Centerline is valid? [True, True] Translation: X:189.66, Y:10.86, Z:-93.44 [[ 5.07015288e-01 3.87704649e-01 -7.69818552e-01 1.89656476e+02] [-2.22314351e-01 9.21729231e-01 3.17791684e-01 1.08587382e+01] [ 8.32773575e-01 1.00164698e-02 5.53523119e-01 -9.34409958e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.37864000000002 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:189.67, Y:10.85, Z:-93.42 [[ 5.07514689e-01 3.86562926e-01 -7.70063597e-01 1.89670565e+02] [-2.21443347e-01 9.22212598e-01 3.16996480e-01 1.08534744e+01] [ 8.32701438e-01 9.64509030e-03 5.53638228e-01 -9.34173916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:189.67, Y:10.82, Z:-93.39 [[ 4.79051046e-01 4.16909231e-01 -7.72461513e-01 1.89670417e+02] [-2.07218991e-01 9.08850037e-01 3.62010911e-01 1.08155870e+01] [ 8.52977365e-01 -1.33530108e-02 5.21777071e-01 -9.33939131e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:189.69, Y:10.84, Z:-93.37 [[ 4.77683997e-01 3.90384468e-01 -7.87031109e-01 1.89692082e+02] [-2.06231639e-01 9.20643390e-01 3.31487948e-01 1.08357378e+01] [ 8.53982734e-01 3.96422728e-03 5.20286243e-01 -9.33688577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:189.71, Y:10.83, Z:-93.34 [[ 4.78942822e-01 3.86850564e-01 -7.88010415e-01 1.89706692e+02] [-2.06299132e-01 9.22124141e-01 3.27303739e-01 1.08332968e+01] [ 8.53261063e-01 5.80608812e-03 5.21451674e-01 -9.33446604e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.49864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:189.73, Y:10.86, Z:-93.32 [[ 5.12598585e-01 3.48426582e-01 -7.84755763e-01 1.89732731e+02] [-2.16779350e-01 9.36872403e-01 2.74366205e-01 1.08633852e+01] [ 8.30812496e-01 2.94791155e-02 5.55771156e-01 -9.33189611e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.52864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:189.72, Y:10.79, Z:-93.30 [[ 4.84799389e-01 4.10160278e-01 -7.72488251e-01 1.89722442e+02] [-2.04140858e-01 9.11891366e-01 3.56062700e-01 1.07935094e+01] [ 8.50468143e-01 -1.49225653e-02 5.25814849e-01 -9.32973094e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.55864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:189.76, Y:10.85, Z:-93.27 [[ 5.17694665e-01 3.49629782e-01 -7.80865705e-01 1.89755922e+02] [-2.12848726e-01 9.36625977e-01 2.78257433e-01 1.08455487e+01] [ 8.28666189e-01 2.21538825e-02 5.59304525e-01 -9.32706317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.58864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:189.76, Y:10.81, Z:-93.25 [[ 5.17818168e-01 3.76840803e-01 -7.68020413e-01 1.89761182e+02] [-2.11409567e-01 9.26277668e-01 3.11954606e-01 1.08094850e+01] [ 8.28957381e-01 8.31099836e-04 5.59311156e-01 -9.32488959e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.61864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:189.77, Y:10.80, Z:-93.23 [[ 5.17343484e-01 3.74001514e-01 -7.69726307e-01 1.89774465e+02] [-2.06589395e-01 9.27425298e-01 3.11774180e-01 1.07996386e+01] [ 8.30467664e-01 -2.27704857e-03 5.57062181e-01 -9.32258674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.64864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:189.79, Y:10.79, Z:-93.20 [[ 5.18725600e-01 3.72087157e-01 -7.69723911e-01 1.89787867e+02] [-2.04459456e-01 9.28189620e-01 3.10902493e-01 1.07914431e+01] [ 8.30132569e-01 -3.89574992e-03 5.57552456e-01 -9.32027653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.67864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:189.80, Y:10.78, Z:-93.18 [[ 5.19452560e-01 3.70037541e-01 -7.70221563e-01 1.89801034e+02] [-2.01786050e-01 9.28999131e-01 3.10230568e-01 1.07832594e+01] [ 8.30332119e-01 -5.73009612e-03 5.57239390e-01 -9.31794434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.70864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:189.81, Y:10.77, Z:-93.16 [[ 5.21684357e-01 3.66542944e-01 -7.70384126e-01 1.89812098e+02] [-1.96725129e-01 9.30348740e-01 3.09435691e-01 1.07727359e+01] [ 8.30147370e-01 -9.87384286e-03 5.57456592e-01 -9.31557001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.73864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:189.83, Y:10.76, Z:-93.13 [[ 5.22893070e-01 3.64500521e-01 -7.70533716e-01 1.89825204e+02] [-1.94268372e-01 9.31129753e-01 3.08637623e-01 1.07639366e+01] [ 8.29965443e-01 -1.16941434e-02 5.57692218e-01 -9.31326679e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.76864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:189.84, Y:10.75, Z:-93.11 [[ 5.23466043e-01 3.62573037e-01 -7.71053886e-01 1.89837375e+02] [-1.91776879e-01 9.31859693e-01 3.07992112e-01 1.07549802e+01] [ 8.30183673e-01 -1.33531044e-02 5.57330031e-01 -9.31084086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.79864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:189.85, Y:10.74, Z:-93.08 [[ 5.24412795e-01 3.60535487e-01 -7.71365920e-01 1.89847502e+02] [-1.89217184e-01 9.32621979e-01 3.07267149e-01 1.07433019e+01] [ 8.30173522e-01 -1.51791368e-02 5.57298409e-01 -9.30835079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.82864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:189.86, Y:10.74, Z:-93.06 [[ 5.24832180e-01 3.59249532e-01 -7.71680605e-01 1.89858890e+02] [-1.87981627e-01 9.33107340e-01 3.06551139e-01 1.07356999e+01] [ 8.30189190e-01 -1.58261270e-02 5.57257071e-01 -9.30592973e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.85864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:189.87, Y:10.72, Z:-93.04 [[ 5.25058113e-01 3.57989994e-01 -7.72112130e-01 1.89870543e+02] [-1.86717131e-01 9.33580696e-01 3.05882000e-01 1.07242180e+01] [ 8.30331675e-01 -1.64392636e-02 5.57026983e-01 -9.30361792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.88864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:189.88, Y:10.72, Z:-93.01 [[ 5.26073333e-01 3.57330777e-01 -7.71726354e-01 1.89883990e+02] [-1.87042843e-01 9.33840008e-01 3.04889839e-01 1.07158192e+01] [ 8.29615467e-01 -1.60485220e-02 5.58104490e-01 -9.30127051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.90, Y:10.71, Z:-92.99 [[ 5.25620000e-01 3.56487920e-01 -7.72424739e-01 1.89896814e+02] [-1.86357364e-01 9.34162753e-01 3.04320365e-01 1.07080632e+01] [ 8.30056955e-01 -1.60098323e-02 5.57448775e-01 -9.29892158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.91, Y:10.70, Z:-92.97 [[ 5.24255088e-01 3.56436725e-01 -7.73375371e-01 1.89909344e+02] [-1.86916868e-01 9.34203195e-01 3.03852717e-01 1.06990354e+01] [ 8.30794010e-01 -1.47394308e-02 5.56384815e-01 -9.29660972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.97864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:189.89, Y:10.64, Z:-92.94 [[ 4.88158023e-01 4.14478420e-01 -7.68055587e-01 1.89893472e+02] [-1.72421384e-01 9.08491025e-01 3.80676929e-01 1.06374378e+01] [ 8.55553979e-01 -5.34012897e-02 5.14952125e-01 -9.29420750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:189.96, Y:10.75, Z:-92.92 [[ 5.25234118e-01 2.89583639e-01 -8.00169005e-01 1.89956271e+02] [-1.88907874e-01 9.56531974e-01 2.22172002e-01 1.07533570e+01] [ 8.29724615e-01 3.44659097e-02 5.57107857e-01 -9.29161030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.03864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.95, Y:10.68, Z:-92.89 [[ 5.25549161e-01 3.59002014e-01 -7.71307742e-01 1.89946516e+02] [-1.94681762e-01 9.33298765e-01 3.01748948e-01 1.06810912e+01] [ 8.28189043e-01 -8.42435604e-03 5.60385528e-01 -9.28940429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.06864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.96, Y:10.68, Z:-92.87 [[ 5.25493271e-01 3.59185916e-01 -7.71260203e-01 1.89960449e+02] [-1.96219728e-01 9.33241254e-01 3.00929527e-01 1.06763224e+01] [ 8.27861486e-01 -6.79997404e-03 5.60891362e-01 -9.28700774e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.09864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:189.95, Y:10.62, Z:-92.84 [[ 4.88558461e-01 4.16520727e-01 -7.66694929e-01 1.89946930e+02] [-1.81677568e-01 9.08004422e-01 3.77519842e-01 1.06165374e+01] [ 8.53407225e-01 -4.51492436e-02 5.19285716e-01 -9.28449222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.12864000000002 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.99, Y:10.67, Z:-92.82 [[ 4.88103514e-01 3.53628486e-01 -7.97935996e-01 1.89986430e+02] [-1.85525358e-01 9.35385323e-01 3.01055872e-01 1.06749872e+01] [ 8.52839552e-01 1.09093220e-03 5.22171914e-01 -9.28213272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:189.99, Y:10.66, Z:-92.80 [[ 4.89558011e-01 3.66687599e-01 -7.91121456e-01 1.89994116e+02] [-1.85020066e-01 9.30303709e-01 3.16705831e-01 1.06569910e+01] [ 8.52115326e-01 -8.67253225e-03 5.23282197e-01 -9.27987821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:10.71, Z:-92.78 [[ 5.31121210e-01 3.07035202e-01 -7.89708582e-01 1.90031817e+02] [-1.99030254e-01 9.51164796e-01 2.35950185e-01 1.07073391e+01] [ 8.23588015e-01 3.18577515e-02 5.66293091e-01 -9.27755646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.03, Y:10.65, Z:-92.75 [[ 5.31472233e-01 3.58037574e-01 -7.67688974e-01 1.90028595e+02] [-2.01046417e-01 9.33701957e-01 2.96278575e-01 1.06508414e+01] [ 8.22871560e-01 -3.12271840e-03 5.68218835e-01 -9.27535980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.02, Y:10.59, Z:-92.73 [[ 4.92077197e-01 4.13073810e-01 -7.66309376e-01 1.90016882e+02] [-1.86454561e-01 9.09838900e-01 3.70712654e-01 1.05940097e+01] [ 8.50349768e-01 -3.95373657e-02 5.24730472e-01 -9.27282167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.07, Y:10.69, Z:-92.70 [[ 5.33288873e-01 3.05265572e-01 -7.88933399e-01 1.90073007e+02] [-2.00734888e-01 9.51647250e-01 2.32536055e-01 1.06945278e+01] [ 8.21771552e-01 3.43575675e-02 5.68780339e-01 -9.27048596e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.04, Y:10.57, Z:-92.68 [[ 4.90747429e-01 4.30130260e-01 -7.57730111e-01 1.90035654e+02] [-1.84547273e-01 9.01234922e-01 3.92068768e-01 1.05671893e+01] [ 8.51533479e-01 -5.25697144e-02 5.21658087e-01 -9.26798625e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.08, Y:10.64, Z:-92.66 [[ 4.95275815e-01 3.53345280e-01 -7.93630254e-01 1.90080105e+02] [-1.90035093e-01 9.35487263e-01 2.97909791e-01 1.06362452e+01] [ 8.47696013e-01 3.27008495e-03 5.30472220e-01 -9.26565146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.09, Y:10.61, Z:-92.63 [[ 4.94832556e-01 3.70979333e-01 -7.85821275e-01 1.90086800e+02] [-1.89229136e-01 9.28594933e-01 3.19223721e-01 1.06121477e+01] [ 8.48135057e-01 -9.26200894e-03 5.29699103e-01 -9.26336982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.10, Y:10.61, Z:-92.61 [[ 4.97833350e-01 3.61624566e-01 -7.88282709e-01 1.90100730e+02] [-1.87756105e-01 9.32305230e-01 3.09119077e-01 1.06140031e+01] [ 8.46705144e-01 -5.88489480e-03 5.32029856e-01 -9.26122364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.42864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:190.12, Y:10.62, Z:-92.59 [[ 5.01333126e-01 3.49526079e-01 -7.91515392e-01 1.90119304e+02] [-1.89912468e-01 9.36921160e-01 2.93448454e-01 1.06204996e+01] [ 8.44155407e-01 3.20321126e-03 5.36088974e-01 -9.25877277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.12, Y:10.59, Z:-92.57 [[ 5.00101471e-01 3.69756957e-01 -7.83057030e-01 1.90124836e+02] [-1.88394098e-01 9.29054868e-01 3.18378261e-01 1.05940213e+01] [ 8.45225522e-01 -1.16981138e-02 5.34281734e-01 -9.25655812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.15, Y:10.60, Z:-92.54 [[ 5.03900922e-01 3.54234810e-01 -7.87782685e-01 1.90145081e+02] [-1.91425566e-01 9.35156312e-01 2.98058594e-01 1.06044673e+01] [ 8.42282680e-01 6.09745904e-04 5.39035727e-01 -9.25427150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.14, Y:10.57, Z:-92.52 [[ 4.97284339e-01 3.85005485e-01 -7.77482516e-01 1.90141946e+02] [-1.87563529e-01 9.22658620e-01 3.36928765e-01 1.05710527e+01] [ 8.47070368e-01 -2.17220339e-02 5.31036670e-01 -9.25231759e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.20, Y:10.70, Z:-92.49 [[ 5.50009975e-01 2.58389654e-01 -7.94181222e-01 1.90201689e+02] [-2.09426317e-01 9.63223194e-01 1.68349919e-01 1.06962736e+01] [ 8.08473651e-01 7.37283135e-02 5.83895959e-01 -9.24948821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.16, Y:10.54, Z:-92.47 [[ 5.13754562e-01 4.13818050e-01 -7.51539002e-01 1.90160956e+02] [-2.01486448e-01 9.09680791e-01 3.63158463e-01 1.05394410e+01] [ 8.33942121e-01 -3.51493931e-02 5.50731385e-01 -9.24743861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.20, Y:10.58, Z:-92.45 [[ 5.13287557e-01 3.66098302e-01 -7.76213835e-01 1.90195194e+02] [-2.05026224e-01 9.30569778e-01 3.03321837e-01 1.05841991e+01] [ 8.33366745e-01 3.45286659e-03 5.52709640e-01 -9.24512804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.20, Y:10.56, Z:-92.43 [[ 5.09400732e-01 3.85052180e-01 -7.69575021e-01 1.90200612e+02] [-2.03124435e-01 9.22836222e-01 3.27282404e-01 1.05609439e+01] [ 8.36212508e-01 -1.03984049e-02 5.48306954e-01 -9.24281805e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.23, Y:10.60, Z:-92.41 [[ 5.18931313e-01 3.41096822e-01 -7.83813276e-01 1.90232718e+02] [-2.08563892e-01 9.39748954e-01 2.70874523e-01 1.06008674e+01] [ 8.28982144e-01 2.29098751e-02 5.58805639e-01 -9.24050128e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.24, Y:10.57, Z:-92.38 [[ 5.20385094e-01 3.64770057e-01 -7.72102428e-01 1.90238012e+02] [-2.06010808e-01 9.31094524e-01 3.01035770e-01 1.05723791e+01] [ 8.28709178e-01 2.40691811e-03 5.59674285e-01 -9.23832454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.72864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:190.25, Y:10.57, Z:-92.36 [[ 5.23019753e-01 3.59152900e-01 -7.72955065e-01 1.90254830e+02] [-2.05526030e-01 9.33266414e-01 2.94572319e-01 1.05717353e+01] [ 8.27169505e-01 4.79524436e-03 5.61932039e-01 -9.23612682e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.29, Y:10.61, Z:-92.34 [[ 5.56391040e-01 3.14040470e-01 -7.69290318e-01 1.90285840e+02] [-2.13086783e-01 9.48794353e-01 2.33202269e-01 1.06090280e+01] [ 8.03133260e-01 3.41739457e-02 5.94818551e-01 -9.23390881e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.78864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.26, Y:10.51, Z:-92.32 [[ 5.24019609e-01 4.02749051e-01 -7.50464290e-01 1.90264786e+02] [-1.99540007e-01 9.14661349e-01 3.51537199e-01 1.05141436e+01] [ 8.28001953e-01 -3.44647357e-02 5.59665031e-01 -9.23158952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.81864000000002 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.32, Y:10.61, Z:-92.29 [[ 5.61220643e-01 2.95844372e-01 -7.72986092e-01 1.90319232e+02] [-2.08801720e-01 9.54334489e-01 2.13652811e-01 1.06145992e+01] [ 8.00895269e-01 4.14944575e-02 5.97365029e-01 -9.22919500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.84864000000002 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.32, Y:10.56, Z:-92.27 [[ 5.61507159e-01 3.46864203e-01 -7.51262228e-01 1.90316981e+02] [-2.09117160e-01 9.37913807e-01 2.76744837e-01 1.05556844e+01] [ 8.00612093e-01 1.70761592e-03 5.99180574e-01 -9.22711969e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.87864000000002 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.33, Y:10.55, Z:-92.25 [[ 5.61770683e-01 3.45468365e-01 -7.51708260e-01 1.90330506e+02] [-2.07615138e-01 9.38429919e-01 2.76125411e-01 1.05477173e+01] [ 8.00818116e-01 9.46853313e-04 5.98906879e-01 -9.22478577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:190.35, Y:10.54, Z:-92.23 [[ 5.61760503e-01 3.44331444e-01 -7.52237326e-01 1.90345304e+02] [-2.06498622e-01 9.38847994e-01 2.75540856e-01 1.05422806e+01] [ 8.01113885e-01 5.48001202e-04 5.98511690e-01 -9.22251978e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.36, Y:10.54, Z:-92.20 [[ 5.60693781e-01 3.43278883e-01 -7.53513167e-01 1.90361928e+02] [-2.05174179e-01 9.39233477e-01 2.75216336e-01 1.05360375e+01] [ 8.02200748e-01 2.89357040e-04 5.97054332e-01 -9.22030947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.36, Y:10.48, Z:-92.18 [[ 5.27306669e-01 3.94054591e-01 -7.52773974e-01 1.90355403e+02] [-1.91277897e-01 9.18266542e-01 3.46697741e-01 1.04771370e+01] [ 8.27864991e-01 -3.88270086e-02 5.59582005e-01 -9.21803415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.41, Y:10.57, Z:-92.16 [[ 5.61737553e-01 2.93196048e-01 -7.73619415e-01 1.90406961e+02] [-2.02391679e-01 9.55384410e-01 2.15123773e-01 1.05702800e+01] [ 8.02177368e-01 3.57310301e-02 5.96015741e-01 -9.21570735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.38, Y:10.47, Z:-92.13 [[ 5.29307596e-01 3.87461428e-01 -7.54789448e-01 1.90384089e+02] [-1.89416080e-01 9.21142755e-01 3.40025841e-01 1.04661870e+01] [ 8.27015730e-01 -3.70090020e-02 5.60959282e-01 -9.21331962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.42, Y:10.52, Z:-92.11 [[ 5.33984178e-01 3.30867684e-01 -7.78066496e-01 1.90421627e+02] [-1.91256327e-01 9.43665853e-01 2.70029212e-01 1.05161227e+01] [ 8.23578724e-01 4.61881395e-03 5.67183173e-01 -9.21102439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:190.43, Y:10.49, Z:-92.09 [[ 5.36758105e-01 3.48038038e-01 -7.68609303e-01 1.90427656e+02] [-1.90544199e-01 9.37427446e-01 2.91414982e-01 1.04891908e+01] [ 8.21938955e-01 -9.96530951e-03 5.69488408e-01 -9.20874870e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.44, Y:10.49, Z:-92.06 [[ 5.40819620e-01 3.38895434e-01 -7.69846753e-01 1.90444855e+02] [-1.92080899e-01 9.40818819e-01 2.79221914e-01 1.04903209e+01] [ 8.18913345e-01 -3.13583271e-03 5.73908616e-01 -9.20649280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.45, Y:10.47, Z:-92.04 [[ 5.40380995e-01 3.50102394e-01 -7.65125280e-01 1.90454440e+02] [-1.90233473e-01 9.36615060e-01 2.94216682e-01 1.04709610e+01] [ 8.19633825e-01 -1.34366642e-02 5.72730172e-01 -9.20424667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.47, Y:10.47, Z:-92.02 [[ 5.39554461e-01 3.45622707e-01 -7.67740795e-01 1.90471056e+02] [-1.89838741e-01 9.38318306e-01 2.88998285e-01 1.04691604e+01] [ 8.20269612e-01 -1.01833685e-02 5.71886408e-01 -9.20199127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.49, Y:10.47, Z:-92.00 [[ 5.39094992e-01 3.40076567e-01 -7.70535215e-01 1.90488483e+02] [-1.89976288e-01 9.40380427e-01 2.82123487e-01 1.04666421e+01] [ 8.20539822e-01 -5.70793849e-03 5.71560863e-01 -9.19975875e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.23864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.50, Y:10.45, Z:-91.97 [[ 5.38309925e-01 3.49880425e-01 -7.66685146e-01 1.90498449e+02] [-1.89460313e-01 9.36700730e-01 2.94442749e-01 1.04502047e+01] [ 8.21174290e-01 -1.32450465e-02 5.70523754e-01 -9.19746836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.51, Y:10.45, Z:-91.95 [[ 5.41083964e-01 3.46639225e-01 -7.66204536e-01 1.90513111e+02] [-1.88743515e-01 9.37910415e-01 2.91032538e-01 1.04453873e+01] [ 8.19514509e-01 -1.28569019e-02 5.72914191e-01 -9.19527884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.53, Y:10.45, Z:-91.93 [[ 5.43664505e-01 3.31191297e-01 -7.71194678e-01 1.90534353e+02] [-1.89343634e-01 9.43562078e-01 2.71734417e-01 1.04531171e+01] [ 8.17666127e-01 -1.71155446e-03 5.75690174e-01 -9.19312295e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.54, Y:10.44, Z:-91.91 [[ 5.44412866e-01 3.39775341e-01 -7.66920693e-01 1.90544790e+02] [-1.89192621e-01 9.40467076e-01 2.82361171e-01 1.04375761e+01] [ 8.17203025e-01 -8.62531832e-03 5.76285363e-01 -9.19091902e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.56, Y:10.43, Z:-91.89 [[ 5.45693126e-01 3.36961496e-01 -7.67252216e-01 1.90560999e+02] [-1.89149080e-01 9.41491665e-01 2.78955320e-01 1.04345005e+01] [ 8.16358768e-01 -7.09895027e-03 5.77501487e-01 -9.18862690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.58, Y:10.43, Z:-91.86 [[ 5.47350084e-01 3.34539830e-01 -7.67131663e-01 1.90576655e+02] [-1.91544234e-01 9.42376193e-01 2.74295311e-01 1.04308069e+01] [ 8.14689323e-01 -3.19591442e-03 5.79888863e-01 -9.18637363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.58, Y:10.40, Z:-91.84 [[ 5.43857257e-01 3.62390801e-01 -7.56896421e-01 1.90578628e+02] [-1.88548617e-01 9.31657853e-01 3.10585036e-01 1.03973613e+01] [ 8.17721654e-01 -2.62021529e-02 5.75017168e-01 -9.18391928e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.61, Y:10.43, Z:-91.82 [[ 5.48640947e-01 3.22614585e-01 -7.71305997e-01 1.90610182e+02] [-1.93109676e-01 9.46503751e-01 2.58532982e-01 1.04338451e+01] [ 8.13450530e-01 7.10487105e-03 5.81590712e-01 -9.18166060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:190.60, Y:10.36, Z:-91.79 [[ 5.45529237e-01 3.87025597e-01 -7.43376781e-01 1.90596267e+02] [-1.90471834e-01 9.21030682e-01 3.39739552e-01 1.03634732e+01] [ 8.16160727e-01 -4.37455196e-02 5.76166640e-01 -9.17939793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.50864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.67, Y:10.53, Z:-91.77 [[ 5.84766128e-01 2.26948400e-01 -7.78808706e-01 1.90671770e+02] [-2.08958962e-01 9.69810744e-01 1.25711067e-01 1.05258492e+01] [ 7.83826976e-01 8.92274848e-02 6.14535375e-01 -9.17690846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.66, Y:10.41, Z:-91.75 [[ 5.82567613e-01 3.34562790e-01 -7.40731203e-01 1.90656523e+02] [-2.14251328e-01 9.42331284e-01 2.57114994e-01 1.04133675e+01] [ 7.84035295e-01 8.91577584e-03 6.20652209e-01 -9.17507258e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.56864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:190.65, Y:10.36, Z:-91.72 [[ 5.43152159e-01 3.88072073e-01 -7.44570882e-01 1.90652170e+02] [-2.07188196e-01 9.21304505e-01 3.29045681e-01 1.03618882e+01] [ 8.13669947e-01 -2.44555739e-02 5.80812484e-01 -9.17235512e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.69, Y:10.41, Z:-91.70 [[ 5.50815299e-01 3.40808283e-01 -7.61874150e-01 1.90687539e+02] [-2.10938141e-01 9.40041724e-01 2.68004960e-01 1.04054215e+01] [ 8.07531800e-01 1.30870845e-02 5.89678828e-01 -9.17049572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.72, Y:10.44, Z:-91.68 [[ 5.80791642e-01 3.09135754e-01 -7.53071148e-01 1.90717637e+02] [-2.20340254e-01 9.50255530e-01 2.20146772e-01 1.04366443e+01] [ 7.83665261e-01 3.80724825e-02 6.20015520e-01 -9.16846070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.71, Y:10.37, Z:-91.66 [[ 5.51394500e-01 3.74674273e-01 -7.45374600e-01 1.90707993e+02] [-2.10760028e-01 9.27052532e-01 3.10086784e-01 1.03653592e+01] [ 8.07182951e-01 -1.38849752e-02 5.90138028e-01 -9.16598910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:190.75, Y:10.43, Z:-91.64 [[ 5.82974874e-01 3.04343324e-01 -7.53336205e-01 1.90750942e+02] [-2.19599838e-01 9.51707076e-01 2.14544989e-01 1.04331148e+01] [ 7.82250732e-01 4.03581707e-02 6.21655057e-01 -9.16381658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:190.74, Y:10.36, Z:-91.61 [[ 5.54328753e-01 3.70491864e-01 -7.45288811e-01 1.90741278e+02] [-2.06840023e-01 9.28689541e-01 3.07819658e-01 1.03599317e+01] [ 8.06186602e-01 -1.64777319e-02 5.91431861e-01 -9.16131874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:190.75, Y:10.35, Z:-91.59 [[ 5.41158529e-01 3.76837909e-01 -7.51758363e-01 1.90749524e+02] [-1.95782753e-01 9.25864679e-01 3.23177520e-01 1.03469491e+01] [ 8.17812057e-01 -2.77089494e-02 5.74817931e-01 -9.15909862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:190.81, Y:10.45, Z:-91.57 [[ 5.61738118e-01 2.73240828e-01 -7.80890348e-01 1.90805430e+02] [-2.08503136e-01 9.60174773e-01 1.85986152e-01 1.04509094e+01] [ 8.00610223e-01 5.83425756e-02 5.96338340e-01 -9.15668925e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:190.81, Y:10.41, Z:-91.55 [[ 5.88829380e-01 3.09548370e-01 -7.46632284e-01 1.90812158e+02] [-2.15056178e-01 9.50459342e-01 2.24450171e-01 1.04067361e+01] [ 7.79121814e-01 2.84050309e-02 6.26228675e-01 -9.15478315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:190.82, Y:10.38, Z:-91.53 [[ 5.90060894e-01 3.29958826e-01 -7.36855016e-01 1.90821213e+02] [-2.15690792e-01 9.43926005e-01 2.49962355e-01 1.03789978e+01] [ 7.78013897e-01 1.14398310e-02 6.28142903e-01 -9.15264368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.86864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:190.82, Y:10.34, Z:-91.50 [[ 5.60839429e-01 3.62253839e-01 -7.44467119e-01 1.90822574e+02] [-2.06248789e-01 9.31979493e-01 2.98120214e-01 1.03425687e+01] [ 8.01823280e-01 -1.36521286e-02 5.97405262e-01 -9.15023000e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:190.86, Y:10.40, Z:-91.48 [[ 5.91815652e-01 3.00601983e-01 -7.47925586e-01 1.90862415e+02] [-2.15428482e-01 9.53096019e-01 2.12599500e-01 1.04018023e+01] [ 7.76752730e-01 3.53047621e-02 6.28815371e-01 -9.14803867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.92864000000003 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:190.85, Y:10.32, Z:-91.46 [[ 5.57633797e-01 3.77402913e-01 -7.39331854e-01 1.90847539e+02] [-2.03496655e-01 9.25642344e-01 3.19022511e-01 1.03183818e+01] [ 8.04756895e-01 -2.74461749e-02 5.92969685e-01 -9.14572204e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:190.90, Y:10.42, Z:-91.43 [[ 5.91935490e-01 2.79863301e-01 -7.55836562e-01 1.90899707e+02] [-2.14737718e-01 9.58644497e-01 1.86784477e-01 1.04157882e+01] [ 7.76852681e-01 5.17422574e-02 6.27552907e-01 -9.14346764e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.98864000000003 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:190.89, Y:10.33, Z:-91.41 [[ 5.64333223e-01 3.55802912e-01 -7.44937784e-01 1.90890427e+02] [-2.05199992e-01 9.34492732e-01 2.90888806e-01 1.03319214e+01] [ 7.99638029e-01 -1.12969902e-02 6.00376050e-01 -9.14134138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:190.93, Y:10.39, Z:-91.39 [[ 5.93726600e-01 2.99977984e-01 -7.46660521e-01 1.90926774e+02] [-2.13492613e-01 9.53382598e-01 2.13266327e-01 1.03851926e+01] [ 7.75828350e-01 3.27846146e-02 6.30091692e-01 -9.13901191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:190.94, Y:10.35, Z:-91.37 [[ 5.93383671e-01 3.25022178e-01 -7.36380610e-01 1.90935414e+02] [-2.11847205e-01 9.45657442e-01 2.46683532e-01 1.03545126e+01] [ 7.76541422e-01 9.62219401e-03 6.29992724e-01 -9.13681465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:190.95, Y:10.35, Z:-91.35 [[ 5.92900187e-01 3.24227665e-01 -7.37119929e-01 1.90952056e+02] [-2.11177165e-01 9.45929529e-01 2.46214401e-01 1.03513355e+01] [ 7.77093028e-01 9.68233242e-03 6.29311273e-01 -9.13454900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:190.97, Y:10.35, Z:-91.32 [[ 5.94135727e-01 3.23014433e-01 -7.36657596e-01 1.90969580e+02] [-2.10299908e-01 9.46349818e-01 2.45348670e-01 1.03489988e+01] [ 7.76386943e-01 9.14861422e-03 6.30190143e-01 -9.13231865e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.13864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:190.98, Y:10.32, Z:-91.30 [[ 5.65129647e-01 3.50679274e-01 -7.46761360e-01 1.90975044e+02] [-2.00189658e-01 9.36399800e-01 2.88235174e-01 1.03165892e+01] [ 8.00345289e-01 -1.33963410e-02 5.99389653e-01 -9.13010552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:191.01, Y:10.37, Z:-91.28 [[ 5.95726844e-01 2.97080750e-01 -7.46225539e-01 1.91010031e+02] [-2.08983461e-01 9.54412374e-01 2.13126565e-01 1.03686631e+01] [ 7.75522689e-01 2.89835796e-02 6.30654035e-01 -9.12781917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.19864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:191.02, Y:10.34, Z:-91.26 [[ 5.93821158e-01 3.21241372e-01 -7.37685850e-01 1.91020599e+02] [-2.08871650e-01 9.46954106e-01 2.44234631e-01 1.03420745e+01] [ 7.77012913e-01 9.04996912e-03 6.29419599e-01 -9.12573786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:191.04, Y:10.34, Z:-91.24 [[ 5.93246303e-01 3.20756956e-01 -7.38358855e-01 1.91036958e+02] [-2.08711658e-01 9.47113897e-01 2.43751328e-01 1.03385772e+01] [ 7.77494867e-01 9.49952714e-03 6.28817534e-01 -9.12350383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.25864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:191.06, Y:10.34, Z:-91.21 [[ 5.93250956e-01 3.19899304e-01 -7.38727107e-01 1.91055039e+02] [-2.08077595e-01 9.47404365e-01 2.43163901e-01 1.03364087e+01] [ 7.77661249e-01 9.45534290e-03 6.28612423e-01 -9.12131280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:191.07, Y:10.33, Z:-91.19 [[ 5.94066871e-01 3.18495280e-01 -7.38678083e-01 1.91072413e+02] [-2.06738507e-01 9.47884599e-01 2.42433446e-01 1.03323709e+01] [ 7.77395487e-01 8.69152566e-03 6.28952076e-01 -9.11915689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.31864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:191.08, Y:10.30, Z:-91.17 [[ 5.64184751e-01 3.45065345e-01 -7.50083645e-01 1.91079012e+02] [-1.96594958e-01 9.38492847e-01 2.83868982e-01 1.02997182e+01] [ 8.01901484e-01 -1.26918884e-02 5.97321460e-01 -9.11679784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:191.10, Y:10.31, Z:-91.14 [[ 5.65464663e-01 3.30625197e-01 -7.55603530e-01 1.91098239e+02] [-1.92357826e-01 9.43737932e-01 2.68992903e-01 1.03082082e+01] [ 8.02027544e-01 -6.75972947e-03 5.97248796e-01 -9.11449852e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.37864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:191.13, Y:10.35, Z:-91.12 [[ 5.99140899e-01 2.82278617e-01 -7.49232251e-01 1.91128755e+02] [-1.99441058e-01 9.58908191e-01 2.01787874e-01 1.03526089e+01] [ 7.75405344e-01 2.85283041e-02 6.30819061e-01 -9.11214901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:191.14, Y:10.32, Z:-91.10 [[ 6.00788071e-01 3.09089532e-01 -7.37236295e-01 1.91137124e+02] [-1.95356200e-01 9.51032937e-01 2.39525172e-01 1.03158403e+01] [ 7.75170722e-01 1.19815012e-04 6.31751800e-01 -9.11014347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.43864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:191.15, Y:10.31, Z:-91.08 [[ 6.01169638e-01 3.07328509e-01 -7.37661341e-01 1.91154021e+02] [-1.93277461e-01 9.51602876e-01 2.38947254e-01 1.03103767e+01] [ 7.75395956e-01 -1.07452298e-03 6.31474430e-01 -9.10797348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:191.16, Y:10.28, Z:-91.06 [[ 5.71608087e-01 3.34881892e-01 -7.49078309e-01 1.91159591e+02] [-1.82145603e-01 9.41933334e-01 2.82107378e-01 1.02759371e+01] [ 8.00054482e-01 -2.48135383e-02 5.99413976e-01 -9.10572966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.49864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:191.18, Y:10.30, Z:-91.03 [[ 5.71904693e-01 3.10795271e-01 -7.59164884e-01 1.91183210e+02] [-1.82440176e-01 9.50461368e-01 2.51671948e-01 1.02969518e+01] [ 7.99775346e-01 -5.43019323e-03 6.00274861e-01 -9.10341184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:191.21, Y:10.32, Z:-91.01 [[ 6.01931540e-01 2.83094284e-01 -7.46683365e-01 1.91209791e+02] [-1.89065624e-01 9.58989019e-01 2.11173511e-01 1.03206156e+01] [ 7.75843161e-01 1.40601595e-02 6.30769135e-01 -9.10127654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.55864 meters Centerline goodness : 0.768820 Centerline is valid? [True, False] Translation: X:191.20, Y:10.35, Z:-91.02 [[ 6.09454648e-01 2.46792695e-01 -7.53431084e-01 1.91203584e+02] [-1.79704680e-01 9.68584183e-01 1.71903776e-01 1.03541002e+01] [ 7.72186027e-01 3.06275369e-02 6.34657934e-01 -9.10226275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:191.18, Y:10.40, Z:-91.05 [[ 6.20601907e-01 2.04352242e-01 -7.57029348e-01 1.91184349e+02] [-1.72513348e-01 9.77371767e-01 1.22407407e-01 1.03998004e+01] [ 7.64913340e-01 5.46313965e-02 6.41812272e-01 -9.10512559e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.61864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:191.20, Y:10.36, Z:-91.03 [[ 6.53937478e-01 2.38095653e-01 -7.18106006e-01 1.91195222e+02] [-1.76723584e-01 9.71001198e-01 1.61013817e-01 1.03563773e+01] [ 7.35618481e-01 2.16132973e-02 6.77051191e-01 -9.10346666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:191.21, Y:10.32, Z:-91.01 [[ 6.54894401e-01 2.62828192e-01 -7.08544046e-01 1.91207576e+02] [-1.77395071e-01 9.64841754e-01 1.93936532e-01 1.03243940e+01] [ 7.34604868e-01 -1.31572755e-03 6.78493888e-01 -9.10147702e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.67864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:191.23, Y:10.32, Z:-90.99 [[ 6.56212230e-01 2.61399793e-01 -7.07852850e-01 1.91225875e+02] [-1.76157138e-01 9.65228449e-01 1.93139080e-01 1.03212664e+01] [ 7.33726224e-01 -2.04689415e-03 6.79442152e-01 -9.09940761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:191.24, Y:10.32, Z:-90.97 [[ 6.57087447e-01 2.60091060e-01 -7.07522952e-01 1.91243942e+02] [-1.74988082e-01 9.65580477e-01 1.92440934e-01 1.03171068e+01] [ 7.33222516e-01 -2.64243796e-03 6.79983647e-01 -9.09736791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.73864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.26, Y:10.31, Z:-90.95 [[ 6.56274591e-01 2.58783072e-01 -7.08755941e-01 1.91262317e+02] [-1.73347793e-01 9.65929977e-01 1.92171334e-01 1.03125938e+01] [ 7.34339298e-01 -3.25588552e-03 6.78774775e-01 -9.09530184e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.28, Y:10.31, Z:-90.93 [[ 6.55441481e-01 2.57612897e-01 -7.09952154e-01 1.91280876e+02] [-1.71914282e-01 9.66241025e-01 1.91895182e-01 1.03094667e+01] [ 7.35419570e-01 -3.72514730e-03 6.77601785e-01 -9.09324882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79864 meters Centerline goodness : 0.806278 Centerline is valid? [True, False] Translation: X:191.27, Y:10.35, Z:-90.94 [[ 6.64061286e-01 2.17116999e-01 -7.15459864e-01 1.91274745e+02] [-1.59731239e-01 9.76013682e-01 1.47929794e-01 1.03468906e+01] [ 7.30416689e-01 1.60468415e-02 6.82813268e-01 -9.09431443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:191.27, Y:10.38, Z:-90.95 [[ 6.71415651e-01 1.85441338e-01 -7.17504379e-01 1.91265679e+02] [-1.52673531e-01 9.82029845e-01 1.10942222e-01 1.03780797e+01] [ 7.25183988e-01 3.50555828e-02 6.87662192e-01 -9.09532284e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.28, Y:10.33, Z:-90.94 [[ 6.71405543e-01 2.25182452e-01 -7.06050607e-01 1.91276790e+02] [-1.54531473e-01 9.74316230e-01 1.63792268e-01 1.03293698e+01] [ 7.24799710e-01 -8.63996262e-04 6.88959094e-01 -9.09352401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.29, Y:10.29, Z:-90.91 [[ 6.41805768e-01 2.59007875e-01 -7.21803489e-01 1.91285802e+02] [-1.49566063e-01 9.65438804e-01 2.13442985e-01 1.02901540e+01] [ 7.52140512e-01 -2.90316328e-02 6.58362981e-01 -9.09144129e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:10.36, Z:-90.89 [[ 6.74495586e-01 1.97798643e-01 -7.11288550e-01 1.91318350e+02] [-1.57912686e-01 9.79797301e-01 1.22722581e-01 1.03568534e+01] [ 7.21192962e-01 2.95456463e-02 6.92103870e-01 -9.08904079e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.94864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.32, Y:10.28, Z:-90.87 [[ 6.44710412e-01 2.58215779e-01 -7.19495029e-01 1.91321634e+02] [-1.51745172e-01 9.65720934e-01 2.10609781e-01 1.02835156e+01] [ 7.49214180e-01 -2.66024222e-02 6.61793339e-01 -9.08710578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.34, Y:10.30, Z:-90.85 [[ 6.43361959e-01 2.37268233e-01 -7.27866179e-01 1.91343975e+02] [-1.51282307e-01 9.71414571e-01 1.82940960e-01 1.03005684e+01] [ 7.50465891e-01 -7.58397940e-03 6.60865667e-01 -9.08490410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.37, Y:10.35, Z:-90.83 [[ 6.74936374e-01 1.87818102e-01 -7.13572177e-01 1.91372437e+02] [-1.55850162e-01 9.81531485e-01 1.10935431e-01 1.03468395e+01] [ 7.21229241e-01 3.63359818e-02 6.91742784e-01 -9.08253950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.38, Y:10.27, Z:-90.81 [[ 6.46336090e-01 2.55850741e-01 -7.18881115e-01 1.91375195e+02] [-1.50784104e-01 9.66359155e-01 2.08360596e-01 1.02656061e+01] [ 7.48006560e-01 -2.62751282e-02 6.63171022e-01 -9.08071663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.40, Y:10.29, Z:-90.79 [[ 6.47265662e-01 2.28931679e-01 -7.27074583e-01 1.91398667e+02] [-1.52989967e-01 9.73441978e-01 1.70307912e-01 1.02896604e+01] [ 7.46753797e-01 1.00065360e-03 6.65099816e-01 -9.07857354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.42, Y:10.29, Z:-90.76 [[ 6.47926854e-01 2.26252739e-01 -7.27324199e-01 1.91416899e+02] [-1.54448125e-01 9.74054985e-01 1.65416633e-01 1.02883357e+01] [ 7.45879728e-01 5.15598049e-03 6.66060694e-01 -9.07642787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.43, Y:10.27, Z:-90.74 [[ 6.49443160e-01 2.37471548e-01 -7.22378603e-01 1.91432605e+02] [-1.56481126e-01 9.71389913e-01 1.78648522e-01 1.02729481e+01] [ 7.44135229e-01 -2.98344311e-03 6.68022350e-01 -9.07428406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.46, Y:10.32, Z:-90.72 [[ 6.77342802e-01 1.97205804e-01 -7.08742972e-01 1.91462496e+02] [-1.67743498e-01 9.79423802e-01 1.12210224e-01 1.03188112e+01] [ 7.16288244e-01 4.28822374e-02 6.96485654e-01 -9.07200213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.47, Y:10.28, Z:-90.70 [[ 6.75188281e-01 2.32379158e-01 -7.00086218e-01 1.91474458e+02] [-1.70584042e-01 9.72544406e-01 1.58298652e-01 1.02755744e+01] [ 7.17650242e-01 1.25421418e-02 6.96290761e-01 -9.07020714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.49, Y:10.25, Z:-90.68 [[ 6.50153262e-01 2.58095812e-01 -7.14623878e-01 1.91485763e+02] [-1.69053817e-01 9.66100406e-01 1.95117435e-01 1.02461929e+01] [ 7.40757411e-01 -6.04634185e-03 6.71745412e-01 -9.06800066e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.49, Y:10.21, Z:-90.66 [[ 6.44819253e-01 2.85991356e-01 -7.08813851e-01 1.91493785e+02] [-1.64875031e-01 9.57572499e-01 2.36370752e-01 1.02110575e+01] [ 7.46340643e-01 -3.55507065e-02 6.64614018e-01 -9.06602178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.53, Y:10.27, Z:-90.64 [[ 6.47688614e-01 2.28238835e-01 -7.26915741e-01 1.91525414e+02] [-1.67363097e-01 9.73393700e-01 1.56506546e-01 1.02731068e+01] [ 7.43296074e-01 2.02913613e-02 6.68654774e-01 -9.06378743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.30864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.55, Y:10.29, Z:-90.62 [[ 6.52062786e-01 2.09593778e-01 -7.28618262e-01 1.91547600e+02] [-1.68503299e-01 9.77056213e-01 1.30260491e-01 1.02916905e+01] [ 7.39202788e-01 3.78365627e-02 6.72419239e-01 -9.06154890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.56, Y:10.28, Z:-90.60 [[ 6.56724169e-01 2.18076464e-01 -7.21911367e-01 1.91564412e+02] [-1.65093319e-01 9.75630024e-01 1.44534604e-01 1.02755631e+01] [ 7.35838000e-01 2.42633766e-02 6.76722784e-01 -9.05973939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.59, Y:10.29, Z:-90.58 [[ 6.85033153e-01 1.97578612e-01 -7.01207723e-01 1.91588295e+02] [-1.68166500e-01 9.79411815e-01 1.11680458e-01 1.02940433e+01] [ 7.08836799e-01 4.14148324e-02 7.04155668e-01 -9.05759335e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:191.59, Y:10.22, Z:-90.56 [[ 6.58341846e-01 2.60043260e-01 -7.06373497e-01 1.91593321e+02] [-1.60624080e-01 9.65347522e-01 2.05679522e-01 1.02220461e+01] [ 7.35381478e-01 -2.19468432e-02 6.77297879e-01 -9.05571478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.42864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.63, Y:10.30, Z:-90.53 [[ 6.87186467e-01 1.93323984e-01 -7.00286082e-01 1.91627704e+02] [-1.67137973e-01 9.80156479e-01 1.06574734e-01 1.02970650e+01] [ 7.06993393e-01 4.38076812e-02 7.05862047e-01 -9.05328387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.63, Y:10.22, Z:-90.52 [[ 6.60518216e-01 2.56651194e-01 -7.05581924e-01 1.91632805e+02] [-1.62818058e-01 9.66361180e-01 1.99088799e-01 1.02239325e+01] [ 7.32943358e-01 -1.66202991e-02 6.80086611e-01 -9.05165365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.48864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.66, Y:10.25, Z:-90.50 [[ 6.57049558e-01 2.33700436e-01 -7.16707740e-01 1.91659918e+02] [-1.64347774e-01 9.72271679e-01 1.66365837e-01 1.02547290e+01] [ 7.35714406e-01 8.47872135e-03 6.77238823e-01 -9.04950054e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.69, Y:10.30, Z:-90.47 [[ 6.86366464e-01 1.95778626e-01 -7.00408314e-01 1.91688526e+02] [-1.70140115e-01 9.79584177e-01 1.07084931e-01 1.02978142e+01] [ 7.07073842e-01 4.56680456e-02 7.05663525e-01 -9.04723621e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.70, Y:10.26, Z:-90.45 [[ 6.86311357e-01 2.27311144e-01 -6.90873624e-01 1.91702837e+02] [-1.69568078e-01 9.73737022e-01 1.51930505e-01 1.02603363e+01] [ 7.07264722e-01 1.28784812e-02 7.06831491e-01 -9.04542529e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.72, Y:10.26, Z:-90.43 [[ 6.86635434e-01 2.25108645e-01 -6.91272651e-01 1.91721784e+02] [-1.66926800e-01 9.74267019e-01 1.51456987e-01 1.02583436e+01] [ 7.07578422e-01 1.13961976e-02 7.06542924e-01 -9.04337540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.74, Y:10.26, Z:-90.41 [[ 6.86507752e-01 2.22450667e-01 -6.92259206e-01 1.91742167e+02] [-1.63514643e-01 9.74898138e-01 1.51117775e-01 1.02590292e+01] [ 7.08498460e-01 9.45099343e-03 7.05649070e-01 -9.04133858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:191.74, Y:10.15, Z:-90.40 [[ 6.59906773e-01 3.11035298e-01 -6.83944511e-01 1.91737391e+02] [-1.52542044e-01 9.46795082e-01 2.83390187e-01 1.01506254e+01] [ 7.35699650e-01 -8.26808104e-02 6.72242447e-01 -9.03966632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.79, Y:10.34, Z:-90.36 [[ 6.63460730e-01 1.46067638e-01 -7.33814762e-01 1.91787977e+02] [-1.56556167e-01 9.86150439e-01 5.47492347e-02 1.03407730e+01] [ 7.31648841e-01 7.85592591e-02 6.77139879e-01 -9.03617244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:191.80, Y:10.25, Z:-90.35 [[ 6.64730344e-01 2.22127361e-01 -7.13297277e-01 1.91795760e+02] [-1.52965453e-01 9.75015533e-01 1.61078491e-01 1.02492172e+01] [ 7.31255865e-01 2.03608032e-03 6.82100223e-01 -9.03524333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.82, Y:10.26, Z:-90.33 [[ 6.67576568e-01 2.12265981e-01 -7.13641842e-01 1.91815360e+02] [-1.51320962e-01 9.77175355e-01 1.49098260e-01 1.02581489e+01] [ 7.29001709e-01 8.45446581e-03 6.84459663e-01 -9.03298268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:191.83, Y:10.25, Z:-90.31 [[ 6.69836247e-01 2.13209361e-01 -7.11239180e-01 1.91832942e+02] [-1.50009281e-01 9.76992979e-01 1.51597940e-01 1.02533205e+01] [ 7.27197785e-01 5.14668247e-03 6.86408693e-01 -9.03102531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:191.85, Y:10.24, Z:-90.29 [[ 6.70188677e-01 2.17419321e-01 -7.09630873e-01 1.91850326e+02] [-1.49031263e-01 9.76078237e-01 1.58306532e-01 1.02449446e+01] [ 7.27074150e-01 -3.38059895e-04 6.86558858e-01 -9.02904384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.81864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:191.87, Y:10.25, Z:-90.27 [[ 6.72285920e-01 2.09321247e-01 -7.10081867e-01 1.91871981e+02] [-1.50024860e-01 9.77812222e-01 1.46204652e-01 1.02498900e+01] [ 7.24930468e-01 8.23860329e-03 6.88772780e-01 -9.02697862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.89, Y:10.27, Z:-90.25 [[ 6.97994667e-01 1.89820665e-01 -6.90486467e-01 1.91894853e+02] [-1.52998000e-01 9.81493722e-01 1.15159394e-01 1.02665921e+01] [ 6.99567765e-01 2.52624058e-02 7.14119565e-01 -9.02480855e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.91, Y:10.24, Z:-90.23 [[ 6.97728199e-01 2.13000101e-01 -6.83963681e-01 1.91911532e+02] [-1.55263356e-01 9.77042234e-01 1.45882707e-01 1.02388588e+01] [ 6.99334434e-01 4.40801772e-03 7.14781029e-01 -9.02303005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:191.93, Y:10.24, Z:-90.21 [[ 6.98066793e-01 2.12733575e-01 -6.83701089e-01 1.91930668e+02] [-1.55464942e-01 9.77098118e-01 1.45292531e-01 1.02366779e+01] [ 6.98951647e-01 4.86765932e-03 7.15152363e-01 -9.02101433e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.93864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:191.95, Y:10.23, Z:-90.19 [[ 6.99735249e-01 2.13417043e-01 -6.81779838e-01 1.91949331e+02] [-1.57313000e-01 9.76941246e-01 1.44355194e-01 1.02347085e+01] [ 6.96866703e-01 6.24241454e-03 7.17173501e-01 -9.01895555e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:191.97, Y:10.23, Z:-90.17 [[ 6.99950570e-01 2.13230353e-01 -6.81617207e-01 1.91968222e+02] [-1.57600780e-01 9.76978438e-01 1.43788478e-01 1.02316372e+01] [ 6.96585382e-01 6.77857631e-03 7.17441884e-01 -9.01696097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:191.99, Y:10.23, Z:-90.15 [[ 6.99041466e-01 2.12527576e-01 -6.82768671e-01 1.91987565e+02] [-1.56915667e-01 9.77131233e-01 1.43499223e-01 1.02293044e+01] [ 6.97652136e-01 6.82519426e-03 7.16404156e-01 -9.01499826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.00, Y:10.18, Z:-90.13 [[ 6.68062021e-01 2.51195955e-01 -7.00423963e-01 1.91998435e+02] [-1.48997894e-01 9.67391330e-01 2.04825881e-01 1.01802261e+01] [ 7.29035502e-01 -3.24746969e-02 6.83705076e-01 -9.01321798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.03, Y:10.27, Z:-90.10 [[ 7.00377248e-01 1.69541549e-01 -6.93345061e-01 1.92030141e+02] [-1.51364021e-01 9.84566225e-01 8.78537540e-02 1.02692777e+01] [ 6.97538991e-01 4.34167255e-02 7.15230274e-01 -9.01044158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.04, Y:10.19, Z:-90.09 [[ 6.75202216e-01 2.30478090e-01 -7.00700947e-01 1.92041500e+02] [-1.44668618e-01 9.72860117e-01 1.80593976e-01 1.01931342e+01] [ 7.23306960e-01 -2.05680145e-02 6.90220253e-01 -9.00902481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.07, Y:10.24, Z:-90.07 [[ 7.00573812e-01 1.84838427e-01 -6.89224992e-01 1.92067562e+02] [-1.45278660e-01 9.82585747e-01 1.15841968e-01 1.02394254e+01] [ 6.98634700e-01 1.89738340e-02 7.15226922e-01 -9.00664723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.08, Y:10.21, Z:-90.05 [[ 7.00930172e-01 2.02077199e-01 -6.84004167e-01 1.92084413e+02] [-1.43943687e-01 9.79369129e-01 1.41832026e-01 1.02135168e+01] [ 6.98553584e-01 -9.56264662e-04 7.15557109e-01 -9.00488772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.10, Y:10.18, Z:-90.03 [[ 6.76082335e-01 2.28319255e-01 -7.00559058e-01 1.92097974e+02] [-1.39234531e-01 9.73237533e-01 1.82818080e-01 1.01799245e+01] [ 7.23551257e-01 -2.60580625e-02 6.89778628e-01 -9.00314884e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:192.12, Y:10.24, Z:-90.00 [[ 7.03122621e-01 1.77250675e-01 -6.88622377e-01 1.92124832e+02] [-1.43760278e-01 9.83869576e-01 1.06459571e-01 1.02396362e+01] [ 6.96384637e-01 2.41424119e-02 7.17262561e-01 -9.00045900e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.23864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.14, Y:10.21, Z:-89.99 [[ 7.01841099e-01 2.02154145e-01 -6.83046685e-01 1.92142514e+02] [-1.45496442e-01 9.79353323e-01 1.40349046e-01 1.02098184e+01] [ 6.97316182e-01 8.78133477e-04 7.16763121e-01 -8.99879454e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.16, Y:10.21, Z:-89.97 [[ 7.00633129e-01 2.01505851e-01 -6.84476889e-01 1.92162778e+02] [-1.44826558e-01 9.79486836e-01 1.40109981e-01 1.02098248e+01] [ 6.98669083e-01 9.64737189e-04 7.15444325e-01 -8.99678191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.18, Y:10.21, Z:-89.95 [[ 7.00019128e-01 1.99988826e-01 -6.85549189e-01 1.92181478e+02] [-1.43007741e-01 9.79798162e-01 1.39801099e-01 1.02070139e+01] [ 6.99658493e-01 1.75397357e-04 7.14477405e-01 -8.99477156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.20, Y:10.20, Z:-89.93 [[ 7.01461923e-01 1.97906793e-01 -6.84678079e-01 1.92201245e+02] [-1.40787707e-01 9.80220139e-01 1.39094578e-01 1.02043128e+01] [ 6.98663003e-01 -1.17529362e-03 7.15449947e-01 -8.99279486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:192.22, Y:10.20, Z:-89.91 [[ 7.03528069e-01 1.95286462e-01 -6.83309193e-01 1.92220144e+02] [-1.37924844e-01 9.80741527e-01 1.38285193e-01 1.02049028e+01] [ 6.97154927e-01 -3.04220050e-03 7.16914048e-01 -8.99064068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.38864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:192.23, Y:10.17, Z:-89.89 [[ 6.72747122e-01 2.25987372e-01 -7.04514739e-01 1.92233371e+02] [-1.31114478e-01 9.73554420e-01 1.87084967e-01 1.01658263e+01] [ 7.28162278e-01 -3.34887910e-02 6.84586151e-01 -8.98889443e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.26, Y:10.23, Z:-89.86 [[ 7.05024992e-01 1.63560528e-01 -6.90063558e-01 1.92260306e+02] [-1.33498310e-01 9.86254012e-01 9.73715841e-02 1.02328040e+01] [ 6.96504100e-01 2.34729186e-02 7.17168781e-01 -8.98623073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.44864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:192.27, Y:10.17, Z:-89.85 [[ 6.80571353e-01 2.12574092e-01 -7.01166806e-01 1.92274078e+02] [-1.30489843e-01 9.76853598e-01 1.69497639e-01 1.01723365e+01] [ 7.20968123e-01 -2.38600911e-02 6.92557334e-01 -8.98480374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:192.30, Y:10.19, Z:-89.83 [[ 6.80314299e-01 1.94477407e-01 -7.06647715e-01 1.92295472e+02] [-1.30142859e-01 9.80885807e-01 1.44657767e-01 1.01901049e+01] [ 7.21273382e-01 -6.44759373e-03 6.92620486e-01 -8.98256586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.32, Y:10.21, Z:-89.80 [[ 7.04072323e-01 1.76826130e-01 -6.87760630e-01 1.92317154e+02] [-1.32810469e-01 9.84201796e-01 1.17082043e-01 1.02057036e+01] [ 6.97598412e-01 8.90758588e-03 7.16433605e-01 -8.98048553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.33, Y:10.18, Z:-89.79 [[ 7.04166145e-01 1.90637016e-01 -6.83964596e-01 1.92334947e+02] [-1.33667943e-01 9.81651014e-01 1.35993267e-01 1.01845648e+01] [ 6.97339890e-01 -4.33771397e-03 7.16727467e-01 -8.97871412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.56864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:192.35, Y:10.18, Z:-89.77 [[ 7.04255994e-01 1.91090037e-01 -6.83745635e-01 1.92353815e+02] [-1.34846748e-01 9.81567368e-01 1.35432109e-01 1.01811644e+01] [ 6.97022130e-01 -3.17799914e-03 7.17042572e-01 -8.97667164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:192.37, Y:10.18, Z:-89.75 [[ 7.03832783e-01 1.90695964e-01 -6.84291212e-01 1.92373195e+02] [-1.34693006e-01 9.81644971e-01 1.35022019e-01 1.01775744e+01] [ 6.97479180e-01 -2.86368317e-03 7.16599325e-01 -8.97474826e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.39, Y:10.17, Z:-89.73 [[ 7.03386713e-01 1.90651181e-01 -6.84762191e-01 1.92392022e+02] [-1.35045754e-01 9.81655388e-01 1.34593253e-01 1.01737659e+01] [ 6.97860857e-01 -2.19687954e-03 7.16229989e-01 -8.97278730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.41, Y:10.17, Z:-89.71 [[ 7.02579631e-01 1.90790879e-01 -6.85551386e-01 1.92411312e+02] [-1.35597816e-01 9.81629785e-01 1.34224433e-01 1.01690362e+01] [ 6.98566457e-01 -1.34408230e-03 7.15543918e-01 -8.97086971e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.68864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:192.43, Y:10.13, Z:-89.69 [[ 6.78596933e-01 2.18908029e-01 -7.01131569e-01 1.92426653e+02] [-1.33344867e-01 9.75409854e-01 1.75484370e-01 1.01341280e+01] [ 7.22305579e-01 -2.55908593e-02 6.91100397e-01 -8.96908813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:192.44, Y:10.10, Z:-89.67 [[ 6.73260927e-01 2.41160062e-01 -6.98971780e-01 1.92438380e+02] [-1.28126029e-01 9.69066547e-01 2.10935411e-01 1.01004191e+01] [ 7.28219366e-01 -5.24580920e-02 6.83333523e-01 -8.96729897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.74864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:192.47, Y:10.20, Z:-89.64 [[ 6.79342829e-01 1.49305306e-01 -7.18471465e-01 1.92468043e+02] [-1.31977400e-01 9.87976862e-01 8.05213443e-02 1.02040475e+01] [ 7.21855447e-01 4.01203978e-02 6.90879922e-01 -8.96410601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:192.48, Y:10.15, Z:-89.63 [[ 6.80093202e-01 1.92481273e-01 -7.07406669e-01 1.92482297e+02] [-1.30027610e-01 9.81289920e-01 1.41996173e-01 1.01471729e+01] [ 7.21502638e-01 -4.58823414e-03 6.92396484e-01 -8.96283036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.51, Y:10.18, Z:-89.61 [[ 7.08291470e-01 1.54811633e-01 -6.88735473e-01 1.92506672e+02] [-1.30183269e-01 9.87567857e-01 8.81024669e-02 1.01820566e+01] [ 6.93812302e-01 2.72596092e-02 7.19639774e-01 -8.96052806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:192.52, Y:10.10, Z:-89.59 [[ 6.80715112e-01 2.20323205e-01 -6.98630533e-01 1.92515740e+02] [-1.24074315e-01 9.74596368e-01 1.86460407e-01 1.00996922e+01] [ 7.21964335e-01 -4.02443121e-02 6.90758927e-01 -8.95938482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.86864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:192.54, Y:10.14, Z:-89.57 [[ 6.84663367e-01 1.77143992e-01 -7.07005007e-01 1.92540549e+02] [-1.26478528e-01 9.84174892e-01 1.24108675e-01 1.01438749e+01] [ 7.17801682e-01 4.44828871e-03 6.96233407e-01 -8.95685297e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:192.56, Y:10.11, Z:-89.55 [[ 6.78019879e-01 1.99990012e-01 -7.07313960e-01 1.92555529e+02] [-1.24702227e-01 9.79622355e-01 1.57446486e-01 1.01107771e+01] [ 7.24388292e-01 -1.85482208e-02 6.89142631e-01 -8.95502577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.92864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.58, Y:10.17, Z:-89.53 [[ 7.11202678e-01 1.47464411e-01 -6.87346346e-01 1.92581344e+02] [-1.28787585e-01 9.88534516e-01 7.88242852e-02 1.01655964e+01] [ 6.91089364e-01 3.24616333e-02 7.22039980e-01 -8.95250707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.60, Y:10.11, Z:-89.51 [[ 7.10867952e-01 1.84218814e-01 -6.78771083e-01 1.92596926e+02] [-1.30665860e-01 9.82878458e-01 1.29909086e-01 1.01149266e+01] [ 6.91081173e-01 -3.65599904e-03 7.22767906e-01 -8.95098392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.98864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:192.62, Y:10.11, Z:-89.49 [[ 7.12370646e-01 1.84054911e-01 -6.77238402e-01 1.92616050e+02] [-1.31215577e-01 9.82911052e-01 1.29105911e-01 1.01087608e+01] [ 6.89427687e-01 -3.10703316e-03 7.24347852e-01 -8.94900103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:192.63, Y:10.06, Z:-89.47 [[ 6.84833105e-01 2.18373325e-01 -6.95209831e-01 1.92627299e+02] [-1.26567654e-01 9.75186165e-01 1.81638579e-01 1.00622596e+01] [ 7.17624029e-01 -3.64010348e-02 6.95478769e-01 -8.94717746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:192.66, Y:10.14, Z:-89.44 [[ 7.12339600e-01 1.49966880e-01 -6.85625430e-01 1.92657060e+02] [-1.31012361e-01 9.88146006e-01 8.00201949e-02 1.01380621e+01] [ 6.89498409e-01 3.28238526e-02 7.23543045e-01 -8.94444290e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:192.67, Y:10.09, Z:-89.43 [[ 7.12267047e-01 1.83647401e-01 -6.77457959e-01 1.92673247e+02] [-1.31436105e-01 9.82989425e-01 1.28282272e-01 1.00918000e+01] [ 6.89492715e-01 -2.32879938e-03 7.24288873e-01 -8.94294830e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:192.69, Y:10.08, Z:-89.41 [[ 7.12427131e-01 1.81748293e-01 -6.77801698e-01 1.92691586e+02] [-1.29242389e-01 9.83338964e-01 1.27831480e-01 1.00831431e+01] [ 6.89741972e-01 -3.46990375e-03 7.24046940e-01 -8.94093622e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.13864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.71, Y:10.08, Z:-89.39 [[ 7.12972227e-01 1.80166974e-01 -6.77650696e-01 1.92709227e+02] [-1.27577342e-01 9.83626637e-01 1.27289669e-01 1.00771101e+01] [ 6.89488670e-01 -4.30112402e-03 7.24283698e-01 -8.93889130e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.73, Y:10.07, Z:-89.37 [[ 7.13059822e-01 1.79472549e-01 -6.77742793e-01 1.92729056e+02] [-1.27086721e-01 9.83753661e-01 1.26797870e-01 1.00735381e+01] [ 6.89488691e-01 -4.28235736e-03 7.24283789e-01 -8.93688420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.19864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:192.75, Y:10.07, Z:-89.35 [[ 7.15394880e-01 1.77871490e-01 -6.75701043e-01 1.92746733e+02] [-1.25715984e-01 9.84040255e-01 1.25937552e-01 1.00653102e+01] [ 6.87317727e-01 -5.14865789e-03 7.26338650e-01 -8.93488400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:192.77, Y:10.06, Z:-89.33 [[ 7.16137005e-01 1.77239138e-01 -6.75080794e-01 1.92765427e+02] [-1.25444780e-01 9.84154835e-01 1.25311083e-01 1.00586973e+01] [ 6.86594056e-01 -5.05454215e-03 7.27023421e-01 -8.93292307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.25864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:192.78, Y:10.05, Z:-89.31 [[ 7.15946935e-01 1.77977224e-01 -6.75088212e-01 1.92784084e+02] [-1.26936062e-01 9.84027795e-01 1.24805987e-01 1.00518527e+01] [ 6.86518188e-01 -3.66142443e-03 7.27103411e-01 -8.93093956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28864 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:192.80, Y:10.05, Z:-89.29 [[ 7.15125226e-01 1.78684451e-01 -6.75771987e-01 1.92804258e+02] [-1.28266673e-01 9.83903746e-01 1.24422984e-01 1.00477468e+01] [ 6.87127042e-01 -2.29899004e-03 7.26533649e-01 -8.92900353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.31864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:192.81, Y:9.99, Z:-89.27 [[ 6.83477113e-01 2.20667642e-01 -6.95819537e-01 1.92813013e+02] [-1.21986334e-01 9.74337283e-01 1.89172388e-01 9.99402920e+00] [ 7.19707142e-01 -4.44145233e-02 6.92855670e-01 -8.92728364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.85, Y:10.09, Z:-89.25 [[ 7.15032345e-01 1.36944452e-01 -6.85547200e-01 1.92845744e+02] [-1.30299395e-01 9.89548772e-01 6.17680777e-02 1.00886657e+01] [ 6.86841185e-01 4.51602119e-02 7.25403158e-01 -8.92458783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:192.86, Y:10.03, Z:-89.23 [[ 7.14873125e-01 1.81492780e-01 -6.75290150e-01 1.92859699e+02] [-1.33166206e-01 9.83390697e-01 1.23326794e-01 1.00335005e+01] [ 6.86456974e-01 1.76281651e-03 7.27168285e-01 -8.92304255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:192.88, Y:10.03, Z:-89.21 [[ 7.13746282e-01 1.83393058e-01 -6.75968365e-01 1.92878820e+02] [-1.36159090e-01 9.83030274e-01 1.22931617e-01 1.00309218e+01] [ 6.87042172e-01 4.29725336e-03 7.26604835e-01 -8.92104225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.90, Y:10.03, Z:-89.19 [[ 7.13297055e-01 1.83899037e-01 -6.76305002e-01 1.92898962e+02] [-1.37290743e-01 9.82929812e-01 1.22475456e-01 1.00270648e+01] [ 6.87283467e-01 5.48903393e-03 7.26368575e-01 -8.91909209e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:192.92, Y:10.02, Z:-89.17 [[ 7.13859078e-01 1.84064147e-01 -6.75666787e-01 1.92919152e+02] [-1.38105272e-01 9.82893839e-01 1.21846767e-01 1.00233554e+01] [ 6.86536344e-01 6.33172409e-03 7.27067918e-01 -8.91714344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:192.94, Y:10.02, Z:-89.15 [[ 7.13990165e-01 1.83565874e-01 -6.75663832e-01 1.92938840e+02] [-1.37905218e-01 9.82985604e-01 1.21331998e-01 1.00202346e+01] [ 6.86440235e-01 6.54771484e-03 7.27156745e-01 -8.91511552e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:192.96, Y:10.02, Z:-89.13 [[ 7.14013062e-01 1.84152289e-01 -6.75480038e-01 1.92958334e+02] [-1.39228243e-01 9.82866731e-01 1.20782805e-01 1.00192053e+01] [ 6.86149287e-01 7.80539890e-03 7.27418884e-01 -8.91310088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.55864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.98, Y:10.02, Z:-89.11 [[ 7.13284564e-01 1.83837403e-01 -6.76334932e-01 1.92977931e+02] [-1.39148850e-01 9.82922325e-01 1.20421343e-01 1.00164457e+01] [ 6.86922651e-01 8.21654283e-03 7.26684086e-01 -8.91115726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:192.99, Y:9.96, Z:-89.09 [[ 6.83704505e-01 2.28329768e-01 -6.93118797e-01 1.92986497e+02] [-1.32115945e-01 9.72824912e-01 1.90150117e-01 9.96016982e+00] [ 7.17700165e-01 -3.84344464e-02 6.95290778e-01 -8.90928560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.02, Y:10.07, Z:-89.07 [[ 7.16674218e-01 1.35803339e-01 -6.84058125e-01 1.93020286e+02] [-1.36538583e-01 9.89198074e-01 5.33327773e-02 1.00661660e+01] [ 6.83911749e-01 5.51781007e-02 7.27475152e-01 -8.90655491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.04, Y:10.01, Z:-89.05 [[ 7.15436531e-01 1.81189650e-01 -6.74774688e-01 1.93035231e+02] [-1.36578462e-01 9.83424406e-01 1.19259221e-01 1.00082538e+01] [ 6.85198434e-01 6.83728598e-03 7.28324350e-01 -8.90508473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.67864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.06, Y:10.01, Z:-89.03 [[ 7.16914791e-01 1.77929938e-01 -6.74072785e-01 1.93055134e+02] [-1.32696851e-01 9.84033281e-01 1.18617229e-01 1.00050607e+01] [ 6.84415611e-01 4.40888966e-03 7.29078756e-01 -8.90311889e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.07, Y:10.00, Z:-89.01 [[ 7.16380926e-01 1.75798939e-01 -6.75198565e-01 1.93074210e+02] [-1.30075509e-01 9.84421280e-01 1.18300908e-01 1.00019646e+01] [ 6.85477010e-01 3.07828268e-03 7.28087765e-01 -8.90109374e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.73864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.09, Y:10.00, Z:-88.99 [[ 7.17595182e-01 1.71565668e-01 -6.74998056e-01 1.93093616e+02] [-1.24778706e-01 9.85172649e-01 1.17750273e-01 1.00000341e+01] [ 6.85191527e-01 -2.71644491e-04 7.28362888e-01 -8.89908169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76864 meters Centerline goodness : 0.999753 Centerline is valid? [True, True] Translation: X:193.11, Y:10.00, Z:-88.97 [[ 7.17768347e-01 1.68438077e-01 -6.75601372e-01 1.93113566e+02] [-1.20870981e-01 9.85708911e-01 1.17337757e-01 9.99542055e+00] [ 6.85710439e-01 -2.56072741e-03 7.27869931e-01 -8.89716607e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.13, Y:9.99, Z:-88.95 [[ 7.18820310e-01 1.66529831e-01 -6.74955685e-01 1.93132979e+02] [-1.18848107e-01 9.86029568e-01 1.16708261e-01 9.99049458e+00] [ 6.84961670e-01 -3.67506347e-03 7.28569835e-01 -8.89519283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:193.15, Y:9.99, Z:-88.93 [[ 7.18686814e-01 1.63073695e-01 -6.75940999e-01 1.93152205e+02] [-1.14416721e-01 9.86593821e-01 1.16367719e-01 9.98654591e+00] [ 6.85855727e-01 -6.29299241e-03 7.27710327e-01 -8.89323367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:193.17, Y:9.95, Z:-88.91 [[ 6.88227373e-01 1.88645038e-01 -7.00539886e-01 1.93165321e+02] [-1.08688920e-01 9.81514846e-01 1.57528811e-01 9.95398780e+00] [ 7.17307327e-01 -3.22747162e-02 6.96009009e-01 -8.89122492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.88864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:193.19, Y:10.00, Z:-88.89 [[ 7.19005025e-01 1.36480238e-01 -6.81472610e-01 1.93192787e+02] [-1.08717785e-01 9.90544898e-01 8.36734581e-02 1.00036344e+01] [ 6.86448991e-01 1.39265557e-02 7.27044588e-01 -8.88904215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.21, Y:9.97, Z:-88.87 [[ 7.19664751e-01 1.56971296e-01 -6.76345073e-01 1.93209503e+02] [-1.06952372e-01 9.87545108e-01 1.15394326e-01 9.97103927e+00] [ 6.86034865e-01 -1.07085193e-02 7.27489857e-01 -8.88732212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.94864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.23, Y:9.97, Z:-88.85 [[ 7.20090689e-01 1.55118039e-01 -6.76319299e-01 1.93228301e+02] [-1.04883370e-01 9.87825487e-01 1.14892498e-01 9.96514647e+00] [ 6.85907340e-01 -1.17983705e-02 7.27593238e-01 -8.88531332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:193.25, Y:9.95, Z:-88.83 [[ 7.20181888e-01 1.51711606e-01 -6.76994562e-01 1.93246386e+02] [-1.00549925e-01 9.88319914e-01 1.14514017e-01 9.95495562e+00] [ 6.86460313e-01 -1.43991685e-02 7.27024692e-01 -8.88336473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:193.26, Y:9.91, Z:-88.81 [[ 6.91363112e-01 1.82454337e-01 -6.99090453e-01 1.93256722e+02] [-9.51349245e-02 9.82153369e-01 1.62247052e-01 9.91238519e+00] [ 7.16216722e-01 -4.56637090e-02 6.96382390e-01 -8.88134940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.29, Y:9.97, Z:-88.79 [[ 7.19715702e-01 1.20590784e-01 -6.83715709e-01 1.93285701e+02] [-9.75594921e-02 9.92594715e-01 7.23731743e-02 9.97273483e+00] [ 6.87380138e-01 1.46148474e-02 7.26150778e-01 -8.87908306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.30, Y:9.93, Z:-88.77 [[ 7.20377991e-01 1.50699034e-01 -6.77012077e-01 1.93301583e+02] [-1.00008314e-01 9.88478571e-01 1.13615369e-01 9.93256425e+00] [ 6.86333656e-01 -1.41391750e-02 7.27149363e-01 -8.87731085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.32, Y:9.93, Z:-88.75 [[ 7.19230786e-01 1.51449540e-01 -6.78063502e-01 1.93320542e+02] [-1.01311607e-01 9.88382213e-01 1.13298541e-01 9.92656540e+00] [ 6.87344917e-01 -1.27920957e-02 7.26218512e-01 -8.87533004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.34, Y:9.92, Z:-88.73 [[ 7.19726967e-01 1.54213540e-01 -6.76913050e-01 1.93339080e+02] [-1.05783367e-01 9.87992428e-01 1.12609246e-01 9.91592473e+00] [ 6.86150838e-01 -9.44176906e-03 7.27398021e-01 -8.87333603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.33, Y:9.81, Z:-88.71 [[ 6.87306084e-01 2.41232358e-01 -6.85140348e-01 1.93333676e+02] [-9.77886441e-02 9.65384435e-01 2.41806273e-01 9.80800513e+00] [ 7.19755325e-01 -9.91959767e-02 6.87104381e-01 -8.87111392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.38, Y:10.02, Z:-88.68 [[ 7.23663516e-01 5.98518996e-02 -6.87552809e-01 1.93384596e+02] [-1.05715516e-01 9.94088815e-01 -2.47317121e-02 1.00167779e+01] [ 6.82008317e-01 9.05824379e-02 7.25713082e-01 -8.86821874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.39, Y:9.90, Z:-88.67 [[ 7.22821647e-01 1.57313029e-01 -6.72890391e-01 1.93394522e+02] [-1.11192621e-01 9.87532209e-01 1.11428624e-01 9.89728808e+00] [ 6.82030108e-01 -5.72257495e-03 7.31301705e-01 -8.86722315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.40, Y:9.84, Z:-88.65 [[ 6.87949669e-01 1.98007730e-01 -6.98225029e-01 1.93402994e+02] [-1.04586565e-01 9.79068494e-01 1.74603934e-01 9.84413289e+00] [ 7.18183057e-01 -4.70937617e-02 6.94258795e-01 -8.86512192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.44, Y:9.93, Z:-88.63 [[ 7.21978996e-01 1.18259901e-01 -6.81733764e-01 1.93437252e+02] [-1.09970223e-01 9.92373827e-01 5.56842594e-02 9.92896820e+00] [ 6.83119960e-01 3.47675482e-02 7.29478127e-01 -8.86299796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.44, Y:9.84, Z:-88.61 [[ 6.89605500e-01 1.89908593e-01 -6.98841170e-01 1.93441786e+02] [-1.06532399e-01 9.81107552e-01 1.61489379e-01 9.84217161e+00] [ 7.16306570e-01 -3.69147370e-02 6.96808582e-01 -8.86109138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.47, Y:9.91, Z:-88.59 [[ 7.23864053e-01 1.27431242e-01 -6.78072349e-01 1.93474268e+02] [-1.12419036e-01 9.91445681e-01 6.63130642e-02 9.91101723e+00] [ 6.80722258e-01 2.82265964e-02 7.31997587e-01 -8.85905890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.49, Y:9.87, Z:-88.57 [[ 7.25220748e-01 1.60722376e-01 -6.69494723e-01 1.93488793e+02] [-1.17765344e-01 9.86999538e-01 1.09376575e-01 9.86904201e+00] [ 6.78370245e-01 -4.78885336e-04 7.34720070e-01 -8.85724804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.51, Y:9.86, Z:-88.55 [[ 7.24995261e-01 1.61422305e-01 -6.69570542e-01 1.93508420e+02] [-1.18989132e-01 9.86885249e-01 1.09082957e-01 9.86414943e+00] [ 6.78397714e-01 5.86990634e-04 7.34694629e-01 -8.85534776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.42864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.53, Y:9.86, Z:-88.53 [[ 7.23709457e-01 1.63797664e-01 -6.70384179e-01 1.93527358e+02] [-1.22578761e-01 9.86487729e-01 1.08703307e-01 9.85944526e+00] [ 6.79131114e-01 3.50525055e-03 7.34008613e-01 -8.85340305e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.55, Y:9.86, Z:-88.51 [[ 7.23984110e-01 1.64198813e-01 -6.69989372e-01 1.93546930e+02] [-1.23467508e-01 9.86417926e-01 1.08330283e-01 9.85524967e+00] [ 6.78677231e-01 4.29251467e-03 7.34424122e-01 -8.85148694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.48864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.57, Y:9.85, Z:-88.50 [[ 7.23466229e-01 1.64363824e-01 -6.70508127e-01 1.93566232e+02] [-1.24093625e-01 9.86386377e-01 1.07901288e-01 9.85125963e+00] [ 6.79115150e-01 5.14284587e-03 7.34013735e-01 -8.84956405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.58, Y:9.82, Z:-88.47 [[ 6.93564096e-01 1.85098474e-01 -6.96209307e-01 1.93580434e+02] [-1.21852798e-01 9.82644640e-01 1.39862103e-01 9.82409988e+00] [ 7.10014605e-01 -1.21682809e-02 7.04081808e-01 -8.84747637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.61, Y:9.86, Z:-88.46 [[ 7.23089118e-01 1.50306594e-01 -6.74203274e-01 1.93607086e+02] [-1.25364832e-01 9.88385378e-01 8.58953026e-02 9.85961773e+00] [ 6.79283288e-01 2.24114213e-02 7.33533873e-01 -8.84554566e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.62, Y:9.84, Z:-88.43 [[ 7.24512462e-01 1.64310961e-01 -6.69390469e-01 1.93622890e+02] [-1.25383138e-01 9.86384929e-01 1.06413539e-01 9.83767363e+00] [ 6.77761581e-01 6.83234232e-03 7.35249997e-01 -8.84349160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.64, Y:9.83, Z:-88.42 [[ 7.25292590e-01 1.63523676e-01 -6.68738115e-01 1.93641875e+02] [-1.24867485e-01 9.86516202e-01 1.05801198e-01 9.83351735e+00] [ 6.77021986e-01 6.76682166e-03 7.35931682e-01 -8.84150476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.66, Y:9.83, Z:-88.40 [[ 7.25311838e-01 1.63280173e-01 -6.68776737e-01 1.93661269e+02] [-1.24999246e-01 9.86553304e-01 1.05298461e-01 9.82956409e+00] [ 6.76977050e-01 7.22236746e-03 7.35968689e-01 -8.83957349e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.68, Y:9.83, Z:-88.38 [[ 7.24934127e-01 1.64200489e-01 -6.68960919e-01 1.93680737e+02] [-1.26694898e-01 9.86388027e-01 1.04819189e-01 9.82641061e+00] [ 6.77066404e-01 8.76692869e-03 7.35869707e-01 -8.83763727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.70, Y:9.82, Z:-88.36 [[ 7.25743218e-01 1.63846239e-01 -6.68170032e-01 1.93700367e+02] [-1.26778980e-01 9.86443960e-01 1.04189271e-01 9.82339505e+00] [ 6.76183312e-01 9.09525864e-03 7.36677273e-01 -8.83569493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.70, Y:9.75, Z:-88.34 [[ 7.04070232e-01 2.24057110e-01 -6.73857196e-01 1.93703736e+02] [-1.24340759e-01 9.73157601e-01 1.93658617e-01 9.74873388e+00] [ 6.99159842e-01 -5.25613521e-02 7.13030728e-01 -8.83355808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:193.75, Y:9.89, Z:-88.31 [[ 7.30039087e-01 1.02612476e-01 -6.75657910e-01 1.93747373e+02] [-1.25303734e-01 9.92000959e-01 1.52666777e-02 9.88673372e+00] [ 6.71819846e-01 7.35171873e-02 7.37057201e-01 -8.83148381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:193.76, Y:9.81, Z:-88.30 [[ 7.29665604e-01 1.63166730e-01 -6.64051748e-01 1.93758282e+02] [-1.27211470e-01 9.86551894e-01 1.02628466e-01 9.81149352e+00] [ 6.71867061e-01 9.59053732e-03 7.40609663e-01 -8.82974580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.81864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.78, Y:9.81, Z:-88.28 [[ 7.29397328e-01 1.61988602e-01 -6.64634660e-01 1.93778151e+02] [-1.26001360e-01 9.86749855e-01 1.02217322e-01 9.80836320e+00] [ 6.72386195e-01 9.18782981e-03 7.40143492e-01 -8.82785948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:193.79, Y:9.76, Z:-88.26 [[ 7.01246156e-01 2.01537570e-01 -6.83839482e-01 1.93786810e+02] [-1.23260205e-01 9.79039165e-01 1.62139554e-01 9.75970233e+00] [ 7.02182847e-01 -2.94095445e-02 7.11389013e-01 -8.82565219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.87864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.82, Y:9.84, Z:-88.24 [[ 7.32472186e-01 1.27677385e-01 -6.68717416e-01 1.93821151e+02] [-1.26808925e-01 9.90653765e-01 5.02455455e-02 9.84271897e+00] [ 6.68882645e-01 4.79958723e-02 7.41816961e-01 -8.82383231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:193.84, Y:9.80, Z:-88.22 [[ 7.31935213e-01 1.63059108e-01 -6.61575824e-01 1.93836218e+02] [-1.28851517e-01 9.86547963e-01 1.00600213e-01 9.79864248e+00] [ 6.69080063e-01 1.16122100e-02 7.43099607e-01 -8.82199175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.83, Y:9.71, Z:-88.20 [[ 7.06840922e-01 2.39554589e-01 -6.65574571e-01 1.93834885e+02] [-1.25688084e-01 9.68471757e-01 2.15092912e-01 9.70639340e+00] [ 6.96116669e-01 -6.83816797e-02 7.14664627e-01 -8.81958263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:193.89, Y:9.89, Z:-88.18 [[ 7.37315027e-01 8.44956153e-02 -6.70244017e-01 1.93885316e+02] [-1.27524052e-01 9.91718041e-01 -1.52624615e-02 9.88554641e+00] [ 6.63403472e-01 9.67254749e-02 7.41983838e-01 -8.81764938e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:193.90, Y:9.79, Z:-88.16 [[ 7.35401993e-01 1.64033976e-01 -6.57477576e-01 1.93895573e+02] [-1.31337255e-01 9.86363524e-01 9.91842983e-02 9.78831932e+00] [ 6.64781493e-01 1.34109692e-02 7.46917473e-01 -8.81617414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:193.92, Y:9.79, Z:-88.14 [[ 7.35414607e-01 1.64392973e-01 -6.57373795e-01 1.93915010e+02] [-1.32257506e-01 9.86290309e-01 9.86882875e-02 9.78635581e+00] [ 6.64585064e-01 1.43658107e-02 7.47074505e-01 -8.81423147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.91, Y:9.69, Z:-88.12 [[ 7.04300174e-01 2.41385638e-01 -6.67603354e-01 1.93913290e+02] [-1.26891268e-01 9.68076811e-01 2.16161732e-01 9.69310762e+00] [ 6.98469663e-01 -6.75297096e-02 7.12446396e-01 -8.81177577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:193.95, Y:9.79, Z:-88.10 [[ 7.07998234e-01 1.61647641e-01 -6.87465302e-01 1.93951947e+02] [-1.29574309e-01 9.86659768e-01 9.85545620e-02 9.78549434e+00] [ 6.94225467e-01 1.93013854e-02 7.19498754e-01 -8.81005356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.11864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:193.98, Y:9.87, Z:-88.08 [[ 7.40310568e-01 9.45149841e-02 -6.65587846e-01 1.93983932e+02] [-1.33830496e-01 9.90970847e-01 -8.13496924e-03 9.86531083e+00] [ 6.58809276e-01 9.50983554e-02 7.46275178e-01 -8.80794057e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:193.97, Y:9.66, Z:-88.06 [[ 7.07020805e-01 2.62185318e-01 -6.56795585e-01 1.93967258e+02] [-1.30605967e-01 9.61169659e-01 2.43094565e-01 9.66197441e+00] [ 6.95027814e-01 -8.60914925e-02 7.13809913e-01 -8.80574263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.17864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:194.03, Y:9.90, Z:-88.04 [[ 7.43128046e-01 6.26505112e-02 -6.66209892e-01 1.94027076e+02] [-1.34272896e-01 9.89318645e-01 -5.67398298e-02 9.90177564e+00] [ 6.55539088e-01 1.31618890e-01 7.43602697e-01 -8.80358750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:194.04, Y:9.77, Z:-88.02 [[ 7.39679327e-01 1.68014489e-01 -6.51648390e-01 1.94035997e+02] [-1.39081367e-01 9.85592800e-01 9.62455508e-02 9.77458249e+00] [ 6.58430609e-01 1.94413047e-02 7.52390304e-01 -8.80235542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.23864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.06, Y:9.77, Z:-88.00 [[ 7.39608994e-01 1.67786506e-01 -6.51786947e-01 1.94056436e+02] [-1.39172635e-01 9.85623358e-01 9.57996589e-02 9.77276862e+00] [ 6.58490329e-01 1.98566173e-02 7.52327190e-01 -8.80047462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:194.05, Y:9.65, Z:-87.98 [[ 7.04501831e-01 2.65518373e-01 -6.58161959e-01 1.94050118e+02] [-1.32151583e-01 9.60237457e-01 2.45926787e-01 9.65498084e+00] [ 6.97289846e-01 -8.62787265e-02 7.11577720e-01 -8.79791287e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.11, Y:9.90, Z:-87.96 [[ 7.45230123e-01 6.25654861e-02 -6.63865667e-01 1.94108141e+02] [-1.35945034e-01 9.88933741e-01 -5.94054134e-02 9.89891099e+00] [ 6.52802429e-01 1.34519944e-01 7.45488681e-01 -8.79571755e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:194.09, Y:9.66, Z:-87.94 [[ 7.09151738e-01 2.59902408e-01 -6.55404113e-01 1.94092088e+02] [-1.31620118e-01 9.62036745e-01 2.39084602e-01 9.65741075e+00] [ 6.92661503e-01 -8.32828939e-02 7.16438415e-01 -8.79409734e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.14, Y:9.77, Z:-87.92 [[ 7.14702914e-01 1.63698615e-01 -6.80001844e-01 1.94135862e+02] [-1.35233463e-01 9.86221782e-01 9.52811970e-02 9.77455101e+00] [ 6.86230031e-01 2.38612548e-02 7.26993112e-01 -8.79235940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.38864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.16, Y:9.87, Z:-87.90 [[ 7.50100880e-01 8.27095977e-02 -6.56130927e-01 1.94164455e+02] [-1.32400177e-01 9.90843105e-01 -2.64600463e-02 9.86807402e+00] [ 6.47934305e-01 1.06719555e-01 7.54183050e-01 -8.79011205e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.18, Y:9.77, Z:-87.89 [[ 7.46472122e-01 1.61631538e-01 -6.45487891e-01 1.94178122e+02] [-1.33504803e-01 9.86704891e-01 9.26818558e-02 9.77128227e+00] [ 6.51886370e-01 1.69913122e-02 7.58126280e-01 -8.78889624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.20, Y:9.77, Z:-87.87 [[ 7.46839096e-01 1.61053973e-01 -6.45207705e-01 1.94199493e+02] [-1.33163372e-01 9.86797911e-01 9.21813411e-02 9.77077503e+00] [ 6.51535786e-01 1.70734042e-02 7.58425750e-01 -8.78704025e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.22, Y:9.77, Z:-87.85 [[ 7.46250582e-01 1.59619849e-01 -6.46244205e-01 1.94220181e+02] [-1.31567531e-01 9.87041183e-01 9.18677751e-02 9.76998034e+00] [ 6.52533565e-01 1.64683740e-02 7.57580846e-01 -8.78512543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.24, Y:9.77, Z:-87.83 [[ 7.47499344e-01 1.57170109e-01 -6.45400874e-01 1.94241014e+02] [-1.28805170e-01 9.87459238e-01 9.12879080e-02 9.77124485e+00] [ 6.51654785e-01 1.48933183e-02 7.58369455e-01 -8.78321268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:194.26, Y:9.77, Z:-87.81 [[ 7.48493905e-01 1.54039248e-01 -6.45002933e-01 1.94261332e+02] [-1.25106177e-01 9.87982423e-01 9.07699105e-02 9.77128947e+00] [ 6.51233689e-01 1.27531265e-02 7.58770084e-01 -8.78126005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.56864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:194.28, Y:9.77, Z:-87.79 [[ 7.48985260e-01 1.52368385e-01 -6.44829400e-01 1.94281725e+02] [-1.23318449e-01 9.88252107e-01 9.02791912e-02 9.76967180e+00] [ 6.51009708e-01 1.19015781e-02 7.58976095e-01 -8.77941883e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.29, Y:9.72, Z:-87.77 [[ 7.18888864e-01 1.91997116e-01 -6.68083759e-01 1.94294766e+02] [-1.18136080e-01 9.80862686e-01 1.54765168e-01 9.71877446e+00] [ 6.85012896e-01 -3.23341592e-02 7.27813049e-01 -8.77725912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.62864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.32, Y:9.75, Z:-87.75 [[ 7.18618959e-01 1.61666725e-01 -6.76350990e-01 1.94319180e+02] [-1.16123664e-01 9.86842720e-01 1.12502185e-01 9.75176660e+00] [ 6.85639910e-01 -2.30584835e-03 7.27937220e-01 -8.77537550e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.33, Y:9.71, Z:-87.74 [[ 7.24760065e-01 1.94828965e-01 -6.60881625e-01 1.94328627e+02] [-1.11199043e-01 9.79688866e-01 1.66866709e-01 9.70513906e+00] [ 6.79968838e-01 -4.74489230e-02 7.31704161e-01 -8.77389280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.37, Y:9.82, Z:-87.71 [[ 7.22890803e-01 9.83810452e-02 -6.83922552e-01 1.94365490e+02] [-1.14788941e-01 9.93156466e-01 2.15344580e-02 9.82239995e+00] [ 6.81360688e-01 6.29396839e-02 7.29236731e-01 -8.77125376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.38, Y:9.80, Z:-87.70 [[ 7.56256051e-01 1.13297118e-01 -6.44391611e-01 1.94384703e+02] [-1.11120128e-01 9.92825871e-01 4.41486826e-02 9.79761836e+00] [ 6.44770582e-01 3.82171701e-02 7.63420163e-01 -8.76994221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.40, Y:9.76, Z:-87.68 [[ 7.55455536e-01 1.41057074e-01 -6.39835787e-01 1.94402813e+02] [-1.11276711e-01 9.89985765e-01 8.68658633e-02 9.76019349e+00] [ 6.45681366e-01 5.57552477e-03 7.63586595e-01 -8.76829910e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.42, Y:9.76, Z:-87.66 [[ 7.54292327e-01 1.40554346e-01 -6.41317052e-01 1.94423622e+02] [-1.10855445e-01 9.90056149e-01 8.66019128e-02 9.75883839e+00] [ 6.47112167e-01 5.77032882e-03 7.62372971e-01 -8.76648186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.42, Y:9.64, Z:-87.64 [[ 7.20658209e-01 2.37780472e-01 -6.51238967e-01 1.94420936e+02] [-1.01319444e-01 9.65381366e-01 2.40360537e-01 9.63630822e+00] [ 6.85847006e-01 -1.07234624e-01 7.19801792e-01 -8.76436324e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:194.47, Y:9.83, Z:-87.62 [[ 7.24262772e-01 8.27861815e-02 -6.84536256e-01 1.94471198e+02] [-1.11078114e-01 9.93808107e-01 2.66433775e-03 9.83063467e+00] [ 6.80518251e-01 7.41073155e-02 7.28973947e-01 -8.76174092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.86864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:194.49, Y:9.80, Z:-87.60 [[ 7.57748413e-01 1.05405962e-01 -6.43977426e-01 1.94490471e+02] [-1.08821251e-01 9.93460299e-01 3.45625590e-02 9.79676836e+00] [ 6.43409106e-01 4.38887052e-02 7.64263374e-01 -8.76044730e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:194.49, Y:9.63, Z:-87.59 [[ 7.28055434e-01 2.31595998e-01 -6.45212041e-01 1.94485838e+02] [-1.02701118e-01 9.67430458e-01 2.31367219e-01 9.63461050e+00] [ 6.77781502e-01 -1.02184163e-01 7.28128170e-01 -8.75886316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.92864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.53, Y:9.76, Z:-87.57 [[ 7.33339904e-01 1.29256948e-01 -6.67461779e-01 1.94527499e+02] [-1.07712571e-01 9.91449923e-01 7.36549510e-02 9.76241827e+00] [ 6.71275344e-01 1.78799096e-02 7.40992390e-01 -8.75662394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:194.55, Y:9.85, Z:-87.54 [[ 7.60104682e-01 5.56235451e-02 -6.47415550e-01 1.94552820e+02] [-1.06675034e-01 9.93493622e-01 -3.98855966e-02 9.85070832e+00] [ 6.40984641e-01 9.93803044e-02 7.61092797e-01 -8.75395823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.98864000000003 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:194.56, Y:9.69, Z:-87.53 [[ 7.28033081e-01 1.85270979e-01 -6.60032194e-01 1.94558325e+02] [-1.03461974e-01 9.81455220e-01 1.61373082e-01 9.68620498e+00] [ 6.77689791e-01 -4.91967081e-02 7.33700369e-01 -8.75306156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:194.59, Y:9.76, Z:-87.51 [[ 7.32967770e-01 1.24132072e-01 -6.68841892e-01 1.94588802e+02] [-1.06854160e-01 9.92013936e-01 6.70114872e-02 9.76237497e+00] [ 6.71818753e-01 2.23512782e-02 7.40378271e-01 -8.75100378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.61, Y:9.74, Z:-87.49 [[ 7.34573473e-01 1.38466735e-01 -6.64250537e-01 1.94607481e+02] [-1.06658518e-01 9.90349849e-01 8.84937067e-02 9.74231548e+00] [ 6.70093854e-01 5.84284853e-03 7.42253386e-01 -8.74919874e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.63, Y:9.78, Z:-87.47 [[ 7.64241276e-01 1.05541332e-01 -6.36236040e-01 1.94632773e+02] [-1.07481588e-01 9.93565530e-01 3.57105896e-02 9.77880261e+00] [ 6.35911142e-01 4.10921533e-02 7.70667538e-01 -8.74713744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.65, Y:9.70, Z:-87.45 [[ 7.37408326e-01 1.68831238e-01 -6.54006860e-01 1.94645033e+02] [-1.05091133e-01 9.85143878e-01 1.35821180e-01 9.69642139e+00] [ 6.67221713e-01 -3.14253475e-02 7.44195965e-01 -8.74540188e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.13864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.67, Y:9.73, Z:-87.44 [[ 7.38056662e-01 1.35247929e-01 -6.61044901e-01 1.94670214e+02] [-1.04424511e-01 9.90796717e-01 8.61242526e-02 9.73381784e+00] [ 6.66609245e-01 5.46471238e-03 7.45387317e-01 -8.74353352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.69, Y:9.73, Z:-87.42 [[ 7.39373410e-01 1.29047514e-01 -6.60812908e-01 1.94690115e+02] [-9.99951162e-02 9.91622476e-01 8.17669939e-02 9.73360387e+00] [ 6.65828760e-01 5.62172250e-03 7.46083413e-01 -8.74175236e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.19864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:194.71, Y:9.72, Z:-87.40 [[ 7.38826638e-01 1.35056214e-01 -6.60223461e-01 1.94709585e+02] [-9.81694619e-02 9.90830764e-01 9.28286284e-02 9.72199398e+00] [ 6.66706799e-01 -3.77048158e-03 7.45310558e-01 -8.73994728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:194.74, Y:9.77, Z:-87.38 [[ 7.69090953e-01 9.68880340e-02 -6.31752969e-01 1.94735652e+02] [-9.80480063e-02 9.94628506e-01 3.31771546e-02 9.76502729e+00] [ 6.31573981e-01 3.64258696e-02 7.74459465e-01 -8.73779056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.75, Y:9.72, Z:-87.36 [[ 7.69643450e-01 1.25744743e-01 -6.25969024e-01 1.94753778e+02] [-9.75060713e-02 9.92062626e-01 7.93996972e-02 9.72295962e+00] [ 6.30984569e-01 -7.36765295e-05 7.75795378e-01 -8.73628475e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.77, Y:9.67, Z:-87.35 [[ 7.38693759e-01 1.62421084e-01 -6.54179579e-01 1.94766173e+02] [-9.16809034e-02 9.85724918e-01 1.41212600e-01 9.67199269e+00] [ 6.67777015e-01 -4.43370913e-02 7.43039757e-01 -8.73457877e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.31864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:194.80, Y:9.77, Z:-87.32 [[ 7.69404564e-01 8.50344484e-02 -6.33076425e-01 1.94798816e+02] [-9.57630538e-02 9.95253862e-01 1.72970152e-02 9.76774544e+00] [ 6.31542600e-01 4.73169293e-02 7.73896022e-01 -8.73223668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.82, Y:9.71, Z:-87.31 [[ 7.69668135e-01 1.24128760e-01 -6.26261138e-01 1.94816437e+02] [-9.59984625e-02 9.92266018e-01 7.86920825e-02 9.71471330e+00] [ 6.31185597e-01 -4.46682004e-04 7.75631706e-01 -8.73069695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.37864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.83, Y:9.67, Z:-87.29 [[ 7.40327439e-01 1.53777749e-01 -6.54421644e-01 1.94829388e+02] [-8.92440188e-02 9.87350539e-01 1.31051208e-01 9.67218078e+00] [ 6.66296322e-01 -3.86175878e-02 7.44686439e-01 -8.72897338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:194.86, Y:9.75, Z:-87.27 [[ 7.71258274e-01 8.85260990e-02 -6.30336263e-01 1.94861159e+02] [-9.26120013e-02 9.95350297e-01 2.64727060e-02 9.75068883e+00] [ 6.29748912e-01 3.79594092e-02 7.75870731e-01 -8.72682831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.43864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:194.87, Y:9.66, Z:-87.25 [[ 7.42372572e-01 1.54339877e-01 -6.51967919e-01 1.94870612e+02] [-8.79332421e-02 9.87132393e-01 1.33556671e-01 9.66114265e+00] [ 6.64191772e-01 -4.18191565e-02 7.46391619e-01 -8.72525364e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:194.90, Y:9.71, Z:-87.23 [[ 7.42362924e-01 1.15692947e-01 -6.59933657e-01 1.94896786e+02] [-8.86904212e-02 9.93279460e-01 7.43634563e-02 9.70629754e+00] [ 6.64101874e-01 3.32512120e-03 7.47634700e-01 -8.72334272e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.49864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:194.92, Y:9.69, Z:-87.22 [[ 7.41757072e-01 1.23520030e-01 -6.59195910e-01 1.94916164e+02] [-8.72720731e-02 9.92313356e-01 8.77370399e-02 9.69153011e+00] [ 6.64966188e-01 -7.55017617e-03 7.46835299e-01 -8.72151854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.94, Y:9.74, Z:-87.19 [[ 7.73138148e-01 8.29681748e-02 -6.28787473e-01 1.94943902e+02] [-8.93935123e-02 9.95764842e-01 2.14750731e-02 9.73561667e+00] [ 6.27906207e-01 3.96063225e-02 7.77280602e-01 -8.71945623e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:194.95, Y:9.64, Z:-87.18 [[ 7.44829649e-01 1.54382847e-01 -6.49149236e-01 1.94953405e+02] [-8.59011220e-02 9.86955821e-01 1.36158748e-01 9.64020458e+00] [ 6.61702192e-01 -4.56524251e-02 7.48375618e-01 -8.71787582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.99, Y:9.73, Z:-87.16 [[ 7.73553845e-01 8.29390901e-02 -6.28279839e-01 1.94985872e+02] [-9.12910222e-02 9.95642319e-01 1.90347454e-02 9.72925443e+00] [ 6.27120720e-01 4.26319082e-02 7.77754539e-01 -8.71577491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.00, Y:9.64, Z:-87.14 [[ 7.46085416e-01 1.53827082e-01 -6.47837774e-01 1.94996546e+02] [-9.23609444e-02 9.87451272e-01 1.28099344e-01 9.63770119e+00] [ 6.59413382e-01 -3.57381440e-02 7.50930607e-01 -8.71408920e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.03, Y:9.71, Z:-87.12 [[ 7.74148557e-01 9.49255700e-02 -6.25845945e-01 1.95026352e+02] [-9.69717199e-02 9.94806195e-01 3.09373706e-02 9.71035699e+00] [ 6.25532171e-01 3.67392370e-02 7.79332876e-01 -8.71208147e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.04, Y:9.63, Z:-87.10 [[ 7.47425448e-01 1.60114518e-01 -6.44762391e-01 1.95036039e+02] [-9.64589848e-02 9.86392898e-01 1.33134197e-01 9.62554694e+00] [ 6.57305762e-01 -3.73147613e-02 7.52699637e-01 -8.71041903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.06, Y:9.67, Z:-87.09 [[ 7.48484870e-01 1.27755963e-01 -6.50729447e-01 1.95061882e+02] [-9.92142263e-02 9.91796591e-01 8.05981372e-02 9.66553949e+00] [ 6.55688140e-01 4.23513227e-03 7.55019952e-01 -8.70856545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.73864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.09, Y:9.70, Z:-87.07 [[ 7.76032456e-01 9.58000808e-02 -6.23374664e-01 1.95087750e+02] [-1.00483603e-01 9.94551607e-01 2.77515077e-02 9.70238318e+00] [ 6.22636870e-01 4.11028618e-02 7.81430664e-01 -8.70663377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.10, Y:9.62, Z:-87.05 [[ 7.47897407e-01 1.62915023e-01 -6.43512365e-01 1.95099537e+02] [-1.01322438e-01 9.86073538e-01 1.31881545e-01 9.61876809e+00] [ 6.56035999e-01 -3.34316234e-02 7.53988789e-01 -8.70491001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:195.13, Y:9.66, Z:-87.03 [[ 7.51650701e-01 1.26947117e-01 -6.47229212e-01 1.95126636e+02] [-1.04469779e-01 9.91829636e-01 7.32122864e-02 9.66446895e+00] [ 6.51235202e-01 1.25858263e-02 7.58771578e-01 -8.70297837e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.15, Y:9.65, Z:-87.01 [[ 7.53662606e-01 1.35082756e-01 -6.43230383e-01 1.95145538e+02] [-1.04508685e-01 9.90830676e-01 8.56300510e-02 9.65198235e+00] [ 6.48899539e-01 2.68699385e-03 7.60869350e-01 -8.70125121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.17, Y:9.65, Z:-87.00 [[ 7.54390833e-01 1.33094064e-01 -6.42791134e-01 1.95166368e+02] [-1.03860826e-01 9.91095717e-01 8.33199132e-02 9.65240884e+00] [ 6.48156926e-01 3.90503970e-03 7.61496783e-01 -8.69952377e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.19, Y:9.69, Z:-86.98 [[ 7.80882712e-01 1.01530722e-01 -6.16371400e-01 1.95192192e+02] [-1.03424656e-01 9.94098886e-01 3.27222381e-02 9.68972359e+00] [ 6.16056435e-01 3.81957700e-02 7.86775414e-01 -8.69773491e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:195.19, Y:9.54, Z:-86.96 [[ 7.51662953e-01 2.13168939e-01 -6.24148867e-01 1.95189017e+02] [-9.44244084e-02 9.71361442e-01 2.18038941e-01 9.53812766e+00] [ 6.52753274e-01 -1.04956906e-01 7.50264761e-01 -8.69576345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.94864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:195.24, Y:9.78, Z:-86.93 [[ 7.85933592e-01 2.49979609e-02 -6.17805383e-01 1.95235229e+02] [-9.78125459e-02 9.91627443e-01 -8.43072962e-02 9.78004953e+00] [ 6.10525262e-01 1.26689053e-01 7.81798432e-01 -8.69283690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:195.25, Y:9.65, Z:-86.92 [[ 7.84810152e-01 1.23741180e-01 -6.07257068e-01 1.95251776e+02] [-1.01184185e-01 9.92299922e-01 7.14326614e-02 9.64931410e+00] [ 6.11420303e-01 5.38373344e-03 7.91287703e-01 -8.69222340e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.27, Y:9.60, Z:-86.90 [[ 7.56728809e-01 1.57873978e-01 -6.34379473e-01 1.95266232e+02] [-9.54762797e-02 9.86686326e-01 1.31660067e-01 9.60088687e+00] [ 6.46719251e-01 -3.90627735e-02 7.61727189e-01 -8.69039808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:195.30, Y:9.69, Z:-86.88 [[ 7.84490164e-01 8.69074592e-02 -6.14021397e-01 1.95298415e+02] [-9.75303725e-02 9.95100085e-01 1.62372225e-02 9.69023893e+00] [ 6.12423880e-01 4.71477941e-02 7.89122346e-01 -8.68845497e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.32, Y:9.64, Z:-86.87 [[ 7.84080048e-01 1.21096841e-01 -6.08731495e-01 1.95316673e+02] [-9.84792725e-02 9.92630152e-01 7.06202059e-02 9.64234248e+00] [ 6.12797120e-01 4.57554030e-03 7.90227027e-01 -8.68690309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.32, Y:9.54, Z:-86.85 [[ 7.53769131e-01 1.98043124e-01 -6.26586801e-01 1.95319933e+02] [-9.14725631e-02 9.75844843e-01 1.98392572e-01 9.53760547e+00] [ 6.50741783e-01 -9.22266957e-02 7.53677231e-01 -8.68484504e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.36, Y:9.74, Z:-86.82 [[ 7.88366898e-01 3.98149767e-02 -6.13915631e-01 1.95362651e+02] [-9.60080190e-02 9.93639448e-01 -5.88481720e-02 9.74235376e+00] [ 6.07667750e-01 1.05334774e-01 7.87175007e-01 -8.68231166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.38, Y:9.64, Z:-86.81 [[ 7.87759971e-01 1.21248779e-01 -6.03931256e-01 1.95379166e+02] [-9.95838445e-02 9.92607010e-01 6.93857468e-02 9.63590072e+00] [ 6.07879335e-01 5.48248237e-03 7.94010489e-01 -8.68142247e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.39, Y:9.58, Z:-86.80 [[ 7.58856542e-01 1.58906741e-01 -6.31573746e-01 1.95393194e+02] [-9.61579123e-02 9.86485217e-01 1.32667152e-01 9.58462996e+00] [ 6.44119868e-01 -3.99445232e-02 7.63880901e-01 -8.67953460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.42, Y:9.62, Z:-86.78 [[ 7.59031380e-01 1.27392192e-01 -6.38468944e-01 1.95418018e+02] [-9.72445023e-02 9.91852352e-01 8.22947096e-02 9.62171616e+00] [ 6.43750627e-01 -3.76672340e-04 7.65235250e-01 -8.67757138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:9.68, Z:-86.76 [[ 7.89876019e-01 8.13934813e-02 -6.07841242e-01 1.95445835e+02] [-9.80952785e-02 9.95160212e-01 5.78513890e-03 9.67844232e+00] [ 6.05370292e-01 5.50568135e-02 7.94037503e-01 -8.67555693e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.45, Y:9.57, Z:-86.74 [[ 7.57655491e-01 1.66251340e-01 -6.31124908e-01 1.95454754e+02] [-9.65839360e-02 9.84925701e-01 1.43502288e-01 9.56811788e+00] [ 6.45468590e-01 -4.77687687e-02 7.62291574e-01 -8.67391834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.48, Y:9.62, Z:-86.72 [[ 7.59101462e-01 1.28048943e-01 -6.38254211e-01 1.95481193e+02] [-9.84453182e-02 9.91767622e-01 8.18871387e-02 9.61615317e+00] [ 6.43485423e-01 6.72492205e-04 7.65458071e-01 -8.67214936e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.50, Y:9.61, Z:-86.70 [[ 7.58981452e-01 1.28152532e-01 -6.38376130e-01 1.95501564e+02] [-9.89323137e-02 9.91753588e-01 8.14691210e-02 9.61414771e+00] [ 6.43552292e-01 1.32247573e-03 7.65401005e-01 -8.67039815e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.36864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.53, Y:9.69, Z:-86.68 [[ 7.92788839e-01 7.45511599e-02 -6.04919814e-01 1.95531126e+02] [-1.03222938e-01 9.94577066e-01 -1.27076661e-02 9.68588508e+00] [ 6.00692002e-01 7.25160961e-02 7.96184987e-01 -8.66844373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.55, Y:9.62, Z:-86.67 [[ 7.91442804e-01 1.24155455e-01 -5.98501221e-01 1.95548510e+02] [-1.05480684e-01 9.92205899e-01 6.63421311e-02 9.61917127e+00] [ 6.02073180e-01 1.06243160e-02 7.98370221e-01 -8.66709918e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.42864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.56, Y:9.55, Z:-86.65 [[ 7.58201999e-01 1.80392370e-01 -6.26568689e-01 1.95557256e+02] [-1.00690491e-01 9.81832459e-01 1.60830495e-01 9.54721111e+00] [ 6.44198070e-01 -5.88524938e-02 7.62591129e-01 -8.66507306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.59, Y:9.62, Z:-86.63 [[ 7.60993122e-01 1.26445064e-01 -6.36318406e-01 1.95587130e+02] [-1.03561574e-01 9.91921671e-01 7.32557053e-02 9.61829641e+00] [ 6.40440839e-01 1.01510481e-02 7.67940419e-01 -8.66322579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.48864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.62, Y:9.69, Z:-86.61 [[ 7.96337091e-01 7.07198541e-02 -6.00704536e-01 1.95615071e+02] [-1.05649052e-01 9.94137037e-01 -2.30180259e-02 9.69256410e+00] [ 5.95554796e-01 8.17939725e-02 7.99139682e-01 -8.66117828e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.63, Y:9.62, Z:-86.60 [[ 7.96196763e-01 1.23505267e-01 -5.92298205e-01 1.95634297e+02] [-1.06116621e-01 9.92275076e-01 6.42606845e-02 9.62199431e+00] [ 5.95659280e-01 1.16885351e-02 8.03152165e-01 -8.66005090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.66, Y:9.62, Z:-86.58 [[ 7.97033691e-01 1.21106330e-01 -5.91667602e-01 1.95655721e+02] [-1.03468283e-01 9.92585283e-01 6.37869191e-02 9.62104067e+00] [ 5.95005554e-01 1.03785075e-02 8.03654576e-01 -8.65831619e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.65, Y:9.48, Z:-86.56 [[ 7.66813388e-01 2.15790713e-01 -6.04509384e-01 1.95654939e+02] [-8.89581276e-02 9.68433640e-01 2.32857761e-01 9.48285109e+00] [ 6.35675766e-01 -1.24782426e-01 7.61804218e-01 -8.65630385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.70, Y:9.69, Z:-86.54 [[ 7.65382056e-01 5.58125699e-02 -6.41151515e-01 1.95701678e+02] [-9.46812764e-02 9.95157579e-01 -2.63978914e-02 9.69332540e+00] [ 6.36573456e-01 8.09095163e-02 7.66960159e-01 -8.65352150e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.63864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.70, Y:9.53, Z:-86.53 [[ 7.68424236e-01 1.72979047e-01 -6.16118854e-01 1.95703643e+02] [-8.37332024e-02 9.81675344e-01 1.71179056e-01 9.52821165e+00] [ 6.34439078e-01 -7.99485305e-02 7.68827216e-01 -8.65304060e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.74, Y:9.77, Z:-86.49 [[ 8.07121493e-01 -1.20923915e-02 -5.90261526e-01 1.95738643e+02] [-8.31933127e-02 9.87484682e-01 -1.33988340e-01 9.77418885e+00] [ 5.84494455e-01 1.57250681e-01 7.96014105e-01 -8.64905187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.74, Y:9.48, Z:-86.49 [[ 7.75311960e-01 2.01637308e-01 -5.98526323e-01 1.95738632e+02] [-7.70672303e-02 9.70789574e-01 2.27218496e-01 9.47876813e+00] [ 6.26858841e-01 -1.30038452e-01 7.68204397e-01 -8.64916467e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.78, Y:9.70, Z:-86.46 [[ 7.79659464e-01 4.37532778e-02 -6.24673331e-01 1.95783617e+02] [-8.67948688e-02 9.95477959e-01 -3.86042049e-02 9.69707139e+00] [ 6.20159472e-01 8.43165736e-02 7.79931372e-01 -8.64636778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.81, Y:9.66, Z:-86.45 [[ 8.10433264e-01 7.25219278e-02 -5.81324776e-01 1.95805819e+02] [-8.49507898e-02 9.96367865e-01 5.86861726e-03 9.65608894e+00] [ 5.79638929e-01 4.46278762e-02 8.13650456e-01 -8.64525839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.83, Y:9.61, Z:-86.44 [[ 8.10890308e-01 1.06397923e-01 -5.75444516e-01 1.95825996e+02] [-8.70967803e-02 9.94323471e-01 6.11145228e-02 9.61045512e+00] [ 5.78680447e-01 5.62190298e-04 8.15554182e-01 -8.64398004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.81864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.84, Y:9.56, Z:-86.43 [[ 7.81464392e-01 1.46331297e-01 -6.06548066e-01 1.95841889e+02] [-8.37399914e-02 9.87912475e-01 1.30447522e-01 9.55748094e+00] [ 6.18304956e-01 -5.11477633e-02 7.84272203e-01 -8.64252013e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.87, Y:9.61, Z:-86.41 [[ 7.80942382e-01 1.06463635e-01 -6.15462826e-01 1.95869992e+02] [-8.44412700e-02 9.94315715e-01 6.48531436e-02 9.60942701e+00] [ 6.18868862e-01 1.32389422e-03 7.85493208e-01 -8.64066553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.87864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.89, Y:9.61, Z:-86.39 [[ 7.80907810e-01 1.05064820e-01 -6.15747006e-01 1.95889459e+02] [-8.14614049e-02 9.94463970e-01 6.63735765e-02 9.60618369e+00] [ 6.19311740e-01 -1.67202813e-03 7.85143409e-01 -8.63895250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:195.92, Y:9.65, Z:-86.37 [[ 8.10709717e-01 6.64885543e-02 -5.81660577e-01 1.95915351e+02] [-7.97341179e-02 9.96812202e-01 2.81156759e-03 9.65347542e+00] [ 5.79993297e-01 4.40988278e-02 8.13426745e-01 -8.63697966e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.93, Y:9.55, Z:-86.36 [[ 7.82995272e-01 1.41849667e-01 -6.05637744e-01 1.95928540e+02] [-7.54590910e-02 9.88120980e-01 1.33876268e-01 9.54730021e+00] [ 6.17433665e-01 -5.91236110e-02 7.84397902e-01 -8.63580023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:195.95, Y:9.60, Z:-86.34 [[ 7.84008090e-01 9.84975016e-02 -6.12886251e-01 1.95954632e+02] [-7.56056875e-02 9.95132082e-01 6.32132849e-02 9.60126406e+00] [ 6.16129122e-01 -3.22204039e-03 7.87638574e-01 -8.63383372e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:195.98, Y:9.65, Z:-86.32 [[ 8.13545141e-01 5.45582076e-02 -5.78936703e-01 1.95981153e+02] [-7.26765790e-02 9.97322328e-01 -8.14175199e-03 9.65183367e+00] [ 5.76942301e-01 4.86988218e-02 8.15331838e-01 -8.63177232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.00, Y:9.59, Z:-86.31 [[ 8.12733255e-01 9.13334825e-02 -5.75432751e-01 1.96001194e+02] [-7.01842959e-02 9.95792082e-01 5.89261689e-02 9.59172207e+00] [ 5.78393310e-01 -7.50491455e-03 8.15723516e-01 -8.63065300e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.05864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.02, Y:9.53, Z:-86.29 [[ 7.86133630e-01 1.31644584e-01 -6.03873844e-01 1.96015603e+02] [-6.70668122e-02 9.89453129e-01 1.28392163e-01 9.53312823e+00] [ 6.14406998e-01 -6.04335033e-02 7.86671362e-01 -8.62895761e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.04, Y:9.59, Z:-86.27 [[ 7.87461671e-01 8.94656144e-02 -6.09836060e-01 1.96042848e+02] [-6.99243215e-02 9.95989040e-01 5.58249185e-02 9.58679285e+00] [ 6.12384443e-01 -1.31761084e-03 7.90559016e-01 -8.62705903e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.11864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:196.06, Y:9.57, Z:-86.25 [[ 7.88419409e-01 9.52903847e-02 -6.07712578e-01 1.96061802e+02] [-7.21907139e-02 9.95435147e-01 6.24289169e-02 9.57446659e+00] [ 6.10887335e-01 -5.34896485e-03 7.91699471e-01 -8.62538334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.08, Y:9.55, Z:-86.24 [[ 7.83740560e-01 1.11007351e-01 -6.11087639e-01 1.96081152e+02] [-7.28421304e-02 9.93536511e-01 8.70587472e-02 9.55203021e+00] [ 6.16802041e-01 -2.37185459e-02 7.86760874e-01 -8.62369254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.17864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.11, Y:9.59, Z:-86.22 [[ 7.90959554e-01 8.59808143e-02 -6.05797229e-01 1.96106726e+02] [-7.72471144e-02 9.96187786e-01 4.05312085e-02 9.58505034e+00] [ 6.06972707e-01 1.47375413e-02 7.94586017e-01 -8.62197070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.13, Y:9.56, Z:-86.20 [[ 7.92716624e-01 9.80419439e-02 -6.01654495e-01 1.96126527e+02] [-7.65573423e-02 9.95179063e-01 6.12993208e-02 9.56231632e+00] [ 6.04763861e-01 -2.53192153e-03 7.96400817e-01 -8.62038102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.15, Y:9.55, Z:-86.19 [[ 7.93287357e-01 1.04863462e-01 -5.99748967e-01 1.96147076e+02] [-7.66269139e-02 9.94419338e-01 7.25154938e-02 9.54686875e+00] [ 6.04006197e-01 -1.15687119e-02 7.96895651e-01 -8.61867844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.17, Y:9.60, Z:-86.17 [[ 8.20684606e-01 6.03001120e-02 -5.68190702e-01 1.96174436e+02] [-7.68770421e-02 9.97026870e-01 -5.22883090e-03 9.60450627e+00] [ 5.66186099e-01 4.79720416e-02 8.22880298e-01 -8.61688193e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.20, Y:9.55, Z:-86.16 [[ 8.20232803e-01 9.54675322e-02 -5.64007180e-01 1.96195081e+02] [-7.79154068e-02 9.95431674e-01 5.51812706e-02 9.55020973e+00] [ 5.66698631e-01 -1.31663929e-03 8.23924103e-01 -8.61561632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.22, Y:9.55, Z:-86.14 [[ 8.19826106e-01 9.44426040e-02 -5.64770529e-01 1.96218052e+02] [-7.68738567e-02 9.95529055e-01 5.48845242e-02 9.54714620e+00] [ 5.67428908e-01 -1.57967711e-03 8.23420876e-01 -8.61397556e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.23, Y:9.50, Z:-86.12 [[ 7.94644369e-01 1.27857722e-01 -5.93458280e-01 1.96234266e+02] [-7.62499081e-02 9.90848963e-01 1.11374520e-01 9.50176199e+00] [ 6.02267614e-01 -4.32519960e-02 7.97121689e-01 -8.61211760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.26, Y:9.58, Z:-86.10 [[ 8.22115877e-01 6.92235413e-02 -5.65096086e-01 1.96263626e+02] [-7.95004871e-02 9.96813965e-01 6.44913349e-03 9.58378384e+00] [ 5.63742102e-01 3.96234791e-02 8.24999892e-01 -8.61030781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.28, Y:9.49, Z:-86.09 [[ 7.94279365e-01 1.37588198e-01 -5.91768348e-01 1.96276486e+02] [-7.90272134e-02 9.89141861e-01 1.23907543e-01 9.48817989e+00] [ 6.02391060e-01 -5.16514007e-02 7.96528181e-01 -8.60877515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.30, Y:9.54, Z:-86.07 [[ 7.98149555e-01 9.43802067e-02 -5.95020726e-01 1.96304080e+02] [-8.01908346e-02 9.95507685e-01 5.03376451e-02 9.54439433e+00] [ 5.97098583e-01 7.53823959e-03 8.02132444e-01 -8.60716899e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:196.33, Y:9.53, Z:-86.06 [[ 7.97312206e-01 1.01115294e-01 -5.95036926e-01 1.96325684e+02] [-7.92741191e-02 9.94870400e-01 6.28370932e-02 9.53213298e+00] [ 5.98338416e-01 -2.92975327e-03 8.01238140e-01 -8.60554442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.35, Y:9.53, Z:-86.04 [[ 7.97550283e-01 1.02179746e-01 -5.94535824e-01 1.96346591e+02] [-7.87485500e-02 9.94751937e-01 6.53241919e-02 9.52942863e+00] [ 5.98090472e-01 -5.28049365e-03 8.01411195e-01 -8.60396199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.37, Y:9.54, Z:-86.02 [[ 7.98490538e-01 9.42236456e-02 -5.94587896e-01 1.96369375e+02] [-7.71256358e-02 9.95547690e-01 5.41888635e-02 9.53713631e+00] [ 5.97046478e-01 2.58867471e-03 8.02202469e-01 -8.60249657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.56864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.40, Y:9.57, Z:-86.01 [[ 8.24874407e-01 6.43404650e-02 -5.61642696e-01 1.96396162e+02] [-7.68924782e-02 9.97038559e-01 1.28780664e-03 9.57414822e+00] [ 5.60062282e-01 4.21238200e-02 8.27378888e-01 -8.60076090e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.42, Y:9.53, Z:-85.99 [[ 8.25327628e-01 9.08682389e-02 -5.57294599e-01 1.96416047e+02] [-7.49211679e-02 9.95862686e-01 5.14230333e-02 9.52740355e+00] [ 5.59661617e-01 -6.87687885e-04 8.28720943e-01 -8.59926445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.43, Y:9.48, Z:-85.98 [[ 7.98514328e-01 1.23640214e-01 -5.89141719e-01 1.96431951e+02] [-7.06953967e-02 9.91168557e-01 1.12192031e-01 9.47817196e+00] [ 5.97810194e-01 -4.79373364e-02 8.00203089e-01 -8.59761242e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.46, Y:9.52, Z:-85.96 [[ 7.99513563e-01 9.05062303e-02 -5.93790102e-01 1.96458700e+02] [-7.21115919e-02 9.95895469e-01 5.47003879e-02 9.52228274e+00] [ 5.96303598e-01 -9.14552517e-04 8.02758483e-01 -8.59604073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.49, Y:9.56, Z:-85.94 [[ 8.26923525e-01 5.85339587e-02 -5.59259563e-01 1.96485716e+02] [-7.35784960e-02 9.97279657e-01 -4.41487845e-03 9.56484436e+00] [ 5.57479765e-01 4.48002444e-02 8.28980850e-01 -8.59432241e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:196.50, Y:9.47, Z:-85.93 [[ 8.00523934e-01 1.24907384e-01 -5.86139554e-01 1.96498199e+02] [-7.17917606e-02 9.90983099e-01 1.13130197e-01 9.46772676e+00] [ 5.94985189e-01 -4.84834400e-02 8.02273009e-01 -8.59281240e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.53, Y:9.52, Z:-85.91 [[ 8.01707536e-01 8.83198699e-02 -5.91155333e-01 1.96525182e+02] [-7.50053090e-02 9.96070409e-01 4.70950458e-02 9.51952185e+00] [ 5.92991763e-01 6.58333538e-03 8.05181612e-01 -8.59104564e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.55, Y:9.51, Z:-85.89 [[ 8.02353905e-01 9.43569284e-02 -5.89342838e-01 1.96546922e+02] [-7.55190853e-02 9.95538037e-01 5.65763696e-02 9.50946546e+00] [ 5.92051585e-01 -8.87639011e-04 8.05899580e-01 -8.58935690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.57, Y:9.55, Z:-85.88 [[ 8.30234319e-01 6.31911933e-02 -5.53821134e-01 1.96574351e+02] [-7.74356020e-02 9.96994642e-01 -2.32640668e-03 9.55245165e+00] [ 5.52009694e-01 4.48169355e-02 8.32632416e-01 -8.58770298e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.59, Y:9.51, Z:-85.86 [[ 8.30427842e-01 9.28328441e-02 -5.49337476e-01 1.96594662e+02] [-7.91656179e-02 9.95676752e-01 4.85861108e-02 9.50842961e+00] [ 5.51472941e-01 3.14138154e-03 8.34186866e-01 -8.58624315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.62, Y:9.51, Z:-85.85 [[ 8.31690859e-01 9.20362621e-02 -5.47557889e-01 1.96617471e+02] [-7.85429201e-02 9.95751057e-01 4.80712216e-02 9.50777797e+00] [ 5.49655642e-01 3.02639992e-03 8.35385849e-01 -8.58469816e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:9.51, Z:-85.83 [[ 8.31723209e-01 9.15549984e-02 -5.47589431e-01 1.96640799e+02] [-7.82047999e-02 9.95795061e-01 4.77095915e-02 9.50589854e+00] [ 5.49654903e-01 3.14294734e-03 8.35385905e-01 -8.58307492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.64, Y:9.35, Z:-85.81 [[ 8.02421642e-01 1.94549393e-01 -5.64154272e-01 1.96640536e+02] [-6.92864191e-02 9.69345302e-01 2.35730941e-01 9.35125207e+00] [ 5.92721605e-01 -1.50067380e-01 7.91303280e-01 -8.58062408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.69, Y:9.61, Z:-85.79 [[ 8.07134536e-01 1.55536604e-02 -5.90162626e-01 1.96688826e+02] [-7.79880730e-02 9.93701275e-01 -8.04713359e-02 9.60938878e+00] [ 5.85193730e-01 1.10976840e-01 8.03263617e-01 -8.57859346e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.98864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.70, Y:9.46, Z:-85.78 [[ 8.00336898e-01 1.16638734e-01 -5.88095448e-01 1.96700107e+02] [-6.99483629e-02 9.92360574e-01 1.01625383e-01 9.45932296e+00] [ 5.95456192e-01 -4.01982298e-02 8.02381471e-01 -8.57795686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.73, Y:9.54, Z:-85.76 [[ 8.09615744e-01 6.46458596e-02 -5.83389458e-01 1.96730300e+02] [-7.49105906e-02 9.97168823e-01 6.53772894e-03 9.53615481e+00] [ 5.82160416e-01 3.84090006e-02 8.12166238e-01 -8.57599178e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.75, Y:9.48, Z:-85.75 [[ 8.08329310e-01 9.75914604e-02 -5.80585595e-01 1.96748401e+02] [-7.18260103e-02 9.95145795e-01 6.72745974e-02 9.48426832e+00] [ 5.84332740e-01 -1.26788819e-02 8.11415119e-01 -8.57456736e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.77, Y:9.51, Z:-85.73 [[ 8.12157118e-01 7.89532755e-02 -5.78071964e-01 1.96772892e+02] [-7.22813214e-02 9.96784296e-01 3.45901491e-02 9.50804540e+00] [ 5.78944061e-01 1.36911696e-02 8.15252308e-01 -8.57298993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.79, Y:9.49, Z:-85.72 [[ 8.13111178e-01 8.72053681e-02 -5.75539256e-01 1.96793970e+02] [-7.00690165e-02 9.96188518e-01 5.19496898e-02 9.49330237e+00] [ 5.77875890e-01 -1.91340383e-03 8.16122414e-01 -8.57160176e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.82, Y:9.49, Z:-85.70 [[ 8.13544023e-01 8.40491880e-02 -5.75397130e-01 1.96816172e+02] [-6.78644742e-02 9.96460753e-01 4.96022282e-02 9.49309504e+00] [ 5.77529684e-01 -1.30457259e-03 8.16368643e-01 -8.57009873e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.84, Y:9.49, Z:-85.69 [[ 8.14414169e-01 8.15343395e-02 -5.74527382e-01 1.96837848e+02] [-6.60647512e-02 9.96670063e-01 4.77936592e-02 9.49118956e+00] [ 5.76511066e-01 -9.67824744e-04 8.17088767e-01 -8.56856401e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:196.86, Y:9.48, Z:-85.67 [[ 8.14518347e-01 8.02483093e-02 -5.74560764e-01 1.96858729e+02] [-6.12683253e-02 9.96747103e-01 5.23584218e-02 9.48276140e+00] [ 5.76893452e-01 -7.44451938e-03 8.16785483e-01 -8.56702808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:196.88, Y:9.49, Z:-85.65 [[ 8.16289428e-01 7.37896544e-02 -5.72910688e-01 1.96883631e+02] [-6.14619559e-02 9.97272118e-01 4.08748180e-02 9.49018530e+00] [ 5.74363994e-01 1.84652962e-03 8.18597944e-01 -8.56539485e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.25864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.91, Y:9.53, Z:-85.64 [[ 8.43465440e-01 4.34719080e-02 -5.35421558e-01 1.96910919e+02] [-5.82392743e-02 9.98245346e-01 -1.06965908e-02 9.52640291e+00] [ 5.34017077e-01 4.02047677e-02 8.44517222e-01 -8.56372219e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.93, Y:9.48, Z:-85.62 [[ 8.43891018e-01 7.20554839e-02 -5.31653983e-01 1.96931428e+02] [-5.80445231e-02 9.97385660e-01 4.30427598e-02 9.47820106e+00] [ 5.33365526e-01 -5.46379641e-03 8.45867225e-01 -8.56240982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.95, Y:9.47, Z:-85.61 [[ 8.44068938e-01 7.19125380e-02 -5.31390831e-01 1.96953959e+02] [-5.80997961e-02 9.97397596e-01 4.26901595e-02 9.47394438e+00] [ 5.33077895e-01 -5.15973862e-03 8.46050433e-01 -8.56074016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:196.98, Y:9.47, Z:-85.59 [[ 8.43328197e-01 7.18740577e-02 -5.32570814e-01 1.96977435e+02] [-5.81980322e-02 9.97402145e-01 4.24493742e-02 9.47166951e+00] [ 5.34238281e-01 -4.80418087e-03 8.45320282e-01 -8.55916937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.37864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.00, Y:9.47, Z:-85.58 [[ 8.43306337e-01 7.23245714e-02 -5.32544438e-01 1.97000705e+02] [-5.89452231e-02 9.97372635e-01 4.21104167e-02 9.46969336e+00] [ 5.34190867e-01 -4.12103052e-03 8.45353852e-01 -8.55768911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.02, Y:9.42, Z:-85.56 [[ 8.18037934e-01 1.09502231e-01 -5.64644313e-01 1.97017545e+02] [-5.87941353e-02 9.92487253e-01 1.07295396e-01 9.41601639e+00] [ 5.72151369e-01 -5.45739299e-02 8.18330311e-01 -8.55597515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.05, Y:9.52, Z:-85.54 [[ 8.44481551e-01 4.05994903e-02 -5.34043624e-01 1.97049543e+02] [-6.11498821e-02 9.97911176e-01 -2.08321225e-02 9.51624736e+00] [ 5.32082327e-01 5.02490477e-02 8.45200231e-01 -8.55420081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.07, Y:9.46, Z:-85.53 [[ 8.44523011e-01 7.52455892e-02 -5.30206550e-01 1.97069867e+02] [-6.28461474e-02 9.97163663e-01 4.14124454e-02 9.46389373e+00] [ 5.31818810e-01 -1.65232406e-03 8.46856554e-01 -8.55283711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:197.09, Y:9.46, Z:-85.51 [[ 8.44665933e-01 7.37474539e-02 -5.30189377e-01 1.97093364e+02] [-6.12899621e-02 9.97274526e-01 4.10738410e-02 9.46212494e+00] [ 5.31773451e-01 -2.19838742e-03 8.46883796e-01 -8.55129939e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:197.11, Y:9.41, Z:-85.50 [[ 8.19380441e-01 1.06973617e-01 -5.63180556e-01 1.97109955e+02] [-5.72652234e-02 9.92794474e-01 1.05260757e-01 9.40881859e+00] [ 5.70382668e-01 -5.39979448e-02 8.19602241e-01 -8.54959727e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:197.14, Y:9.46, Z:-85.48 [[ 8.21040681e-01 7.08886086e-02 -5.66451238e-01 1.97136237e+02] [-5.59574686e-02 9.97475395e-01 4.37218300e-02 9.45515090e+00] [ 5.68120552e-01 -4.20022367e-03 8.22934624e-01 -8.54802541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:197.16, Y:9.46, Z:-85.47 [[ 8.23186775e-01 6.81734189e-02 -5.63662947e-01 1.97158391e+02] [-5.51942361e-02 9.97671743e-01 4.00585644e-02 9.45678874e+00] [ 5.65081525e-01 -1.86473465e-03 8.25032965e-01 -8.54652308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.61864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.19, Y:9.50, Z:-85.45 [[ 8.48718899e-01 3.78777016e-02 -5.27486028e-01 1.97187205e+02] [-5.58667275e-02 9.98272251e-01 -1.82050112e-02 9.50239495e+00] [ 5.25885101e-01 4.49198553e-02 8.49368629e-01 -8.54493341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:197.19, Y:9.36, Z:-85.43 [[ 8.13456495e-01 1.35712536e-01 -5.65571073e-01 1.97194429e+02] [-5.13320154e-02 9.85353962e-01 1.62611788e-01 9.35550802e+00] [ 5.79356156e-01 -1.03245712e-01 8.08508978e-01 -8.54321858e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.67864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:197.23, Y:9.50, Z:-85.42 [[ 8.24873922e-01 3.74862302e-02 -5.64072510e-01 1.97232297e+02] [-5.97030145e-02 9.97995607e-01 -2.09837679e-02 9.50387899e+00] [ 5.62155284e-01 5.09857921e-02 8.25458591e-01 -8.54158225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.24, Y:9.38, Z:-85.40 [[ 8.21955143e-01 1.15650745e-01 -5.57686873e-01 1.97242629e+02] [-5.35432608e-02 9.90521199e-01 1.26494561e-01 9.38227807e+00] [ 5.67029860e-01 -7.41124816e-02 8.20356311e-01 -8.54036879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.73864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:197.28, Y:9.52, Z:-85.38 [[ 8.27066101e-01 2.45711844e-02 -5.61567379e-01 1.97276548e+02] [-5.75348630e-02 9.97497498e-01 -4.10911328e-02 9.51773137e+00] [ 5.59152398e-01 6.62947852e-02 8.26410066e-01 -8.53841390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.30, Y:9.49, Z:-85.37 [[ 8.52047744e-01 3.33717290e-02 -5.22399244e-01 1.97301753e+02] [-4.95342508e-02 9.98627776e-01 -1.69977488e-02 9.49157466e+00] [ 5.21115151e-01 4.03595487e-02 8.52531587e-01 -8.53727975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.32, Y:9.44, Z:-85.36 [[ 8.52466672e-01 5.99058429e-02 -5.19337908e-01 1.97323586e+02] [-4.67183339e-02 9.98167692e-01 3.84532960e-02 9.44238723e+00] [ 5.20689898e-01 -8.51755150e-03 8.53703392e-01 -8.53603410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.35, Y:9.44, Z:-85.35 [[ 8.52795003e-01 5.59937009e-02 -5.19235388e-01 1.97347047e+02] [-4.23378025e-02 9.98375573e-01 3.81277496e-02 9.43810641e+00] [ 5.20526842e-01 -1.05318690e-02 8.53780350e-01 -8.53451672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.37, Y:9.44, Z:-85.33 [[ 8.52839177e-01 5.43497806e-02 -5.19337501e-01 1.97370060e+02] [-4.05983657e-02 9.98459463e-01 3.78216015e-02 9.43500165e+00] [ 5.20593038e-01 -1.11714897e-02 8.53731858e-01 -8.53298638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.88864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:197.38, Y:9.38, Z:-85.31 [[ 8.29036789e-01 8.72233856e-02 -5.52349603e-01 1.97384817e+02] [-3.71238964e-02 9.94165901e-01 1.01271802e-01 9.38168724e+00] [ 5.57960410e-01 -6.34526803e-02 8.27438178e-01 -8.53118036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.40, Y:9.36, Z:-85.29 [[ 8.22720031e-01 9.91031492e-02 -5.59741294e-01 1.97401887e+02] [-3.16601977e-02 9.91145671e-01 1.28949176e-01 9.35630992e+00] [ 5.67564430e-01 -8.83675499e-02 8.18573023e-01 -8.52947423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.44, Y:9.56, Z:-85.27 [[ 8.54500076e-01 -3.39088304e-02 -5.18343334e-01 1.97439517e+02] [-3.67020264e-02 9.91432050e-01 -1.25361283e-01 9.55777260e+00] [ 5.18153048e-01 1.26145477e-01 8.45934239e-01 -8.52709347e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:9.42, Z:-85.27 [[ 8.57002286e-01 5.28381599e-02 -5.12596538e-01 1.97459684e+02] [-3.93396021e-02 9.98534799e-01 3.71571226e-02 9.41829901e+00] [ 5.13808795e-01 -1.16783952e-02 8.57825237e-01 -8.52670692e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.46, Y:9.29, Z:-85.24 [[ 8.32437373e-01 1.33416916e-01 -5.37817763e-01 1.97464477e+02] [-3.33606542e-02 9.80887630e-01 1.91693830e-01 9.28941645e+00] [ 5.53113991e-01 -1.41631156e-01 8.20978397e-01 -8.52429771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.51, Y:9.54, Z:-85.23 [[ 8.57023025e-01 -3.04292361e-02 -5.14378845e-01 1.97509770e+02] [-3.79330782e-02 9.91820345e-01 -1.21874874e-01 9.54122221e+00] [ 5.13879963e-01 1.23961546e-01 8.48858598e-01 -8.52258906e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.53, Y:9.40, Z:-85.22 [[ 8.57912147e-01 5.39855714e-02 -5.10952352e-01 1.97529874e+02] [-4.09950920e-02 9.98486423e-01 3.66642263e-02 9.40439569e+00] [ 5.12158325e-01 -1.05081464e-02 8.58826774e-01 -8.52201121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.55, Y:9.40, Z:-85.20 [[ 8.58616953e-01 5.38275398e-02 -5.09783802e-01 1.97552909e+02] [-4.10602193e-02 9.98498014e-01 3.62735950e-02 9.40141321e+00] [ 5.10970632e-01 -1.02132889e-02 8.59537493e-01 -8.52046383e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.57, Y:9.35, Z:-85.19 [[ 8.36438820e-01 8.59594751e-02 -5.41277258e-01 1.97568233e+02] [-4.07354860e-02 9.94642604e-01 9.50090061e-02 9.35344055e+00] [ 5.46544345e-01 -5.74200287e-02 8.35459286e-01 -8.51870256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:197.60, Y:9.45, Z:-85.17 [[ 8.59970245e-01 2.60269392e-02 -5.09680073e-01 1.97602386e+02] [-4.35867450e-02 9.98795367e-01 -2.25390752e-02 9.44592653e+00] [ 5.08479473e-01 4.15982294e-02 8.60068726e-01 -8.51739540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:197.62, Y:9.35, Z:-85.16 [[ 8.37853474e-01 9.17702297e-02 -5.38126176e-01 1.97616333e+02] [-4.47735950e-02 9.93999481e-01 9.98015909e-02 9.34613899e+00] [ 5.44055955e-01 -5.95252661e-02 8.36934801e-01 -8.51558657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.64, Y:9.38, Z:-85.14 [[ 8.36689865e-01 7.02325831e-02 -5.43155092e-01 1.97642787e+02] [-4.95281048e-02 9.97382884e-01 5.26720884e-02 9.38447981e+00] [ 5.45432890e-01 -1.71687602e-02 8.37978637e-01 -8.51409482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.24864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.67, Y:9.41, Z:-85.13 [[ 8.39850493e-01 5.49920229e-02 -5.40025025e-01 1.97669320e+02] [-5.15202022e-02 9.98439439e-01 2.15488854e-02 9.40861029e+00] [ 5.40367300e-01 9.72435648e-03 8.41373055e-01 -8.51266620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:197.69, Y:9.38, Z:-85.11 [[ 8.37762156e-01 7.46921316e-02 -5.40902631e-01 1.97690005e+02] [-5.25833300e-02 9.97031857e-01 5.62358346e-02 9.37898078e+00] [ 5.43497529e-01 -1.86697925e-02 8.39203119e-01 -8.51133168e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:197.72, Y:9.45, Z:-85.10 [[ 8.62665580e-01 2.77873737e-02 -5.05010850e-01 1.97719647e+02] [-5.23717986e-02 9.98029902e-01 -3.45472147e-02 9.44971788e+00] [ 5.03055952e-01 5.62510196e-02 8.62421319e-01 -8.50991871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.74, Y:9.39, Z:-85.09 [[ 8.62922578e-01 6.39703957e-02 -5.01270799e-01 1.97740448e+02] [-5.40713599e-02 9.97948740e-01 3.42724502e-02 9.39158079e+00] [ 5.02434984e-01 -2.47007733e-03 8.64611465e-01 -8.50860676e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.76, Y:9.39, Z:-85.07 [[ 8.62984577e-01 6.38583181e-02 -5.01178347e-01 1.97764522e+02] [-5.41271222e-02 9.97956606e-01 3.39538987e-02 9.38971091e+00] [ 5.02322481e-01 -2.17434925e-03 8.64677626e-01 -8.50710260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:197.78, Y:9.33, Z:-85.05 [[ 8.37793624e-01 9.84580855e-02 -5.37036172e-01 1.97779735e+02] [-5.03219127e-02 9.93343982e-01 1.03611958e-01 9.33250703e+00] [ 5.43663084e-01 -5.97807504e-02 8.37171854e-01 -8.50523856e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.42864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.80, Y:9.35, Z:-85.04 [[ 8.29975916e-01 8.89129505e-02 -5.50667292e-01 1.97802014e+02] [-4.89850754e-02 9.95018234e-01 8.68284260e-02 9.34636348e+00] [ 5.55644168e-01 -4.50910235e-02 8.30196578e-01 -8.50376577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.83, Y:9.43, Z:-85.02 [[ 8.39393574e-01 3.82650621e-02 -5.42175445e-01 1.97832635e+02] [-5.43568837e-02 9.98427732e-01 -1.36891476e-02 9.42778786e+00] [ 5.40799184e-01 4.09615502e-02 8.40153792e-01 -8.50233922e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.48864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:197.85, Y:9.39, Z:-85.01 [[ 8.41728213e-01 6.37831692e-02 -5.36120623e-01 1.97854460e+02] [-5.33919544e-02 9.97963496e-01 3.49021458e-02 9.38513368e+00] [ 5.37254981e-01 -7.53592934e-04 8.43419538e-01 -8.50103654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:197.88, Y:9.39, Z:-85.00 [[ 8.43716085e-01 5.91293565e-02 -5.33523090e-01 1.97875945e+02] [-5.06706294e-02 9.98249485e-01 3.05033183e-02 9.38536506e+00] [ 5.34392791e-01 1.29781048e-03 8.45235269e-01 -8.49959600e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:197.89, Y:9.35, Z:-84.98 [[ 8.37648781e-01 7.81948214e-02 -5.40583102e-01 1.97893654e+02] [-4.64230226e-02 9.96310556e-01 7.21815713e-02 9.34821930e+00] [ 5.44232876e-01 -3.53673037e-02 8.38188362e-01 -8.49806266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:197.93, Y:9.45, Z:-84.97 [[ 8.71928187e-01 6.35601090e-03 -4.89592523e-01 1.97926668e+02] [-4.29832752e-02 9.97048996e-01 -6.36061081e-02 9.45146956e+00] [ 4.87743452e-01 7.65042486e-02 8.69628326e-01 -8.49666367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:197.95, Y:9.37, Z:-84.96 [[ 8.71811957e-01 5.26617314e-02 -4.87001698e-01 1.97947284e+02] [-4.27449054e-02 9.98590518e-01 3.14618740e-02 9.36935986e+00] [ 4.87972115e-01 -6.61199638e-03 8.72834175e-01 -8.49558942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:197.96, Y:9.30, Z:-84.93 [[ 8.46238019e-01 9.23423923e-02 -5.24741934e-01 1.97961993e+02] [-3.92759970e-02 9.92998619e-01 1.11405288e-01 9.30012569e+00] [ 5.31355447e-01 -7.36656273e-02 8.43940024e-01 -8.49348788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.00, Y:9.42, Z:-84.92 [[ 8.72912917e-01 1.34595105e-02 -4.87690353e-01 1.97997681e+02] [-4.01862388e-02 9.98206130e-01 -4.43800475e-02 9.42173719e+00] [ 4.86218166e-01 5.83383577e-02 8.71887912e-01 -8.49242628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.02, Y:9.36, Z:-84.91 [[ 8.73635996e-01 5.09305435e-02 -4.83907250e-01 1.98018627e+02] [-4.12019188e-02 9.98678334e-01 3.07243815e-02 9.35618391e+00] [ 4.84832496e-01 -6.90401841e-03 8.74579776e-01 -8.49110571e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.03, Y:9.29, Z:-84.89 [[ 8.49732621e-01 8.92502517e-02 -5.19604527e-01 1.98033205e+02] [-4.13237619e-02 9.93809749e-01 1.03123855e-01 9.29465442e+00] [ 5.25591875e-01 -6.61556895e-02 8.48160719e-01 -8.48913065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.75864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.07, Y:9.40, Z:-84.88 [[ 8.74390285e-01 2.07282358e-02 -4.84780332e-01 1.98068008e+02] [-4.45336644e-02 9.98298567e-01 -3.76393889e-02 9.40432987e+00] [ 4.83175313e-01 5.45005606e-02 8.73825673e-01 -8.48818038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.09, Y:9.35, Z:-84.87 [[ 8.74652695e-01 5.41756110e-02 -4.81713262e-01 1.98089291e+02] [-4.53153671e-02 9.98521611e-01 3.00185017e-02 9.34674626e+00] [ 4.82627373e-01 -4.42675003e-03 8.75814605e-01 -8.48678021e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.81864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.11, Y:9.34, Z:-84.85 [[ 8.74107961e-01 5.71074590e-02 -4.82362944e-01 1.98113364e+02] [-4.87904565e-02 9.98364911e-01 2.97824634e-02 9.34228614e+00] [ 4.83275039e-01 -2.49838016e-03 8.75465016e-01 -8.48531833e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.13, Y:9.29, Z:-84.84 [[ 8.51659823e-01 8.93226981e-02 -5.16427150e-01 1.98131391e+02] [-4.93804430e-02 9.94661964e-01 9.06043590e-02 9.29310386e+00] [ 5.21763469e-01 -5.16626909e-02 8.51524427e-01 -8.48350616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.87864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.16, Y:9.38, Z:-84.83 [[ 8.75957928e-01 3.31021276e-02 -4.81250410e-01 1.98163958e+02] [-5.16759541e-02 9.98341106e-01 -2.53895825e-02 9.38434503e+00] [ 4.79611617e-01 4.71092801e-02 8.76215391e-01 -8.48251062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.18, Y:9.29, Z:-84.81 [[ 8.52548711e-01 9.35555822e-02 -5.14206232e-01 1.98178460e+02] [-5.35573828e-02 9.94307616e-01 9.21084720e-02 9.28592603e+00] [ 5.19896435e-01 -5.09874191e-02 8.52706268e-01 -8.48063486e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.93864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.21, Y:9.33, Z:-84.79 [[ 8.54994183e-01 6.47702172e-02 -5.14577269e-01 1.98206441e+02] [-5.76712127e-02 9.97891312e-01 2.97818938e-02 9.33408019e+00] [ 5.15421166e-01 4.21294915e-03 8.56926644e-01 -8.47934860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.23, Y:9.29, Z:-84.78 [[ 8.47486792e-01 9.08460016e-02 -5.22984838e-01 1.98225114e+02] [-5.58083259e-02 9.95034852e-01 8.24079696e-02 9.29024341e+00] [ 5.27874575e-01 -4.06527575e-02 8.48348859e-01 -8.47761708e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.26, Y:9.41, Z:-84.77 [[ 8.79445611e-01 1.77748152e-02 -4.75667398e-01 1.98259550e+02] [-5.79699468e-02 9.95863629e-01 -6.99651130e-02 9.41139184e+00] [ 4.72456244e-01 8.91049253e-02 8.76838303e-01 -8.47661385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:198.27, Y:9.28, Z:-84.75 [[ 8.55500703e-01 1.01598052e-01 -5.07736528e-01 1.98273872e+02] [-6.40395604e-02 9.93793723e-01 9.09558691e-02 9.28049696e+00] [ 5.13826314e-01 -4.52975859e-02 8.56697524e-01 -8.47474647e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.05864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:198.30, Y:9.33, Z:-84.74 [[ 8.56423994e-01 7.69814988e-02 -5.10501509e-01 1.98301611e+02] [-6.80388948e-02 9.97025553e-01 3.62043579e-02 9.32550119e+00] [ 5.11770115e-01 3.72767770e-03 8.59114343e-01 -8.47354172e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.31, Y:9.24, Z:-84.71 [[ 8.52473726e-01 1.27480027e-01 -5.06988549e-01 1.98313844e+02] [-6.56485217e-02 9.88239618e-01 1.38104053e-01 9.24318592e+00] [ 5.18631678e-01 -8.44470278e-02 8.50817185e-01 -8.47139135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.35, Y:9.35, Z:-84.70 [[ 8.47627497e-01 6.70956450e-02 -5.26332406e-01 1.98354164e+02] [-7.44547302e-02 9.97198290e-01 7.21556527e-03 9.35291317e+00] [ 5.25341908e-01 3.30718257e-02 8.50248278e-01 -8.47017461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.38, Y:9.37, Z:-84.69 [[ 8.56998507e-01 5.87080417e-02 -5.11963793e-01 1.98376946e+02] [-7.44692176e-02 9.97170020e-01 -1.03095360e-02 9.36526651e+00] [ 5.09909693e-01 4.69608001e-02 8.58945160e-01 -8.46897657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.40, Y:9.39, Z:-84.68 [[ 8.83537725e-01 4.16746208e-02 -4.66502212e-01 1.98402456e+02] [-7.05065168e-02 9.96517624e-01 -4.45135581e-02 9.38800989e+00] [ 4.63022590e-01 7.22208539e-02 8.83399247e-01 -8.46786714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.42, Y:9.33, Z:-84.67 [[ 8.82780802e-01 7.41067939e-02 -4.63903265e-01 1.98423814e+02] [-7.04824636e-02 9.97195308e-01 2.51741739e-02 9.32864415e+00] [ 4.64467737e-01 1.04737675e-02 8.85528103e-01 -8.46651225e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.23864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.45, Y:9.33, Z:-84.65 [[ 8.83249360e-01 7.33412714e-02 -4.63132406e-01 1.98448055e+02] [-6.97735504e-02 9.97253103e-01 2.48576143e-02 9.32698678e+00] [ 4.63683318e-01 1.03589204e-02 8.85940446e-01 -8.46516444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.47, Y:9.33, Z:-84.64 [[ 8.82475773e-01 7.36511712e-02 -4.64555718e-01 1.98471417e+02] [-7.02500395e-02 9.97224723e-01 2.46532556e-02 9.32665184e+00] [ 4.65082189e-01 1.08791567e-02 8.85200656e-01 -8.46369968e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.50, Y:9.33, Z:-84.62 [[ 8.82720855e-01 7.45332979e-02 -4.63949006e-01 1.98495907e+02] [-7.13984966e-02 9.97150668e-01 2.43474729e-02 9.32663301e+00] [ 4.64441759e-01 1.16332395e-02 8.85527256e-01 -8.46239626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:198.51, Y:9.26, Z:-84.60 [[ 8.55914005e-01 1.18401472e-01 -5.03380878e-01 1.98513558e+02] [-7.40179394e-02 9.91462286e-01 1.07349336e-01 9.26166991e+00] [ 5.11793475e-01 -5.46225848e-02 8.57370289e-01 -8.46020367e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.54, Y:9.32, Z:-84.59 [[ 8.58203699e-01 8.71080186e-02 -5.05864215e-01 1.98542487e+02] [-7.73955559e-02 9.96188162e-01 4.02377239e-02 9.31578887e+00] [ 5.07440971e-01 4.61947867e-03 8.61674139e-01 -8.45908463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.38864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.57, Y:9.39, Z:-84.58 [[ 8.84151820e-01 4.26856129e-02 -4.65245632e-01 1.98571559e+02] [-7.64711204e-02 9.95609535e-01 -5.39798234e-02 9.39025530e+00] [ 4.60898825e-01 8.33042138e-02 8.83534199e-01 -8.45805164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:198.59, Y:9.27, Z:-84.56 [[ 8.61510357e-01 1.12626981e-01 -4.95090969e-01 1.98588382e+02] [-7.74236924e-02 9.92824724e-01 9.11297941e-02 9.27348677e+00] [ 5.01802228e-01 -4.01774906e-02 8.64048779e-01 -8.45600155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.62, Y:9.37, Z:-84.55 [[ 8.85967809e-01 4.99489300e-02 -4.61048962e-01 1.98619143e+02] [-7.36564633e-02 9.96718886e-01 -3.35587211e-02 9.37361291e+00] [ 4.57859986e-01 6.36911826e-02 8.86739909e-01 -8.45499705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.64, Y:9.33, Z:-84.54 [[ 8.85349859e-01 7.61558038e-02 -4.58645746e-01 1.98642273e+02] [-7.40469845e-02 9.96998424e-01 2.26094523e-02 9.32758625e+00] [ 4.58990926e-01 1.39440590e-02 8.88331522e-01 -8.45370286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.50864 meters Centerline goodness : 0.865294 Centerline is valid? [True, False] Translation: X:198.61, Y:9.33, Z:-84.55 [[ 8.91163003e-01 6.80911228e-02 -4.48544425e-01 1.98614817e+02] [-6.70882007e-02 9.97581998e-01 1.81474910e-02 9.33255326e+00] [ 4.48695527e-01 1.39196659e-02 8.93576279e-01 -8.45520222e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53864 meters Centerline goodness : 0.999804 Centerline is valid? [False, True] Translation: X:198.58, Y:9.34, Z:-84.57 [[ 8.97920114e-01 5.97277046e-02 -4.36087228e-01 1.98580139e+02] [-6.02439486e-02 9.98103417e-01 1.26584144e-02 9.34067539e+00] [ 4.36016211e-01 1.49053717e-02 8.99815367e-01 -8.45698933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.56864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:198.60, Y:9.33, Z:-84.56 [[ 8.99100768e-01 6.41605212e-02 -4.33014130e-01 1.98603790e+02] [-5.94342170e-02 9.97932561e-01 2.44576848e-02 9.33114673e+00] [ 4.33688118e-01 3.74593256e-03 9.01055262e-01 -8.45567663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.63, Y:9.40, Z:-84.54 [[ 9.19205009e-01 3.17095879e-02 -3.92500513e-01 1.98631246e+02] [-5.82891973e-02 9.96728713e-01 -5.59842971e-02 9.39913038e+00] [ 3.89441293e-01 7.43395861e-02 9.18046353e-01 -8.45441126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.62864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:198.66, Y:9.34, Z:-84.54 [[ 9.18167851e-01 5.99425627e-02 -3.91630804e-01 1.98655704e+02] [-5.98245132e-02 9.98130444e-01 1.25157469e-02 9.34495650e+00] [ 3.91648855e-01 1.19375658e-02 9.20037319e-01 -8.45351688e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:198.68, Y:9.28, Z:-84.52 [[ 8.98355915e-01 9.02263622e-02 -4.29902144e-01 1.98675911e+02] [-5.68425732e-02 9.94327062e-01 8.99033704e-02 9.28480533e+00] [ 4.35574990e-01 -5.63284805e-02 8.98388296e-01 -8.45193526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.68864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:198.71, Y:9.41, Z:-84.51 [[ 9.19066083e-01 2.85978945e-02 -3.93064493e-01 1.98707929e+02] [-5.67503358e-02 9.96572580e-01 -6.01871495e-02 9.41012593e+00] [ 3.89996070e-01 7.76225097e-02 9.17538997e-01 -8.45102226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:198.73, Y:9.29, Z:-84.50 [[ 8.98541702e-01 8.69682039e-02 -4.30185240e-01 1.98727203e+02] [-5.41563212e-02 9.94650318e-01 8.79649859e-02 9.29164872e+00] [ 4.35534043e-01 -5.57429581e-02 8.98444667e-01 -8.44972483e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:198.75, Y:9.36, Z:-84.49 [[ 9.01680450e-01 5.11031203e-02 -4.29372609e-01 1.98754763e+02] [-5.28731124e-02 9.98570661e-01 7.81471560e-03 9.36063356e+00] [ 4.29158246e-01 1.56558899e-02 9.03093624e-01 -8.44856510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:198.78, Y:9.41, Z:-84.47 [[ 9.20915029e-01 2.61473588e-02 -3.88885361e-01 1.98781544e+02] [-4.95108413e-02 9.97512396e-01 -5.01766465e-02 9.40718536e+00] [ 3.86605982e-01 6.54624693e-02 9.19918736e-01 -8.44727510e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.80864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:198.80, Y:9.27, Z:-84.46 [[ 9.00344229e-01 9.04756147e-02 -4.25669393e-01 1.98797536e+02] [-4.38721202e-02 9.92036666e-01 1.18061382e-01 9.27063808e+00] [ 4.32961322e-01 -8.76208654e-02 8.97143844e-01 -8.44569077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:198.83, Y:9.39, Z:-84.44 [[ 9.04256824e-01 3.03644301e-02 -4.25907969e-01 1.98829435e+02] [-4.44122022e-02 9.98746448e-01 -2.30887209e-02 9.38744698e+00] [ 4.24672995e-01 3.97936442e-02 9.04471842e-01 -8.44449052e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.86864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:198.86, Y:9.41, Z:-84.44 [[ 9.22990277e-01 1.68441925e-02 -3.84454447e-01 1.98856459e+02] [-3.85188392e-02 9.98068166e-01 -4.87466379e-02 9.40818030e+00] [ 3.82890647e-01 5.98014118e-02 9.21856032e-01 -8.44359513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:198.88, Y:9.30, Z:-84.43 [[ 9.04742211e-01 6.57277911e-02 -4.20857919e-01 1.98877066e+02] [-3.60466982e-02 9.96293238e-01 7.81051819e-02 9.30390963e+00] [ 4.24431580e-01 -5.54945166e-02 9.03757817e-01 -8.44252724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.92864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.90, Y:9.36, Z:-84.41 [[ 9.06772916e-01 3.65702634e-02 -4.20030349e-01 1.98904332e+02] [-3.67379739e-02 9.99295318e-01 7.69347557e-03 9.35997264e+00] [ 4.20015713e-01 8.45482869e-03 9.07477447e-01 -8.44142138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:198.93, Y:9.40, Z:-84.40 [[ 9.24552786e-01 1.35263375e-02 -3.80813844e-01 1.98930438e+02] [-3.32321659e-02 9.98424209e-01 -4.52185996e-02 9.40075154e+00] [ 3.79602119e-01 5.44622511e-02 9.23545394e-01 -8.44013792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.98864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:198.95, Y:9.31, Z:-84.39 [[ 9.07293025e-01 5.93367566e-02 -4.16291385e-01 1.98952332e+02] [-3.26971596e-02 9.96951667e-01 7.08397405e-02 9.30574109e+00] [ 4.19225791e-01 -5.06608566e-02 9.06467437e-01 -8.43897351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:198.98, Y:9.35, Z:-84.38 [[ 9.08792251e-01 3.54477616e-02 -4.15740425e-01 1.98978361e+02] [-3.35742980e-02 9.99366349e-01 1.18180431e-02 9.35107171e+00] [ 4.15895914e-01 3.21804697e-03 9.09406528e-01 -8.43779289e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:199.00, Y:9.34, Z:-84.37 [[ 9.08922177e-01 3.76544868e-02 -4.15262105e-01 1.99003107e+02] [-3.19138639e-02 9.99275045e-01 2.07579026e-02 9.34202699e+00] [ 4.15742687e-01 -5.61469974e-03 9.09464949e-01 -8.43664017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:199.03, Y:9.35, Z:-84.35 [[ 9.09408400e-01 3.29704155e-02 -4.14595361e-01 1.99027939e+02] [-3.13572250e-02 9.99450976e-01 1.06990828e-02 9.34915212e+00] [ 4.14720492e-01 3.27072422e-03 9.09942974e-01 -8.43545942e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:199.05, Y:9.34, Z:-84.34 [[ 9.09782211e-01 3.39055949e-02 -4.13698852e-01 1.99053162e+02] [-3.02650826e-02 9.99423992e-01 1.53527892e-02 9.34403437e+00] [ 4.13981103e-01 -1.44706463e-03 9.10284325e-01 -8.43449775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.13864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:199.08, Y:9.33, Z:-84.33 [[ 9.07799064e-01 3.81316844e-02 -4.17668330e-01 1.99077959e+02] [-2.82582649e-02 9.99156347e-01 2.98004115e-02 9.32978176e+00] [ 4.18452303e-01 -1.52502033e-02 9.08110732e-01 -8.43331839e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.11, Y:9.41, Z:-84.32 [[ 9.28764309e-01 -3.55609191e-03 -3.70653763e-01 1.99105925e+02] [-2.42650303e-02 9.97225823e-01 -7.03695021e-02 9.40534593e+00] [ 3.69875745e-01 7.43506068e-02 9.26101464e-01 -8.43213806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.13, Y:9.28, Z:-84.31 [[ 9.10389994e-01 5.25000343e-02 -4.10406877e-01 1.99125968e+02] [-2.23858390e-02 9.96714200e-01 7.78439338e-02 9.28173101e+00] [ 4.13145171e-01 -6.16810361e-02 9.08573892e-01 -8.43101160e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.15, Y:9.34, Z:-84.30 [[ 9.11592423e-01 2.50039529e-02 -4.10334079e-01 1.99154472e+02] [-2.40115522e-02 9.99683001e-01 7.57255545e-03 9.33691307e+00] [ 4.10393347e-01 2.94967399e-03 9.11903833e-01 -8.42989217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.18, Y:9.33, Z:-84.29 [[ 9.12114724e-01 2.70994288e-02 -4.09038324e-01 1.99178102e+02] [-2.44238479e-02 9.99632469e-01 1.17644663e-02 9.32924523e+00] [ 4.09206800e-01 -7.40253129e-04 9.12441366e-01 -8.42879175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.20, Y:9.31, Z:-84.28 [[ 9.11916979e-01 3.13565277e-02 -4.09175014e-01 1.99203005e+02] [-2.36357364e-02 9.99434579e-01 2.39138961e-02 9.31292760e+00] [ 4.09693515e-01 -1.21363351e-02 9.12142496e-01 -8.42767813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.31864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.23, Y:9.33, Z:-84.27 [[ 9.13338782e-01 2.33744157e-02 -4.06529097e-01 1.99228412e+02] [-2.35156201e-02 9.99712660e-01 4.64904338e-03 9.32508513e+00] [ 4.06520953e-01 5.31363221e-03 9.13626006e-01 -8.42650375e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.25, Y:9.26, Z:-84.25 [[ 9.05985053e-01 5.22749122e-02 -4.20069539e-01 1.99248461e+02] [-1.97561198e-02 9.96485925e-01 8.13971540e-02 9.26032561e+00] [ 4.22848412e-01 -6.54456608e-02 9.03834103e-01 -8.42501567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.28, Y:9.37, Z:-84.24 [[ 9.15065641e-01 2.36532279e-03 -4.03298001e-01 1.99278472e+02] [-2.73466140e-02 9.98045243e-01 -5.61947930e-02 9.36934959e+00] [ 4.02376733e-01 6.24507591e-02 9.13341594e-01 -8.42398017e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.30, Y:9.31, Z:-84.23 [[ 9.15524708e-01 3.14911268e-02 -4.01027204e-01 1.99301336e+02] [-2.73148343e-02 9.99496763e-01 1.61282664e-02 9.30829124e+00] [ 4.01333290e-01 -3.81183473e-03 9.15924157e-01 -8.42300661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.43864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:199.33, Y:9.31, Z:-84.22 [[ 9.16767326e-01 3.14558462e-02 -3.98181115e-01 1.99326378e+02] [-3.18879684e-02 9.99476101e-01 5.53898442e-03 9.31476539e+00] [ 3.98146742e-01 7.61922689e-03 9.17290096e-01 -8.42208250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.35, Y:9.37, Z:-84.21 [[ 9.35997157e-01 6.75847243e-03 -3.51942672e-01 1.99354550e+02] [-3.18828519e-02 9.97333829e-01 -6.56408198e-02 9.37120079e+00] [ 3.50560701e-01 7.26605568e-02 9.33717108e-01 -8.42109749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.37, Y:9.25, Z:-84.20 [[ 9.17865904e-01 6.25224944e-02 -3.91935096e-01 1.99373555e+02] [-3.21346084e-02 9.95978974e-01 8.36256532e-02 9.24968653e+00] [ 3.95587599e-01 -6.41624550e-02 9.16184278e-01 -8.41954886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.40, Y:9.37, Z:-84.19 [[ 9.36820229e-01 8.31629363e-03 -3.49712307e-01 1.99404555e+02] [-3.38690494e-02 9.97176872e-01 -6.70162145e-02 9.36971378e+00] [ 3.48167698e-01 7.46265689e-02 9.34457131e-01 -8.41875722e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:199.42, Y:9.25, Z:-84.17 [[ 9.18271644e-01 6.20647598e-02 -3.91056459e-01 1.99424898e+02] [-3.23563402e-02 9.96097682e-01 8.21125771e-02 9.24810901e+00] [ 3.94626730e-01 -6.27484953e-02 9.16696444e-01 -8.41713040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.45, Y:9.31, Z:-84.16 [[ 9.19177612e-01 3.41977010e-02 -3.92355751e-01 1.99453814e+02] [-3.43472690e-02 9.99387896e-01 6.64072781e-03 9.30859751e+00] [ 3.92342685e-01 7.37234019e-03 9.19789577e-01 -8.41636954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.48, Y:9.36, Z:-84.15 [[ 9.37213796e-01 8.42278101e-03 -3.48653636e-01 1.99482074e+02] [-3.10763246e-02 9.97748488e-01 -5.94324596e-02 9.36078707e+00] [ 3.47368051e-01 6.65357946e-02 9.35365397e-01 -8.41547424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.50, Y:9.24, Z:-84.14 [[ 9.19077435e-01 6.11231243e-02 -3.89307889e-01 1.99502023e+02] [-2.99011595e-02 9.95866599e-01 8.57650150e-02 9.24242945e+00] [ 3.92940949e-01 -6.71839327e-02 9.17106172e-01 -8.41387612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.53, Y:9.37, Z:-84.13 [[ 9.38120579e-01 3.88458597e-03 -3.46287005e-01 1.99533262e+02] [-2.96936864e-02 9.97156851e-01 -6.92567622e-02 9.36887287e+00] [ 3.45033426e-01 7.52537315e-02 9.35568710e-01 -8.41335791e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.56, Y:9.31, Z:-84.12 [[ 9.37726155e-01 3.08060293e-02 -3.46006716e-01 1.99559233e+02] [-3.06092476e-02 9.99513212e-01 6.03439497e-03 9.30655803e+00] [ 3.46024180e-01 4.93239528e-03 9.38212630e-01 -8.41245271e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.73864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.58, Y:9.25, Z:-84.11 [[ 9.20292548e-01 5.91234613e-02 -3.86737691e-01 1.99581101e+02] [-3.08467730e-02 9.96403298e-01 7.89236663e-02 9.24906109e+00] [ 3.90012951e-01 -6.07032523e-02 9.18806298e-01 -8.41093760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.61, Y:9.36, Z:-84.10 [[ 9.38457770e-01 8.23963306e-03 -3.45295704e-01 1.99611370e+02] [-3.21197830e-02 9.97465183e-01 -6.34943112e-02 9.36395288e+00] [ 3.43897273e-01 7.06775527e-02 9.36343607e-01 -8.41025807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.63, Y:9.24, Z:-84.09 [[ 9.21088927e-01 6.12797568e-02 -3.84499649e-01 1.99631025e+02] [-3.12088520e-02 9.95979265e-01 8.39720899e-02 9.24375240e+00] [ 3.88099467e-01 -6.53459695e-02 9.19297943e-01 -8.40875953e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.66, Y:9.37, Z:-84.08 [[ 9.39975348e-01 6.62393710e-03 -3.41178061e-01 1.99662109e+02] [-3.25872114e-02 9.96984703e-01 -7.04242570e-02 9.37016367e+00] [ 3.39682822e-01 7.73151070e-02 9.37356898e-01 -8.40801500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.68, Y:9.25, Z:-84.06 [[ 9.22764797e-01 5.91434900e-02 -3.80798080e-01 1.99682499e+02] [-3.09681633e-02 9.96337538e-01 7.97024720e-02 9.24876333e+00] [ 3.84117303e-01 -6.17540183e-02 9.21216771e-01 -8.40648156e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.88864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.71, Y:9.31, Z:-84.06 [[ 9.23701770e-01 3.08413260e-02 -3.81868894e-01 1.99710697e+02] [-3.06468999e-02 9.99508531e-01 6.59276725e-03 9.30827368e+00] [ 3.81884547e-01 5.61334699e-03 9.24192990e-01 -8.40577418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.74, Y:9.36, Z:-84.05 [[ 9.40943175e-01 5.53081399e-03 -3.38519351e-01 1.99739435e+02] [-2.85746035e-02 9.97596377e-01 -6.31265482e-02 9.36444382e+00] [ 3.37356537e-01 6.90715509e-02 9.38839543e-01 -8.40488397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:199.76, Y:9.25, Z:-84.04 [[ 9.22878215e-01 5.47018627e-02 -3.81186970e-01 1.99760079e+02] [-2.56382679e-02 9.96391270e-01 8.09142545e-02 9.24781602e+00] [ 3.84237529e-01 -6.49010291e-02 9.20950258e-01 -8.40352757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.79, Y:9.31, Z:-84.03 [[ 9.25066455e-01 2.81145218e-02 -3.78763287e-01 1.99788500e+02] [-2.78104587e-02 9.99593522e-01 6.27455574e-03 9.31037982e+00] [ 3.78785734e-01 4.72919973e-03 9.25472313e-01 -8.40268655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.00864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.82, Y:9.37, Z:-84.02 [[ 9.42918560e-01 2.39058397e-03 -3.33014825e-01 1.99816308e+02] [-2.54785005e-02 9.97561231e-01 -6.49802818e-02 9.36826413e+00] [ 3.32047338e-01 6.97558321e-02 9.40679908e-01 -8.40177904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.84, Y:9.31, Z:-84.01 [[ 9.42988674e-01 2.71015575e-02 -3.31719560e-01 1.99842227e+02] [-2.71528930e-02 9.99621249e-01 4.48096014e-03 9.31165111e+00] [ 3.31715361e-01 4.78165106e-03 9.43367402e-01 -8.40086059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.06864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.87, Y:9.31, Z:-84.00 [[ 9.42863730e-01 2.68750771e-02 -3.32092933e-01 1.99868098e+02] [-2.69803836e-02 9.99626738e-01 4.29464268e-03 9.31346845e+00] [ 3.32084394e-01 4.91073192e-03 9.43236895e-01 -8.39990468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:199.89, Y:9.32, Z:-83.99 [[ 9.42721415e-01 2.60939665e-02 -3.32558925e-01 1.99894712e+02] [-2.62193535e-02 9.99647760e-01 4.11123880e-03 9.31554070e+00] [ 3.32549063e-01 4.84372715e-03 9.43073517e-01 -8.39899681e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.12864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.92, Y:9.32, Z:-83.98 [[ 9.42598337e-01 2.48150399e-02 -3.33005390e-01 1.99920821e+02] [-2.49310337e-02 9.99681467e-01 3.92541563e-03 9.31615750e+00] [ 3.32996726e-01 4.60207836e-03 9.42916752e-01 -8.39796731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.95, Y:9.32, Z:-83.97 [[ 9.42817567e-01 2.32832508e-02 -3.32495001e-01 1.99946767e+02] [-2.33732023e-02 9.99719853e-01 3.72956681e-03 9.31627947e+00] [ 3.32488690e-01 4.25517184e-03 9.43097643e-01 -8.39693268e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.18864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:199.97, Y:9.32, Z:-83.96 [[ 9.43435507e-01 2.12183841e-02 -3.30876449e-01 1.99973192e+02] [-2.12498780e-02 9.99767990e-01 3.52267987e-03 9.31596418e+00] [ 3.30874427e-01 3.70766290e-03 9.43667508e-01 -8.39587434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:199.99, Y:9.17, Z:-83.93 [[ 9.14498019e-01 8.01420569e-02 -3.96573605e-01 1.99988832e+02] [-8.77015790e-03 9.83881776e-01 1.78604971e-01 9.17378768e+00] [ 4.04495312e-01 -1.59855879e-01 9.00460793e-01 -8.39334348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.03, Y:9.40, Z:-83.93 [[ 9.27005340e-01 -1.47598730e-02 -3.74757584e-01 2.00025625e+02] [-2.32618195e-02 9.95038745e-01 -9.67304679e-02 9.40037627e+00] [ 3.74326045e-01 9.83872035e-02 9.22062888e-01 -8.39319174e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.05, Y:9.31, Z:-83.93 [[ 9.26092904e-01 2.13678109e-02 -3.76689991e-01 2.00050167e+02] [-1.82918913e-02 9.99763748e-01 1.17411454e-02 9.31065594e+00] [ 3.76851880e-01 -3.98301908e-03 9.26264971e-01 -8.39268930e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.30864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.07, Y:9.30, Z:-83.92 [[ 9.26110262e-01 2.51155283e-02 -3.76415983e-01 2.00074643e+02] [-1.72678275e-02 9.99557785e-01 2.42086149e-02 9.29976655e+00] [ 3.76857538e-01 -1.59199604e-02 9.26134413e-01 -8.39160315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.10, Y:9.39, Z:-83.90 [[ 9.46180043e-01 -1.39636724e-02 -3.23339362e-01 2.00101527e+02] [-1.35767687e-02 9.96476770e-01 -8.27630220e-02 9.38593287e+00] [ 3.23355839e-01 8.26986234e-02 9.42656851e-01 -8.39042309e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.12, Y:9.26, Z:-83.89 [[ 9.30187574e-01 3.59374843e-02 -3.65321194e-01 2.00124895e+02] [-1.03925542e-02 9.97375520e-01 7.16524054e-02 9.25896468e+00] [ 3.66937423e-01 -6.28535568e-02 9.28119797e-01 -8.38940769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.15, Y:9.37, Z:-83.89 [[ 9.47216076e-01 -1.26181555e-02 -3.20347448e-01 2.00153408e+02] [-8.14839024e-03 9.97954810e-01 -6.34018950e-02 9.36828992e+00] [ 3.20492291e-01 6.26656102e-02 9.45176022e-01 -8.38859482e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.42864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.18, Y:9.26, Z:-83.87 [[ 9.30972958e-01 2.85675490e-02 -3.63968744e-01 2.00176858e+02] [-6.66689732e-03 9.98097926e-01 6.12868843e-02 9.26454315e+00] [ 3.65027265e-01 -5.46298897e-02 9.29392635e-01 -8.38747186e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.20, Y:9.31, Z:-83.87 [[ 9.31610189e-01 3.33583235e-03 -3.63443706e-01 2.00202837e+02] [-2.97840620e-03 9.99994373e-01 1.54384300e-03 9.30668542e+00] [ 3.63446811e-01 -3.55776886e-04 9.31614882e-01 -8.38656798e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.48864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.23, Y:9.35, Z:-83.86 [[ 9.47923462e-01 -1.75424038e-02 -3.18014739e-01 2.00230584e+02] [ 1.20011996e-03 9.98671670e-01 -5.15117001e-02 9.34629462e+00] [ 3.18495949e-01 4.84474932e-02 9.46685360e-01 -8.38565904e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.25, Y:9.25, Z:-83.84 [[ 9.33042880e-01 1.91156555e-02 -3.59256977e-01 2.00253022e+02] [ 2.95756853e-03 9.98146107e-01 6.07914579e-02 9.24998580e+00] [ 3.59753022e-01 -5.77835641e-02 9.31256583e-01 -8.38415362e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.28, Y:9.29, Z:-83.83 [[ 9.32521186e-01 -3.04325654e-04 -3.61115141e-01 2.00279464e+02] [ 2.58391394e-03 9.99979668e-01 5.82981654e-03 9.29154184e+00] [ 3.61106025e-01 -6.36951788e-03 9.32503012e-01 -8.38342787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.31, Y:9.30, Z:-83.82 [[ 9.33971067e-01 -3.16983982e-03 -3.57334575e-01 2.00306355e+02] [ 7.56861251e-04 9.99975961e-01 -6.89235603e-03 9.29836522e+00] [ 3.57347833e-01 6.16680842e-03 9.33951014e-01 -8.38247519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.33, Y:9.32, Z:-83.82 [[ 9.50089035e-01 -1.39403790e-02 -3.11667277e-01 2.00334183e+02] [-7.01583168e-04 9.98903187e-01 -4.68180544e-02 9.32421915e+00] [ 3.11978097e-01 4.46999806e-02 9.49037185e-01 -8.38160796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.63864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.36, Y:9.23, Z:-83.80 [[ 9.34332626e-01 2.49747703e-02 -3.55526096e-01 2.00357490e+02] [-2.62452876e-03 9.97996841e-01 6.32093096e-02 9.23204455e+00] [ 3.56392558e-01 -5.81254318e-02 9.32526556e-01 -8.38008667e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.39, Y:9.29, Z:-83.79 [[ 9.36794595e-01 1.72660024e-03 -3.49875558e-01 2.00386500e+02] [-7.32861017e-03 9.99865265e-01 -1.46881789e-02 9.28973936e+00] [ 3.49803057e-01 1.63239082e-02 9.36681030e-01 -8.37948790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.41, Y:9.26, Z:-83.78 [[ 9.36331685e-01 1.28544277e-02 -3.50881374e-01 2.00411026e+02] [-7.56416821e-03 9.99836182e-01 1.64435961e-02 9.26167394e+00] [ 3.51035266e-01 -1.27425343e-02 9.36275531e-01 -8.37839275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.44, Y:9.31, Z:-83.78 [[ 9.51616527e-01 -9.29139975e-03 -3.07147612e-01 2.00438686e+02] [-6.52620739e-03 9.98706214e-01 -5.04312093e-02 9.31426163e+00] [ 3.07218805e-01 4.99956813e-02 9.50324701e-01 -8.37774107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.75864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.46, Y:9.23, Z:-83.76 [[ 9.37261626e-01 2.69046636e-02 -3.47587089e-01 2.00462876e+02] [-1.13089021e-02 9.98839323e-01 4.68200246e-02 9.23383322e+00] [ 3.48443330e-01 -3.99517840e-02 9.36478030e-01 -8.37622802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:200.49, Y:9.26, Z:-83.76 [[ 9.37083421e-01 1.36712674e-02 -3.48837725e-01 2.00488875e+02] [-1.18390196e-02 9.99902653e-01 7.38391346e-03 9.26475014e+00] [ 3.48904714e-01 -2.78944623e-03 9.37154053e-01 -8.37553243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.81864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.51, Y:9.25, Z:-83.74 [[ 9.36760248e-01 2.05994417e-02 -3.49364995e-01 2.00514971e+02] [-1.37558912e-02 9.99662039e-01 2.20586148e-02 9.25028654e+00] [ 3.49701319e-01 -1.58578066e-02 9.36727024e-01 -8.37449929e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.54, Y:9.32, Z:-83.74 [[ 9.52960067e-01 -6.85366666e-03 -3.03018378e-01 2.00543445e+02] [-1.27222926e-02 9.97958731e-01 -6.25820566e-02 9.31858824e+00] [ 3.02828753e-01 6.34932893e-02 9.50927625e-01 -8.37394633e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.57, Y:9.23, Z:-83.72 [[ 9.38653345e-01 3.62212862e-02 -3.42954687e-01 2.00566359e+02] [-1.94754011e-02 9.98449434e-01 5.21482082e-02 9.22801036e+00] [ 3.44311788e-01 -4.22699100e-02 9.37903325e-01 -8.37221860e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.59, Y:9.31, Z:-83.72 [[ 9.53860231e-01 4.48643427e-03 -3.00217473e-01 2.00594207e+02] [-1.96845308e-02 9.98671631e-01 -4.76182026e-02 9.30977050e+00] [ 2.99605037e-01 5.13307498e-02 9.52681466e-01 -8.37195005e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.62, Y:9.27, Z:-83.71 [[ 9.53753638e-01 2.15691800e-02 -2.99814558e-01 2.00620730e+02] [-2.26148277e-02 9.99744252e-01 -1.77125474e-05 9.27245702e+00] [ 2.99737499e-01 6.79714799e-03 9.53997500e-01 -8.37090656e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.64, Y:9.22, Z:-83.69 [[ 9.37485172e-01 4.87423114e-02 -3.44595037e-01 2.00644701e+02] [-2.51502222e-02 9.97043426e-01 7.26076643e-02 9.21925387e+00] [ 3.47115282e-01 -5.94019669e-02 9.35939308e-01 -8.36915368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.67, Y:9.34, Z:-83.69 [[ 9.53904282e-01 3.41829536e-03 -3.00091548e-01 2.00674072e+02] [-2.51139049e-02 9.97337075e-01 -6.84693351e-02 9.33707099e+00] [ 2.99058378e-01 7.28496625e-02 9.51449953e-01 -8.36897453e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.70, Y:9.22, Z:-83.67 [[ 9.36132038e-01 5.04051970e-02 -3.48017420e-01 2.00697442e+02] [-2.42155384e-02 9.96564557e-01 7.92003215e-02 9.22493199e+00] [ 3.50813934e-01 -6.57145291e-02 9.34136599e-01 -8.36721575e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.73, Y:9.35, Z:-83.67 [[ 9.54265758e-01 6.56773534e-04 -2.98958912e-01 2.00726374e+02] [-2.44728057e-02 9.96813052e-01 -7.59264204e-02 9.35462042e+00] [ 2.97956279e-01 7.97703466e-02 9.51240636e-01 -8.36692059e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.75, Y:9.30, Z:-83.66 [[ 9.53611414e-01 2.27082695e-02 -3.00182619e-01 2.00753111e+02] [-2.39799321e-02 9.99712288e-01 -5.52333728e-04 9.29651960e+00] [ 3.00083710e-01 7.72507058e-03 9.53881591e-01 -8.36617780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:200.78, Y:9.31, Z:-83.65 [[ 9.53629011e-01 1.85323742e-02 -3.00413482e-01 2.00779363e+02] [-1.96553685e-02 9.99806558e-01 -7.16147491e-04 9.30534029e+00] [ 3.00342098e-01 6.58767673e-03 9.53808800e-01 -8.36527119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.80, Y:9.25, Z:-83.64 [[ 9.37521622e-01 3.76625948e-02 -3.45882550e-01 2.00802744e+02] [-1.54429809e-02 9.97648620e-01 6.67738435e-02 9.25417426e+00] [ 3.47584124e-01 -5.72604645e-02 9.35898774e-01 -8.36378599e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.17864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.83, Y:9.31, Z:-83.63 [[ 9.38095474e-01 1.41830527e-02 -3.46086294e-01 2.00829249e+02] [-1.17570597e-02 9.99889400e-01 9.10824743e-03 9.30694481e+00] [ 3.46177200e-01 -4.47544848e-03 9.38158471e-01 -8.36293866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.85, Y:9.32, Z:-83.62 [[ 9.38356724e-01 9.07158684e-03 -3.45549367e-01 2.00853948e+02] [-8.45629668e-03 9.99958839e-01 3.28807024e-03 9.31512692e+00] [ 3.45564971e-01 -1.63314855e-04 9.38394812e-01 -8.36200946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.23864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:200.88, Y:9.39, Z:-83.61 [[ 9.56062118e-01 -1.87085553e-02 -2.92566603e-01 2.00882013e+02] [-3.84842646e-03 9.97074776e-01 -7.63353134e-02 9.38584007e+00] [ 2.93138904e-01 7.41072224e-02 9.53193424e-01 -8.36105490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.91, Y:9.33, Z:-83.61 [[ 9.56112728e-01 2.54450223e-03 -2.92988014e-01 2.00910479e+02] [-3.03088563e-03 9.99994679e-01 -1.20612317e-03 9.32678460e+00] [ 2.92983386e-01 2.04120288e-03 9.56115353e-01 -8.36054587e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:200.93, Y:9.28, Z:-83.59 [[ 9.40506620e-01 1.91344923e-02 -3.39236154e-01 2.00933551e+02] [ 2.53414590e-03 9.97990248e-01 6.33170064e-02 9.27986339e+00] [ 3.39765912e-01 -6.04097376e-02 9.38567946e-01 -8.35933666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:200.96, Y:9.35, Z:-83.58 [[ 9.43306173e-01 -7.70361419e-03 -3.31834476e-01 2.00960010e+02] [ 1.00116317e-03 9.99792123e-01 -2.03643981e-02 9.35088884e+00] [ 3.31922374e-01 1.88776420e-02 9.43117793e-01 -8.35839187e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:200.99, Y:9.38, Z:-83.58 [[ 9.57323513e-01 -1.73406664e-02 -2.88497820e-01 2.00988228e+02] [ 3.27599028e-03 9.98785395e-01 -4.91630123e-02 9.37631259e+00] [ 2.88999928e-01 4.61197917e-02 9.56217552e-01 -8.35752438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.38864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:201.01, Y:9.27, Z:-83.57 [[ 9.40170434e-01 1.79166114e-02 -3.40233082e-01 2.01011857e+02] [ 9.88467733e-03 9.96761585e-01 7.98037367e-02 9.27254572e+00] [ 3.40561079e-01 -7.83922080e-02 9.36948672e-01 -8.35657927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.04, Y:9.37, Z:-83.56 [[ 9.43711454e-01 -1.97202936e-02 -3.30181469e-01 2.01038223e+02] [ 7.57780026e-03 9.99248164e-01 -3.80221528e-02 9.36951247e+00] [ 3.30683034e-01 3.33798918e-02 9.43151374e-01 -8.35551207e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.06, Y:9.34, Z:-83.55 [[ 9.43692202e-01 -9.48757383e-03 -3.30688696e-01 2.01064811e+02] [ 1.12006735e-02 9.99931907e-01 3.27516615e-03 9.33851425e+00] [ 3.30635105e-01 -6.79468487e-03 9.43734210e-01 -8.35482038e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:201.09, Y:9.35, Z:-83.54 [[ 9.44061266e-01 -1.45911369e-02 -3.29447150e-01 2.01091028e+02] [ 1.17163412e-02 9.99874004e-01 -1.07099259e-02 9.35099974e+00] [ 3.29561911e-01 6.25091096e-03 9.44113273e-01 -8.35393124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.12, Y:9.34, Z:-83.53 [[ 9.44151578e-01 -1.09872617e-02 -3.29328223e-01 2.01117728e+02] [ 1.33096509e-02 9.99899910e-01 4.79814916e-03 9.33960988e+00] [ 3.29242542e-01 -8.91342378e-03 9.44203315e-01 -8.35305890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:201.15, Y:9.39, Z:-83.52 [[ 9.59066971e-01 -3.18874295e-02 -2.81378280e-01 2.01146235e+02] [ 1.62888277e-02 9.98206689e-01 -5.76027715e-02 9.39132406e+00] [ 2.82710486e-01 5.06615932e-02 9.57866475e-01 -8.35196469e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.56864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:201.17, Y:9.29, Z:-83.51 [[ 9.43331348e-01 2.25452188e-03 -3.31844671e-01 2.01169492e+02] [ 2.09735537e-02 9.97572714e-01 6.63987164e-02 9.28878700e+00] [ 3.31188886e-01 -6.95959526e-02 9.40994328e-01 -8.35129093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:201.20, Y:9.35, Z:-83.50 [[ 9.43685616e-01 -1.90910478e-02 -3.30292278e-01 2.01196120e+02] [ 1.86212892e-02 9.99816089e-01 -4.58652554e-03 9.34677352e+00] [ 3.30319095e-01 -1.82222985e-03 9.43867562e-01 -8.35028579e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.62864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.23, Y:9.40, Z:-83.49 [[ 9.59549246e-01 -4.13302829e-02 -2.78490668e-01 2.01225079e+02] [ 2.20846515e-02 9.97167722e-01 -7.18943783e-02 9.39986635e+00] [ 2.80673320e-01 6.28358271e-02 9.57744301e-01 -8.34926102e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.24, Y:9.21, Z:-83.48 [[ 9.41849206e-01 2.22909359e-02 -3.35295671e-01 2.01244220e+02] [ 3.33851475e-02 9.86653715e-01 1.59373395e-01 9.20950129e+00] [ 3.34373302e-01 -1.61299601e-01 9.28534832e-01 -8.34820848e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.68864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.27, Y:9.48, Z:-83.46 [[ 9.60005659e-01 -7.48341180e-02 -2.69794346e-01 2.01273249e+02] [ 2.83489071e-02 9.84646570e-01 -1.72242477e-01 9.47909898e+00] [ 2.78541691e-01 1.57705378e-01 9.47387745e-01 -8.34599954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.31, Y:9.34, Z:-83.47 [[ 9.61344034e-01 -2.62795481e-02 -2.74093110e-01 2.01305810e+02] [ 2.68536543e-02 9.99638001e-01 -1.65795671e-03 9.33794059e+00] [ 2.74037459e-01 -5.76653484e-03 9.61701730e-01 -8.34695901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.74864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.33, Y:9.28, Z:-83.46 [[ 9.46900589e-01 -8.72131620e-03 -3.21408172e-01 2.01326362e+02] [ 3.23150081e-02 9.97151888e-01 6.81458195e-02 9.27845787e+00] [ 3.19898445e-01 -7.49136243e-02 9.44485539e-01 -8.34581538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:201.35, Y:9.29, Z:-83.45 [[ 9.45993595e-01 -1.21137539e-02 -3.23958909e-01 2.01352530e+02] [ 3.12463099e-02 9.98056139e-01 5.39222786e-02 9.28725800e+00] [ 3.22675977e-01 -6.11326507e-02 9.44533225e-01 -8.34496175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.80864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:201.38, Y:9.38, Z:-83.44 [[ 9.47988881e-01 -4.58196578e-02 -3.14988317e-01 2.01380192e+02] [ 2.63914585e-02 9.97492189e-01 -6.56720915e-02 9.38246994e+00] [ 3.17207459e-01 5.39434114e-02 9.46820752e-01 -8.34383965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.41, Y:9.38, Z:-83.43 [[ 9.62389979e-01 -4.37431800e-02 -2.68126953e-01 2.01410469e+02] [ 2.62014520e-02 9.97296169e-01 -6.86573686e-02 9.37926909e+00] [ 2.70405275e-01 5.90498480e-02 9.60933974e-01 -8.34326275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.86864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:201.43, Y:9.27, Z:-83.42 [[ 9.49634961e-01 -4.99987444e-03 -3.13318435e-01 2.01433982e+02] [ 2.60492937e-02 9.97671490e-01 6.30320008e-02 9.27019936e+00] [ 3.12273718e-01 -6.80191155e-02 9.47553969e-01 -8.34233082e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:201.46, Y:9.33, Z:-83.41 [[ 9.49986232e-01 -2.29620628e-02 -3.11446469e-01 2.01460529e+02] [ 2.21445018e-02 9.99735793e-01 -6.16165030e-03 9.32578612e+00] [ 3.11505667e-01 -1.04334393e-03 9.50243722e-01 -8.34149824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.92864000000003 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:201.49, Y:9.32, Z:-83.41 [[ 9.50698555e-01 -1.97182782e-02 -3.09489009e-01 2.01486120e+02] [ 1.99253479e-02 9.99798364e-01 -2.49218180e-03 9.31850983e+00] [ 3.09475747e-01 -3.79736254e-03 9.50899754e-01 -8.34072847e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:201.51, Y:9.31, Z:-83.40 [[ 9.51312470e-01 -1.69801299e-02 -3.07760069e-01 2.01512131e+02] [ 1.87590623e-02 9.99820049e-01 2.82250895e-03 9.31123958e+00] [ 3.07656760e-01 -8.45837824e-03 9.51459812e-01 -8.33996145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.98864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:201.54, Y:9.31, Z:-83.39 [[ 9.51277547e-01 -1.50362138e-02 -3.07969057e-01 2.01537701e+02] [ 1.77480523e-02 9.99824450e-01 6.00628358e-03 9.30640656e+00] [ 3.07824681e-01 -1.11794936e-02 9.51377414e-01 -8.33907099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:201.57, Y:9.37, Z:-83.38 [[ 9.65553342e-01 -3.49303512e-02 -2.57849983e-01 2.01566686e+02] [ 1.57336982e-02 9.96972937e-01 -7.61407454e-02 9.37207385e+00] [ 2.59729078e-01 6.94610174e-02 9.63180135e-01 -8.33823191e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:201.59, Y:9.25, Z:-83.37 [[ 9.52276299e-01 5.90968649e-03 -3.05180152e-01 2.01590416e+02] [ 1.53670750e-02 9.97616496e-01 6.72694535e-02 9.25457038e+00] [ 3.04850296e-01 -6.87488325e-02 9.49915731e-01 -8.33726678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:201.62, Y:9.31, Z:-83.37 [[ 9.51707715e-01 -6.23197907e-03 -3.06942321e-01 2.01619040e+02] [ 7.90231848e-03 9.99959958e-01 4.19938156e-03 9.30765497e+00] [ 3.06903860e-01 -6.42213980e-03 9.51718854e-01 -8.33661813e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:201.64, Y:9.32, Z:-83.36 [[ 9.53276080e-01 -1.19728166e-02 -3.01863160e-01 2.01644264e+02] [ 7.67031767e-03 9.99851460e-01 -1.54345027e-02 9.32455461e+00] [ 3.02003116e-01 1.23979559e-02 9.53226316e-01 -8.33580613e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.13864 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:201.67, Y:9.31, Z:-83.35 [[ 9.53858633e-01 -4.43477527e-03 -3.00223319e-01 2.01669998e+02] [ 6.10214605e-03 9.99970726e-01 4.61636107e-03 9.30986769e+00] [ 3.00194058e-01 -6.23536240e-03 9.53857771e-01 -8.33488365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:201.70, Y:9.32, Z:-83.34 [[ 9.54403879e-01 -3.76601687e-03 -2.98494644e-01 2.01695659e+02] [ 2.07501410e-03 9.99979956e-01 -5.98181545e-03 9.32397052e+00] [ 2.98511189e-01 5.08968728e-03 9.54392563e-01 -8.33394882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.19864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:201.72, Y:9.33, Z:-83.33 [[ 9.55647825e-01 -1.71336211e-03 -2.94506874e-01 2.01721860e+02] [-7.35220943e-05 9.99981658e-01 -6.05619791e-03 9.32778169e+00] [ 2.94511849e-01 5.80924512e-03 9.55630171e-01 -8.33326787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:201.75, Y:9.38, Z:-83.32 [[ 9.68702052e-01 -1.59648278e-02 -2.47712452e-01 2.01748641e+02] [ 1.05351317e-03 9.98185043e-01 -6.02122009e-02 9.37961837e+00] [ 2.48224142e-01 5.80667142e-02 9.66960719e-01 -8.33236538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.25864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:201.78, Y:9.28, Z:-83.32 [[ 9.55650253e-01 1.72295924e-02 -2.93999550e-01 2.01775078e+02] [ 2.35399678e-03 9.97808410e-01 6.61274134e-02 9.28081418e+00] [ 2.94494572e-01 -6.38867533e-02 9.53515301e-01 -8.33163366e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:201.80, Y:9.36, Z:-83.31 [[ 9.57430548e-01 -8.27404655e-03 -2.88545120e-01 2.01801913e+02] [ 2.13764926e-03 9.99764941e-01 -2.15753118e-02 9.35576369e+00] [ 2.88655810e-01 2.00400544e-02 9.57223182e-01 -8.33082810e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.31864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:201.83, Y:9.34, Z:-83.30 [[ 9.57696958e-01 -6.16747568e-03 -2.87712528e-01 2.01827428e+02] [ 6.85677507e-03 9.99975529e-01 1.38814904e-03 9.34210398e+00] [ 2.87696926e-01 -3.30220621e-03 9.57715811e-01 -8.33022493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:201.85, Y:9.35, Z:-83.30 [[ 9.58484344e-01 -1.10677087e-02 -2.84930285e-01 2.01852321e+02] [ 1.11284635e-02 9.99937089e-01 -1.40579765e-03 9.34915980e+00] [ 2.84927919e-01 -1.82340125e-03 9.58547211e-01 -8.32951334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:201.88, Y:9.35, Z:-83.29 [[ 9.59295973e-01 -1.33609779e-02 -2.82086370e-01 2.01878858e+02] [ 1.27171299e-02 9.99910674e-01 -4.11325394e-03 9.35292974e+00] [ 2.82116130e-01 3.58498917e-04 9.59380196e-01 -8.32877790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:201.91, Y:9.35, Z:-83.28 [[ 9.59592786e-01 -1.40145139e-02 -2.81043196e-01 2.01905314e+02] [ 1.59736508e-02 9.99861455e-01 4.68122969e-03 9.34622236e+00] [ 2.80938654e-01 -8.98136012e-03 9.59683702e-01 -8.32792424e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.43864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:201.93, Y:9.35, Z:-83.27 [[ 9.60409910e-01 -2.09051589e-02 -2.77805291e-01 2.01930207e+02] [ 2.05406649e-02 9.99780101e-01 -4.22275516e-03 9.35399246e+00] [ 2.77832479e-01 -1.65072948e-03 9.60628122e-01 -8.32712498e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:201.96, Y:9.35, Z:-83.26 [[ 9.60503748e-01 -2.19244093e-02 -2.77402001e-01 2.01956713e+02] [ 2.29350829e-02 9.99736877e-01 3.98672845e-04 9.35056641e+00] [ 2.77320270e-01 -6.74516467e-03 9.60753855e-01 -8.32634668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.49864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:201.98, Y:9.40, Z:-83.26 [[ 9.71633388e-01 -4.36021159e-02 -2.32437979e-01 2.01983934e+02] [ 3.01149385e-02 9.97667279e-01 -6.12624697e-02 9.39925647e+00] [ 2.34566939e-01 5.25248056e-02 9.70679914e-01 -8.32557563e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:202.01, Y:9.35, Z:-83.25 [[ 9.71594201e-01 -3.02027787e-02 -2.34717918e-01 2.02012216e+02] [ 3.02529495e-02 9.99536533e-01 -3.38785547e-03 9.35014879e+00] [ 2.34711457e-01 -3.80928860e-03 9.72057622e-01 -8.32516134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.55864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:202.04, Y:9.35, Z:-83.25 [[ 9.71837189e-01 -3.21674125e-02 -2.33447502e-01 2.02039493e+02] [ 3.22435590e-02 9.99473944e-01 -3.49115284e-03 9.34914513e+00] [ 2.33436997e-01 -4.13434615e-03 9.72363140e-01 -8.32456369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:202.07, Y:9.35, Z:-83.24 [[ 9.71975723e-01 -3.31400613e-02 -2.32733605e-01 2.02066228e+02] [ 3.32138051e-02 9.99441775e-01 -3.60304410e-03 9.34926898e+00] [ 2.32723092e-01 -4.22789720e-03 9.72533849e-01 -8.32373093e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.09, Y:9.35, Z:-83.23 [[ 9.71828237e-01 -3.36813778e-02 -2.33271179e-01 2.02093265e+02] [ 3.37414622e-02 9.99423619e-01 -3.73410375e-03 9.34880548e+00] [ 2.33262495e-01 -4.24200319e-03 9.72404552e-01 -8.32301442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:202.12, Y:9.24, Z:-83.22 [[ 9.60292933e-01 2.48476763e-03 -2.78982631e-01 2.02118732e+02] [ 3.54118651e-02 9.90787157e-01 1.30716524e-01 9.23538880e+00] [ 2.76737208e-01 -1.35405449e-01 9.51357915e-01 -8.32171232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.67864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:202.14, Y:9.46, Z:-83.20 [[ 9.71386254e-01 -6.68367971e-02 -2.27906971e-01 2.02143189e+02] [ 3.59679947e-02 9.89917321e-01 -1.37003653e-01 9.45508856e+00] [ 2.34765943e-01 1.24886108e-01 9.63996064e-01 -8.32016540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:202.17, Y:9.35, Z:-83.21 [[ 9.72153236e-01 -3.41335833e-02 -2.31846900e-01 2.02174356e+02] [ 3.41642831e-02 9.99408684e-01 -3.88394747e-03 9.34723194e+00] [ 2.31842378e-01 -4.14509103e-03 9.72744535e-01 -8.32052040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.73864000000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:202.20, Y:9.35, Z:-83.20 [[ 9.72223245e-01 -3.55845524e-02 -2.31334608e-01 2.02201196e+02] [ 3.56267677e-02 9.99357174e-01 -3.99640171e-03 9.34635093e+00] [ 2.31328111e-01 -4.35630973e-03 9.72866038e-01 -8.31986420e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:202.23, Y:9.34, Z:-83.19 [[ 9.72259909e-01 -3.66316823e-02 -2.31016860e-01 2.02228433e+02] [ 3.66741846e-02 9.99318817e-01 -4.11177788e-03 9.34479183e+00] [ 2.31010117e-01 -4.47463820e-03 9.72941059e-01 -8.31916423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:202.26, Y:9.34, Z:-83.18 [[ 9.72032977e-01 -3.93478895e-02 -2.31524587e-01 2.02255679e+02] [ 3.94374507e-02 9.99213031e-01 -4.24326957e-03 9.34182143e+00] [ 2.31509348e-01 -5.00614155e-03 9.72819798e-01 -8.31845430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:202.28, Y:9.30, Z:-83.18 [[ 9.62232541e-01 -2.70176214e-02 -2.70884819e-01 2.02279986e+02] [ 4.07186146e-02 9.98152927e-01 4.50857975e-02 9.29955400e+00] [ 2.69166364e-01 -5.44130760e-02 9.61555347e-01 -8.31762414e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:202.31, Y:9.38, Z:-83.17 [[ 9.71880009e-01 -5.45646212e-02 -2.29067566e-01 2.02307626e+02] [ 4.31860158e-02 9.97584902e-01 -5.43997435e-02 9.37722987e+00] [ 2.31482647e-01 4.29775077e-02 9.71889252e-01 -8.31676030e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.88864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:202.34, Y:9.33, Z:-83.16 [[ 9.72424007e-01 -4.37494071e-02 -2.29079769e-01 2.02335964e+02] [ 4.39058554e-02 9.99025912e-01 -4.41629339e-03 9.33382306e+00] [ 2.29049835e-01 -5.76343350e-03 9.73397635e-01 -8.31616547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:202.36, Y:9.33, Z:-83.15 [[ 9.72676875e-01 -4.44673483e-02 -2.27864766e-01 2.02363296e+02] [ 4.46137620e-02 9.98994127e-01 -4.51076830e-03 9.33227712e+00] [ 2.27836145e-01 -5.77838441e-03 9.73682341e-01 -8.31539314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.94864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:202.39, Y:9.33, Z:-83.15 [[ 9.72664258e-01 -4.30678027e-02 -2.28187217e-01 2.02390114e+02] [ 4.31490526e-02 9.99057893e-01 -4.63517195e-03 9.33011045e+00] [ 2.28171867e-01 -5.33759616e-03 9.73606239e-01 -8.31469819e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:202.42, Y:9.33, Z:-83.14 [[ 9.72425431e-01 -4.18564971e-02 -2.29427145e-01 2.02417911e+02] [ 4.18774140e-02 9.99111323e-01 -4.77989549e-03 9.32882165e+00] [ 2.29423327e-01 -4.95972358e-03 9.73314100e-01 -8.31408796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.00864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:202.45, Y:9.33, Z:-83.13 [[ 9.72075709e-01 -3.82564664e-02 -2.31528095e-01 2.02445694e+02] [ 3.81483097e-02 9.99259849e-01 -4.94586051e-03 9.32641214e+00] [ 2.31545940e-01 -4.02465459e-03 9.72815645e-01 -8.31349933e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:202.47, Y:9.33, Z:-83.13 [[ 9.72274977e-01 -3.67097400e-02 -2.30941040e-01 2.02472423e+02] [ 3.65301551e-02 9.99319766e-01 -5.05502622e-03 9.32633011e+00] [ 2.30969515e-01 -3.52143651e-03 9.72954615e-01 -8.31282260e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.06864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:202.50, Y:9.33, Z:-83.12 [[ 9.72124526e-01 -3.62350705e-02 -2.31648281e-01 2.02499026e+02] [ 3.60116881e-02 9.99337870e-01 -5.19422346e-03 9.32633870e+00] [ 2.31683113e-01 -3.29261363e-03 9.72785739e-01 -8.31205549e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.53, Y:9.32, Z:-83.11 [[ 9.72500954e-01 -3.29294138e-02 -2.30559209e-01 2.02525980e+02] [ 3.25872310e-02 9.99454880e-01 -5.29300099e-03 9.32419714e+00] [ 2.30607821e-01 -2.36583768e-03 9.73043902e-01 -8.31137696e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.12864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:202.55, Y:9.32, Z:-83.11 [[ 9.72173130e-01 -3.25999658e-02 -2.31984153e-01 2.02552652e+02] [ 3.22140239e-02 9.99466120e-01 -5.45275543e-03 9.32300707e+00] [ 2.32038061e-01 -2.17212074e-03 9.72704282e-01 -8.31068175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:202.58, Y:9.32, Z:-83.10 [[ 9.72336022e-01 -3.21341357e-02 -2.31365636e-01 2.02579860e+02] [ 3.17096661e-02 9.99481690e-01 -5.55410775e-03 9.32232149e+00] [ 2.31424193e-01 -1.93606803e-03 9.72851014e-01 -8.30987741e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.18864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:202.61, Y:9.32, Z:-83.09 [[ 9.72498053e-01 -3.29678074e-02 -2.30565956e-01 2.02607164e+02] [ 3.25395337e-02 9.99454418e-01 -5.66079938e-03 9.32207136e+00] [ 2.30626788e-01 -1.99739233e-03 9.73040233e-01 -8.30931385e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:202.63, Y:9.32, Z:-83.09 [[ 9.72580551e-01 -3.30921718e-02 -2.30199868e-01 2.02634713e+02] [ 3.26390243e-02 9.99450508e-01 -5.77718709e-03 9.32172340e+00] [ 2.30264555e-01 -1.89471929e-03 9.73126222e-01 -8.30858408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:202.66, Y:9.32, Z:-83.08 [[ 9.72259282e-01 -3.00695157e-02 -2.31964895e-01 2.02661697e+02] [ 2.94942818e-02 9.99547250e-01 -5.94836752e-03 9.32166194e+00] [ 2.32038737e-01 -1.05828244e-03 9.72705970e-01 -8.30789243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.69, Y:9.32, Z:-83.07 [[ 9.72164978e-01 -2.86981151e-02 -2.32533168e-01 2.02688607e+02] [ 2.80510647e-02 9.99587943e-01 -6.08957048e-03 9.32194313e+00] [ 2.32612110e-01 -6.02735769e-04 9.72569403e-01 -8.30725502e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.30864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:202.71, Y:9.26, Z:-83.06 [[ 9.59379586e-01 -6.96530633e-03 -2.82032437e-01 2.02712925e+02] [ 2.64475095e-02 9.97513159e-01 6.53301309e-02 9.26286357e+00] [ 2.80876023e-01 -7.01354495e-02 9.57177976e-01 -8.30608400e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:202.74, Y:9.38, Z:-83.05 [[ 9.72528322e-01 -3.99273712e-02 -2.29334839e-01 2.02739872e+02] [ 2.23836897e-02 9.96655141e-01 -7.85970752e-02 9.38260267e+00] [ 2.31705921e-01 7.13045218e-02 9.70169074e-01 -8.30545437e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.36864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:202.77, Y:9.28, Z:-83.05 [[ 9.62694140e-01 -8.27273860e-03 -2.70465441e-01 2.02767230e+02] [ 2.06410641e-02 9.98865377e-01 4.29174216e-02 9.28362386e+00] [ 2.69803520e-01 -4.68990448e-02 9.61772603e-01 -8.30456456e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:202.79, Y:9.31, Z:-83.04 [[ 9.61523235e-01 -1.46168189e-02 -2.74334498e-01 2.02793899e+02] [ 1.70034583e-02 9.99835433e-01 6.32369168e-03 9.31366309e+00] [ 2.74196919e-01 -1.07450117e-02 9.61613537e-01 -8.30393029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.42864000000003 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:202.82, Y:9.37, Z:-83.03 [[ 9.73572908e-01 -3.29664728e-02 -2.25984523e-01 2.02821378e+02] [ 1.82899041e-02 9.97603139e-01 -6.67342234e-02 9.37434688e+00] [ 2.27642862e-01 6.08373967e-02 9.71842342e-01 -8.30340202e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:202.85, Y:9.33, Z:-83.03 [[ 9.73233687e-01 -1.75637998e-02 -2.29145594e-01 2.02849545e+02] [ 1.65240796e-02 9.99842628e-01 -6.45548024e-03 9.32546371e+00] [ 2.29222916e-01 2.49627079e-03 9.73370753e-01 -8.30276624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.48864000000003 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:202.88, Y:9.33, Z:-83.02 [[ 9.73698540e-01 -1.74648682e-02 -2.27169832e-01 2.02876783e+02] [ 1.64115821e-02 9.99844032e-01 -6.52468114e-03 9.32637015e+00] [ 2.27248353e-01 2.62485615e-03 9.73833300e-01 -8.30212252e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:202.90, Y:9.33, Z:-83.01 [[ 9.73689897e-01 -1.79875486e-02 -2.27166092e-01 2.02904389e+02] [ 1.69185105e-02 9.99834741e-01 -6.65237180e-03 9.32702045e+00] [ 2.27248210e-01 2.63403530e-03 9.73833309e-01 -8.30142273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:202.93, Y:9.33, Z:-83.01 [[ 9.73888711e-01 -1.76930303e-02 -2.26335448e-01 2.02930897e+02] [ 1.65969676e-02 9.99839511e-01 -6.74481786e-03 9.32779269e+00] [ 2.26418460e-01 2.81221987e-03 9.74026063e-01 -8.30069169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:202.96, Y:9.33, Z:-83.00 [[ 9.73793657e-01 -1.64407641e-02 -2.26838300e-01 2.02958045e+02] [ 1.52767586e-02 9.99859591e-01 -6.88616093e-03 9.32846975e+00] [ 2.26919664e-01 3.24034587e-03 9.73908089e-01 -8.30002544e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:202.98, Y:9.28, Z:-82.99 [[ 9.61073441e-01 2.15888348e-03 -2.76284601e-01 2.02984536e+02] [ 1.44003723e-02 9.98218948e-01 5.78926718e-02 9.27551280e+00] [ 2.75917507e-01 -5.96177103e-02 9.59330630e-01 -8.29881790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.63864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:203.01, Y:9.38, Z:-82.98 [[ 9.73833394e-01 -2.81696182e-02 -2.25510517e-01 2.03009124e+02] [ 1.26575976e-02 9.97470961e-01 -6.99390217e-02 9.38213891e+00] [ 2.26910348e-01 6.52545335e-02 9.71727091e-01 -8.29841763e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:203.04, Y:9.23, Z:-82.97 [[ 9.57255450e-01 2.02613097e-02 -2.88533330e-01 2.03036298e+02] [ 1.33614907e-02 9.93381043e-01 1.14085817e-01 9.23344825e+00] [ 2.88935069e-01 -1.13064506e-01 9.50648696e-01 -8.29673124e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.69864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:203.06, Y:9.44, Z:-82.96 [[ 9.75073907e-01 -3.66670180e-02 -2.18829626e-01 2.03060103e+02] [ 8.33292707e-03 9.91606600e-01 -1.29022920e-01 9.43515338e+00] [ 2.21723787e-01 1.23983391e-01 9.67195265e-01 -8.29629356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:203.09, Y:9.34, Z:-82.96 [[ 9.74349656e-01 -4.86872947e-03 -2.24986761e-01 2.03091566e+02] [ 3.33646341e-03 9.99968584e-01 -7.19017657e-03 9.33845856e+00] [ 2.25014700e-01 6.25508598e-03 9.74335291e-01 -8.29623206e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.75864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:203.12, Y:9.34, Z:-82.96 [[ 9.74097355e-01 -4.87790228e-03 -2.26076424e-01 2.03118690e+02] [ 3.30239215e-03 9.99967560e-01 -7.34659793e-03 9.33940540e+00] [ 2.26104926e-01 6.40970860e-03 9.74081864e-01 -8.29556266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:203.15, Y:9.34, Z:-82.95 [[ 9.74103968e-01 -5.26683204e-03 -2.26039199e-01 2.03145658e+02] [ 3.67412417e-03 9.99965377e-01 -7.46627471e-03 9.34035858e+00] [ 2.26070697e-01 6.44243173e-03 9.74089593e-01 -8.29490772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.81864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:203.17, Y:9.34, Z:-82.94 [[ 9.74752406e-01 -7.02234904e-03 -2.23178030e-01 2.03173168e+02] [ 5.48916084e-03 9.99956888e-01 -7.48941800e-03 9.34260827e+00] [ 2.23221002e-01 6.07526811e-03 9.74748929e-01 -8.29419314e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:203.20, Y:9.34, Z:-82.94 [[ 9.75209132e-01 -8.96184083e-03 -2.21103671e-01 2.03199869e+02] [ 7.48039438e-03 9.99943620e-01 -7.53667563e-03 9.34362575e+00] [ 2.21158748e-01 5.69589224e-03 9.75221188e-01 -8.29352586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.87864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:203.23, Y:9.34, Z:-82.93 [[ 9.75420858e-01 -1.04358720e-02 -2.20102799e-01 2.03226474e+02] [ 8.97885466e-03 9.99930662e-01 -7.61910483e-03 9.34467753e+00] [ 2.20167050e-01 5.45556272e-03 9.75446927e-01 -8.29284411e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:203.25, Y:9.30, Z:-82.92 [[ 9.63281952e-01 3.07461097e-03 -2.68474260e-01 2.03253012e+02] [ 1.19251303e-02 9.98457710e-01 5.42217038e-02 9.29592345e+00] [ 2.68226905e-01 -5.54323791e-02 9.61759626e-01 -8.29171073e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.93864 meters Centerline goodness : 0.998232 Centerline is valid? [True, True] Translation: X:203.28, Y:9.35, Z:-82.91 [[ 9.64205201e-01 -1.28276795e-02 -2.64846712e-01 2.03279066e+02] [ 9.99633849e-03 9.99877601e-01 -1.20355952e-02 9.35287532e+00] [ 2.64968684e-01 8.95728609e-03 9.64215414e-01 -8.29119462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:203.30, Y:9.35, Z:-82.91 [[ 9.64586903e-01 -9.92604843e-03 -2.63578414e-01 2.03304297e+02] [ 1.04629159e-02 9.99945062e-01 6.33164623e-04 9.34652803e+00] [ 2.63557648e-01 -3.36854108e-03 9.64637766e-01 -8.29058339e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.99864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:203.33, Y:9.41, Z:-82.90 [[ 9.76019143e-01 -2.56207740e-02 -2.16171711e-01 2.03330366e+02] [ 1.04792215e-02 9.97428254e-01 -7.09017984e-02 9.40920949e+00] [ 2.17432332e-01 6.69362012e-02 9.73777555e-01 -8.28974384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:203.36, Y:9.36, Z:-82.89 [[ 9.75573520e-01 -9.91265028e-03 -2.19449417e-01 2.03359894e+02] [ 8.33909007e-03 9.99932458e-01 -8.09564832e-03 9.36086406e+00] [ 2.19514844e-01 6.06789168e-03 9.75590290e-01 -8.28936940e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.05864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:203.38, Y:9.26, Z:-82.88 [[ 9.66113788e-01 1.85827798e-02 -2.57446748e-01 2.03384989e+02] [ 1.15511694e-02 9.93293149e-01 1.15044731e-01 9.26159691e+00] [ 2.57857942e-01 -1.14120112e-01 9.59419555e-01 -8.28812528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08864 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:203.41, Y:9.43, Z:-82.87 [[ 9.67450039e-01 -2.72881365e-02 -2.51586524e-01 2.03413316e+02] [ 6.59203446e-03 9.96549286e-01 -8.27409541e-02 9.42594563e+00] [ 2.52976217e-01 7.83892722e-02 9.64291530e-01 -8.28729765e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.11864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:203.44, Y:9.40, Z:-82.87 [[ 9.76828460e-01 -2.28018596e-02 -2.12805625e-01 2.03441205e+02] [ 1.30214712e-02 9.98798295e-01 -4.72483509e-02 9.39969994e+00] [ 2.13627246e-01 4.33824915e-02 9.75951515e-01 -8.28706291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:203.47, Y:9.31, Z:-82.86 [[ 9.66125654e-01 -2.49836381e-03 -2.58060029e-01 2.03470670e+02] [ 1.89179054e-02 9.97948470e-01 6.11634256e-02 9.31325193e+00] [ 2.57377803e-01 -6.39735098e-02 9.64190882e-01 -8.28610001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.17864000000003 meters Centerline goodness : 0.997644 Centerline is valid? [True, True] Translation: X:203.50, Y:9.40, Z:-82.85 [[ 9.69524616e-01 -2.83191860e-02 -2.43351684e-01 2.03496589e+02] [ 1.78938559e-02 9.98829183e-01 -4.49452226e-02 9.40218036e+00] [ 2.44339576e-01 3.92209997e-02 9.68896220e-01 -8.28537274e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20864 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:203.52, Y:9.34, Z:-82.85 [[ 9.66752810e-01 -1.23082010e-02 -2.55416351e-01 2.03524867e+02] [ 2.15255913e-02 9.99212781e-01 3.33236856e-02 9.33991361e+00] [ 2.54805128e-01 -3.77137547e-02 9.66256705e-01 -8.28464361e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.23864000000003 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:203.55, Y:9.44, Z:-82.84 [[ 9.77952641e-01 -3.83477990e-02 -2.05275617e-01 2.03548840e+02] [ 2.26298005e-02 9.96666830e-01 -7.83780673e-02 9.43736572e+00] [ 2.07597025e-01 7.20046916e-02 9.75560762e-01 -8.28374769e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26864 meters Centerline goodness : 0.997689 Centerline is valid? [True, True] Translation: X:203.58, Y:9.35, Z:-82.83 [[ 9.69301481e-01 -1.17911415e-02 -2.45592361e-01 2.03581903e+02] [ 1.96649546e-02 9.99367394e-01 2.96327920e-02 9.35213480e+00] [ 2.45087593e-01 -3.35526718e-02 9.68920167e-01 -8.28330878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29864 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:203.61, Y:9.39, Z:-82.83 [[ 9.69404925e-01 -1.83862625e-02 -2.44777525e-01 2.03606622e+02] [ 1.79652295e-02 9.99830798e-01 -3.95285302e-03 9.38649496e+00] [ 2.44808786e-01 -5.65569225e-04 9.69571214e-01 -8.28254572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32864 meters Centerline goodness : 0.997838 Centerline is valid? [True, True] Translation: X:203.63, Y:9.40, Z:-82.82 [[ 9.70295636e-01 -1.98243136e-02 -2.41108637e-01 2.03633849e+02] [ 1.78761037e-02 9.99787514e-01 -1.02650646e-02 9.39524181e+00] [ 2.41260903e-01 5.65006438e-03 9.70443844e-01 -8.28192784e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:203.66, Y:9.40, Z:-82.81 [[ 9.69995724e-01 -2.01557058e-02 -2.42285047e-01 2.03659971e+02] [ 1.89915661e-02 9.99794152e-01 -7.13960221e-03 9.39565274e+00] [ 2.42379077e-01 2.32401114e-03 9.70178840e-01 -8.28134744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.38864 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:203.68, Y:9.43, Z:-82.80 [[ 9.79100757e-01 -3.08380710e-02 -2.01024180e-01 2.03684584e+02] [ 2.23833692e-02 9.98772059e-01 -4.41968223e-02 9.43287863e+00] [ 2.02140279e-01 3.87735437e-02 9.78588739e-01 -8.28044170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:203.72, Y:9.36, Z:-82.80 [[ 9.68991222e-01 -1.07198869e-02 -2.46862504e-01 2.03715219e+02] [ 2.43708052e-02 9.98333540e-01 5.23087690e-02 9.35530090e+00] [ 2.45890373e-01 -5.67029760e-02 9.67637689e-01 -8.28002714e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.44864 meters Centerline goodness : 0.965208 Centerline is valid? [True, True] Translation: X:203.79, Y:9.39, Z:-82.80 [[ 9.73825165e-01 4.46561095e-02 -2.22868525e-01 2.03793718e+02] [-3.52118812e-02 9.98312658e-01 4.61731566e-02 9.39426679e+00] [ 2.24554383e-01 -3.71169618e-02 9.73754415e-01 -8.27958731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47864 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:203.76, Y:9.40, Z:-82.79 [[ 9.78577887e-01 -3.59301721e-02 -2.02717392e-01 2.03758745e+02] [ 3.67375311e-02 9.99324925e-01 2.20104815e-04 9.39658787e+00] [ 2.02572634e-01 -7.66272621e-03 9.79237260e-01 -8.27919097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.50864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:203.79, Y:9.36, Z:-82.79 [[ 9.68844734e-01 -2.70909509e-02 -2.46182783e-01 2.03788233e+02] [ 3.89455119e-02 9.98297869e-01 4.34121163e-02 9.36179251e+00] [ 2.44587672e-01 -5.16473147e-02 9.68250704e-01 -8.27852045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:203.81, Y:9.45, Z:-82.77 [[ 9.78957488e-01 -5.29374497e-02 -1.97078317e-01 2.03810029e+02] [ 4.10787140e-02 9.97117878e-01 -6.37846061e-02 9.45446566e+00] [ 1.99886908e-01 5.43466939e-02 9.78310616e-01 -8.27732470e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.56864 meters Centerline goodness : 0.997643 Centerline is valid? [True, True] Translation: X:203.84, Y:9.41, Z:-82.77 [[ 9.78819756e-01 -4.26799977e-02 -2.00225629e-01 2.03840471e+02] [ 4.13833733e-02 9.99086487e-01 -1.06587034e-02 9.41300028e+00] [ 2.00497634e-01 2.14693751e-03 9.79691834e-01 -8.27707306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59864 meters Centerline goodness : 0.997887 Centerline is valid? [True, True] Translation: X:203.87, Y:9.37, Z:-82.77 [[ 9.69732852e-01 -3.30951488e-02 -2.41915081e-01 2.03868753e+02] [ 4.29878150e-02 9.98436535e-01 3.57286148e-02 9.37487408e+00] [ 2.40354411e-01 -4.50466122e-02 9.69639397e-01 -8.27652546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.62864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:203.89, Y:9.45, Z:-82.75 [[ 9.79420872e-01 -5.56020149e-02 -1.94018480e-01 2.03891744e+02] [ 4.53036390e-02 9.97338790e-01 -5.71219638e-02 9.45407903e+00] [ 1.96678253e-01 4.71567004e-02 9.79333401e-01 -8.27536126e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:203.92, Y:9.42, Z:-82.75 [[ 9.79138600e-01 -4.71728103e-02 -1.97641921e-01 2.03921601e+02] [ 4.59587534e-02 9.98885733e-01 -1.07277738e-02 9.41673385e+00] [ 1.97927754e-01 1.42060111e-03 9.80215581e-01 -8.27506640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.68864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:203.95, Y:9.42, Z:-82.75 [[ 9.78708178e-01 -5.09552393e-02 -1.98831250e-01 2.03949017e+02] [ 4.97814628e-02 9.98700640e-01 -1.09012309e-02 9.41551673e+00] [ 1.99128371e-01 7.71013385e-04 9.79973111e-01 -8.27453954e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:203.98, Y:9.42, Z:-82.74 [[ 9.78499273e-01 -5.19941275e-02 -1.99589037e-01 2.03976104e+02] [ 5.08103806e-02 9.98647164e-01 -1.10520473e-02 9.41667565e+00] [ 1.99893667e-01 6.73225295e-04 9.79817365e-01 -8.27390317e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.74864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:204.00, Y:9.42, Z:-82.73 [[ 9.78270760e-01 -5.18280302e-02 -2.00749037e-01 2.04003044e+02] [ 5.06042921e-02 9.98655685e-01 -1.12262442e-02 9.41801979e+00] [ 2.01061001e-01 8.23543518e-04 9.79578376e-01 -8.27326569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77864 meters Centerline goodness : 0.997987 Centerline is valid? [True, True] Translation: X:204.03, Y:9.42, Z:-82.73 [[ 9.78665222e-01 -5.10747789e-02 -1.99011935e-01 2.04030355e+02] [ 4.98351612e-02 9.98694249e-01 -1.12362551e-02 9.41887255e+00] [ 1.99325964e-01 1.07874021e-03 9.79932649e-01 -8.27257728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.80864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:204.06, Y:9.39, Z:-82.72 [[ 9.70194481e-01 -4.34392393e-02 -2.38402392e-01 2.04058746e+02] [ 5.03864924e-02 9.98462112e-01 2.31216734e-02 9.38966824e+00] [ 2.37031368e-01 -3.44447803e-02 9.70891182e-01 -8.27204387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:204.08, Y:9.45, Z:-82.71 [[ 9.79062468e-01 -5.67652505e-02 -1.95485011e-01 2.04083645e+02] [ 4.84520318e-02 9.97716622e-01 -4.70525497e-02 9.45081480e+00] [ 1.97709594e-01 3.65957395e-02 9.79577291e-01 -8.27117583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.86864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:204.11, Y:9.33, Z:-82.71 [[ 9.67492526e-01 -2.35160344e-02 -2.51803908e-01 2.04114107e+02] [ 5.16641097e-02 9.93048108e-01 1.05765183e-01 9.32540451e+00] [ 2.47566217e-01 -1.15336249e-01 9.61981558e-01 -8.27072042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:204.13, Y:9.52, Z:-82.69 [[ 9.79512003e-01 -7.36393824e-02 -1.87439262e-01 2.04131743e+02] [ 4.95738550e-02 9.90275337e-01 -1.29989192e-01 9.52268787e+00] [ 1.95188802e-01 1.18033887e-01 9.73637167e-01 -8.26879208e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.92864000000003 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:204.17, Y:9.43, Z:-82.69 [[ 9.79196172e-01 -4.78652915e-02 -1.97189681e-01 2.04167273e+02] [ 4.65259294e-02 9.98851778e-01 -1.14220965e-02 9.42735255e+00] [ 1.97509986e-01 2.01004000e-03 9.80298814e-01 -8.26945197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:204.19, Y:9.43, Z:-82.69 [[ 9.78950936e-01 -4.76223667e-02 -1.98462027e-01 2.04194870e+02] [ 4.62383660e-02 9.98863024e-01 -1.16048879e-02 9.42871317e+00] [ 1.98789032e-01 2.18405599e-03 9.80039872e-01 -8.26892898e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.98864000000003 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:204.22, Y:9.39, Z:-82.68 [[ 9.68986829e-01 -3.48214029e-02 -2.44646672e-01 2.04223142e+02] [ 4.63223213e-02 9.98067728e-01 4.14131967e-02 9.38696833e+00] [ 2.42731883e-01 -5.14614440e-02 9.68727492e-01 -8.26818277e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:204.25, Y:9.48, Z:-82.67 [[ 9.79288503e-01 -5.80986356e-02 -1.93955090e-01 2.04245055e+02] [ 4.62424899e-02 9.96806087e-01 -6.51095821e-02 9.47949377e+00] [ 1.97118393e-01 5.47920988e-02 9.78847366e-01 -8.26705743e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:204.28, Y:9.41, Z:-82.67 [[ 9.70773734e-01 -3.78010395e-02 -2.37000927e-01 2.04276390e+02] [ 4.39769167e-02 9.98815489e-01 2.08242723e-02 9.41060609e+00] [ 2.35933017e-01 -3.06382266e-02 9.71286214e-01 -8.26688807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07864 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:204.30, Y:9.43, Z:-82.66 [[ 9.70741098e-01 -4.25788415e-02 -2.36323428e-01 2.04301686e+02] [ 4.37758277e-02 9.99041362e-01 -1.82076026e-04 9.43039687e+00] [ 2.36104632e-01 -1.01685050e-02 9.71674433e-01 -8.26620665e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:204.33, Y:9.48, Z:-82.65 [[ 9.80300972e-01 -5.49682967e-02 -1.89706329e-01 2.04325816e+02] [ 4.47524519e-02 9.97329013e-01 -5.77239833e-02 9.48412082e+00] [ 1.92372615e-01 4.80970536e-02 9.80142566e-01 -8.26507378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.13864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:204.36, Y:9.45, Z:-82.65 [[ 9.80494119e-01 -4.66536557e-02 -1.90931192e-01 2.04356037e+02] [ 4.52722312e-02 9.98907413e-01 -1.15933185e-02 9.44983696e+00] [ 1.91263454e-01 2.72329959e-03 9.81534959e-01 -8.26481701e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16864 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:204.38, Y:9.45, Z:-82.64 [[ 9.80314776e-01 -4.80948454e-02 -1.91493671e-01 2.04382974e+02] [ 4.67118637e-02 9.98839502e-01 -1.17325095e-02 9.45315163e+00] [ 1.91835716e-01 2.55652613e-03 9.81423722e-01 -8.26432577e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.19864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:204.41, Y:9.45, Z:-82.64 [[ 9.80125292e-01 -4.94737463e-02 -1.92111322e-01 2.04410239e+02] [ 4.80870631e-02 9.98772534e-01 -1.18768233e-02 9.45463757e+00] [ 1.92463103e-01 2.40270562e-03 9.81301269e-01 -8.26373871e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22864 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:204.44, Y:9.42, Z:-82.63 [[ 9.71631435e-01 -4.06120938e-02 -2.32987149e-01 2.04439953e+02] [ 4.97770607e-02 9.98195333e-01 3.35904983e-02 9.41747780e+00] [ 2.31202504e-01 -4.42349996e-02 9.71899515e-01 -8.26322581e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.25864 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:204.46, Y:9.46, Z:-82.62 [[ 9.72366732e-01 -5.38641057e-02 -2.27159848e-01 2.04462594e+02] [ 5.16198905e-02 9.98541604e-01 -1.58130337e-02 9.46072589e+00] [ 2.27680314e-01 3.65010145e-03 9.73729095e-01 -8.26213119e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:204.49, Y:9.46, Z:-82.62 [[ 9.72761906e-01 -5.59396172e-02 -2.24955626e-01 2.04489398e+02] [ 5.47266001e-02 9.98433654e-01 -1.16291586e-02 9.45850977e+00] [ 2.25253798e-01 -9.98654097e-04 9.74299610e-01 -8.26152598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.31864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:204.52, Y:9.46, Z:-82.61 [[ 9.73562783e-01 -6.03099831e-02 -2.20313899e-01 2.04515759e+02] [ 5.73856485e-02 9.98158578e-01 -1.96555701e-02 9.46373594e+00] [ 2.21093635e-01 6.49307557e-03 9.75230970e-01 -8.26093569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34864 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:204.54, Y:9.45, Z:-82.60 [[ 9.73318436e-01 -5.81207729e-02 -2.21975669e-01 2.04544026e+02] [ 5.83633848e-02 9.98280407e-01 -5.47208808e-03 9.45200068e+00] [ 2.21912003e-01 -7.62916717e-03 9.75036850e-01 -8.26032451e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.37864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:204.57, Y:9.50, Z:-82.59 [[ 9.81667346e-01 -6.97079339e-02 -1.77397931e-01 2.04569126e+02] [ 6.06629747e-02 9.96590876e-01 -5.59162642e-02 9.49630047e+00] [ 1.80690967e-01 4.41296845e-02 9.82549411e-01 -8.25923315e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:204.60, Y:9.46, Z:-82.59 [[ 9.81675301e-01 -6.11645882e-02 -1.80478522e-01 2.04600043e+02] [ 6.00293262e-02 9.98127447e-01 -1.17506912e-02 9.46210431e+00] [ 1.80859293e-01 7.01359253e-04 9.83508731e-01 -8.25902105e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.43864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:204.63, Y:9.42, Z:-82.59 [[ 9.73726922e-01 -5.33731649e-02 -2.21375670e-01 2.04629247e+02] [ 6.17780236e-02 9.97601742e-01 3.12128359e-02 9.42449926e+00] [ 2.19178826e-01 -4.40689300e-02 9.74688961e-01 -8.25860868e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:204.65, Y:9.46, Z:-82.58 [[ 9.74215653e-01 -6.28522148e-02 -2.16687471e-01 2.04653679e+02] [ 6.18286475e-02 9.98020448e-01 -1.15067072e-02 9.45964891e+00] [ 2.16981749e-01 -2.18747896e-03 9.76173210e-01 -8.25769228e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.49864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:204.68, Y:9.46, Z:-82.57 [[ 9.74134492e-01 -6.31551975e-02 -2.16964083e-01 2.04681148e+02] [ 6.08815635e-02 9.97997575e-01 -1.71544663e-02 9.46498317e+00] [ 2.17613022e-01 3.50164474e-03 9.76028847e-01 -8.25713302e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:204.71, Y:9.50, Z:-82.56 [[ 9.81363056e-01 -7.10464587e-02 -1.78546781e-01 2.04706112e+02] [ 6.24783652e-02 9.96629117e-01 -5.31681947e-02 9.49706718e+00] [ 1.81722332e-01 4.10219911e-02 9.82493863e-01 -8.25633276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.55864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:204.74, Y:9.42, Z:-82.56 [[ 9.73114958e-01 -5.25791625e-02 -2.24238064e-01 2.04737871e+02] [ 6.23129545e-02 9.97387186e-01 3.65499284e-02 9.42295753e+00] [ 2.21730407e-01 -4.95402183e-02 9.73848753e-01 -8.25627980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:204.76, Y:9.47, Z:-82.55 [[ 9.73371726e-01 -6.26316804e-02 -2.20510217e-01 2.04762232e+02] [ 6.06271288e-02 9.98034578e-01 -1.58534593e-02 9.46625969e+00] [ 2.21069750e-01 2.06240769e-03 9.75255819e-01 -8.25539402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.61864 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:204.79, Y:9.40, Z:-82.55 [[ 9.72552928e-01 -4.45309792e-02 -2.28380808e-01 2.04792313e+02] [ 6.25756280e-02 9.95411793e-01 7.23854537e-02 9.39601930e+00] [ 2.24109554e-01 -8.46897574e-02 9.70877208e-01 -8.25476132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:204.81, Y:9.54, Z:-82.53 [[ 9.75251878e-01 -7.99472515e-02 -2.06136389e-01 2.04810636e+02] [ 5.88561651e-02 9.92569207e-01 -1.06500335e-01 9.54270053e+00] [ 2.13119041e-01 9.17322543e-02 9.72710372e-01 -8.25308211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.67864000000003 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:204.85, Y:9.45, Z:-82.53 [[ 9.74388517e-01 -5.79953388e-02 -2.17263800e-01 2.04846294e+02] [ 6.01822252e-02 9.98181422e-01 3.45662440e-03 9.45480679e+00] [ 2.16668221e-01 -1.64435140e-02 9.76106804e-01 -8.25337357e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:204.87, Y:9.48, Z:-82.53 [[ 9.75408019e-01 -6.08588845e-02 -2.11838128e-01 2.04871503e+02] [ 5.65685752e-02 9.98053297e-01 -2.62604684e-02 9.48207587e+00] [ 2.13023925e-01 1.36312903e-02 9.76951890e-01 -8.25259463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.73864000000003 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:204.90, Y:9.41, Z:-82.52 [[ 9.70775280e-01 -4.19502801e-02 -2.36295427e-01 2.04901406e+02] [ 5.79582613e-02 9.96440797e-01 6.12092966e-02 9.41338253e+00] [ 2.32886657e-01 -7.31157441e-02 9.69751459e-01 -8.25210746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:204.92, Y:9.53, Z:-82.51 [[ 9.76074851e-01 -6.35511780e-02 -2.07940214e-01 2.04923167e+02] [ 4.94531513e-02 9.96155190e-01 -7.23133742e-02 9.52622129e+00] [ 2.11736323e-01 6.02999671e-02 9.75464834e-01 -8.25072840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:204.95, Y:9.50, Z:-82.51 [[ 9.78043849e-01 -5.25779901e-02 -2.01657590e-01 2.04953510e+02] [ 4.67986687e-02 9.98348340e-01 -3.33238092e-02 9.49846246e+00] [ 2.03076619e-01 2.31548399e-02 9.78889034e-01 -8.25066088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:204.98, Y:9.51, Z:-82.50 [[ 9.84885947e-01 -5.47517470e-02 -1.64322605e-01 2.04979037e+02] [ 4.80426997e-02 9.97852106e-01 -4.45317084e-02 9.51292591e+00] [ 1.66407846e-01 3.59641522e-02 9.85400938e-01 -8.25009739e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85864 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:205.01, Y:9.49, Z:-82.50 [[ 9.84660859e-01 -4.76351369e-02 -1.67850788e-01 2.05008533e+02] [ 4.62819453e-02 9.98856734e-01 -1.19669218e-02 9.49165492e+00] [ 1.68228936e-01 4.01489853e-03 9.85739776e-01 -8.24988573e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.88864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:205.04, Y:9.46, Z:-82.49 [[ 9.77498317e-01 -3.91367276e-02 -2.07280865e-01 2.05039849e+02] [ 4.56575974e-02 9.98598466e-01 2.67672972e-02 9.46050625e+00] [ 2.05942770e-01 -3.56289342e-02 9.77915208e-01 -8.24946820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91864 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:205.06, Y:9.53, Z:-82.48 [[ 9.84971021e-01 -5.58041414e-02 -1.63456374e-01 2.05060826e+02] [ 4.82721236e-02 9.97597083e-01 -4.96977000e-02 9.52695195e+00] [ 1.65836939e-01 4.10604080e-02 9.85298002e-01 -8.24846085e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.94864 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:205.09, Y:9.50, Z:-82.48 [[ 9.84982914e-01 -4.95270656e-02 -1.65395675e-01 2.05091181e+02] [ 4.81943875e-02 9.98765124e-01 -1.20635412e-02 9.49945470e+00] [ 1.65788904e-01 3.91123873e-03 9.86153508e-01 -8.24815104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:205.12, Y:9.50, Z:-82.48 [[ 9.85123032e-01 -5.04725470e-02 -1.64271526e-01 2.05118176e+02] [ 4.91564862e-02 9.98718163e-01 -1.20694239e-02 9.50363908e+00] [ 1.64670131e-01 3.81485648e-03 9.86341318e-01 -8.24752266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.00864 meters Centerline goodness : 0.997401 Centerline is valid? [True, True] Translation: X:205.15, Y:9.44, Z:-82.47 [[ 9.75901921e-01 -3.53901432e-02 -2.15320641e-01 2.05150094e+02] [ 5.09443637e-02 9.96443431e-01 6.71204884e-02 9.43831549e+00] [ 2.12179435e-01 -7.64723866e-02 9.74233987e-01 -8.24700273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:205.17, Y:9.53, Z:-82.46 [[ 9.78538141e-01 -5.72563264e-02 -1.97951557e-01 2.05171131e+02] [ 4.98109890e-02 9.97858556e-01 -4.23930114e-02 9.52859649e+00] [ 1.99954923e-01 3.16230158e-02 9.79294651e-01 -8.24605897e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.06864 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:205.20, Y:9.51, Z:-82.46 [[ 9.79117118e-01 -5.27663301e-02 -1.96329785e-01 2.05199416e+02] [ 5.01137516e-02 9.98572944e-01 -1.84577066e-02 9.51217880e+00] [ 1.97023557e-01 8.23343439e-03 9.80364182e-01 -8.24562907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09864 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:205.23, Y:9.44, Z:-82.45 [[ 9.78563391e-01 -3.55836394e-02 -2.02848451e-01 2.05226439e+02] [ 5.15121578e-02 9.95942363e-01 7.37923208e-02 9.44117875e+00] [ 1.99399566e-01 -8.26596250e-02 9.76425727e-01 -8.24528212e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.12864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:205.24, Y:9.63, Z:-82.43 [[ 9.87865148e-01 -7.07681691e-02 -1.38254535e-01 2.05239786e+02] [ 4.99521187e-02 9.87632402e-01 -1.48617040e-01 9.62959882e+00] [ 1.47062014e-01 1.39907487e-01 9.79182648e-01 -8.24266879e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:205.28, Y:9.52, Z:-82.44 [[ 9.87363106e-01 -4.69378007e-02 -1.51363601e-01 2.05279143e+02] [ 4.57397056e-02 9.98888463e-01 -1.13893294e-02 9.52242342e+00] [ 1.51729945e-01 4.32207714e-03 9.88412537e-01 -8.24408036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.18864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:205.31, Y:9.53, Z:-82.44 [[ 9.87304275e-01 -4.65468587e-02 -1.51867239e-01 2.05306624e+02] [ 4.53236297e-02 9.98906066e-01 -1.15082495e-02 9.52825123e+00] [ 1.52236779e-01 4.47896943e-03 9.88333902e-01 -8.24363601e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21864 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:205.33, Y:9.53, Z:-82.43 [[ 9.87174828e-01 -4.79028103e-02 -1.52286507e-01 2.05334461e+02] [ 4.66762163e-02 9.98842468e-01 -1.16213547e-02 9.53219813e+00] [ 1.52666926e-01 4.36415088e-03 9.88268063e-01 -8.24319077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.24864 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:205.37, Y:9.43, Z:-82.43 [[ 9.76230162e-01 -2.73096579e-02 -2.15008961e-01 2.05367641e+02] [ 5.30222081e-02 9.91978908e-01 1.14745330e-01 9.42882605e+00] [ 2.10150699e-01 -1.23418102e-01 9.69847749e-01 -8.24268103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27864 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:205.38, Y:9.60, Z:-82.41 [[ 9.81550068e-01 -6.55196345e-02 -1.79629175e-01 2.05382997e+02] [ 4.96982497e-02 9.94590816e-01 -9.12096064e-02 9.59909210e+00] [ 1.84633548e-01 8.05995398e-02 9.79496895e-01 -8.24104196e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.30864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:205.42, Y:9.52, Z:-82.42 [[ 9.80187787e-01 -5.20369633e-02 -1.91112680e-01 2.05416562e+02] [ 5.49731322e-02 9.98436849e-01 1.00902312e-02 9.51953727e+00] [ 1.90288877e-01 -2.03963840e-02 9.81516241e-01 -8.24178578e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33864 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:205.44, Y:9.55, Z:-82.41 [[ 9.80546483e-01 -5.94254791e-02 -1.87075403e-01 2.05442475e+02] [ 5.54697815e-02 9.98113563e-01 -2.63138676e-02 9.55310601e+00] [ 1.88286211e-01 1.54249387e-02 9.81993062e-01 -8.24100446e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.36864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:205.47, Y:9.55, Z:-82.41 [[ 9.81268960e-01 -6.17885747e-02 -1.82464793e-01 2.05469836e+02] [ 5.90173525e-02 9.98044713e-01 -2.05840483e-02 9.55455048e+00] [ 1.83379881e-01 9.42989872e-03 9.82996895e-01 -8.24071812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:205.50, Y:9.52, Z:-82.40 [[ 9.79163859e-01 -5.53994693e-02 -1.95368976e-01 2.05499733e+02] [ 6.22958353e-02 9.97626724e-01 2.93282975e-02 9.51541200e+00] [ 1.93280539e-01 -4.08878825e-02 9.80291189e-01 -8.24044538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.42864000000003 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:205.52, Y:9.63, Z:-82.39 [[ 9.88069964e-01 -7.78152144e-02 -1.32900486e-01 2.05517824e+02] [ 6.46424316e-02 9.92813351e-01 -1.00712489e-01 9.62698429e+00] [ 1.39782341e-01 9.09199749e-02 9.85999217e-01 -8.23859975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:205.55, Y:9.56, Z:-82.39 [[ 9.88018095e-01 -6.37204820e-02 -1.40570066e-01 2.05552981e+02] [ 6.27578115e-02 9.97965092e-01 -1.12752547e-02 9.55909455e+00] [ 1.41002483e-01 2.31828600e-03 9.90006528e-01 -8.23923356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.48864000000003 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:205.58, Y:9.50, Z:-82.39 [[ 9.80046856e-01 -5.16187888e-02 -1.91947026e-01 2.05583981e+02] [ 6.47931630e-02 9.95908016e-01 6.30005602e-02 9.50027634e+00] [ 1.87909569e-01 -7.41803559e-02 9.79381064e-01 -8.23896558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:205.61, Y:9.58, Z:-82.38 [[ 9.81467830e-01 -6.64887408e-02 -1.79722412e-01 2.05605058e+02] [ 6.29985048e-02 9.97698821e-01 -2.50649453e-02 9.57750954e+00] [ 1.80975376e-01 1.32781942e-02 9.83397988e-01 -8.23789723e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:205.63, Y:9.62, Z:-82.37 [[ 9.88820908e-01 -7.57510817e-02 -1.28432804e-01 2.05628921e+02] [ 6.67053049e-02 9.95074214e-01 -7.33328841e-02 9.62211583e+00] [ 1.33355216e-01 6.39459397e-02 9.89003187e-01 -8.23689687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:205.66, Y:9.53, Z:-82.37 [[ 9.81482248e-01 -6.07718743e-02 -1.81657305e-01 2.05662587e+02] [ 7.00121884e-02 9.96535643e-01 4.48888152e-02 9.52832586e+00] [ 1.78300002e-01 -5.67758007e-02 9.82336815e-01 -8.23740725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:205.69, Y:9.58, Z:-82.36 [[ 9.82142660e-01 -7.18609978e-02 -1.73872921e-01 2.05685977e+02] [ 7.00732784e-02 9.97406914e-01 -1.64068100e-02 9.58211891e+00] [ 1.74601064e-01 3.92998237e-03 9.84631415e-01 -8.23644070e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.63864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:205.71, Y:9.59, Z:-82.36 [[ 9.82411182e-01 -7.50794817e-02 -1.70971753e-01 2.05711102e+02] [ 7.23670967e-02 9.97134275e-01 -2.20508908e-02 9.58940909e+00] [ 1.72137364e-01 9.29031238e-03 9.85029146e-01 -8.23593908e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:205.74, Y:9.58, Z:-82.36 [[ 9.82068235e-01 -7.71804882e-02 -1.72003357e-01 2.05739554e+02] [ 7.74025870e-02 9.96985158e-01 -5.42535488e-03 9.57794757e+00] [ 1.71903526e-01 -7.98543612e-03 9.85081423e-01 -8.23562478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.69864 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:205.76, Y:9.59, Z:-82.35 [[ 9.82138673e-01 -8.15724282e-02 -1.69556971e-01 2.05764717e+02] [ 8.00769161e-02 9.96665801e-01 -1.56514558e-02 9.58866962e+00] [ 1.70268361e-01 1.79430073e-03 9.85396096e-01 -8.23499218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72864 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:205.79, Y:9.59, Z:-82.35 [[ 9.82064269e-01 -8.65258419e-02 -1.67520299e-01 2.05790905e+02] [ 8.45672398e-02 9.96240326e-01 -1.88041000e-02 9.59163401e+00] [ 1.68517518e-01 4.30010538e-03 9.85689279e-01 -8.23459321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.75864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:205.82, Y:9.63, Z:-82.34 [[ 9.88835483e-01 -9.36232435e-02 -1.15927031e-01 2.05817345e+02] [ 8.69474013e-02 9.94320596e-01 -6.13734661e-02 9.63027727e+00] [ 1.21014618e-01 5.06087069e-02 9.91359784e-01 -8.23364670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:205.85, Y:9.59, Z:-82.34 [[ 9.88744255e-01 -8.84792590e-02 -1.20649152e-01 2.05849406e+02] [ 8.79135726e-02 9.96077770e-01 -1.00140210e-02 9.58906467e+00] [ 1.21061972e-01 -7.05392329e-04 9.92644700e-01 -8.23388226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.81864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:205.88, Y:9.59, Z:-82.33 [[ 9.88713347e-01 -8.98247905e-02 -1.19905896e-01 2.05877288e+02] [ 8.92683788e-02 9.95957260e-01 -1.00146418e-02 9.59012477e+00] [ 1.20320711e-01 -8.02194959e-04 9.92734750e-01 -8.23343731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:205.91, Y:9.59, Z:-82.33 [[ 9.88720542e-01 -9.02876472e-02 -1.19498244e-01 2.05905320e+02] [ 8.97308561e-02 9.95915414e-01 -1.00429829e-02 9.59123592e+00] [ 1.19916901e-01 -7.92976240e-04 9.92783616e-01 -8.23299396e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.87864 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:205.94, Y:9.50, Z:-82.33 [[ 9.84257313e-01 -7.39007279e-02 -1.60549755e-01 2.05937755e+02] [ 8.95090676e-02 9.91703690e-01 9.22600587e-02 9.50349539e+00] [ 1.52399699e-01 -1.05178296e-01 9.82706394e-01 -8.23307343e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:205.95, Y:9.67, Z:-82.31 [[ 9.88799665e-01 -1.02667775e-01 -1.08326131e-01 2.05953203e+02] [ 9.03287487e-02 9.89452081e-01 -1.13248829e-01 9.67456041e+00] [ 1.18810521e-01 1.02195440e-01 9.87643737e-01 -8.23054211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.93864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:205.99, Y:9.50, Z:-82.32 [[ 9.83596397e-01 -7.21602687e-02 -1.65320972e-01 2.05993665e+02] [ 9.00971796e-02 9.90519911e-01 1.03695726e-01 9.49559486e+00] [ 1.56271003e-01 -1.16889696e-01 9.80773252e-01 -8.23202449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:206.01, Y:9.68, Z:-82.29 [[ 9.89101877e-01 -1.04588918e-01 -1.03627382e-01 2.06007772e+02] [ 9.14057916e-02 9.87975928e-01 -1.24693812e-01 9.68296499e+00] [ 1.15422949e-01 1.13862741e-01 9.86768878e-01 -8.22930543e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.99864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:206.05, Y:9.53, Z:-82.31 [[ 9.82513091e-01 -8.24078153e-02 -1.66964003e-01 2.06048058e+02] [ 9.33857537e-02 9.93880932e-01 5.89897766e-02 9.52769615e+00] [ 1.61081120e-01 -7.35502870e-02 9.84196743e-01 -8.23070569e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02864 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:206.07, Y:9.60, Z:-82.30 [[ 9.83043014e-01 -9.55550321e-02 -1.56510919e-01 2.06069812e+02] [ 9.24585289e-02 9.95351383e-01 -2.69637571e-02 9.59854697e+00] [ 1.58359883e-01 1.20357637e-02 9.87308102e-01 -8.22976787e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.05864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:206.10, Y:9.55, Z:-82.30 [[ 9.84800300e-01 -8.69546276e-02 -1.50357114e-01 2.06100384e+02] [ 9.33102141e-02 9.94995720e-01 3.57312294e-02 9.54871610e+00] [ 1.46497689e-01 -4.92179799e-02 9.87985839e-01 -8.22975536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:206.12, Y:9.67, Z:-82.28 [[ 9.89554871e-01 -1.06777593e-01 -9.68488691e-02 2.06118864e+02] [ 9.53273763e-02 9.88662985e-01 -1.16009453e-01 9.67463950e+00] [ 1.08138102e-01 1.05565371e-01 9.88515100e-01 -8.22762595e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.11864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:206.16, Y:9.59, Z:-82.29 [[ 9.89969049e-01 -9.21297014e-02 -1.07113961e-01 2.06156224e+02] [ 9.16810789e-02 9.95746697e-01 -9.11566892e-03 9.58634282e+00] [ 1.07498197e-01 -7.96093409e-04 9.94204961e-01 -8.22856521e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:206.18, Y:9.54, Z:-82.28 [[ 9.83681294e-01 -8.65615154e-02 -1.57728298e-01 2.06183235e+02] [ 9.43102026e-02 9.94643417e-01 4.23090899e-02 9.54025052e+00] [ 1.53221074e-01 -5.64940480e-02 9.86575757e-01 -8.22846256e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.17864000000003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:206.21, Y:9.63, Z:-82.27 [[ 9.90109833e-01 -9.76269653e-02 -1.00754625e-01 2.06206484e+02] [ 9.14270386e-02 9.93725280e-01 -6.44295338e-02 9.63207408e+00] [ 1.06412478e-01 5.45806180e-02 9.92822915e-01 -8.22717854e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:206.24, Y:9.55, Z:-82.28 [[ 9.84621074e-01 -8.64569753e-02 -1.51810841e-01 2.06239532e+02] [ 9.26127411e-02 9.95123446e-01 3.39441724e-02 9.54903229e+00] [ 1.48135816e-01 -4.74817656e-02 9.87826534e-01 -8.22751533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:206.26, Y:9.58, Z:-82.27 [[ 9.84752945e-01 -9.21704285e-02 -1.47533893e-01 2.06264584e+02] [ 9.26044250e-02 9.95695186e-01 -3.93924227e-03 9.57736396e+00] [ 1.47261868e-01 -9.78311087e-03 9.89049156e-01 -8.22677472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:206.29, Y:9.56, Z:-82.26 [[ 9.83399619e-01 -8.89697242e-02 -1.58144164e-01 2.06293471e+02] [ 9.31632281e-02 9.95463976e-01 1.92895369e-02 9.55779924e+00] [ 1.55710634e-01 -3.37025441e-02 9.87227601e-01 -8.22639824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:206.32, Y:9.61, Z:-82.26 [[ 9.85300359e-01 -9.69668657e-02 -1.40643626e-01 2.06317957e+02] [ 9.22893937e-02 9.94951514e-01 -3.94227395e-02 9.60646867e+00] [ 1.43756289e-01 2.58633244e-02 9.89275097e-01 -8.22572666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:206.35, Y:9.59, Z:-82.26 [[ 9.85505728e-01 -9.38488431e-02 -1.41318275e-01 2.06346747e+02] [ 9.29401268e-02 9.95586415e-01 -1.30316195e-02 9.58743768e+00] [ 1.41917557e-01 -2.91402745e-04 9.89878438e-01 -8.22552146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:206.38, Y:9.53, Z:-82.25 [[ 9.86744553e-01 -8.60675443e-02 -1.37577490e-01 2.06376757e+02] [ 9.38472048e-02 9.94275027e-01 5.10869050e-02 9.53344314e+00] [ 1.32392938e-01 -6.33209881e-02 9.89172666e-01 -8.22523041e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.38864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:206.40, Y:9.58, Z:-82.25 [[ 9.86898008e-01 -9.33548977e-02 -1.31594778e-01 2.06399583e+02] [ 9.27911645e-02 9.95631036e-01 -1.04230445e-02 9.58409611e+00] [ 1.31992887e-01 -1.92435088e-03 9.91248795e-01 -8.22456455e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:206.42, Y:9.63, Z:-82.24 [[ 9.86424979e-01 -1.01578814e-01 -1.29025211e-01 2.06423798e+02] [ 9.23235508e-02 9.92839104e-01 -7.58081461e-02 9.63457677e+00] [ 1.35801777e-01 6.28669834e-02 9.88739409e-01 -8.22371989e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.44864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:206.46, Y:9.59, Z:-82.24 [[ 9.87258540e-01 -9.47850097e-02 -1.27813840e-01 2.06455731e+02] [ 9.25718645e-02 9.95436631e-01 -2.31595179e-02 9.59160488e+00] [ 1.29425753e-01 1.10324664e-02 9.91527740e-01 -8.22386144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47864 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:206.49, Y:9.57, Z:-82.24 [[ 9.86438349e-01 -9.13539054e-02 -1.36359256e-01 2.06485656e+02] [ 9.28873663e-02 9.95664506e-01 4.91216581e-03 9.56786734e+00] [ 1.35319325e-01 -1.75116009e-02 9.90647275e-01 -8.22354846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.50864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:206.51, Y:9.59, Z:-82.23 [[ 9.87220278e-01 -9.01020967e-02 -1.31444794e-01 2.06512922e+02] [ 8.83369470e-02 9.95905385e-01 -1.92106342e-02 9.58582984e+00] [ 1.32637497e-01 7.35369585e-03 9.91137335e-01 -8.22319820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:206.54, Y:9.58, Z:-82.23 [[ 9.87526719e-01 -8.72883140e-02 -1.31040949e-01 2.06540788e+02] [ 8.62311474e-02 9.96180527e-01 -1.37312538e-02 9.58205877e+00] [ 1.31739020e-01 2.26016865e-03 9.91281858e-01 -8.22289342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.56864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:206.57, Y:9.63, Z:-82.22 [[ 9.93023603e-01 -8.65766708e-02 -8.00537549e-02 2.06567067e+02] [ 8.17654212e-02 9.94749385e-01 -6.15473543e-02 9.62550060e+00] [ 8.49619885e-02 5.45723465e-02 9.94888597e-01 -8.22220558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:206.60, Y:9.53, Z:-82.22 [[ 9.88136530e-01 -7.31713671e-02 -1.35026478e-01 2.06601054e+02] [ 8.06472372e-02 9.95450089e-01 5.07458786e-02 9.53278689e+00] [ 1.30698975e-01 -6.10333688e-02 9.89541665e-01 -8.22213330e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.62864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:206.63, Y:9.58, Z:-82.22 [[ 9.88456013e-01 -7.62871043e-02 -1.30900678e-01 2.06627485e+02] [ 7.67549547e-02 9.97048896e-01 -1.47498563e-03 9.57800524e+00] [ 1.30626899e-01 -8.58931721e-03 9.91394390e-01 -8.22167514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:206.65, Y:9.64, Z:-82.21 [[ 9.93602191e-01 -8.07362690e-02 -7.89705056e-02 2.06651496e+02] [ 7.48357479e-02 9.94369611e-01 -7.50245844e-02 9.64260325e+00] [ 8.45830759e-02 6.86347746e-02 9.94049783e-01 -8.22096758e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.68864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:206.69, Y:9.54, Z:-82.21 [[ 9.89084173e-01 -6.80366508e-02 -1.30703909e-01 2.06685650e+02] [ 7.44891874e-02 9.96200354e-01 4.51244399e-02 9.54350442e+00] [ 1.27137165e-01 -5.43678973e-02 9.90393999e-01 -8.22102931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:206.71, Y:9.58, Z:-82.21 [[ 9.89004093e-01 -7.21727510e-02 -1.29081364e-01 2.06710088e+02] [ 7.31929767e-02 9.97312755e-01 3.17124328e-03 9.57884315e+00] [ 1.28505613e-01 -1.25842218e-02 9.91628935e-01 -8.22056585e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.74864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:206.74, Y:9.61, Z:-82.20 [[ 9.90257869e-01 -7.48544106e-02 -1.17414522e-01 2.06735479e+02] [ 7.15421992e-02 9.96918303e-01 -3.21809104e-02 9.61164332e+00] [ 1.19461569e-01 2.34673067e-02 9.92561443e-01 -8.22019106e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77864 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:206.77, Y:9.58, Z:-82.20 [[ 9.89527023e-01 -7.11462034e-02 -1.25596529e-01 2.06765534e+02] [ 7.30133582e-02 9.97277566e-01 1.03201776e-02 9.57951911e+00] [ 1.24520360e-01 -1.93823190e-02 9.92027724e-01 -8.21994173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.80864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:206.79, Y:9.65, Z:-82.19 [[ 9.94552350e-01 -7.68203998e-02 -7.04574343e-02 2.06788778e+02] [ 7.16210981e-02 9.94715052e-01 -7.35689088e-02 9.65486407e+00] [ 7.57366634e-02 6.81218923e-02 9.94798153e-01 -8.21929704e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:206.83, Y:9.50, Z:-82.19 [[ 9.87347039e-01 -5.82156506e-02 -1.47501735e-01 2.06827118e+02] [ 7.57958135e-02 9.90292436e-01 1.16515603e-01 9.49888293e+00] [ 1.39286821e-01 -1.26221350e-01 9.82174807e-01 -8.21879238e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.86864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:206.84, Y:9.71, Z:-82.18 [[ 9.94848604e-01 -8.08452443e-02 -6.11580083e-02 2.06839089e+02] [ 7.22354697e-02 9.88635449e-01 -1.31840759e-01 9.70975855e+00] [ 7.11216733e-02 1.26743817e-01 9.89382490e-01 -8.21766229e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:206.88, Y:9.56, Z:-82.18 [[ 9.90387737e-01 -6.58519389e-02 -1.21637384e-01 2.06879467e+02] [ 7.24613071e-02 9.96080097e-01 5.07326286e-02 9.56417753e+00] [ 1.17819735e-01 -5.90589771e-02 9.91277230e-01 -8.21846201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.92864000000003 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:206.90, Y:9.66, Z:-82.18 [[ 9.94768286e-01 -7.78250032e-02 -6.61764792e-02 2.06900471e+02] [ 7.35078278e-02 9.95151455e-01 -6.53466219e-02 9.66472607e+00] [ 7.09412206e-02 6.01402578e-02 9.95665854e-01 -8.21788415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:206.94, Y:9.57, Z:-82.18 [[ 9.90300219e-01 -7.21017475e-02 -1.18772107e-01 2.06935475e+02] [ 7.81354774e-02 9.95836740e-01 4.69471442e-02 9.57137798e+00] [ 1.14892656e-01 -5.57720825e-02 9.91811047e-01 -8.21797560e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:206.96, Y:9.63, Z:-82.18 [[ 9.90821721e-01 -7.96875966e-02 -1.09188844e-01 2.06958890e+02] [ 7.82679570e-02 9.96783397e-01 -1.72332752e-02 9.62598877e+00] [ 1.10210906e-01 8.52911559e-03 9.93871627e-01 -8.21756541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:206.99, Y:9.62, Z:-82.17 [[ 9.90732492e-01 -8.33256079e-02 -1.07265897e-01 2.06985494e+02] [ 8.29509087e-02 9.96521859e-01 -7.95806727e-03 9.61979961e+00] [ 1.07555922e-01 -1.01348785e-03 9.94198520e-01 -8.21721111e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04864 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:207.01, Y:9.62, Z:-82.17 [[ 9.90663982e-01 -8.62785543e-02 -1.05550397e-01 2.07012187e+02] [ 8.57431224e-02 9.96270943e-01 -9.60861938e-03 9.62246077e+00] [ 1.05985811e-01 4.68692521e-04 9.94367532e-01 -8.21692457e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:207.04, Y:9.62, Z:-82.17 [[ 9.90627069e-01 -8.85382743e-02 -1.04014344e-01 2.07038573e+02] [ 8.85126775e-02 9.96063140e-01 -4.87103218e-03 9.61911690e+00] [ 1.04036127e-01 -4.38121176e-03 9.94563869e-01 -8.21668321e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:207.06, Y:9.66, Z:-82.16 [[ 9.93585242e-01 -9.72500367e-02 -5.77130541e-02 2.07064071e+02] [ 9.39646497e-02 9.93933940e-01 -5.71486452e-02 9.66280692e+00] [ 6.29206710e-02 5.13590636e-02 9.96696160e-01 -8.21631180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.13864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:207.10, Y:9.58, Z:-82.16 [[ 9.89384202e-01 -9.27354152e-02 -1.11888532e-01 2.07096482e+02] [ 9.80732400e-02 9.94242258e-01 4.31737332e-02 9.57675515e+00] [ 1.07240573e-01 -5.36886805e-02 9.92782446e-01 -8.21624306e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:207.12, Y:9.66, Z:-82.16 [[ 9.93061226e-01 -1.03001660e-01 -5.67455657e-02 2.07120346e+02] [ 9.97141274e-02 9.93323732e-01 -5.80091027e-02 9.65926951e+00] [ 6.23417510e-02 5.19482561e-02 9.96702004e-01 -8.21573072e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.19864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:207.15, Y:9.57, Z:-82.15 [[ 9.89046536e-01 -9.51522680e-02 -1.12840580e-01 2.07153359e+02] [ 1.01416293e-01 9.93529614e-01 5.11237836e-02 9.56582105e+00] [ 1.07245914e-01 -6.20076744e-02 9.92297013e-01 -8.21539843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22864 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:207.18, Y:9.61, Z:-82.15 [[ 9.89478523e-01 -9.95585896e-02 -1.04977809e-01 2.07177648e+02] [ 9.90434271e-02 9.95031628e-01 -1.01221545e-02 9.61276255e+00] [ 1.05463988e-01 -3.81707497e-04 9.94423050e-01 -8.21506097e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.25864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:207.20, Y:9.66, Z:-82.15 [[ 9.93441009e-01 -1.02538286e-01 -5.06049618e-02 2.07203308e+02] [ 9.93104271e-02 9.93082829e-01 -6.26413031e-02 9.66011368e+00] [ 5.66780506e-02 5.72048389e-02 9.96752329e-01 -8.21473123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:207.24, Y:9.61, Z:-82.15 [[ 9.93587371e-01 -9.71065173e-02 -5.79176959e-02 2.07235687e+02] [ 9.69581706e-02 9.95273956e-01 -5.37268907e-03 9.61396088e+00] [ 5.81656975e-02 -2.77357827e-04 9.98306904e-01 -8.21474661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.31864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:207.26, Y:9.61, Z:-82.14 [[ 9.93740074e-01 -9.48580008e-02 -5.90137650e-02 2.07263410e+02] [ 9.46981109e-02 9.95490807e-01 -5.50651067e-03 9.61190073e+00] [ 5.92699971e-02 -1.16451738e-04 9.98241982e-01 -8.21449735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:207.29, Y:9.61, Z:-82.14 [[ 9.93862848e-01 -9.41671621e-02 -5.80446776e-02 2.07291068e+02] [ 9.40095192e-02 9.95556399e-01 -5.44670530e-03 9.61267686e+00] [ 5.82996510e-02 -4.34741988e-05 9.98299128e-01 -8.21423390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.37864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:207.32, Y:9.61, Z:-82.14 [[ 9.93934382e-01 -9.35288446e-02 -5.78515372e-02 2.07319298e+02] [ 9.33693574e-02 9.95616570e-01 -5.45971602e-03 9.61178360e+00] [ 5.81085900e-02 2.50386186e-05 9.98310268e-01 -8.21407649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40864 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:207.35, Y:9.48, Z:-82.12 [[ 9.88315051e-01 -8.01889032e-02 -1.29626774e-01 2.07352255e+02] [ 1.00085899e-01 9.82815252e-01 1.55103169e-01 9.47692950e+00] [ 1.14961618e-01 -1.66264608e-01 9.79356884e-01 -8.21248772e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.43864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:207.38, Y:9.60, Z:-82.13 [[ 9.89389790e-01 -8.94983123e-02 -1.14446034e-01 2.07375503e+02] [ 9.14605788e-02 9.95736383e-01 1.20007400e-02 9.59575309e+00] [ 1.12884034e-01 -2.23407102e-02 9.93356979e-01 -8.21311514e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:207.39, Y:9.76, Z:-82.12 [[ 9.94746047e-01 -9.70504822e-02 -3.25807616e-02 2.07389955e+02] [ 8.97930151e-02 9.79991693e-01 -1.77633036e-01 9.75672094e+00] [ 4.91682475e-02 1.73774236e-01 9.83557318e-01 -8.21174104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.49864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:207.43, Y:9.62, Z:-82.13 [[ 9.95200080e-01 -8.36300467e-02 -5.08214134e-02 2.07431769e+02] [ 8.34926872e-02 9.96496716e-01 -4.82351667e-03 9.61949159e+00] [ 5.10467625e-02 5.57147809e-04 9.98696109e-01 -8.21290508e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:207.46, Y:9.62, Z:-82.13 [[ 9.95571719e-01 -7.80300116e-02 -5.24239490e-02 2.07459345e+02] [ 7.78745196e-02 9.96950604e-01 -5.00530577e-03 9.62475611e+00] [ 5.26546517e-02 9.00651026e-04 9.98612375e-01 -8.21264430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.55864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:207.49, Y:9.63, Z:-82.13 [[ 9.95728229e-01 -7.56947503e-02 -5.28734127e-02 2.07487094e+02] [ 7.55317523e-02 9.97130472e-01 -5.07710976e-03 9.62957921e+00] [ 5.31060015e-02 1.06180000e-03 9.98588316e-01 -8.21254308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:207.51, Y:9.63, Z:-82.12 [[ 9.95924678e-01 -7.38003034e-02 -5.18415883e-02 2.07514588e+02] [ 7.36396443e-02 9.97272357e-01 -5.00492930e-03 9.63438450e+00] [ 5.20695482e-02 1.16693648e-03 9.98642779e-01 -8.21225551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.61864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:207.54, Y:9.64, Z:-82.12 [[ 9.96080913e-01 -7.18738211e-02 -5.15457934e-02 2.07541990e+02] [ 7.17109915e-02 9.97412901e-01 -5.00383432e-03 9.64128428e+00] [ 5.17720840e-02 1.28782390e-03 9.98658096e-01 -8.21208078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64864 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:207.57, Y:9.57, Z:-82.11 [[ 9.90719278e-01 -6.58410730e-02 -1.18912849e-01 2.07574259e+02] [ 7.66879489e-02 9.93068764e-01 8.90695710e-02 9.56508662e+00] [ 1.12224200e-01 -9.73621236e-02 9.88901586e-01 -8.21101546e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.67864000000003 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:207.59, Y:9.73, Z:-82.11 [[ 9.96050114e-01 -7.90509864e-02 -4.04365216e-02 2.07589298e+02] [ 7.46059337e-02 9.92022057e-01 -1.01617874e-01 9.73098982e+00] [ 4.81469146e-02 9.81996910e-02 9.94001356e-01 -8.21096496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70864 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:207.63, Y:9.51, Z:-82.10 [[ 9.89783022e-01 -6.35454507e-02 -1.27638337e-01 2.07633715e+02] [ 8.54523068e-02 9.80985106e-01 1.74258787e-01 9.50549004e+00] [ 1.14137954e-01 -1.83385379e-01 9.76392508e-01 -8.20980977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:207.64, Y:9.81, Z:-82.09 [[ 9.96211266e-01 -8.32501753e-02 -2.51499920e-02 2.07638407e+02] [ 7.72162303e-02 9.79775115e-01 -1.84603299e-01 9.80976939e+00] [ 4.00095933e-02 1.81961898e-01 9.82491272e-01 -8.20898473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:207.68, Y:9.67, Z:-82.11 [[ 9.96306472e-01 -7.40187778e-02 -4.35273907e-02 2.07681133e+02] [ 7.39043965e-02 9.97256346e-01 -4.23336504e-03 9.66959728e+00] [ 4.37213151e-02 1.00086345e-03 9.99043265e-01 -8.21076029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:207.71, Y:9.67, Z:-82.11 [[ 9.96210805e-01 -7.43067583e-02 -4.51944461e-02 2.07708904e+02] [ 7.41825843e-02 9.97234877e-01 -4.42087538e-03 9.67354464e+00] [ 4.53979788e-02 1.05148302e-03 9.98968427e-01 -8.21053919e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82864 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:207.74, Y:9.62, Z:-82.10 [[ 9.91813615e-01 -7.09604333e-02 -1.06162000e-01 2.07740227e+02] [ 7.81451152e-02 9.94813062e-01 6.51176808e-02 9.61759579e+00] [ 1.00990566e-01 -7.28806441e-02 9.92214351e-01 -8.20983770e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:207.76, Y:9.68, Z:-82.10 [[ 9.92560823e-01 -7.65908768e-02 -9.46406408e-02 2.07761671e+02] [ 7.57148210e-02 9.97047117e-01 -1.28184663e-02 9.68460749e+00] [ 9.53429556e-02 5.55740832e-03 9.95428971e-01 -8.20958081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.88864 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:207.79, Y:9.67, Z:-82.09 [[ 9.91936531e-01 -7.56682134e-02 -1.01667301e-01 2.07789965e+02] [ 7.68739379e-02 9.97008815e-01 7.98871815e-03 9.67199030e+00] [ 1.00758704e-01 -1.57398672e-02 9.94786379e-01 -8.20918276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91864 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:207.82, Y:9.71, Z:-82.09 [[ 9.93121755e-01 -7.64285550e-02 -8.87009379e-02 2.07815120e+02] [ 7.47153010e-02 9.96951447e-01 -2.24819225e-02 9.70562901e+00] [ 9.01487892e-02 1.56999691e-02 9.95804552e-01 -8.20876251e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.94864 meters Centerline goodness : 0.995976 Centerline is valid? [True, True] Translation: X:207.84, Y:9.70, Z:-82.09 [[ 9.93287466e-01 -7.74239894e-02 -8.59391444e-02 2.07841532e+02] [ 7.68984969e-02 9.96994488e-01 -9.41337776e-03 9.69943281e+00] [ 8.64096745e-02 2.74159910e-03 9.96255917e-01 -8.20861286e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97864 meters Centerline goodness : 0.997150 Centerline is valid? [True, True] Translation: X:207.87, Y:9.64, Z:-82.08 [[ 9.90656968e-01 -7.52259419e-02 -1.13753367e-01 2.07870377e+02] [ 8.28940067e-02 9.94485174e-01 6.42481328e-02 9.64085816e+00] [ 1.08292911e-01 -7.30773328e-02 9.91429447e-01 -8.20830440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.00864 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:207.89, Y:9.77, Z:-82.07 [[ 9.94597565e-01 -8.10688526e-02 -6.48345921e-02 2.07889807e+02] [ 7.50074874e-02 9.93020889e-01 -9.10131393e-02 9.77345385e+00] [ 7.17604350e-02 8.56583669e-02 9.93736929e-01 -8.20748562e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03864 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:207.92, Y:9.71, Z:-82.08 [[ 9.94185873e-01 -8.00362645e-02 -7.20322624e-02 2.07922577e+02] [ 8.00725894e-02 9.96786175e-01 -2.38788571e-03 9.70638769e+00] [ 7.19918808e-02 -3.39380753e-03 9.97399444e-01 -8.20793165e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.06864 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:207.95, Y:9.70, Z:-82.08 [[ 9.93381051e-01 -8.28557216e-02 -7.95551211e-02 2.07950216e+02] [ 8.41607360e-02 9.96364921e-01 1.31876588e-02 9.70027137e+00] [ 7.81732590e-02 -1.97957879e-02 9.96743231e-01 -8.20756732e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09864 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:207.97, Y:9.74, Z:-82.07 [[ 9.94091913e-01 -8.55324090e-02 -6.68242072e-02 2.07974458e+02] [ 8.38849887e-02 9.96107227e-01 -2.70869182e-02 9.73650165e+00] [ 6.88808851e-02 2.13213385e-02 9.97397024e-01 -8.20737050e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.12864 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:208.00, Y:9.73, Z:-82.07 [[ 9.93844587e-01 -8.65591425e-02 -6.91408062e-02 2.08002576e+02] [ 8.62976399e-02 9.96246426e-01 -6.76581649e-03 9.72538756e+00] [ 6.94669243e-02 7.57481708e-04 9.97583968e-01 -8.20728523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15864 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:208.03, Y:9.71, Z:-82.07 [[ 9.93325235e-01 -8.57970194e-02 -7.70963669e-02 2.08032340e+02] [ 8.74272533e-02 9.96007931e-01 1.80188151e-02 9.71022779e+00] [ 7.52426322e-02 -2.46388673e-02 9.96860809e-01 -8.20706288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.18864 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:208.06, Y:9.76, Z:-82.07 [[ 9.94429479e-01 -8.78458752e-02 -5.82504415e-02 2.08055568e+02] [ 8.58172521e-02 9.95643448e-01 -3.64626389e-02 9.75953703e+00] [ 6.11997629e-02 3.12606301e-02 9.97635887e-01 -8.20677325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21864 meters Centerline goodness : 0.996471 Centerline is valid? [True, True] Translation: X:208.09, Y:9.74, Z:-82.07 [[ 9.94391269e-01 -8.72076887e-02 -5.98399879e-02 2.08085168e+02] [ 8.70192382e-02 9.96190020e-01 -5.75298298e-03 9.73749987e+00] [ 6.01137031e-02 5.13485879e-04 9.98191404e-01 -8.20684672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.24864 meters Centerline goodness : 0.996369 Centerline is valid? [True, True] Translation: X:208.11, Y:9.74, Z:-82.07 [[ 9.94292925e-01 -8.68779711e-02 -6.19176707e-02 2.08112732e+02] [ 8.70314394e-02 9.96205541e-01 -2.19191556e-04 9.73668452e+00] [ 6.17017696e-02 -5.17084339e-03 9.98081236e-01 -8.20662215e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27864 meters Centerline goodness : 0.996569 Centerline is valid? [True, True] Translation: X:208.14, Y:9.79, Z:-82.06 [[ 9.96101542e-01 -8.81179030e-02 -4.11742227e-03 2.08135814e+02] [ 8.77180293e-02 9.94363820e-01 -5.95494888e-02 9.79288651e+00] [ 9.34159182e-03 5.89561654e-02 9.98216863e-01 -8.20616189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.30864 meters Centerline goodness : 0.996414 Centerline is valid? [True, True] Translation: X:208.17, Y:9.70, Z:-82.06 [[ 9.93963699e-01 -8.50188835e-02 -6.93394172e-02 2.08173064e+02] [ 8.94581136e-02 9.93954944e-01 6.36460191e-02 9.69693286e+00] [ 6.35091431e-02 -6.94648061e-02 9.95560761e-01 -8.20647387e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33864 meters Centerline goodness : 0.996469 Centerline is valid? [True, True] Translation: X:208.19, Y:9.81, Z:-82.06 [[ 9.96133478e-01 -8.77562318e-02 -4.11546307e-03 2.08191506e+02] [ 8.72667115e-02 9.93804562e-01 -6.88259637e-02 9.81298172e+00] [ 1.01298732e-02 6.82007037e-02 9.97620193e-01 -8.20573674e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.36864 meters Centerline goodness : 0.995433 Centerline is valid? [True, True] Translation: X:208.23, Y:9.72, Z:-82.06 [[ 9.94379849e-01 -8.48319175e-02 -6.33424083e-02 2.08228859e+02] [ 8.81001374e-02 9.94819653e-01 5.07170905e-02 9.71667810e+00] [ 5.87118446e-02 -5.60125277e-02 9.96702321e-01 -8.20627452e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39864 meters Centerline goodness : 0.995931 Centerline is valid? [True, True] Translation: X:208.25, Y:9.72, Z:-82.06 [[ 9.93146660e-01 -8.49419496e-02 -8.02781210e-02 2.08253486e+02] [ 8.90999231e-02 9.94781449e-01 4.97098747e-02 9.72448793e+00] [ 7.56367319e-02 -5.65219705e-02 9.95532195e-01 -8.20576121e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.42864000000003 meters Centerline goodness : 0.995979 Centerline is valid? [True, True] Translation: X:208.27, Y:9.82, Z:-82.05 [[ 9.95406124e-01 -8.48813796e-02 -4.42922128e-02 2.08273684e+02] [ 8.22900627e-02 9.94955624e-01 -5.73729215e-02 9.82207333e+00] [ 4.89386789e-02 5.34645484e-02 9.97369815e-01 -8.20491582e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45864 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:208.31, Y:9.73, Z:-82.05 [[ 9.93788266e-01 -8.22405389e-02 -7.49758317e-02 2.08310094e+02] [ 8.68069114e-02 9.94427212e-01 5.98254153e-02 9.73072256e+00] [ 6.96379328e-02 -6.59622161e-02 9.95389142e-01 -8.20543553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48864 meters Centerline goodness : 0.995638 Centerline is valid? [True, True] Translation: X:208.33, Y:9.78, Z:-82.05 [[ 9.95795423e-01 -8.23166774e-02 -4.01925427e-02 2.08330370e+02] [ 8.27446384e-02 9.96529233e-01 9.10011532e-03 9.77931068e+00] [ 3.93039525e-02 -1.23875706e-02 9.99150513e-01 -8.20501341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51864 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:208.35, Y:9.91, Z:-82.03 [[ 9.96649959e-01 -7.99843432e-02 1.70693675e-02 2.08347157e+02] [ 8.15620148e-02 9.87455368e-01 -1.35201824e-01 9.91090166e+00] [-6.04120941e-03 1.36141105e-01 9.90671037e-01 -8.20294807e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54864 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:208.39, Y:9.77, Z:-82.05 [[ 9.95705687e-01 -7.98149485e-02 -4.69015889e-02 2.08392824e+02] [ 8.21498982e-02 9.95356697e-01 5.01641269e-02 9.76619859e+00] [ 4.26799634e-02 -5.38016672e-02 9.97639114e-01 -8.20512949e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57864 meters Centerline goodness : 0.994162 Centerline is valid? [True, True] Translation: X:208.41, Y:9.86, Z:-82.04 [[ 9.96606199e-01 -8.19131516e-02 8.14368796e-03 2.08412116e+02] [ 8.22273092e-02 9.95253213e-01 -5.20548937e-02 9.86040647e+00] [-3.84105121e-03 5.25478633e-02 9.98611020e-01 -8.20413646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60864 meters Centerline goodness : 0.994510 Centerline is valid? [True, True] Translation: X:208.45, Y:9.74, Z:-82.05 [[ 9.95631190e-01 -8.13326101e-02 -4.58643591e-02 2.08454216e+02] [ 8.58737310e-02 9.90462944e-01 1.07744414e-01 9.73500117e+00] [ 3.66638137e-02 -1.11212243e-01 9.93120135e-01 -8.20499532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.63864 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:208.47, Y:9.92, Z:-82.03 [[ 9.96209644e-01 -8.46644290e-02 1.99569235e-02 2.08465956e+02] [ 8.63329751e-02 9.90403799e-01 -1.07920959e-01 9.91948927e+00] [-1.06283465e-02 1.09234840e-01 9.93959148e-01 -8.20264266e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66864 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:208.51, Y:9.75, Z:-82.05 [[ 9.95383436e-01 -8.62003743e-02 -4.22055686e-02 2.08513331e+02] [ 9.05365702e-02 9.89256791e-01 1.14778616e-01 9.74760281e+00] [ 3.18581856e-02 -1.18069881e-01 9.92494110e-01 -8.20471859e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.69864 meters Centerline goodness : 0.994319 Centerline is valid? [True, True] Translation: X:208.52, Y:9.94, Z:-82.02 [[ 9.95632293e-01 -8.98923621e-02 2.52130981e-02 2.08524156e+02] [ 9.21659409e-02 9.89441439e-01 -1.11852935e-01 9.93795211e+00] [-1.48921596e-02 1.13688183e-01 9.93404862e-01 -8.20205311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72864 meters Centerline goodness : 0.992755 Centerline is valid? [True, True] Translation: X:208.57, Y:9.81, Z:-82.04 [[ 9.94883073e-01 -9.44864097e-02 -3.57769268e-02 2.08569935e+02] [ 9.64030516e-02 9.93749284e-01 5.62922104e-02 9.80904823e+00] [ 3.02344465e-02 -5.94531723e-02 9.97773120e-01 -8.20423465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.75864 meters Centerline goodness : 0.993660 Centerline is valid? [True, True] Translation: X:208.59, Y:9.91, Z:-82.03 [[ 9.94861508e-01 -9.84946936e-02 2.34387499e-02 2.08588822e+02] [ 9.96587937e-02 9.93491049e-01 -5.51693810e-02 9.90699593e+00] [-1.78522969e-02 5.72217712e-02 9.98201866e-01 -8.20283684e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78864 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:208.63, Y:9.87, Z:-82.04 [[ 9.94673252e-01 -1.01418567e-01 1.84226831e-02 2.08626489e+02] [ 1.01400860e-01 9.94843844e-01 1.89518743e-03 9.86555653e+00] [-1.85199000e-02 -1.70163401e-05 9.99828492e-01 -8.20362768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.81864 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:208.66, Y:9.87, Z:-82.04 [[ 9.94266051e-01 -1.05577754e-01 1.69811078e-02 2.08659532e+02] [ 1.05563467e-01 9.94411049e-01 1.73800159e-03 9.86870026e+00] [-1.70696955e-02 6.45486349e-05 9.99854300e-01 -8.20365175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84864 meters Centerline goodness : 0.994019 Centerline is valid? [True, True] Translation: X:208.69, Y:9.87, Z:-82.04 [[ 9.94040217e-01 -1.07766117e-01 1.64472308e-02 2.08692567e+02] [ 1.07753156e-01 9.94176268e-01 1.67478981e-03 9.87312572e+00] [-1.65319321e-02 1.07432597e-04 9.99863333e-01 -8.20362232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.87864 meters Centerline goodness : 0.994657 Centerline is valid? [True, True] Translation: X:208.73, Y:9.88, Z:-82.04 [[ 9.93821419e-01 -1.09835762e-01 1.59716361e-02 2.08725182e+02] [ 1.09823940e-01 9.93949739e-01 1.61806107e-03 9.87748852e+00] [-1.60527245e-02 1.46004260e-04 9.99871136e-01 -8.20367547e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90864 meters Centerline goodness : 0.994112 Centerline is valid? [True, True] Translation: X:208.76, Y:9.83, Z:-82.04 [[ 9.93414059e-01 -1.10081441e-01 -3.17896787e-02 2.08761143e+02] [ 1.11957871e-01 9.91587185e-01 6.49637506e-02 9.82589229e+00] [ 2.43709348e-02 -6.80950079e-02 9.97381134e-01 -8.20415887e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.93864 meters Centerline goodness : 0.994802 Centerline is valid? [True, True] Translation: X:208.78, Y:9.90, Z:-82.03 [[ 9.93783456e-01 -1.10714932e-01 -1.16896251e-02 2.08783342e+02] [ 1.10332805e-01 9.93459296e-01 -2.94159852e-02 9.90498589e+00] [ 1.48699555e-02 2.79433703e-02 9.99498901e-01 -8.20316253e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96864 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:208.82, Y:9.88, Z:-82.04 [[ 9.93544274e-01 -1.12595375e-01 -1.38584781e-02 2.08816272e+02] [ 1.12639965e-01 9.93632779e-01 2.47761985e-03 9.88252022e+00] [ 1.34912695e-02 -4.02264349e-03 9.99900897e-01 -8.20353804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.99864 meters Centerline goodness : 0.996373 Centerline is valid? [True, True] Translation: X:208.85, Y:9.89, Z:-82.03 [[ 9.93516118e-01 -1.13216443e-01 -1.03807233e-02 2.08848073e+02] [ 1.13180364e-01 9.93566401e-01 -4.00142068e-03 9.88996174e+00] [ 1.07669645e-02 2.80058190e-03 9.99938113e-01 -8.20339481e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02864 meters Centerline goodness : 0.995836 Centerline is valid? [True, True] Translation: X:208.88, Y:9.92, Z:-82.03 [[ 9.92666032e-01 -1.17816323e-01 2.70825392e-02 2.08877295e+02] [ 1.18778004e-01 9.92224948e-01 -3.71676952e-02 9.91544005e+00] [-2.24930099e-02 4.01119185e-02 9.98941990e-01 -8.20294023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.05864 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:208.92, Y:9.80, Z:-82.04 [[ 9.92866605e-01 -1.17744201e-01 -1.87672227e-02 2.08919191e+02] [ 1.19039847e-01 9.87819547e-01 1.00210068e-01 9.80177995e+00] [ 6.73947496e-03 -1.01729278e-01 9.94789291e-01 -8.20403586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08864 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:208.94, Y:9.96, Z:-82.02 [[ 9.92213241e-01 -1.19525482e-01 3.50220568e-02 2.08935829e+02] [ 1.22384563e-01 9.87834184e-01 -9.59460429e-02 9.96210232e+00] [-2.31279879e-02 9.94850933e-02 9.94770231e-01 -8.20184545e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.11864 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:208.98, Y:9.85, Z:-82.04 [[ 9.92733764e-01 -1.19852294e-01 -1.07285286e-02 2.08979491e+02] [ 1.20157933e-01 9.92141050e-01 3.49028474e-02 9.85172382e+00] [ 6.46102725e-03 -3.59383529e-02 9.99333123e-01 -8.20377466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14864 meters Centerline goodness : 0.997156 Centerline is valid? [True, True] Translation: X:209.01, Y:9.91, Z:-82.03 [[ 9.92423090e-01 -1.19919676e-01 2.67522382e-02 2.09006054e+02] [ 1.20762988e-01 9.92148751e-01 -3.25139532e-02 9.90740027e+00] [-2.26431369e-02 3.54982781e-02 9.99113187e-01 -8.20301195e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.17864000000003 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:209.04, Y:9.88, Z:-82.03 [[ 9.93088122e-01 -1.14688367e-01 2.49511495e-02 2.09042454e+02] [ 1.14662276e-01 9.93401439e-01 2.47861886e-03 9.87534551e+00] [-2.50707766e-02 3.99468636e-04 9.99685599e-01 -8.20334866e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20864 meters Centerline goodness : 0.997497 Centerline is valid? [True, True] Translation: X:209.08, Y:9.88, Z:-82.03 [[ 9.93584240e-01 -1.10531796e-01 2.39390974e-02 2.09075973e+02] [ 1.10506862e-01 9.93872545e-01 2.36605773e-03 9.87708991e+00] [-2.40539362e-02 2.94556852e-04 9.99710619e-01 -8.20330687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23864 meters Centerline goodness : 0.996124 Centerline is valid? [True, True] Translation: X:209.11, Y:9.83, Z:-82.04 [[ 9.94323161e-01 -1.03851608e-01 -2.31580345e-02 2.09112390e+02] [ 1.05010086e-01 9.92881564e-01 5.62057030e-02 9.83245105e+00] [ 1.71561329e-02 -5.83184595e-02 9.98150602e-01 -8.20357558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26864 meters Centerline goodness : 0.997057 Centerline is valid? [True, True] Translation: X:209.13, Y:9.92, Z:-82.03 [[ 9.94540113e-01 -9.91343909e-02 3.25934994e-02 2.09132337e+02] [ 1.00767248e-01 9.93497609e-01 -5.29949357e-02 9.92025705e+00] [-2.71279430e-02 5.59899465e-02 9.98062724e-01 -8.20281158e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:209.17, Y:9.88, Z:-82.03 [[ 9.94992750e-01 -9.59564022e-02 2.79606386e-02 2.09169666e+02] [ 9.59171167e-02 9.95385537e-01 2.74597322e-03 9.87701444e+00] [-2.80951090e-02 -5.03196069e-05 9.99605253e-01 -8.20344434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32864 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:209.20, Y:9.88, Z:-82.03 [[ 9.95250607e-01 -9.31041778e-02 2.84225660e-02 2.09202960e+02] [ 9.30628527e-02 9.95656366e-01 2.77619907e-03 9.88032765e+00] [-2.85575845e-02 -1.17928738e-04 9.99592142e-01 -8.20341170e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35864 meters Centerline goodness : 0.997010 Centerline is valid? [True, True] Translation: X:209.24, Y:9.89, Z:-82.03 [[ 9.95782392e-01 -8.74084151e-02 2.78782666e-02 2.09235614e+02] [ 8.73668355e-02 9.96172526e-01 2.70838836e-03 9.88690394e+00] [-2.80082992e-02 -2.61329511e-04 9.99607656e-01 -8.20338056e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.38864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:209.27, Y:9.86, Z:-82.04 [[ 9.96312032e-01 -8.56410480e-02 -5.28644497e-03 2.09270619e+02] [ 8.57752316e-02 9.95682036e-01 3.54949684e-02 9.86240293e+00] [ 2.22379199e-03 -3.58175102e-02 9.99355873e-01 -8.20364311e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41864 meters Centerline goodness : 0.996564 Centerline is valid? [True, True] Translation: X:209.30, Y:9.92, Z:-82.03 [[ 9.96171275e-01 -8.11690075e-02 3.24712793e-02 2.09296938e+02] [ 8.22159976e-02 9.96090244e-01 -3.23226746e-02 9.92463008e+00] [-2.97207251e-02 3.48685786e-02 9.98949879e-01 -8.20309430e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.44864 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:209.33, Y:9.90, Z:-82.03 [[ 9.96402629e-01 -7.95412619e-02 2.92401777e-02 2.09332412e+02] [ 7.94929469e-02 9.96831460e-01 2.81294069e-03 9.90194738e+00] [-2.93712739e-02 -4.78433609e-04 9.99568457e-01 -8.20347506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47864 meters Centerline goodness : 0.997788 Centerline is valid? [True, True] Translation: X:209.37, Y:9.91, Z:-82.04 [[ 9.96500300e-01 -7.79141462e-02 3.02743673e-02 2.09365244e+02] [ 7.78620979e-02 9.96959932e-01 2.89611270e-03 9.90784572e+00] [-3.04079793e-02 -5.28751429e-04 9.99537431e-01 -8.20356748e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.50864 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:209.40, Y:9.92, Z:-82.04 [[ 9.96672433e-01 -7.52390842e-02 3.13550888e-02 2.09397380e+02] [ 7.51824616e-02 9.97165333e-01 2.98259434e-03 9.91654360e+00] [-3.14906153e-02 -6.15316796e-04 9.99503858e-01 -8.20355077e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53864 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:209.43, Y:9.87, Z:-82.04 [[ 9.97165666e-01 -7.44102242e-02 -1.11244707e-02 2.09434077e+02] [ 7.49686420e-02 9.95166796e-01 6.34251615e-02 9.87140805e+00] [ 6.35122335e-03 -6.40793799e-02 9.97924594e-01 -8.20381792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.56864 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:209.45, Y:9.98, Z:-82.03 [[ 9.96669832e-01 -7.24660584e-02 3.73887278e-02 2.09454805e+02] [ 7.46079006e-02 9.95437250e-01 -5.94839648e-02 9.98263839e+00] [-3.29075639e-02 6.20753677e-02 9.97528817e-01 -8.20270296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59864 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:209.50, Y:9.90, Z:-82.04 [[ 9.97291621e-01 -7.30921964e-02 -8.18256382e-03 2.09495794e+02] [ 7.34206376e-02 9.95938206e-01 5.21200558e-02 9.89717331e+00] [ 4.33975858e-03 -5.25796639e-02 9.98607303e-01 -8.20391288e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.62864 meters Centerline goodness : 0.996519 Centerline is valid? [True, True] Translation: X:209.52, Y:9.99, Z:-82.03 [[ 9.96644696e-01 -7.19731478e-02 3.89771220e-02 2.09518134e+02] [ 7.38146753e-02 9.96112776e-01 -4.80700574e-02 9.98694791e+00] [-3.53658559e-02 5.07858514e-02 9.98083190e-01 -8.20294972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65864 meters Centerline goodness : 0.997302 Centerline is valid? [True, True] Translation: X:209.56, Y:9.92, Z:-82.04 [[ 9.97114109e-01 -7.58640149e-02 -2.84696718e-03 2.09557016e+02] [ 7.59139252e-02 9.96007331e-01 4.69731126e-02 9.91663195e+00] [-7.27968737e-04 -4.70536778e-02 9.98892097e-01 -8.20407460e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.68864 meters Centerline goodness : 0.996909 Centerline is valid? [True, True] Translation: X:209.58, Y:9.97, Z:-82.03 [[ 9.97048539e-01 -7.63549013e-02 8.00876896e-03 2.09583021e+02] [ 7.64755265e-02 9.96942645e-01 -1.60267678e-02 9.97354086e+00] [-6.76056103e-03 1.65919402e-02 9.99839488e-01 -8.20339962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71864 meters Centerline goodness : 0.996898 Centerline is valid? [True, True] Translation: X:209.61, Y:9.99, Z:-82.03 [[ 9.95734871e-01 -8.17518294e-02 4.27633575e-02 2.09612676e+02] [ 8.28879625e-02 9.96232487e-01 -2.55032911e-02 9.99237572e+00] [-4.05173053e-02 2.89390839e-02 9.98759669e-01 -8.20325122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.74864 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:209.65, Y:9.97, Z:-82.04 [[ 9.95630690e-01 -8.43430751e-02 4.00721092e-02 2.09647512e+02] [ 8.42605750e-02 9.96436712e-01 3.74629645e-03 9.97420911e+00] [-4.02452949e-02 -3.53428763e-04 9.99189767e-01 -8.20376640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77864 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:209.68, Y:9.96, Z:-82.04 [[ 9.96173860e-01 -8.73174370e-02 3.64782865e-03 2.09680684e+02] [ 8.72018291e-02 9.95885302e-01 2.46638535e-02 9.95845272e+00] [-5.78640341e-03 -2.42513888e-02 9.99689146e-01 -8.20420261e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.80864 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:209.71, Y:10.00, Z:-82.04 [[ 9.94778521e-01 -9.17638815e-02 4.46663550e-02 2.09708854e+02] [ 9.27266551e-02 9.95491155e-01 -1.99781795e-02 9.99988017e+00] [-4.26316860e-02 2.40156256e-02 9.98802177e-01 -8.20368937e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83864 meters Centerline goodness : 0.997597 Centerline is valid? [True, True] Translation: X:209.74, Y:9.98, Z:-82.04 [[ 9.94613433e-01 -9.42560768e-02 4.31266912e-02 2.09744018e+02] [ 9.41717525e-02 9.95547981e-01 3.98725194e-03 9.98364600e+00] [-4.33105131e-02 9.55417558e-05 9.99061655e-01 -8.20409108e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.86864 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:209.78, Y:9.99, Z:-82.04 [[ 9.94278921e-01 -9.83583664e-02 4.16540401e-02 2.09777326e+02] [ 9.82842016e-02 9.95151019e-01 3.82960800e-03 9.98671062e+00] [-4.18287345e-02 2.86235568e-04 9.99124754e-01 -8.20419923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89864 meters Centerline goodness : 0.998135 Centerline is valid? [True, True] Translation: X:209.81, Y:9.99, Z:-82.04 [[ 9.94146925e-01 -9.99877036e-02 4.09188375e-02 2.09810676e+02] [ 9.99183809e-02 9.94988604e-01 3.74093113e-03 9.98872912e+00] [-4.10878241e-02 3.69508811e-04 9.99155470e-01 -8.20429776e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.92864000000003 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:209.84, Y:9.95, Z:-82.05 [[ 9.94726879e-01 -1.02557731e-01 -5.90606390e-04 2.09844394e+02] [ 1.02482301e-01 9.93739008e-01 4.44990087e-02 9.95133781e+00] [-3.97680878e-03 -4.43248867e-02 9.99009254e-01 -8.20484843e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:209.87, Y:10.02, Z:-82.04 [[ 9.93861221e-01 -1.01050964e-01 4.50397208e-02 2.09870532e+02] [ 1.02851318e-01 9.93907211e-01 -3.96240088e-02 1.00243947e+01] [-4.07612590e-02 4.40131604e-02 9.98199059e-01 -8.20384390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:209.91, Y:9.99, Z:-82.05 [[ 9.94069262e-01 -1.00445810e-01 4.16766290e-02 2.09906401e+02] [ 1.00376049e-01 9.94942435e-01 3.76839152e-03 9.99266178e+00] [-4.18443659e-02 4.37293167e-04 9.99124045e-01 -8.20450588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01864 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:209.94, Y:10.00, Z:-82.05 [[ 9.94327129e-01 -9.77404925e-02 4.19566146e-02 2.09939490e+02] [ 9.76680334e-02 9.95211877e-01 3.77827687e-03 9.99503003e+00] [-4.21250118e-02 3.40976846e-04 9.99112290e-01 -8.20469363e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:209.97, Y:10.00, Z:-82.05 [[ 9.94553243e-01 -9.54637771e-02 4.18391351e-02 2.09972286e+02] [ 9.53903696e-02 9.95432871e-01 3.75199475e-03 9.99750083e+00] [-4.20062300e-02 2.59492018e-04 9.99117315e-01 -8.20473669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:210.00, Y:10.00, Z:-82.05 [[ 9.94722912e-01 -9.41690346e-02 4.07249491e-02 2.10004738e+02] [ 9.40992544e-02 9.95556199e-01 3.63123357e-03 1.00004381e+01] [-4.08859252e-02 2.20116109e-04 9.99163797e-01 -8.20484155e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:210.04, Y:10.00, Z:-82.05 [[ 9.95057786e-01 -9.04566351e-02 4.09585203e-02 2.10037852e+02] [ 9.03837838e-02 9.95900391e-01 3.63076008e-03 1.00047868e+01] [-4.11190327e-02 8.91699625e-05 9.99154251e-01 -8.20489707e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.13864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:210.07, Y:10.01, Z:-82.05 [[ 9.95078472e-01 -9.02281736e-02 4.09598717e-02 2.10071242e+02] [ 9.01557584e-02 9.95921115e-01 3.61546440e-03 1.00078304e+01] [-4.11190178e-02 9.50974993e-05 9.99154251e-01 -8.20496624e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16864 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:210.10, Y:10.01, Z:-82.05 [[ 9.95180687e-01 -8.86645036e-02 4.18808475e-02 2.10104258e+02] [ 8.85880853e-02 9.96061546e-01 3.68070080e-03 1.00105254e+01] [-4.20422492e-02 4.71817392e-05 9.99115833e-01 -8.20507412e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.19864 meters Centerline goodness : 0.997158 Centerline is valid? [True, True] Translation: X:210.14, Y:10.01, Z:-82.05 [[ 9.95115205e-01 -8.83139549e-02 4.41177228e-02 2.10137552e+02] [ 8.82298577e-02 9.96092687e-01 3.85359214e-03 1.00108811e+01] [-4.42856670e-02 5.77322650e-05 9.99018907e-01 -8.20494246e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22864 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:210.17, Y:9.91, Z:-82.06 [[ 9.95791052e-01 -9.10195840e-02 -1.07525080e-02 2.10173920e+02] [ 9.16513164e-02 9.88305006e-01 1.21873917e-01 9.91294310e+00] [-4.66155755e-04 -1.22346437e-01 9.92487346e-01 -8.20564417e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.25864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:210.19, Y:10.11, Z:-82.03 [[ 9.94768208e-01 -8.51735556e-02 5.64063662e-02 2.10190908e+02] [ 9.11870466e-02 9.89241097e-01 -1.14398317e-01 1.01090351e+01] [-4.60557841e-02 1.18943339e-01 9.91832318e-01 -8.20285757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:210.23, Y:10.02, Z:-82.05 [[ 9.94997080e-01 -8.78607898e-02 4.75530548e-02 2.10231456e+02] [ 8.77646367e-02 9.96132760e-01 4.11022513e-03 1.00157220e+01] [-4.77302833e-02 8.38145757e-05 9.98860257e-01 -8.20493265e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.31864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:210.27, Y:9.98, Z:-82.05 [[ 9.96095016e-01 -8.82668293e-02 1.91967961e-03 2.10265642e+02] [ 8.80627934e-02 9.94873648e-01 4.97128728e-02 9.97700554e+00] [-6.29783631e-03 -4.93496925e-02 9.98761706e-01 -8.20534882e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34864 meters Centerline goodness : 0.997839 Centerline is valid? [True, True] Translation: X:210.29, Y:9.98, Z:-82.05 [[ 9.95766735e-01 -9.02442093e-02 -1.74525411e-02 2.10293673e+02] [ 9.10184879e-02 9.94576472e-01 5.03316537e-02 9.97582175e+00] [ 1.28157465e-02 -5.17070904e-02 9.98580059e-01 -8.20529157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.37864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:210.31, Y:10.10, Z:-82.03 [[ 9.94595927e-01 -8.45565842e-02 6.02422294e-02 2.10314713e+02] [ 9.00401955e-02 9.91394179e-01 -9.50281290e-02 1.00997371e+01] [-5.16885416e-02 9.99388121e-02 9.93650104e-01 -8.20342078e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:210.35, Y:10.02, Z:-82.05 [[ 9.94815621e-01 -8.79855102e-02 5.09944155e-02 2.10354368e+02] [ 8.78779593e-02 9.96121743e-01 4.35171431e-03 1.00213374e+01] [-5.11795338e-02 1.52131790e-04 9.98689457e-01 -8.20511540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.43864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:210.39, Y:10.02, Z:-82.05 [[ 9.94878551e-01 -8.69748798e-02 5.14979453e-02 2.10387410e+02] [ 8.68652403e-02 9.96210497e-01 4.36762686e-03 1.00223925e+01] [-5.16826675e-02 1.28123108e-04 9.98663550e-01 -8.20519478e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:210.42, Y:9.98, Z:-82.05 [[ 9.96131531e-01 -8.77746874e-02 4.19254811e-03 2.10420348e+02] [ 8.74049613e-02 9.94604541e-01 5.58764644e-02 9.97894158e+00] [-9.07446658e-03 -5.52938585e-02 9.98428887e-01 -8.20547820e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.49864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:210.45, Y:10.02, Z:-82.05 [[ 9.96252480e-01 -8.57260452e-02 1.14908990e-02 2.10448519e+02] [ 8.57001821e-02 9.96317244e-01 2.72546694e-03 1.00235664e+01] [-1.16822244e-02 -1.73048106e-03 9.99930263e-01 -8.20501337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:210.48, Y:10.03, Z:-82.05 [[ 9.96210272e-01 -8.54676982e-02 1.61358953e-02 2.10479447e+02] [ 8.55826541e-02 9.96309398e-01 -6.57219079e-03 1.00326836e+01] [-1.55146341e-02 7.92823672e-03 9.99848208e-01 -8.20500322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.55864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:210.51, Y:10.07, Z:-82.05 [[ 9.94478500e-01 -8.40158980e-02 6.28795825e-02 2.10508869e+02] [ 8.68102924e-02 9.95291734e-01 -4.31084384e-02 1.00677394e+01] [-5.89617346e-02 4.83290101e-02 9.97089675e-01 -8.20461190e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:210.55, Y:9.99, Z:-82.06 [[ 9.95885805e-01 -9.00823713e-02 9.83001192e-03 2.10545043e+02] [ 8.94537007e-02 9.94625297e-01 5.21397631e-02 9.98878647e+00] [-1.44740520e-02 -5.10459190e-02 9.98591416e-01 -8.20563591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.61864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:210.57, Y:10.07, Z:-82.05 [[ 9.94254268e-01 -8.75152028e-02 6.16404005e-02 2.10571815e+02] [ 9.03669006e-02 9.94886857e-01 -4.50995069e-02 1.00695808e+01] [-5.73783318e-02 5.04106292e-02 9.97078982e-01 -8.20491326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:210.61, Y:9.99, Z:-82.06 [[ 9.95645693e-01 -9.26155656e-02 1.05834832e-02 2.10607572e+02] [ 9.19661028e-02 9.94466523e-01 5.07796279e-02 9.99014002e+00] [-1.52279037e-02 -4.95851961e-02 9.98653804e-01 -8.20580472e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.67864000000003 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:210.63, Y:10.07, Z:-82.05 [[ 9.93976328e-01 -8.88292198e-02 6.41905756e-02 2.10634252e+02] [ 9.17246307e-02 9.94826918e-01 -4.36576953e-02 1.00724600e+01] [-5.99804335e-02 4.92825725e-02 9.96982234e-01 -8.20496735e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:210.67, Y:10.03, Z:-82.06 [[ 9.93649817e-01 -9.38141392e-02 6.21204283e-02 2.10670209e+02] [ 9.36797542e-02 9.95589428e-01 5.07875731e-03 1.00346254e+01] [-6.23229009e-02 7.72920168e-04 9.98055739e-01 -8.20555670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:210.70, Y:10.03, Z:-82.06 [[ 9.93493878e-01 -9.51958343e-02 6.25113382e-02 2.10703395e+02] [ 9.50645018e-02 9.95458160e-01 5.07858994e-03 1.00345969e+01] [-6.27108824e-02 8.97061216e-04 9.98031332e-01 -8.20567356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:210.74, Y:9.93, Z:-82.06 [[ 9.94528106e-01 -1.03601117e-01 1.34407840e-02 2.10739656e+02] [ 1.01211274e-01 9.87384568e-01 1.21770247e-01 9.93470217e+00] [-2.58867563e-02 -1.19743574e-01 9.92467305e-01 -8.20599026e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:210.76, Y:10.13, Z:-82.04 [[ 9.92709435e-01 -9.62063640e-02 7.26106979e-02 2.10759835e+02] [ 1.03973881e-01 9.88240577e-01 -1.12115983e-01 1.01271651e+01] [-6.09705669e-02 1.18848210e-01 9.91038694e-01 -8.20423913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:210.80, Y:10.03, Z:-82.06 [[ 9.92671964e-01 -1.02316576e-01 6.42937843e-02 2.10800272e+02] [ 1.02196641e-01 9.94750833e-01 5.16004117e-03 1.00334130e+01] [-6.44842533e-02 1.44838062e-03 9.97917674e-01 -8.20595757e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:210.83, Y:10.03, Z:-82.06 [[ 9.92415067e-01 -1.04960883e-01 6.39964663e-02 2.10833942e+02] [ 1.04849600e-01 9.94474991e-01 5.10420062e-03 1.00288725e+01] [-6.41786267e-02 1.64451830e-03 9.97937072e-01 -8.20607322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.88864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:210.87, Y:10.03, Z:-82.06 [[ 9.92259409e-01 -1.06218658e-01 6.43339815e-02 2.10866713e+02] [ 1.06110918e-01 9.94341226e-01 5.09892473e-03 1.00281429e+01] [-6.45115310e-02 1.76708177e-03 9.97915397e-01 -8.20623473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:210.90, Y:10.02, Z:-82.07 [[ 9.92160664e-01 -1.08692471e-01 6.16697973e-02 2.10900210e+02] [ 1.08600080e-01 9.94073650e-01 4.85804171e-03 1.00220462e+01] [-6.18323531e-02 1.87738703e-03 9.98084784e-01 -8.20650418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.94864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:210.93, Y:10.02, Z:-82.07 [[ 9.92008999e-01 -1.10050739e-01 6.17007422e-02 2.10933825e+02] [ 1.09962764e-01 9.93923972e-01 4.83002396e-03 1.00188033e+01] [-6.18573945e-02 1.99335695e-03 9.98083007e-01 -8.20673961e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:210.97, Y:9.94, Z:-82.07 [[ 9.93305373e-01 -1.15006450e-01 1.08606050e-02 2.10967602e+02] [ 1.13624755e-01 9.89649428e-01 8.76551427e-02 9.94427495e+00] [-2.08290984e-02 -8.58342907e-02 9.96091674e-01 -8.20654409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.00864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:210.99, Y:10.07, Z:-82.06 [[ 9.91709263e-01 -1.07083097e-01 7.10348426e-02 2.10992308e+02] [ 1.12603197e-01 9.90503952e-01 -7.88824513e-02 1.00717088e+01] [-6.19133151e-02 8.62272080e-02 9.94349843e-01 -8.20612356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.03, Y:10.00, Z:-82.07 [[ 9.91855926e-01 -1.09411502e-01 6.51992761e-02 2.11030963e+02] [ 1.09316299e-01 9.93994255e-01 5.03664468e-03 1.00009882e+01] [-6.53587727e-02 2.13171768e-03 9.97859553e-01 -8.20685934e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.06864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.06, Y:10.00, Z:-82.07 [[ 9.92246687e-01 -1.06929238e-01 6.33454889e-02 2.11063956e+02] [ 1.06835903e-01 9.94264747e-01 4.86854717e-03 9.99808485e+00] [-6.35027765e-02 1.93677271e-03 9.97979783e-01 -8.20704429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:211.10, Y:9.99, Z:-82.07 [[ 9.92850789e-01 -1.01715437e-01 6.24602380e-02 2.11098068e+02] [ 1.01615586e-01 9.94812249e-01 4.78141375e-03 9.98963227e+00] [-6.26225534e-02 1.59970328e-03 9.98036000e-01 -8.20725332e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.12864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:211.13, Y:9.87, Z:-82.06 [[ 9.94845005e-01 -1.01211743e-01 6.29274322e-03 2.11134443e+02] [ 9.92620688e-02 9.84619928e-01 1.43772873e-01 9.86670180e+00] [-2.07474635e-02 -1.42407094e-01 9.89590704e-01 -8.20621098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:211.15, Y:10.09, Z:-82.06 [[ 9.93622841e-01 -8.18574516e-02 7.75435880e-02 2.11152289e+02] [ 9.15778404e-02 9.87082652e-01 -1.31458497e-01 1.00923952e+01] [-6.57810729e-02 1.37721440e-01 9.88284198e-01 -8.20632397e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.18864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:211.20, Y:9.85, Z:-82.06 [[ 9.95702815e-01 -9.22841749e-02 7.71590636e-03 2.11196616e+02] [ 8.98496365e-02 9.82882863e-01 1.60836318e-01 9.85226290e+00] [-2.24264790e-02 -1.59451903e-01 9.86950933e-01 -8.20573177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:211.22, Y:9.98, Z:-82.07 [[ 9.96555667e-01 -7.99245083e-02 2.21105455e-02 2.11222544e+02] [ 7.97498014e-02 9.96777164e-01 8.67496120e-03 9.97640799e+00] [-2.27326288e-02 -6.88177013e-03 9.99717895e-01 -8.20657355e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.24864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:211.25, Y:9.99, Z:-82.06 [[ 9.97349651e-01 -7.11263210e-02 1.53205782e-02 2.11249518e+02] [ 7.12044037e-02 9.97451082e-01 -4.61218518e-03 9.98852569e+00] [-1.49534795e-02 5.69085392e-03 9.99871996e-01 -8.20640687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:211.28, Y:10.04, Z:-82.06 [[ 9.96965979e-01 -6.35991696e-02 4.48774199e-02 2.11275182e+02] [ 6.64103909e-02 9.95724089e-01 -6.42121388e-02 1.00405197e+01] [-4.06016893e-02 6.69976448e-02 9.96926687e-01 -8.20647345e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.30864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:211.31, Y:10.00, Z:-82.07 [[ 9.97147531e-01 -6.03050454e-02 4.53883484e-02 2.11307837e+02] [ 6.08475366e-02 9.98090085e-01 -1.06657990e-02 9.99972453e+00] [-4.46584590e-02 1.33971443e-02 9.98912478e-01 -8.20690250e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:211.34, Y:10.00, Z:-82.07 [[ 9.97177809e-01 -5.73134735e-02 4.84931153e-02 2.11338720e+02] [ 5.74907296e-02 9.98343466e-01 -2.26729210e-03 9.99655686e+00] [-4.82828384e-02 5.04879795e-03 9.98820943e-01 -8.20698635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:211.37, Y:10.04, Z:-82.07 [[ 9.94453824e-01 -5.15224381e-02 9.16898545e-02 2.11365831e+02] [ 5.62290950e-02 9.97189555e-01 -4.95104000e-02 1.00414617e+01] [-8.88812687e-02 5.43914442e-02 9.94556027e-01 -8.20714948e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:211.41, Y:9.88, Z:-82.06 [[ 9.98124497e-01 -6.00717761e-02 1.17843433e-02 2.11408711e+02] [ 5.73569500e-02 9.84973303e-01 1.62904185e-01 9.87746337e+00] [-2.13932073e-02 -1.61922744e-01 9.86571516e-01 -8.20598567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.42864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:211.42, Y:10.14, Z:-82.06 [[ 9.94407808e-01 -3.24944703e-02 1.00484931e-01 2.11423981e+02] [ 4.74939120e-02 9.87439675e-01 -1.50689139e-01 1.01405691e+01] [-9.43262437e-02 1.54618879e-01 9.83461012e-01 -8.20621806e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:211.46, Y:10.02, Z:-82.08 [[ 9.95344244e-01 -3.79430822e-02 8.86011173e-02 2.11464663e+02] [ 3.75101460e-02 9.99274801e-01 6.54684734e-03 1.00236905e+01] [-8.87852714e-02 -3.19292597e-03 9.96045672e-01 -8.20762370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:211.50, Y:10.03, Z:-82.08 [[ 9.95468273e-01 -3.54309463e-02 8.82471858e-02 2.11497114e+02] [ 3.49956608e-02 9.99366486e-01 6.47533707e-03 1.00302439e+01] [-8.84207073e-02 -3.35772403e-03 9.96077559e-01 -8.20785416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:211.53, Y:9.98, Z:-82.07 [[ 9.98298143e-01 -3.85265423e-02 4.37781141e-02 2.11531620e+02] [ 3.51811661e-02 9.96579697e-01 7.47742819e-02 9.98029506e+00] [-4.65091742e-02 -7.31068616e-02 9.96239069e-01 -8.20746909e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:211.56, Y:10.04, Z:-82.08 [[ 9.98143800e-01 -3.42681588e-02 5.03452844e-02 2.11558120e+02] [ 3.37757220e-02 9.99373225e-01 1.05998574e-02 1.00415821e+01] [-5.06769668e-02 -8.87973363e-03 9.98675621e-01 -8.20756892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:211.59, Y:10.06, Z:-82.08 [[ 9.97866916e-01 -3.79219416e-02 5.31370346e-02 2.11586942e+02] [ 3.81817650e-02 9.99263267e-01 -3.88273091e-03 1.00586367e+01] [-5.29506461e-02 5.90331448e-03 9.98579681e-01 -8.20768337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60864 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:211.62, Y:10.04, Z:-82.08 [[ 9.97903883e-01 -4.26846005e-02 4.86401603e-02 2.11617640e+02] [ 4.18332528e-02 9.98955366e-01 1.83890290e-02 1.00441096e+01] [-4.93742775e-02 -1.63157073e-02 9.98647074e-01 -8.20779087e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.63864 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:211.65, Y:10.01, Z:-82.08 [[ 9.98353370e-01 -5.00304095e-02 2.80625557e-02 2.11648797e+02] [ 4.81170180e-02 9.96714754e-01 6.51494549e-02 1.00099084e+01] [-3.12298172e-02 -6.36918914e-02 9.97480848e-01 -8.20778661e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:211.67, Y:10.13, Z:-82.07 [[ 9.96698623e-01 -4.08928499e-02 7.01400770e-02 2.11671059e+02] [ 4.65408788e-02 9.95636813e-01 -8.08781984e-02 1.01346219e+01] [-6.65267027e-02 8.38755697e-02 9.94253029e-01 -8.20732081e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.69864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:211.71, Y:10.00, Z:-82.08 [[ 9.97691501e-01 -5.87914058e-02 3.39888035e-02 2.11707768e+02] [ 5.55363864e-02 9.94404698e-01 8.98610439e-02 9.99931045e+00] [-3.90816829e-02 -8.77659845e-02 9.95374178e-01 -8.20795572e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:211.73, Y:10.14, Z:-82.08 [[ 9.96016858e-01 -4.75157579e-02 7.54497904e-02 2.11729672e+02] [ 5.33897381e-02 9.95534772e-01 -7.78463403e-02 1.01376207e+01] [-7.14139621e-02 8.15645118e-02 9.94106270e-01 -8.20750553e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.75864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:211.76, Y:10.09, Z:-82.09 [[ 9.95289021e-01 -5.62825631e-02 7.89432600e-02 2.11762361e+02] [ 5.74270384e-02 9.98273920e-01 -1.23010620e-02 1.00881214e+01] [-7.81146624e-02 1.67765895e-02 9.96803213e-01 -8.20851468e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.79, Y:10.06, Z:-82.09 [[ 9.95530010e-01 -6.32613676e-02 7.01284429e-02 2.11793452e+02] [ 6.16383951e-02 9.97783587e-01 2.50723126e-02 1.00595975e+01] [-7.15591182e-02 -2.06376349e-02 9.97222834e-01 -8.20882750e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.81864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:211.82, Y:10.08, Z:-82.09 [[ 9.94830193e-01 -6.64356406e-02 7.68062029e-02 2.11821525e+02] [ 6.70029925e-02 9.97741080e-01 -4.83075821e-03 1.00824165e+01] [-7.63117694e-02 9.95202956e-03 9.97034338e-01 -8.20896214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.85, Y:10.08, Z:-82.09 [[ 9.94353557e-01 -6.98914770e-02 7.98510187e-02 2.11852791e+02] [ 6.98626442e-02 9.97551621e-01 3.15822444e-03 1.00763029e+01] [-7.98762461e-02 2.43821160e-03 9.96801806e-01 -8.20930878e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.87864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:211.88, Y:10.11, Z:-82.09 [[ 9.90102617e-01 -6.89696816e-02 1.22229257e-01 2.11881990e+02] [ 7.47256599e-02 9.96270322e-01 -4.31453540e-02 1.01137939e+01] [-1.18797660e-01 5.18519898e-02 9.91563658e-01 -8.20946107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.92, Y:10.03, Z:-82.10 [[ 9.94203670e-01 -8.01907628e-02 7.16135789e-02 2.11918395e+02] [ 7.59227746e-02 9.95279235e-01 6.04564104e-02 1.00281156e+01] [-7.61235536e-02 -5.46688835e-02 9.95598573e-01 -8.20990465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.95, Y:10.07, Z:-82.10 [[ 9.94273465e-01 -7.39392076e-02 7.71574340e-02 2.11947695e+02] [ 7.38025942e-02 9.97262148e-01 4.62446561e-03 1.00733323e+01] [-7.72881177e-02 1.09643535e-03 9.97008197e-01 -8.21004524e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:211.98, Y:10.06, Z:-82.10 [[ 9.94328697e-01 -7.45557027e-02 7.58412075e-02 2.11979670e+02] [ 7.36201180e-02 9.97172612e-01 1.50618491e-02 1.00617347e+01] [-7.67497217e-02 -9.39299019e-03 9.97006144e-01 -8.21018500e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.99864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:212.01, Y:10.07, Z:-82.10 [[ 9.94505188e-01 -7.27351069e-02 7.52930023e-02 2.12010123e+02] [ 7.22748568e-02 9.97345725e-01 8.82323560e-03 1.00662981e+01] [-7.57349130e-02 -3.33296261e-03 9.97122417e-01 -8.21036120e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:212.04, Y:10.07, Z:-82.11 [[ 9.94349301e-01 -7.22539149e-02 7.77742843e-02 2.12040656e+02] [ 7.20915632e-02 9.97385997e-01 4.89682938e-03 1.00717332e+01] [-7.79247972e-02 7.37710862e-04 9.96958967e-01 -8.21059869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.07, Y:10.12, Z:-82.11 [[ 9.89422744e-01 -6.33529465e-02 1.30495357e-01 2.12067435e+02] [ 7.14026010e-02 9.95762459e-01 -5.79551007e-02 1.01228455e+01] [-1.26270751e-01 6.66598026e-02 9.89753590e-01 -8.21080896e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:212.10, Y:10.07, Z:-82.12 [[ 9.89661675e-01 -6.87147677e-02 1.25889037e-01 2.12103611e+02] [ 6.81467891e-02 9.97636336e-01 8.81795371e-03 1.00695668e+01] [-1.26197401e-01 -1.47857199e-04 9.92005138e-01 -8.21153326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.14, Y:10.02, Z:-82.12 [[ 9.94096364e-01 -6.91517764e-02 8.36089167e-02 2.12138261e+02] [ 6.41954425e-02 9.96096621e-01 6.05843854e-02 1.00227618e+01] [-8.74720772e-02 -5.48594059e-02 9.94655258e-01 -8.21162326e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.16, Y:10.11, Z:-82.12 [[ 9.89684081e-01 -5.59648742e-02 1.31883863e-01 2.12163651e+02] [ 6.23701349e-02 9.97040592e-01 -4.49446827e-02 1.01097069e+01] [-1.28978242e-01 5.27066513e-02 9.90245738e-01 -8.21190760e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.20, Y:10.07, Z:-82.12 [[ 9.90016816e-01 -5.98857751e-02 1.27594666e-01 2.12199038e+02] [ 5.92480106e-02 9.98204581e-01 8.79134131e-03 1.00687802e+01] [-1.27892056e-01 -1.14384560e-03 9.91787434e-01 -8.21245198e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.23, Y:10.07, Z:-82.13 [[ 9.90651247e-01 -5.07105659e-02 1.26643379e-01 2.12231298e+02] [ 5.00163410e-02 9.98710874e-01 8.65772095e-03 1.00731707e+01] [-1.26919158e-01 -2.24254361e-03 9.91910529e-01 -8.21295650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:212.27, Y:9.92, Z:-82.11 [[ 9.96270307e-01 -6.63264303e-02 5.51931245e-02 2.12271250e+02] [ 5.45671714e-02 9.79787590e-01 1.92454418e-01 9.92441698e+00] [-6.68423530e-02 -1.88724890e-01 9.79752528e-01 -8.21148142e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.29, Y:10.23, Z:-82.12 [[ 9.89978621e-01 -1.40165300e-02 1.40519984e-01 2.12287235e+02] [ 3.86192936e-02 9.84001277e-01 -1.73925380e-01 1.02297887e+01] [-1.35834013e-01 1.77609191e-01 9.74681536e-01 -8.21173632e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.33, Y:10.01, Z:-82.13 [[ 9.96126452e-01 -4.14081833e-02 7.75722502e-02 2.12331137e+02] [ 3.28405136e-02 9.93538720e-01 1.08638452e-01 1.00067596e+01] [-8.15695551e-02 -1.05670123e-01 9.91050066e-01 -8.21289037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.35, Y:10.18, Z:-82.13 [[ 9.90505228e-01 -1.48935738e-02 1.36665926e-01 2.12351407e+02] [ 2.77084648e-02 9.95340940e-01 -9.23507118e-02 1.01766179e+01] [-1.34653759e-01 9.52606658e-02 9.86303083e-01 -8.21320429e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:212.39, Y:10.11, Z:-82.14 [[ 9.91312957e-01 -2.07492525e-02 1.29877211e-01 2.12387825e+02] [ 1.97804719e-02 9.99766103e-01 8.74488516e-03 1.01071307e+01] [-1.30028283e-01 -6.09988544e-03 9.91491521e-01 -8.21435962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.38864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.42, Y:10.12, Z:-82.15 [[ 9.91215481e-01 -1.88438230e-02 1.30907526e-01 2.12420640e+02] [ 1.78518632e-02 9.99802380e-01 8.74705952e-03 1.01157004e+01] [-1.31046484e-01 -6.33327756e-03 9.91355995e-01 -8.21464923e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.45, Y:10.13, Z:-82.15 [[ 9.90778307e-01 -1.80819842e-02 1.34281007e-01 2.12453211e+02] [ 1.70402740e-02 9.99815165e-01 8.90303247e-03 1.01303218e+01] [-1.34417172e-01 -6.53274627e-03 9.90903299e-01 -8.21484189e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.44864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:212.49, Y:10.14, Z:-82.15 [[ 9.90557094e-01 -1.89752899e-02 1.35781376e-01 2.12485547e+02] [ 1.79277633e-02 9.99799373e-01 8.93355038e-03 1.01379001e+01] [-1.35923651e-01 -6.41493533e-03 9.90698546e-01 -8.21517802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:212.52, Y:10.15, Z:-82.16 [[ 9.90354627e-01 -2.05924376e-02 1.37017024e-01 2.12518109e+02] [ 1.95506346e-02 9.99768853e-01 8.94499271e-03 1.01451953e+01] [-1.37169552e-01 -6.17994515e-03 9.90528305e-01 -8.21560032e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.50864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:212.55, Y:10.16, Z:-82.16 [[ 9.90384665e-01 -2.56463962e-02 1.35942923e-01 2.12550312e+02] [ 2.46777028e-02 9.99656670e-01 8.80643575e-03 1.01587370e+01] [-1.36122103e-01 -5.36699987e-03 9.90677530e-01 -8.21603440e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:212.58, Y:10.17, Z:-82.16 [[ 9.90373064e-01 -2.76989579e-02 1.35624343e-01 2.12582829e+02] [ 2.67634490e-02 9.99603791e-01 8.71660857e-03 1.01652087e+01] [-1.35812049e-01 -5.00291914e-03 9.90721988e-01 -8.21634827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.56864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:212.62, Y:10.17, Z:-82.17 [[ 9.89881952e-01 -3.69997759e-02 1.36984446e-01 2.12615224e+02] [ 3.61427632e-02 9.99308425e-01 8.73908617e-03 1.01744464e+01] [-1.37213055e-01 -3.69966730e-03 9.90534649e-01 -8.21668811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:212.65, Y:10.15, Z:-82.17 [[ 9.93594600e-01 -4.50947889e-02 1.03615786e-01 2.12650135e+02] [ 4.05580312e-02 9.98141453e-01 4.54828117e-02 1.01499025e+01] [-1.05474249e-01 -4.09890238e-02 9.93576913e-01 -8.21714151e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.62864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:212.68, Y:10.11, Z:-82.17 [[ 9.94374866e-01 -5.67913233e-02 8.94056533e-02 2.12678401e+02] [ 4.76284412e-02 9.93696863e-01 1.01479433e-01 1.01093359e+01] [-9.46052685e-02 -9.66503455e-02 9.90812068e-01 -8.21734672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:212.70, Y:10.24, Z:-82.17 [[ 9.93626834e-01 -4.56527882e-02 1.03060847e-01 2.12704023e+02] [ 5.13649707e-02 9.97247607e-01 -5.34682131e-02 1.02380898e+01] [-1.00336210e-01 5.84211687e-02 9.93236937e-01 -8.21655337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:212.73, Y:10.21, Z:-82.17 [[ 9.92491790e-01 -5.47147041e-02 1.09390806e-01 2.12733004e+02] [ 5.73139296e-02 9.98140397e-01 -2.07572111e-02 1.02141217e+01] [-1.08051658e-01 2.68709786e-02 9.93782063e-01 -8.21734967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:212.76, Y:10.19, Z:-82.18 [[ 9.91843873e-01 -6.70818288e-02 1.08377853e-01 2.12764578e+02] [ 6.60361997e-02 9.97729749e-01 1.32124424e-02 1.01909990e+01] [-1.09018123e-01 -5.94781844e-03 9.94021968e-01 -8.21783643e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.80, Y:10.20, Z:-82.18 [[ 9.91044662e-01 -6.96330286e-02 1.13937350e-01 2.12795157e+02] [ 6.96587717e-02 9.97563790e-01 3.76026044e-03 1.01998462e+01] [-1.13921614e-01 4.21014985e-03 9.93480820e-01 -8.21801588e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.82, Y:10.24, Z:-82.18 [[ 9.85175678e-01 -7.13704812e-02 1.55997236e-01 2.12823886e+02] [ 7.90257610e-02 9.95926205e-01 -4.34272128e-02 1.02357906e+01] [-1.52262314e-01 5.51112341e-02 9.86802381e-01 -8.21811977e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.86, Y:10.19, Z:-82.19 [[ 9.85026833e-01 -8.09918374e-02 1.52192181e-01 2.12858377e+02] [ 8.04671981e-02 9.96710896e-01 9.61348658e-03 1.01930497e+01] [-1.52470220e-01 2.77693619e-03 9.88304164e-01 -8.21906822e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.89, Y:10.11, Z:-82.20 [[ 9.89685573e-01 -9.72277244e-02 1.05210435e-01 2.12891371e+02] [ 8.52931266e-02 9.89979991e-01 1.12537552e-01 1.01068710e+01] [-1.15097995e-01 -1.02403065e-01 9.88061771e-01 -8.21958862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.86864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:212.92, Y:10.27, Z:-82.19 [[ 9.84217181e-01 -7.26189009e-02 1.61378550e-01 2.12916797e+02] [ 8.83160204e-02 9.91805141e-01 -9.23192410e-02 1.02681282e+01] [-1.53351954e-01 1.05114494e-01 9.82565072e-01 -8.21863410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:212.95, Y:10.19, Z:-82.20 [[ 9.84147460e-01 -8.61147298e-02 1.55042025e-01 2.12953424e+02] [ 8.56573057e-02 9.96278010e-01 9.64120395e-03 1.01853172e+01] [-1.55295210e-01 3.79211579e-03 9.87860829e-01 -8.22016678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.92864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:212.99, Y:10.19, Z:-82.21 [[ 9.84360907e-01 -8.45007891e-02 1.54574324e-01 2.12986333e+02] [ 8.40384459e-02 9.96416893e-01 9.53491384e-03 1.01851478e+01] [-1.54826175e-01 3.60438951e-03 9.87935152e-01 -8.22060149e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.02, Y:10.18, Z:-82.21 [[ 9.84989488e-01 -8.04586386e-02 1.52715800e-01 2.13019116e+02] [ 7.99699163e-02 9.96753425e-01 9.35002555e-03 1.01822822e+01] [-1.52972287e-01 3.00299290e-03 9.88225916e-01 -8.22120673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:213.05, Y:10.14, Z:-82.22 [[ 9.90583179e-01 -8.38203344e-02 1.08254870e-01 2.13052765e+02] [ 7.73850560e-02 9.95050106e-01 6.23445197e-02 1.01355637e+01] [-1.12944758e-01 -5.33801233e-02 9.92166339e-01 -8.22151867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.08, Y:10.18, Z:-82.22 [[ 9.90702297e-01 -7.35276273e-02 1.14466797e-01 2.13080464e+02] [ 7.36057032e-02 9.97281102e-01 3.55014696e-03 1.01790080e+01] [-1.14416607e-01 4.90827032e-03 9.93420731e-01 -8.22153231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.11, Y:10.22, Z:-82.22 [[ 9.85052081e-01 -6.55612481e-02 1.59292564e-01 2.13110968e+02] [ 7.30244147e-02 9.96468308e-01 -4.14529433e-02 1.02172678e+01] [-1.56012285e-01 5.24655543e-02 9.86360752e-01 -8.22179432e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.15, Y:10.17, Z:-82.23 [[ 9.85030317e-01 -7.02483958e-02 1.57418035e-01 2.13146191e+02] [ 6.96210773e-02 9.97528248e-01 9.50264264e-03 1.01723053e+01] [-1.57696482e-01 1.59922207e-03 9.87486335e-01 -8.22271477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.18, Y:10.17, Z:-82.23 [[ 9.85137390e-01 -6.88752143e-02 1.57354780e-01 2.13178810e+02] [ 6.82440468e-02 9.97624212e-01 9.41705900e-03 1.01708599e+01] [-1.57629541e-01 1.46143007e-03 9.87497237e-01 -8.22315914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.21, Y:10.11, Z:-82.23 [[ 9.91477001e-01 -7.66286640e-02 1.05363206e-01 2.13211406e+02] [ 6.84907143e-02 9.94534652e-01 7.88025915e-02 1.01122827e+01] [-1.10825897e-01 -7.09145558e-02 9.91306585e-01 -8.22325329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.24, Y:10.19, Z:-82.24 [[ 9.90886776e-01 -6.08557876e-02 1.20166430e-01 2.13238288e+02] [ 6.27940463e-02 9.97949396e-01 -1.24060738e-02 1.01860908e+01] [-1.19165034e-01 1.98387508e-02 9.92676241e-01 -8.22353867e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.19864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.27, Y:10.17, Z:-82.24 [[ 9.90521147e-01 -5.99739944e-02 1.23575794e-01 2.13269401e+02] [ 6.00337301e-02 9.98191079e-01 3.24357206e-03 1.01744650e+01] [-1.23546786e-01 4.20588918e-03 9.92329835e-01 -8.22403278e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.30, Y:10.17, Z:-82.24 [[ 9.90316647e-01 -5.58271885e-02 1.27107294e-01 2.13300946e+02] [ 5.58666307e-02 9.98432926e-01 3.25747430e-03 1.01747563e+01] [-1.27089963e-01 3.87512523e-03 9.91883625e-01 -8.22435725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.33, Y:10.17, Z:-82.25 [[ 9.90286359e-01 -5.26289255e-02 1.28697798e-01 2.13332522e+02] [ 5.12000490e-02 9.98584766e-01 1.43882270e-02 1.01669838e+01] [-1.29272898e-01 -7.65913130e-03 9.91579475e-01 -8.22453435e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:213.36, Y:10.21, Z:-82.25 [[ 9.85032471e-01 -4.23594305e-02 1.67082944e-01 2.13361104e+02] [ 4.95773825e-02 9.97998124e-01 -3.92661231e-02 1.02142997e+01] [-1.65085174e-01 4.69619413e-02 9.85160627e-01 -8.22479677e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.31864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:213.40, Y:10.15, Z:-82.25 [[ 9.90050266e-01 -5.28412190e-02 1.30415786e-01 2.13396416e+02] [ 4.70146167e-02 9.97770807e-01 4.73607692e-02 1.01450973e+01] [-1.32627665e-01 -4.07580939e-02 9.90327562e-01 -8.22542980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:213.43, Y:10.18, Z:-82.26 [[ 9.89904749e-01 -4.39832548e-02 1.34737004e-01 2.13426059e+02] [ 4.41786644e-02 9.99022458e-01 1.54070227e-03 1.01803214e+01] [-1.34673058e-01 4.42735239e-03 9.90880198e-01 -8.22584045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.37864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.46, Y:10.18, Z:-82.26 [[ 9.89825741e-01 -4.36741790e-02 1.35416279e-01 2.13457873e+02] [ 4.31272364e-02 9.99045265e-01 6.97134081e-03 1.01770408e+01] [-1.35591460e-01 -1.06028270e-03 9.90764267e-01 -8.22625053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.49, Y:10.18, Z:-82.27 [[ 9.89661230e-01 -4.25752249e-02 1.36959849e-01 2.13489711e+02] [ 4.18903804e-02 9.99091138e-01 7.88000626e-03 1.01776547e+01] [-1.37170865e-01 -2.06123650e-03 9.90545257e-01 -8.22657040e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.43864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:213.52, Y:10.18, Z:-82.27 [[ 9.89877858e-01 -4.23216669e-02 1.35464768e-01 2.13521485e+02] [ 4.10289410e-02 9.99081978e-01 1.23218342e-02 1.01750782e+01] [-1.35861889e-01 -6.63913491e-03 9.90705541e-01 -8.22693984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:213.55, Y:10.19, Z:-82.27 [[ 9.89368215e-01 -4.00988842e-02 1.39794903e-01 2.13551621e+02] [ 4.05191412e-02 9.99178750e-01 -1.60216570e-04 1.01866234e+01] [-1.39673671e-01 5.82288258e-03 9.90180468e-01 -8.22740211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.58, Y:10.21, Z:-82.28 [[ 9.84120176e-01 -3.74553413e-02 1.73506707e-01 2.13580117e+02] [ 4.26255059e-02 9.98748393e-01 -2.61670490e-02 1.02122098e+01] [-1.72309449e-01 3.31473320e-02 9.84484996e-01 -8.22793218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:213.61, Y:10.19, Z:-82.29 [[ 9.84331010e-01 -4.15037564e-02 1.71376491e-01 2.13613847e+02] [ 4.04516092e-02 9.99135106e-01 9.62843089e-03 1.01864521e+01] [-1.71627884e-01 -2.54510828e-03 9.85158562e-01 -8.22859283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.55864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:213.65, Y:10.15, Z:-82.29 [[ 9.90181810e-01 -4.80698196e-02 1.31260339e-01 2.13648825e+02] [ 4.03607123e-02 9.97335187e-01 6.07744840e-02 1.01457954e+01] [-1.33831973e-01 -5.48800278e-02 9.89483292e-01 -8.22883378e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.67, Y:10.23, Z:-82.29 [[ 9.83884462e-01 -3.37656368e-02 1.75588290e-01 2.13674567e+02] [ 4.19115532e-02 9.98200248e-01 -4.28915782e-02 1.02323509e+01] [-1.73824013e-01 4.95595352e-02 9.83528884e-01 -8.22916539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.61864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.71, Y:10.14, Z:-82.30 [[ 9.90393389e-01 -5.14837429e-02 1.28336898e-01 2.13710024e+02] [ 4.25015550e-02 9.96515087e-01 7.17725576e-02 1.01418380e+01] [-1.31584775e-01 -6.56285489e-02 9.89130093e-01 -8.22967650e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.74, Y:10.25, Z:-82.30 [[ 9.83558537e-01 -3.28293102e-02 1.77580518e-01 2.13735695e+02] [ 4.29165579e-02 9.97657851e-01 -5.32633195e-02 1.02486934e+01] [-1.75416000e-01 6.00087372e-02 9.82663818e-01 -8.23009221e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.67864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.77, Y:10.20, Z:-82.31 [[ 9.83731227e-01 -4.18765164e-02 1.74697541e-01 2.13770371e+02] [ 4.08250786e-02 9.99120098e-01 9.60954897e-03 1.02015104e+01] [-1.74946239e-01 -2.32117255e-03 9.84575251e-01 -8.23093331e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.80, Y:10.18, Z:-82.31 [[ 9.89240490e-01 -4.63010452e-02 1.38778482e-01 2.13804038e+02] [ 4.08557860e-02 9.98288908e-01 4.18337343e-02 1.01772925e+01] [-1.40477965e-01 -3.57137198e-02 9.89439473e-01 -8.23139649e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.83, Y:10.21, Z:-82.32 [[ 9.88969359e-01 -4.24593843e-02 1.41904218e-01 2.13833876e+02] [ 4.18784394e-02 9.99097633e-01 7.07926071e-03 1.02105520e+01] [-1.42076749e-01 -1.05844474e-03 9.89855079e-01 -8.23172987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:213.86, Y:10.21, Z:-82.32 [[ 9.88505277e-01 -4.38547361e-02 1.44686141e-01 2.13864334e+02] [ 4.34063867e-02 9.99037914e-01 6.25562148e-03 1.02145815e+01] [-1.44821279e-01 9.65877541e-05 9.89457825e-01 -8.23219192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.89, Y:10.19, Z:-82.33 [[ 9.89138644e-01 -5.11569714e-02 1.37795893e-01 2.13893821e+02] [ 4.58569563e-02 9.98091066e-01 4.13686389e-02 1.01894712e+01] [-1.39649144e-01 -3.46004192e-02 9.89596346e-01 -8.23257754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:213.92, Y:10.24, Z:-82.33 [[ 9.88021237e-01 -4.14835833e-02 1.48637639e-01 2.13922854e+02] [ 4.47956065e-02 9.98815417e-01 -1.90030462e-02 1.02405877e+01] [-1.47673251e-01 2.54337264e-02 9.88709126e-01 -8.23291689e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.95, Y:10.23, Z:-82.34 [[ 9.87528023e-01 -4.42341913e-02 1.51101753e-01 2.13954781e+02] [ 4.49816809e-02 9.98986639e-01 -1.53078499e-03 1.02289651e+01] [-1.50880920e-01 8.30850392e-03 9.88517029e-01 -8.23355169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.88864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:213.99, Y:10.23, Z:-82.34 [[ 9.87118097e-01 -4.78420330e-02 1.52672859e-01 2.13986189e+02] [ 4.79813227e-02 9.98844381e-01 2.77399544e-03 1.02271948e+01] [-1.52629141e-01 4.58718461e-03 9.88272889e-01 -8.23405796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.02, Y:10.22, Z:-82.34 [[ 9.86720454e-01 -5.07143524e-02 1.54307487e-01 2.14016776e+02] [ 5.02642353e-02 9.98712671e-01 6.81961264e-03 1.02243727e+01] [-1.54454695e-01 1.02709655e-03 9.87999338e-01 -8.23448598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.94864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.05, Y:10.25, Z:-82.35 [[ 9.80989343e-01 -5.22544140e-02 1.86894046e-01 2.14046848e+02] [ 5.74377761e-02 9.98097229e-01 -2.24237238e-02 1.02476139e+01] [-1.85366691e-01 3.27322124e-02 9.82124123e-01 -8.23493653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:214.08, Y:10.22, Z:-82.36 [[ 9.81010959e-01 -5.73589229e-02 1.85276693e-01 2.14080945e+02] [ 5.65238132e-02 9.98353245e-01 9.79068951e-03 1.02235367e+01] [-1.85533171e-01 8.67771502e-04 9.82637619e-01 -8.23565626e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.00864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:214.11, Y:10.22, Z:-82.36 [[ 9.81175159e-01 -5.88260707e-02 1.83942386e-01 2.14113466e+02] [ 5.80377403e-02 9.98267542e-01 9.67133248e-03 1.02238775e+01] [-1.84192640e-01 1.18632928e-03 9.82889446e-01 -8.23617180e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.15, Y:10.19, Z:-82.37 [[ 9.86709262e-01 -6.37852151e-02 1.49453269e-01 2.14147364e+02] [ 5.69691705e-02 9.97150224e-01 4.94564852e-02 1.01904199e+01] [-1.52181953e-01 -4.02849433e-02 9.87531152e-01 -8.23659628e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.06864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.18, Y:10.22, Z:-82.37 [[ 9.86608066e-01 -5.77093279e-02 1.52558701e-01 2.14177657e+02] [ 5.68608797e-02 9.98332806e-01 9.92216545e-03 1.02215094e+01] [-1.52876957e-01 -1.11466654e-03 9.88244602e-01 -8.23690004e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:214.21, Y:10.26, Z:-82.37 [[ 9.80192555e-01 -5.28526100e-02 1.90864237e-01 2.14206692e+02] [ 6.05816579e-02 9.97553441e-01 -3.48854619e-02 1.02557296e+01] [-1.88553489e-01 4.57573420e-02 9.80996354e-01 -8.23727001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.12864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:214.24, Y:10.22, Z:-82.38 [[ 9.80269333e-01 -5.87066734e-02 1.88747346e-01 2.14240587e+02] [ 5.79136277e-02 9.98274289e-01 9.71886206e-03 1.02203274e+01] [-1.88992185e-01 1.40394112e-03 9.81977588e-01 -8.23799381e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.28, Y:10.19, Z:-82.38 [[ 9.86143052e-01 -6.14199575e-02 1.54108633e-01 2.14275379e+02] [ 5.50866042e-02 9.97465235e-01 4.50396599e-02 1.01886750e+01] [-1.56484338e-01 -3.59262263e-02 9.87026828e-01 -8.23843107e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.30, Y:10.25, Z:-82.39 [[ 9.80269170e-01 -5.05614513e-02 1.91091324e-01 2.14303130e+02] [ 5.68816099e-02 9.97995725e-01 -2.77311194e-02 1.02475553e+01] [-1.89306199e-01 3.80535435e-02 9.81180458e-01 -8.23888161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.34, Y:10.17, Z:-82.39 [[ 9.86668909e-01 -6.29674525e-02 1.50065199e-01 2.14338868e+02] [ 5.41879553e-02 9.96610523e-01 6.18961298e-02 1.01738127e+01] [-1.53453998e-01 -5.29392606e-02 9.86736695e-01 -8.23931042e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.37, Y:10.23, Z:-82.40 [[ 9.85904863e-01 -5.10269999e-02 1.59335638e-01 2.14366740e+02] [ 5.28649322e-02 9.98574881e-01 -7.31483247e-03 1.02286919e+01] [-1.58735312e-01 1.56349966e-02 9.87197370e-01 -8.23984731e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.40, Y:10.25, Z:-82.40 [[ 9.79909680e-01 -4.87274018e-02 1.93397672e-01 2.14395989e+02] [ 5.56018864e-02 9.97993905e-01 -3.02753213e-02 1.02488175e+01] [-1.91534460e-01 4.04203558e-02 9.80653224e-01 -8.24045216e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.30864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:214.43, Y:10.21, Z:-82.41 [[ 9.79958151e-01 -5.47271175e-02 1.91538416e-01 2.14429652e+02] [ 5.38709950e-02 9.98501000e-01 9.67827200e-03 1.02147548e+01] [-1.91780964e-01 8.34063543e-04 9.81437398e-01 -8.24114341e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:214.46, Y:10.21, Z:-82.42 [[ 9.79902186e-01 -5.42380900e-02 1.91963369e-01 2.14462222e+02] [ 5.33890408e-02 9.98527674e-01 9.59660207e-03 1.02147039e+01] [-1.92201238e-01 8.45008817e-04 9.81355170e-01 -8.24170037e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.36864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:214.49, Y:10.22, Z:-82.42 [[ 9.80077414e-01 -5.29555245e-02 1.91426163e-01 2.14494912e+02] [ 5.21072460e-02 9.98596629e-01 9.46617388e-03 1.02162668e+01] [-1.91658807e-01 6.97106956e-04 9.81461367e-01 -8.24229803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:214.53, Y:10.18, Z:-82.43 [[ 9.86367057e-01 -5.69102324e-02 1.54406134e-01 2.14528182e+02] [ 4.99784715e-02 9.97576256e-01 4.84124471e-02 1.01847700e+01] [-1.56787056e-01 -4.00354604e-02 9.86820643e-01 -8.24273975e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.42864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:214.56, Y:10.22, Z:-82.43 [[ 9.86108898e-01 -4.83078996e-02 1.58920071e-01 2.14557977e+02] [ 4.82824573e-02 9.98825618e-01 4.02345015e-03 1.02205117e+01] [-1.58927802e-01 3.70549153e-03 9.87283254e-01 -8.24334947e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:214.59, Y:10.22, Z:-82.44 [[ 9.86110999e-01 -4.76312991e-02 1.59111144e-01 2.14589238e+02] [ 4.82601374e-02 9.98834797e-01 -8.83239237e-05 1.02217254e+01] [-1.58921540e-01 7.76582286e-03 9.87260673e-01 -8.24380724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:214.62, Y:10.21, Z:-82.44 [[ 9.86354892e-01 -4.99740148e-02 1.56864990e-01 2.14620315e+02] [ 4.83092368e-02 9.98728477e-01 1.44099690e-02 1.02109528e+01] [-1.57385656e-01 -6.63531548e-03 9.87514925e-01 -8.24425570e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.65, Y:10.25, Z:-82.45 [[ 9.79562314e-01 -4.16134926e-02 1.96789200e-01 2.14648653e+02] [ 4.87609422e-02 9.98310048e-01 -3.16135927e-02 1.02492569e+01] [-1.95141084e-01 4.05631109e-02 9.79936014e-01 -8.24484754e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:214.69, Y:10.19, Z:-82.45 [[ 9.85712635e-01 -5.15367972e-02 1.60357599e-01 2.14685318e+02] [ 4.49401299e-02 9.97998158e-01 4.44978898e-02 1.01872216e+01] [-1.62329867e-01 -3.66556409e-02 9.86055464e-01 -8.24527244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:214.71, Y:10.25, Z:-82.46 [[ 9.79066417e-01 -3.92838136e-02 1.99714128e-01 2.14712786e+02] [ 4.57909584e-02 9.98556689e-01 -2.80664908e-02 1.02467049e+01] [-1.98323319e-01 3.66240599e-02 9.79452163e-01 -8.24586175e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:214.75, Y:10.17, Z:-82.46 [[ 9.86182256e-01 -5.32836343e-02 1.56861126e-01 2.14749361e+02] [ 4.31316320e-02 9.96791337e-01 6.74291660e-02 1.01678767e+01] [-1.59950682e-01 -5.97317707e-02 9.85316140e-01 -8.24610824e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.63864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:214.77, Y:10.26, Z:-82.47 [[ 9.78633521e-01 -3.45221273e-02 2.02693497e-01 2.14773762e+02] [ 4.56670931e-02 9.97676086e-01 -5.05662365e-02 1.02638857e+01] [-2.00476801e-01 5.87422369e-02 9.77935786e-01 -8.24680993e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:214.81, Y:10.18, Z:-82.47 [[ 9.85778950e-01 -4.91869903e-02 1.60687592e-01 2.14812574e+02] [ 4.17554578e-02 9.97910608e-01 4.93041681e-02 1.01817992e+01] [-1.62776976e-01 -4.18934271e-02 9.85773096e-01 -8.24727214e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.69864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:214.84, Y:10.22, Z:-82.48 [[ 9.85265187e-01 -4.14477573e-02 1.65935513e-01 2.14842290e+02] [ 4.17403534e-02 9.99127002e-01 1.72510655e-03 1.02175284e+01] [-1.65862154e-01 5.22651954e-03 9.86135097e-01 -8.24794408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:214.87, Y:10.21, Z:-82.48 [[ 9.85810289e-01 -4.38554101e-02 1.62033257e-01 2.14873529e+02] [ 4.25213868e-02 9.99027125e-01 1.16934243e-02 1.02097948e+01] [-1.62388439e-01 -4.63761921e-03 9.86716012e-01 -8.24831726e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.75864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:214.90, Y:10.25, Z:-82.49 [[ 9.78103489e-01 -3.63431414e-02 2.04921305e-01 2.14900001e+02] [ 4.49625387e-02 9.98282249e-01 -3.75622390e-02 1.02496318e+01] [-2.03204171e-01 4.59535391e-02 9.78057430e-01 -8.24903663e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78864 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:214.94, Y:10.18, Z:-82.49 [[ 9.84974814e-01 -4.83035737e-02 1.65805247e-01 2.14938298e+02] [ 4.10346317e-02 9.98052091e-01 4.69912995e-02 1.01804921e+01] [-1.67752121e-01 -3.94814892e-02 9.85038293e-01 -8.24936169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.81864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:214.97, Y:10.23, Z:-82.50 [[ 9.83998891e-01 -3.81458039e-02 1.74043327e-01 2.14967044e+02] [ 4.02806598e-02 9.99150099e-01 -8.74920584e-03 1.02252756e+01] [-1.73561662e-01 1.56197889e-02 9.84699127e-01 -8.25005273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:215.00, Y:10.23, Z:-82.51 [[ 9.77355423e-01 -3.76747649e-02 2.08223414e-01 2.14996132e+02] [ 4.19692371e-02 9.98986854e-01 -1.62434501e-02 1.02325922e+01] [-2.07400485e-01 2.46146019e-02 9.77946399e-01 -8.25056927e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.87864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:215.03, Y:10.20, Z:-82.51 [[ 9.83716749e-01 -4.13896024e-02 1.74894990e-01 2.15032643e+02] [ 3.65845835e-02 9.98861636e-01 3.06104728e-02 1.01950705e+01] [-1.75962851e-01 -2.37135744e-02 9.84111143e-01 -8.25108913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:215.06, Y:10.22, Z:-82.52 [[ 9.83018582e-01 -3.42435420e-02 1.80282689e-01 2.15062851e+02] [ 3.57771825e-02 9.99345943e-01 -5.26112834e-03 1.02236605e+01] [-1.79984614e-01 1.16217936e-02 9.83600769e-01 -8.25187548e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.93864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:215.09, Y:10.22, Z:-82.52 [[ 9.77753652e-01 -3.61793165e-02 2.06612810e-01 2.15091622e+02] [ 3.78529573e-02 9.99274696e-01 -4.15168737e-03 1.02205952e+01] [-2.06312747e-01 1.18802333e-02 9.78413977e-01 -8.25242984e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:215.12, Y:10.21, Z:-82.53 [[ 9.77745243e-01 -3.75889533e-02 2.06400850e-01 2.15124305e+02] [ 3.63297677e-02 9.99290929e-01 9.88873136e-03 1.02092235e+01] [-2.06626204e-01 -2.17016512e-03 9.78417550e-01 -8.25300333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.99864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:215.16, Y:10.19, Z:-82.53 [[ 9.83621244e-01 -3.88297128e-02 1.76015631e-01 2.15159139e+02] [ 3.43562671e-02 9.99006255e-01 2.83927730e-02 1.01927093e+01] [-1.76943200e-01 -2.18804947e-02 9.83977819e-01 -8.25349640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:215.19, Y:10.23, Z:-82.54 [[ 9.77403900e-01 -3.20274869e-02 2.08939841e-01 2.15185825e+02] [ 3.54776576e-02 9.99288687e-01 -1.27849986e-02 1.02267050e+01] [-2.08381748e-01 1.99088036e-02 9.77844919e-01 -8.25427333e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.05864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:215.22, Y:10.17, Z:-82.54 [[ 9.86288310e-01 -4.10159175e-02 1.59853259e-01 2.15224394e+02] [ 3.11082162e-02 9.97465060e-01 6.39979116e-02 1.01657845e+01] [-1.62072973e-01 -5.81476423e-02 9.85064060e-01 -8.25432122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:215.25, Y:10.26, Z:-82.55 [[ 9.77072512e-01 -1.92967254e-02 2.12030523e-01 2.15246167e+02] [ 3.05673444e-02 9.98281004e-01 -5.00067513e-02 1.02562107e+01] [-2.10701077e-01 5.53414321e-02 9.75982778e-01 -8.25548016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.11864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:215.28, Y:10.21, Z:-82.56 [[ 9.77168232e-01 -2.74176665e-02 2.10690573e-01 2.15281069e+02] [ 2.58753965e-02 9.99614416e-01 1.00739167e-02 1.02092962e+01] [-2.10885537e-01 -4.39220924e-03 9.77500895e-01 -8.25591218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:215.32, Y:10.18, Z:-82.56 [[ 9.83776434e-01 -2.69617839e-02 1.77361183e-01 2.15317722e+02] [ 1.96015531e-02 9.98877553e-01 4.31209050e-02 1.01844604e+01] [-1.78324721e-01 -3.89447755e-02 9.83200691e-01 -8.25610592e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.17864000000003 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:215.34, Y:10.24, Z:-82.57 [[ 9.76650730e-01 -1.38019385e-02 2.14389500e-01 2.15343603e+02] [ 1.99560354e-02 9.99447814e-01 -2.65673425e-02 1.02428574e+01] [-2.13904436e-01 3.02253789e-02 9.76386869e-01 -8.25705886e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:215.38, Y:10.22, Z:-82.58 [[ 9.77107727e-01 -2.01879445e-02 2.11785119e-01 2.15377194e+02] [ 1.84946319e-02 9.99779215e-01 9.97350332e-03 1.02153875e+01] [-2.11939704e-01 -5.82829935e-03 9.77265365e-01 -8.25762652e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23864 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:215.41, Y:10.16, Z:-82.58 [[ 9.85841190e-01 -2.85428117e-02 1.65234547e-01 2.15412919e+02] [ 1.63334726e-02 9.97066001e-01 7.47837380e-02 1.01644617e+01] [-1.66884287e-01 -7.10260353e-02 9.83414936e-01 -8.25750353e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:215.44, Y:10.28, Z:-82.59 [[ 9.76313074e-01 -3.54353246e-03 2.16333596e-01 2.15435883e+02] [ 1.63203154e-02 9.98223446e-01 -5.73027044e-02 1.02761632e+01] [-2.15746213e-01 5.94760120e-02 9.74636432e-01 -8.25861069e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:215.47, Y:10.21, Z:-82.59 [[ 9.82637411e-01 -1.66232665e-02 1.84790111e-01 2.15474153e+02] [ 1.08654714e-02 9.99424710e-01 3.21277184e-02 1.02074332e+01] [-1.85217870e-01 -2.95620664e-02 9.82252730e-01 -8.25901213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:215.50, Y:10.25, Z:-82.60 [[ 9.76239779e-01 -3.88094762e-03 2.16658328e-01 2.15500171e+02] [ 7.62739593e-03 9.99835458e-01 -1.64584408e-02 1.02525278e+01] [-2.16558805e-01 1.77199235e-02 9.76108748e-01 -8.25971488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:215.53, Y:10.24, Z:-82.60 [[ 9.76989412e-01 -6.49708710e-03 2.13188827e-01 2.15533472e+02] [ 4.48607155e-03 9.99940778e-01 9.91542548e-03 1.02358883e+01] [-2.13240623e-01 -8.73088538e-03 9.76960700e-01 -8.26031658e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.38864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:215.57, Y:10.23, Z:-82.61 [[ 9.81912224e-01 -4.19077575e-03 1.89290311e-01 2.15568706e+02] [ 1.28442982e-04 9.99769527e-01 2.14680305e-02 1.02313259e+01] [-1.89336652e-01 -2.10554086e-02 9.81686458e-01 -8.26098740e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41864 meters Centerline goodness : 0.992889 Centerline is valid? [True, True] Translation: X:215.61, Y:10.25, Z:-82.61 [[ 9.82654709e-01 7.69882133e-03 1.85284782e-01 2.15613219e+02] [-1.09721389e-02 9.99801216e-01 1.66475248e-02 1.02488834e+01] [-1.85119784e-01 -1.83917391e-02 9.82543846e-01 -8.26134071e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.44864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:215.62, Y:10.28, Z:-82.62 [[ 9.76115526e-01 3.03082108e-03 2.17230971e-01 2.15624278e+02] [ 2.89665192e-03 9.99632239e-01 -2.69628835e-02 1.02792830e+01] [-2.17232801e-01 2.69481317e-02 9.75747769e-01 -8.26200173e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47864 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:215.67, Y:10.23, Z:-82.62 [[ 9.82944369e-01 -1.73954202e-03 1.83894919e-01 2.15668953e+02] [-5.87397660e-03 9.99148081e-01 4.08486125e-02 1.02327502e+01] [-1.83809314e-01 -4.12321081e-02 9.82096762e-01 -8.26219913e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.50864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:215.70, Y:10.26, Z:-82.63 [[ 9.84036543e-01 -6.79257220e-04 1.77965221e-01 2.15695351e+02] [-2.39513502e-03 9.99851602e-01 1.70598322e-02 1.02572615e+01] [-1.77950399e-01 -1.72137490e-02 9.83888887e-01 -8.26270766e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:215.72, Y:10.31, Z:-82.64 [[ 9.75901980e-01 7.99071767e-03 2.18063005e-01 2.15716093e+02] [ 2.70160527e-03 9.98810235e-01 -4.86910310e-02 1.03146497e+01] [-2.18192637e-01 4.81067938e-02 9.74719298e-01 -8.26350053e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.56864 meters Centerline goodness : 0.993367 Centerline is valid? [True, True] Translation: X:215.77, Y:10.28, Z:-82.65 [[ 9.80519526e-01 1.55929599e-02 1.95801736e-01 2.15772481e+02] [-2.03880517e-02 9.99538982e-01 2.24978167e-02 1.02775645e+01] [-1.95360660e-01 -2.60515644e-02 9.80385398e-01 -8.26452019e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:215.78, Y:10.25, Z:-82.64 [[ 9.83848105e-01 -8.33938465e-03 1.78810967e-01 2.15778248e+02] [-6.63346260e-04 9.98737509e-01 5.02289561e-02 1.02478344e+01] [-1.79004098e-01 -4.95362769e-02 9.82600473e-01 -8.26419678e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.62864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:215.81, Y:10.33, Z:-82.65 [[ 9.81014345e-01 1.07463044e-02 1.93637217e-01 2.15807061e+02] [-3.02642594e-03 9.99190304e-01 -4.01195391e-02 1.03268471e+01] [-1.93911566e-01 3.87718147e-02 9.80252544e-01 -8.26466513e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:215.83, Y:10.34, Z:-82.65 [[ 9.74746789e-01 1.01214236e-02 2.23083515e-01 2.15832564e+02] [-6.04764773e-05 9.98984270e-01 -4.50602265e-02 1.03439186e+01] [-2.23312996e-01 4.39088197e-02 9.73757322e-01 -8.26531235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.68864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:215.87, Y:10.25, Z:-82.66 [[ 9.82215654e-01 -1.23902924e-02 1.87346976e-01 2.15869992e+02] [-2.14719959e-03 9.97013679e-01 7.71952897e-02 1.02514927e+01] [-1.87743970e-01 -7.62246933e-02 9.79255839e-01 -8.26599690e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:215.89, Y:10.37, Z:-82.66 [[ 9.74353480e-01 1.14264666e-02 2.24732577e-01 2.15893990e+02] [ 1.64006161e-03 9.98322773e-01 -5.78701214e-02 1.03661458e+01] [-2.25016901e-01 5.67545294e-02 9.72700528e-01 -8.26640666e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.74864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:215.93, Y:10.28, Z:-82.67 [[ 9.81450720e-01 -1.46151497e-02 1.91156696e-01 2.15930758e+02] [ 3.30213122e-03 9.98230758e-01 5.93670697e-02 1.02805058e+01] [-1.91686152e-01 -5.76346287e-02 9.79762557e-01 -8.26732827e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:215.96, Y:10.37, Z:-82.68 [[ 9.73647396e-01 1.23013450e-03 2.28055334e-01 2.15955105e+02] [ 8.32663686e-03 9.99126967e-01 -4.09386121e-02 1.03673016e+01] [-2.27906594e-01 4.17587070e-02 9.72787127e-01 -8.26763325e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.80864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:215.99, Y:10.33, Z:-82.69 [[ 9.74184407e-01 -1.55139694e-02 2.25220022e-01 2.15988391e+02] [ 1.32292611e-02 9.99844620e-01 1.16500253e-02 1.03336620e+01] [-2.25365765e-01 -8.36977854e-03 9.74238276e-01 -8.26879972e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:216.02, Y:10.34, Z:-82.69 [[ 9.74187421e-01 -1.52849091e-02 2.25222646e-01 2.16021147e+02] [ 1.30059297e-02 9.99848142e-01 1.15990770e-02 1.03354556e+01] [-2.25365735e-01 -8.37044502e-03 9.74238277e-01 -8.26948796e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.86864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:216.05, Y:10.34, Z:-82.70 [[ 9.74084746e-01 -1.78626458e-02 2.25476904e-01 2.16053284e+02] [ 1.56598661e-02 9.99810616e-01 1.15542929e-02 1.03396183e+01] [-2.25640593e-01 -7.72392234e-03 9.74179996e-01 -8.27020965e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89864 meters Centerline goodness : 0.939587 Centerline is valid? [True, False] Translation: X:216.08, Y:10.35, Z:-82.71 [[ 9.75905634e-01 -1.39310937e-02 2.17747832e-01 2.16080342e+02] [ 1.34167496e-02 9.99902616e-01 3.84047705e-03 1.03492027e+01] [-2.17780129e-01 -8.26475057e-04 9.75997506e-01 -8.27070438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.92864000000003 meters Centerline goodness : 0.999657 Centerline is valid? [False, True] Translation: X:216.11, Y:10.36, Z:-82.71 [[ 9.78757119e-01 -1.49018223e-02 2.04480898e-01 2.16114540e+02] [ 1.48818517e-02 9.99887921e-01 1.63552609e-03 1.03567546e+01] [-2.04482353e-01 1.44227160e-03 9.78869188e-01 -8.27147018e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:216.15, Y:10.36, Z:-82.72 [[ 9.78803803e-01 -1.81453164e-02 2.03994762e-01 2.16146970e+02] [ 1.68012155e-02 9.99824241e-01 8.31900543e-03 1.03555426e+01] [-2.04109859e-01 -4.71531419e-03 9.78936633e-01 -8.27211273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:216.18, Y:10.34, Z:-82.73 [[ 9.83932040e-01 -2.04274355e-02 1.77370970e-01 2.16182160e+02] [ 1.60463010e-02 9.99530544e-01 2.60999646e-02 1.03439718e+01] [-1.77820857e-01 -2.28344435e-02 9.83797912e-01 -8.27283771e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:216.21, Y:10.38, Z:-82.73 [[ 9.78029319e-01 -1.96639293e-02 2.07537904e-01 2.16209456e+02] [ 2.30168364e-02 9.99640475e-01 -1.37530599e-02 1.03787185e+01] [-2.07192849e-01 1.82277618e-02 9.78130294e-01 -8.27316536e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:216.24, Y:10.36, Z:-82.74 [[ 9.77898766e-01 -2.55937627e-02 2.07506537e-01 2.16242189e+02] [ 2.43750121e-02 9.99667355e-01 8.42843212e-03 1.03635233e+01] [-2.07653226e-01 -3.18417903e-03 9.78197321e-01 -8.27390672e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:216.27, Y:10.37, Z:-82.74 [[ 9.77946283e-01 -2.99276240e-02 2.06701246e-01 2.16274971e+02] [ 2.88378299e-02 9.99549777e-01 8.28394312e-03 1.03666968e+01] [-2.06856103e-01 -2.14043600e-03 9.78369036e-01 -8.27442123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:216.31, Y:10.34, Z:-82.75 [[ 9.84014937e-01 -3.53428236e-02 1.74543658e-01 2.16310307e+02] [ 2.88710736e-02 9.98803185e-01 3.94798482e-02 1.03415024e+01] [-1.75730091e-01 -3.38094976e-02 9.83857639e-01 -8.27517201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.13864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:216.34, Y:10.39, Z:-82.75 [[ 9.77354180e-01 -2.88727208e-02 2.09631042e-01 2.16338260e+02] [ 3.52039321e-02 9.99027880e-01 -2.65326028e-02 1.03941610e+01] [-2.08661187e-01 3.33115872e-02 9.77420507e-01 -8.27525213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:216.37, Y:10.37, Z:-82.76 [[ 9.77067341e-01 -3.68200054e-02 2.09722910e-01 2.16371642e+02] [ 3.58925810e-02 9.99321783e-01 8.22783141e-03 1.03659921e+01] [-2.09883622e-01 -5.11648807e-04 9.77726242e-01 -8.27614051e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:216.40, Y:10.37, Z:-82.77 [[ 9.77168207e-01 -3.79679307e-02 2.09047197e-01 2.16403934e+02] [ 3.70964895e-02 9.99278947e-01 8.08929102e-03 1.03655314e+01] [-2.09203597e-01 -1.49680846e-04 9.77872094e-01 -8.27676962e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.44, Y:10.35, Z:-82.78 [[ 9.83449153e-01 -3.90697713e-02 1.76921779e-01 2.16438819e+02] [ 3.43535253e-02 9.98970018e-01 2.96435225e-02 1.03473666e+01] [-1.77897718e-01 -2.30750103e-02 9.83778403e-01 -8.27751342e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:216.47, Y:10.38, Z:-82.78 [[ 9.77848738e-01 -3.24882325e-02 2.06776113e-01 2.16466466e+02] [ 3.68359437e-02 9.99173123e-01 -1.72099775e-02 1.03815415e+01] [-2.06046013e-01 2.44455480e-02 9.78236912e-01 -8.27793166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:216.50, Y:10.36, Z:-82.79 [[ 9.77959146e-01 -3.53042953e-02 2.05789981e-01 2.16499623e+02] [ 3.44294649e-02 9.99376444e-01 7.83163005e-03 1.03607347e+01] [-2.05938150e-01 -5.73775303e-04 9.78564842e-01 -8.27865598e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.31864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:216.53, Y:10.36, Z:-82.79 [[ 9.77725392e-01 -3.36632527e-02 2.07171050e-01 2.16531844e+02] [ 3.27640914e-02 9.99432904e-01 7.77076833e-03 1.03599334e+01] [-2.07315153e-01 -8.09906288e-04 9.78273873e-01 -8.27917368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.57, Y:10.33, Z:-82.80 [[ 9.84364366e-01 -3.69200513e-02 1.72231543e-01 2.16566758e+02] [ 2.98324952e-02 9.98605275e-01 4.35606199e-02 1.03265134e+01] [-1.73599587e-01 -3.77414254e-02 9.84092866e-01 -8.27983394e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:216.60, Y:10.37, Z:-82.80 [[ 9.83494701e-01 -2.70330447e-02 1.78906084e-01 2.16597133e+02] [ 2.89644872e-02 9.99546871e-01 -8.19214460e-03 1.03666753e+01] [-1.78603558e-01 1.32388538e-02 9.83832050e-01 -8.28025836e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.63, Y:10.37, Z:-82.81 [[ 9.77482476e-01 -2.73675282e-02 2.09234384e-01 2.16625680e+02] [ 3.19596174e-02 9.99316131e-01 -1.85971038e-02 1.03725459e+01] [-2.08582338e-01 2.48653939e-02 9.77688662e-01 -8.28078217e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.66, Y:10.35, Z:-82.82 [[ 9.77557037e-01 -3.17599706e-02 2.08263161e-01 2.16658635e+02] [ 3.08344499e-02 9.99494925e-01 7.68977097e-03 1.03504313e+01] [-2.08402199e-01 -1.09550974e-03 9.78042598e-01 -8.28161664e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.69, Y:10.35, Z:-82.82 [[ 9.77478752e-01 -3.04363531e-02 2.08827485e-01 2.16691681e+02] [ 2.95003318e-02 9.99535907e-01 7.59612770e-03 1.03492669e+01] [-2.08961768e-01 -1.26457332e-03 9.77922993e-01 -8.28220746e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.49864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:216.68, Y:10.26, Z:-82.82 [[ 9.81243293e-01 -9.01483326e-02 1.70396236e-01 2.16684238e+02] [ 7.65500338e-02 9.93455811e-01 8.47681734e-02 1.02610927e+01] [-1.76922840e-01 -7.01343641e-02 9.81722710e-01 -8.28212907e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.75, Y:10.33, Z:-82.83 [[ 9.84104581e-01 -2.53278638e-02 1.75774496e-01 2.16750324e+02] [ 2.15098915e-02 9.99490228e-01 2.35925558e-02 1.03319992e+01] [-1.76282440e-01 -1.94366519e-02 9.84147711e-01 -8.28321914e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.78, Y:10.35, Z:-82.84 [[ 9.83170663e-01 -2.02109874e-02 1.81568067e-01 2.16780474e+02] [ 2.13850108e-02 9.99761140e-01 -4.51045983e-03 1.03528494e+01] [-1.81433536e-01 8.31738685e-03 9.83368035e-01 -8.28382122e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.81, Y:10.36, Z:-82.84 [[ 9.76343662e-01 -1.98182196e-02 2.15314402e-01 2.16809624e+02] [ 2.54956232e-02 9.99395795e-01 -2.36224083e-02 1.03643257e+01] [-2.14716154e-01 2.85531635e-02 9.76259028e-01 -8.28430235e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.61864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.84, Y:10.28, Z:-82.85 [[ 9.84351300e-01 -3.67985970e-02 1.72332181e-01 2.16844897e+02] [ 2.40598639e-02 9.96860488e-01 7.54340192e-02 1.02845196e+01] [-1.74567008e-01 -7.01072860e-02 9.82146287e-01 -8.28473365e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:216.87, Y:10.37, Z:-82.85 [[ 9.82302332e-01 -1.19229638e-02 1.86922368e-01 2.16873638e+02] [ 1.92702647e-02 9.99109343e-01 -3.75390140e-02 1.03744676e+01] [-1.86308308e-01 4.04767045e-02 9.81657196e-01 -8.28545863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.67864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.90, Y:10.33, Z:-82.86 [[ 9.83154141e-01 -2.27477795e-02 1.81357312e-01 2.16904988e+02] [ 1.97395480e-02 9.99636284e-01 1.83752579e-02 1.03284274e+01] [-1.81709345e-01 -1.44857996e-02 9.83245582e-01 -8.28613386e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:216.94, Y:10.35, Z:-82.87 [[ 9.82274795e-01 -1.49761896e-02 1.86847375e-01 2.16935580e+02] [ 1.72923262e-02 9.99792447e-01 -1.07720801e-02 1.03506129e+01] [-1.86647270e-01 1.38121685e-02 9.82329894e-01 -8.28679415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:216.97, Y:10.31, Z:-82.87 [[ 9.83412348e-01 -1.87771193e-02 1.80409463e-01 2.16966188e+02] [ 1.32476556e-02 9.99406270e-01 3.18057739e-02 1.03149034e+01] [-1.80899570e-01 -2.88881883e-02 9.83077219e-01 -8.28714308e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:217.00, Y:10.36, Z:-82.88 [[ 9.81505776e-01 -6.21543295e-03 1.91331597e-01 2.16995651e+02] [ 1.06505088e-02 9.99697696e-01 -2.21603852e-02 1.03590727e+01] [-1.91136020e-01 2.37883250e-02 9.81275261e-01 -8.28774046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:217.02, Y:10.36, Z:-82.89 [[ 9.75125943e-01 -2.92271164e-03 2.21632249e-01 2.17023828e+02] [ 9.26457406e-03 9.99576662e-01 -2.75801568e-02 1.03634616e+01] [-2.21457815e-01 2.89474547e-02 9.74740212e-01 -8.28851112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:217.06, Y:10.24, Z:-82.88 [[ 9.84083843e-01 -3.01562537e-02 1.75127356e-01 2.17057110e+02] [ 8.41930007e-03 9.92301346e-01 1.23560330e-01 1.02408165e+01] [-1.77505228e-01 -1.20119274e-01 9.76761616e-01 -8.28835473e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.08, Y:10.43, Z:-82.89 [[ 9.73493953e-01 1.73636472e-02 2.28052684e-01 2.17082927e+02] [ 7.80621705e-03 9.94010516e-01 -1.09005308e-01 1.04293822e+01] [-2.28579496e-01 1.07896237e-01 9.67527682e-01 -8.28900840e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.12, Y:10.34, Z:-82.90 [[ 9.74286562e-01 -2.20477500e-03 2.25301652e-01 2.17116639e+02] [ 4.97045106e-04 9.99970720e-01 7.63618938e-03 1.03393032e+01] [-2.25311891e-01 -7.32785162e-03 9.74259131e-01 -8.29026980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:217.15, Y:10.32, Z:-82.91 [[ 9.80116750e-01 -1.64729586e-03 1.98414827e-01 2.17152560e+02] [-4.43579711e-03 9.99533729e-01 3.02100751e-02 1.03240581e+01] [-1.98372077e-01 -3.04895285e-02 9.79652442e-01 -8.29091793e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.94864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:217.18, Y:10.35, Z:-82.92 [[ 9.79036482e-01 7.83782191e-03 2.03534116e-01 2.17182331e+02] [-7.88082790e-03 9.99968766e-01 -5.99207085e-04 1.03546101e+01] [-2.03532455e-01 -1.01737174e-03 9.79067671e-01 -8.29151970e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:217.21, Y:10.37, Z:-82.92 [[ 9.73554802e-01 8.53238645e-03 2.28294209e-01 2.17208502e+02] [-4.58636520e-03 9.99830875e-01 -1.78097620e-02 1.03725259e+01] [-2.28407559e-01 1.62917387e-02 9.73429282e-01 -8.29206660e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.24, Y:10.36, Z:-82.93 [[ 9.73516468e-01 4.99415113e-03 2.28562342e-01 2.17241377e+02] [-6.95308542e-03 9.99945669e-01 7.76621098e-03 1.03572705e+01] [-2.28511138e-01 -9.14974778e-03 9.73498301e-01 -8.29284416e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.27, Y:10.37, Z:-82.93 [[ 9.73361410e-01 6.99759429e-03 2.29169366e-01 2.17273845e+02] [-8.99407966e-03 9.99930148e-01 7.66849688e-03 1.03658635e+01] [-2.29099697e-01 -9.52538647e-03 9.73356356e-01 -8.29345941e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.31, Y:10.37, Z:-82.94 [[ 9.73229241e-01 6.66423616e-03 2.29739923e-01 2.17305915e+02] [-8.63369378e-03 9.99934087e-01 7.56841179e-03 1.03694895e+01] [-2.29674343e-01 -9.34930381e-03 9.73222630e-01 -8.29422384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.34, Y:10.38, Z:-82.95 [[ 9.73118349e-01 5.49017360e-03 2.30240172e-01 2.17338403e+02] [-7.40826043e-03 9.99944678e-01 7.46717774e-03 1.03762870e+01] [-2.30186438e-01 -8.97212682e-03 9.73105187e-01 -8.29487254e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.37, Y:10.38, Z:-82.96 [[ 9.73250669e-01 3.84574489e-03 2.29713617e-01 2.17371006e+02] [-5.68166136e-03 9.99956984e-01 7.33130787e-03 1.03809028e+01] [-2.29675541e-01 -8.44035527e-03 9.73230654e-01 -8.29553980e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.40, Y:10.39, Z:-82.96 [[ 9.73313832e-01 3.36456135e-03 2.29453403e-01 2.17403053e+02] [-5.15481008e-03 9.99960770e-01 7.20328649e-03 1.03857148e+01] [-2.29420166e-01 -8.19384709e-03 9.73292992e-01 -8.29627586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.18864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.44, Y:10.38, Z:-82.97 [[ 9.79051638e-01 -2.74305258e-04 2.03611921e-01 2.17439228e+02] [-4.38819293e-03 9.99738401e-01 2.24471187e-02 1.03795190e+01] [-2.03564814e-01 -2.28703768e-02 9.78794316e-01 -8.29699525e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:217.47, Y:10.38, Z:-82.97 [[ 9.80637895e-01 -4.03986281e-03 1.95788148e-01 2.17470067e+02] [-1.56463122e-03 9.99593646e-01 2.84621817e-02 1.03773192e+01] [-1.95823572e-01 -2.82174302e-02 9.80233087e-01 -8.29741645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.50, Y:10.44, Z:-82.98 [[ 9.72863822e-01 6.28717935e-03 2.31293005e-01 2.17497153e+02] [ 3.17826055e-03 9.99173321e-01 -4.05286644e-02 1.04357750e+01] [-2.31356611e-01 4.01639808e-02 9.72039594e-01 -8.29786336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.53, Y:10.40, Z:-82.99 [[ 9.73315802e-01 -5.55692440e-03 2.29402418e-01 2.17529241e+02] [ 4.02603476e-03 9.99966399e-01 7.14087687e-03 1.04019341e+01] [-2.29434391e-01 -6.02674619e-03 9.73305470e-01 -8.29894409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.30864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.56, Y:10.39, Z:-83.00 [[ 9.78890167e-01 -8.03061479e-03 2.04229161e-01 2.17563785e+02] [ 3.81751725e-03 9.99771875e-01 2.10148869e-02 1.03933966e+01] [-2.04351333e-01 -1.97916178e-02 9.78697514e-01 -8.29964359e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:217.59, Y:10.40, Z:-83.00 [[ 9.79872351e-01 -9.96373010e-03 1.99376275e-01 2.17594573e+02] [ 6.25420018e-03 9.99795586e-01 1.92268389e-02 1.03971166e+01] [-1.99527091e-01 -1.75929087e-02 9.79734367e-01 -8.30010146e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.36864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:217.62, Y:10.43, Z:-83.00 [[ 9.72302820e-01 -1.13353036e-02 2.33449644e-01 2.17621662e+02] [ 1.83617900e-02 9.99440744e-01 -2.79471661e-02 1.04347591e+01] [-2.33002296e-01 3.14596618e-02 9.71967191e-01 -8.30041065e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:217.66, Y:10.38, Z:-83.01 [[ 9.79317825e-01 -2.66238557e-02 2.00568613e-01 2.17655626e+02] [ 2.02531186e-02 9.99225109e-01 3.37489747e-02 1.03847618e+01] [-2.01311722e-01 -2.89888326e-02 9.79098176e-01 -8.30141523e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.42864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.68, Y:10.43, Z:-83.02 [[ 9.71803392e-01 -2.51210889e-02 2.34450632e-01 2.17683990e+02] [ 3.11613760e-02 9.99270143e-01 -2.20941043e-02 1.04300359e+01] [-2.33724488e-01 2.87769298e-02 9.71876922e-01 -8.30183960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:217.72, Y:10.41, Z:-83.03 [[ 9.72017754e-01 -3.44891330e-02 2.32361756e-01 2.17716423e+02] [ 3.37596203e-02 9.99404643e-01 7.11670193e-03 1.04064720e+01] [-2.32468867e-01 9.26884040e-04 9.72603396e-01 -8.30276231e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:217.75, Y:10.41, Z:-83.04 [[ 9.72112952e-01 -3.64064560e-02 2.31669978e-01 2.17749117e+02] [ 3.57644493e-02 9.99335927e-01 6.97196547e-03 1.04055842e+01] [-2.31769957e-01 1.50801126e-03 9.72769455e-01 -8.30351526e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.78, Y:10.40, Z:-83.04 [[ 9.72351890e-01 -3.73991754e-02 2.30506189e-01 2.17781785e+02] [ 3.68201701e-02 9.99298673e-01 6.81449946e-03 1.04025248e+01] [-2.30599385e-01 1.86118565e-03 9.73046998e-01 -8.30406831e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:217.81, Y:10.37, Z:-83.05 [[ 9.80531635e-01 -4.36405384e-02 1.91450298e-01 2.17814883e+02] [ 3.48016737e-02 9.98177934e-01 4.92915419e-02 1.03683186e+01] [-1.93252573e-01 -4.16691253e-02 9.80263805e-01 -8.30458591e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.84, Y:10.44, Z:-83.05 [[ 9.71648242e-01 -2.46212807e-02 2.35145670e-01 2.17843226e+02] [ 3.42905435e-02 9.98722329e-01 -3.71196436e-02 1.04393267e+01] [-2.33931298e-01 4.41305093e-02 9.71251073e-01 -8.30498982e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:217.88, Y:10.37, Z:-83.06 [[ 9.80224445e-01 -3.91007436e-02 1.93987552e-01 2.17876682e+02] [ 3.02741502e-02 9.98375920e-01 4.82596884e-02 1.03697554e+01] [-1.95559490e-01 -4.14325180e-02 9.79816224e-01 -8.30596376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.63864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:217.91, Y:10.40, Z:-83.06 [[ 9.80144330e-01 -2.86286745e-02 1.96207777e-01 2.17907813e+02] [ 2.61018342e-02 9.99539849e-01 1.54526810e-02 1.03971793e+01] [-1.96559881e-01 -1.00244748e-02 9.80440576e-01 -8.30643668e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:217.94, Y:10.42, Z:-83.07 [[ 9.79127485e-01 -1.77328515e-02 2.02472007e-01 2.17938544e+02] [ 2.00161448e-02 9.99757005e-01 -9.23493108e-03 1.04222459e+01] [-2.02259046e-01 1.30948839e-02 9.79244506e-01 -8.30701123e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:217.96, Y:10.32, Z:-83.07 [[ 9.81124701e-01 -4.66681622e-02 1.87660339e-01 2.17964470e+02] [ 2.41365491e-02 9.92407057e-01 1.20605393e-01 1.03191208e+01] [-1.91863877e-01 -1.13799457e-01 9.74801486e-01 -8.30747823e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.00, Y:10.51, Z:-83.07 [[ 9.77282213e-01 8.37384641e-03 2.11776661e-01 2.17998330e+02] [ 1.62909872e-02 9.93295015e-01 -1.14453556e-01 1.05102549e+01] [-2.11315118e-01 1.15303475e-01 9.70593133e-01 -8.30703045e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.75864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:218.03, Y:10.42, Z:-83.09 [[ 9.77271487e-01 -1.88261120e-02 2.11154014e-01 2.18027546e+02] [ 1.88286742e-02 9.99820727e-01 1.99859111e-03 1.04200170e+01] [-2.11153786e-01 2.02258404e-03 9.77450760e-01 -8.30884817e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:218.06, Y:10.42, Z:-83.10 [[ 9.77052850e-01 -1.92238088e-02 2.12127731e-01 2.18058659e+02] [ 1.89527981e-02 9.99814897e-01 3.31104804e-03 1.04198159e+01] [-2.12152117e-01 7.85345123e-04 9.77236339e-01 -8.30953327e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.81864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:218.09, Y:10.45, Z:-83.10 [[ 9.68695176e-01 -1.59865412e-02 2.47737941e-01 2.18087301e+02] [ 2.33343210e-02 9.99369733e-01 -2.67515693e-02 1.04469401e+01] [-2.47154135e-01 3.16949128e-02 9.68457674e-01 -8.31012255e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:218.12, Y:10.42, Z:-83.11 [[ 9.69014980e-01 -2.63861999e-02 2.45588553e-01 2.18119694e+02] [ 2.55016286e-02 9.99651776e-01 6.78187747e-03 1.04235258e+01] [-2.45681981e-01 -3.08832799e-04 9.69350437e-01 -8.31114024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.87864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:218.15, Y:10.39, Z:-83.12 [[ 9.77893937e-01 -3.54142826e-02 2.06080754e-01 2.18151433e+02] [ 2.67543679e-02 9.98643977e-01 4.46588325e-02 1.03940266e+01] [-2.07382864e-01 -3.81580412e-02 9.77515377e-01 -8.31185402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:218.18, Y:10.42, Z:-83.12 [[ 9.77588313e-01 -3.04334300e-02 2.08314417e-01 2.18182045e+02] [ 2.86008246e-02 9.99521210e-01 1.18044008e-02 1.04218101e+01] [-2.08573926e-01 -5.58188021e-03 9.77990675e-01 -8.31224192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.93864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:218.21, Y:10.42, Z:-83.13 [[ 9.77721147e-01 -3.47230893e-02 2.07016100e-01 2.18212309e+02] [ 3.33642067e-02 9.99392700e-01 1.00528966e-02 1.04238418e+01] [-2.07239447e-01 -2.92200159e-03 9.78285885e-01 -8.31287436e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:218.24, Y:10.43, Z:-83.13 [[ 9.77157025e-01 -3.47066504e-02 2.09665441e-01 2.18241818e+02] [ 3.54932654e-02 9.99369915e-01 1.09156079e-05 1.04322949e+01] [-2.09533712e-01 7.43104487e-03 9.77773186e-01 -8.31347891e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.99864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.27, Y:10.43, Z:-83.14 [[ 9.76964814e-01 -3.68259144e-02 2.10198961e-01 2.18272146e+02] [ 3.72863441e-02 9.99303049e-01 1.77356829e-03 1.04314407e+01] [-2.10117776e-01 6.10483699e-03 9.77657021e-01 -8.31407179e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.30, Y:10.42, Z:-83.15 [[ 9.77120239e-01 -4.26569226e-02 2.08366084e-01 2.18302248e+02] [ 4.02522299e-02 9.99065108e-01 1.57692381e-02 1.04179542e+01] [-2.08843951e-01 -7.02124214e-03 9.77923773e-01 -8.31486583e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.33, Y:10.43, Z:-83.15 [[ 9.76410065e-01 -3.76779756e-02 2.12611748e-01 2.18332409e+02] [ 3.91177896e-02 9.99231306e-01 -2.56801751e-03 1.04310417e+01] [-2.12351557e-01 1.08243398e-02 9.77133384e-01 -8.31546134e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.36, Y:10.47, Z:-83.16 [[ 9.66269854e-01 -2.93774499e-02 2.55850610e-01 2.18362286e+02] [ 4.29100127e-02 9.97950531e-01 -4.74707091e-02 1.04659613e+01] [-2.53931684e-01 5.68480681e-02 9.65550101e-01 -8.31612725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.39, Y:10.38, Z:-83.17 [[ 9.75479254e-01 -4.92565475e-02 2.14508781e-01 2.18394934e+02] [ 3.74949703e-02 9.97579464e-01 5.85605612e-02 1.03775754e+01] [-2.16874046e-01 -4.90816122e-02 9.74964945e-01 -8.31687280e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.43, Y:10.42, Z:-83.17 [[ 9.74931206e-01 -3.39683897e-02 2.19898367e-01 2.18425531e+02] [ 3.41752639e-02 9.99411750e-01 2.86439836e-03 1.04225924e+01] [-2.19866311e-01 4.72249338e-03 9.75518582e-01 -8.31746442e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.46, Y:10.42, Z:-83.18 [[ 9.75611534e-01 -3.01454073e-02 2.17424446e-01 2.18457480e+02] [ 2.87141475e-02 9.99540210e-01 9.73990442e-03 1.04158816e+01] [-2.17618090e-01 -3.25920549e-03 9.76028557e-01 -8.31827273e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.49, Y:10.46, Z:-83.19 [[ 9.65445949e-01 -1.61211652e-02 2.60104263e-01 2.18485801e+02] [ 2.96142518e-02 9.98406293e-01 -4.80402991e-02 1.04622690e+01] [-2.58915268e-01 5.40831053e-02 9.64384727e-01 -8.31903990e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:218.52, Y:10.39, Z:-83.20 [[ 9.74077064e-01 -3.20143202e-02 2.23939626e-01 2.18519530e+02] [ 2.45378832e-02 9.99047240e-01 3.60902141e-02 1.03934602e+01] [-2.24881669e-01 -2.96596454e-02 9.73934567e-01 -8.32000981e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.55, Y:10.41, Z:-83.21 [[ 9.74118925e-01 -2.52033916e-02 2.24626599e-01 2.18550704e+02] [ 2.40443049e-02 9.99679723e-01 7.89446620e-03 1.04140182e+01] [-2.24753623e-01 -2.28915850e-03 9.74412935e-01 -8.32068646e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:218.58, Y:10.42, Z:-83.21 [[ 9.73395885e-01 -2.45770839e-02 2.27807852e-01 2.18581543e+02] [ 2.51631907e-02 9.99683302e-01 3.31656998e-04 1.04194060e+01] [-2.27743857e-01 5.40953886e-03 9.73706050e-01 -8.32133164e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.61, Y:10.41, Z:-83.22 [[ 9.73856311e-01 -2.83083352e-02 2.25394151e-01 2.18612645e+02] [ 2.58594786e-02 9.99570190e-01 1.38102585e-02 1.04073567e+01] [-2.25688219e-01 -7.62063215e-03 9.74169777e-01 -8.32206987e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.64, Y:10.36, Z:-83.22 [[ 9.78208791e-01 -4.21772042e-02 2.03294478e-01 2.18640349e+02] [ 2.87613796e-02 9.97236335e-01 6.85016450e-02 1.03633814e+01] [-2.05621849e-01 -6.11618817e-02 9.76718424e-01 -8.32238132e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:218.67, Y:10.50, Z:-83.23 [[ 9.61766772e-01 2.90613314e-04 2.73869662e-01 2.18669774e+02] [ 2.92938970e-02 9.94153295e-01 -1.03928309e-01 1.05040852e+01] [-2.72298630e-01 1.07977504e-01 9.56135092e-01 -8.32252024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:218.70, Y:10.42, Z:-83.24 [[ 9.61622141e-01 -2.79187022e-02 2.72953117e-01 2.18701473e+02] [ 2.71976442e-02 9.99609422e-01 6.42579531e-03 1.04159341e+01] [-2.73025907e-01 1.24449472e-03 9.62005876e-01 -8.32422086e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.44864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:218.73, Y:10.38, Z:-83.25 [[ 9.71603736e-01 -3.78904090e-02 2.33560479e-01 2.18733978e+02] [ 2.71980527e-02 9.98436584e-01 4.88329229e-02 1.03816458e+01] [-2.35045626e-01 -4.10938601e-02 9.71115260e-01 -8.32464724e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.76, Y:10.41, Z:-83.25 [[ 9.71907432e-01 -2.75978754e-02 2.33739814e-01 2.18764592e+02] [ 2.61616907e-02 9.99614990e-01 9.24321946e-03 1.04141739e+01] [-2.33904916e-01 -2.86852497e-03 9.72255245e-01 -8.32530427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.50864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.79, Y:10.41, Z:-83.26 [[ 9.72307912e-01 -2.79787081e-02 2.32022663e-01 2.18793688e+02] [ 2.73780737e-02 9.99608271e-01 5.80904643e-03 1.04143366e+01] [-2.32094302e-01 7.04151753e-04 9.72693034e-01 -8.32610804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.83, Y:10.41, Z:-83.27 [[ 9.71274072e-01 -2.79042232e-02 2.36321881e-01 2.18825500e+02] [ 2.81038598e-02 9.99601821e-01 2.52436214e-03 1.04142380e+01] [-2.36298223e-01 4.18970951e-03 9.71671547e-01 -8.32678669e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.56864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.85, Y:10.45, Z:-83.28 [[ 9.60511368e-01 -1.94911554e-02 2.77557214e-01 2.18853783e+02] [ 3.36713448e-02 9.98354623e-01 -4.64143017e-02 1.04519695e+01] [-2.76195860e-01 5.39271891e-02 9.59587258e-01 -8.32762046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.89, Y:10.37, Z:-83.28 [[ 9.69753573e-01 -4.45590322e-02 2.39984376e-01 2.18886830e+02] [ 3.30953375e-02 9.98119788e-01 5.15905670e-02 1.03692229e+01] [-2.41831980e-01 -4.20877727e-02 9.69404927e-01 -8.32834861e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.92, Y:10.44, Z:-83.29 [[ 9.59510412e-01 -2.38426073e-02 2.80662253e-01 2.18915679e+02] [ 3.67985617e-02 9.98482006e-01 -4.09823144e-02 1.04422187e+01] [-2.79259084e-01 4.96509246e-02 9.58931254e-01 -8.32917296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:218.95, Y:10.35, Z:-83.30 [[ 9.70340069e-01 -4.61169144e-02 2.37304404e-01 2.18949926e+02] [ 3.22834827e-02 9.97562872e-01 6.18554249e-02 1.03531142e+01] [-2.39578644e-01 -5.23597846e-02 9.69464041e-01 -8.32964154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:218.98, Y:10.40, Z:-83.30 [[ 9.69941020e-01 -2.92816741e-02 2.41571939e-01 2.18979836e+02] [ 2.95939308e-02 9.99559273e-01 2.33637011e-03 1.03983102e+01] [-2.41533885e-01 4.88292205e-03 9.70380101e-01 -8.33045010e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.01, Y:10.39, Z:-83.31 [[ 9.69862457e-01 -2.56762871e-02 2.42296394e-01 2.19012032e+02] [ 2.41432863e-02 9.99665301e-01 9.29451031e-03 1.03896768e+01] [-2.42453946e-01 -3.16456541e-03 9.70157755e-01 -8.33131407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.04, Y:10.40, Z:-83.32 [[ 9.69393815e-01 -2.15305787e-02 2.44565054e-01 2.19041117e+02] [ 2.21324991e-02 9.99755005e-01 2.87024172e-04 1.03960734e+01] [-2.44511316e-01 5.13459636e-03 9.69632844e-01 -8.33210744e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.07, Y:10.40, Z:-83.33 [[ 9.68306146e-01 -1.76038797e-02 2.49145162e-01 2.19070667e+02] [ 1.95841295e-02 9.99793241e-01 -5.47148077e-03 1.04001432e+01] [-2.48997330e-01 1.01773596e-02 9.68450696e-01 -8.33290618e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.80864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.10, Y:10.40, Z:-83.34 [[ 9.67130255e-01 -1.45899166e-02 2.53862569e-01 2.19100706e+02] [ 1.61425152e-02 9.99861564e-01 -4.03374974e-03 1.03984255e+01] [-2.53768573e-01 7.99914179e-03 9.67231888e-01 -8.33366226e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:219.13, Y:10.40, Z:-83.34 [[ 9.65483726e-01 -7.34817227e-03 2.60359711e-01 2.19130799e+02] [ 1.00440152e-02 9.99908826e-01 -9.02532446e-03 1.04013197e+01] [-2.60269653e-01 1.13288608e-02 9.65469505e-01 -8.33432850e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:219.16, Y:10.38, Z:-83.35 [[ 9.66168624e-01 -9.52204589e-03 2.57735368e-01 2.19161022e+02] [ 6.01521177e-03 9.99878345e-01 1.43914226e-02 1.03834002e+01] [-2.57841049e-01 -1.23542082e-02 9.66108362e-01 -8.33498376e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:219.19, Y:10.40, Z:-83.36 [[ 9.64632375e-01 -1.41322970e-03 2.63595112e-01 2.19190294e+02] [ 4.17326886e-03 9.99942175e-01 -9.91111804e-03 1.04045526e+01] [-2.63565863e-01 1.06606386e-02 9.64582493e-01 -8.33578924e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.92864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:219.22, Y:10.38, Z:-83.36 [[ 9.66940432e-01 -1.02943525e-02 2.54794481e-01 2.19221528e+02] [ 3.57695943e-03 9.99634059e-01 2.68132916e-02 1.03768226e+01] [-2.54977267e-01 -2.50154663e-02 9.66623412e-01 -8.33639945e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:219.25, Y:10.43, Z:-83.37 [[ 9.63082409e-01 6.73236959e-03 2.69122552e-01 2.19251279e+02] [ 2.34044944e-03 9.99440075e-01 -3.33775284e-02 1.04269837e+01] [-2.69196574e-01 3.27751782e-02 9.62527398e-01 -8.33729447e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.28, Y:10.43, Z:-83.38 [[ 9.53889844e-01 1.33083959e-03 3.00153951e-01 2.19278068e+02] [ 7.72304426e-03 9.99550280e-01 -2.89757124e-02 1.04262599e+01] [-3.00057528e-01 2.99577400e-02 9.53450583e-01 -8.33834829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.31, Y:10.40, Z:-83.39 [[ 9.54163046e-01 -8.72160764e-03 2.99160183e-01 2.19309774e+02] [ 6.90362852e-03 9.99950727e-01 7.13327111e-03 1.03990315e+01] [-2.99207656e-01 -4.74101293e-03 9.54176242e-01 -8.33932635e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:219.34, Y:10.36, Z:-83.40 [[ 9.64937696e-01 -2.05312280e-02 2.61674821e-01 2.19344739e+02] [ 7.03853035e-03 9.98601569e-01 5.23962266e-02 1.03633279e+01] [-2.62384646e-01 -4.87172880e-02 9.63732807e-01 -8.33994406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:219.37, Y:10.39, Z:-83.41 [[ 9.66097520e-01 -1.26320329e-02 2.57868211e-01 2.19374656e+02] [ 7.47834185e-03 9.99752412e-01 2.09568205e-02 1.03893633e+01] [-2.58069093e-01 -1.83179057e-02 9.65952793e-01 -8.34070461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:219.40, Y:10.40, Z:-83.41 [[ 9.65989936e-01 -9.75326814e-03 2.58395662e-01 2.19404144e+02] [ 7.55199557e-03 9.99926259e-01 9.51021076e-03 1.04006851e+01] [-2.58469363e-01 -7.23536498e-03 9.65992359e-01 -8.34144892e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.13864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:219.43, Y:10.42, Z:-83.42 [[ 9.64912163e-01 -6.64764112e-03 2.62488716e-01 2.19432892e+02] [ 8.89314912e-03 9.99933313e-01 -7.36759270e-03 1.04170193e+01] [-2.62422235e-01 9.44343111e-03 9.64906935e-01 -8.34223952e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.46, Y:10.41, Z:-83.43 [[ 9.64077611e-01 -1.05903155e-02 2.65409504e-01 2.19463025e+02] [ 9.68294544e-03 9.99941946e-01 4.72699662e-03 1.04077745e+01] [-2.65444156e-01 -1.98724586e-03 9.64124188e-01 -8.34309356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.49, Y:10.41, Z:-83.44 [[ 9.63466423e-01 -9.44687081e-03 2.67662490e-01 2.19491563e+02] [ 1.03781804e-02 9.99944013e-01 -2.06486320e-03 1.04134600e+01] [-2.67627998e-01 4.76727597e-03 9.63510523e-01 -8.34406384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.52, Y:10.42, Z:-83.45 [[ 9.62647396e-01 -9.85411796e-03 2.70578800e-01 2.19521440e+02] [ 1.12076444e-02 9.99931214e-01 -3.45766039e-03 1.04155464e+01] [-2.70526116e-01 6.36105876e-03 9.62691621e-01 -8.34489653e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:219.55, Y:10.46, Z:-83.46 [[ 9.49925759e-01 2.41752399e-03 3.12466332e-01 2.19550360e+02] [ 1.45948016e-02 9.98535474e-01 -5.20950893e-02 1.04557140e+01] [-3.12134658e-01 5.40468514e-02 9.48499285e-01 -8.34570895e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:219.58, Y:10.35, Z:-83.46 [[ 9.63256948e-01 -3.33349407e-02 2.66504848e-01 2.19583998e+02] [ 1.37833127e-02 9.97095776e-01 7.49001643e-02 1.03537340e+01] [-2.68227650e-01 -6.84747841e-02 9.60918900e-01 -8.34625337e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:219.61, Y:10.43, Z:-83.47 [[ 9.61206823e-01 -5.93830454e-03 2.75764717e-01 2.19613489e+02] [ 1.05076972e-02 9.99830845e-01 -1.50953691e-02 1.04276256e+01] [-2.75628429e-01 1.74074239e-02 9.61106628e-01 -8.34738336e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:219.64, Y:10.41, Z:-83.48 [[ 9.62000569e-01 -1.42328349e-02 2.72676241e-01 2.19643686e+02] [ 1.06374211e-02 9.99835959e-01 1.46594912e-02 1.04054914e+01] [-2.72840157e-01 -1.12018669e-02 9.61994162e-01 -8.34827405e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.37864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:219.67, Y:10.43, Z:-83.49 [[ 9.59886655e-01 -5.71553944e-03 2.80330060e-01 2.19672143e+02] [ 1.06699974e-02 9.99812636e-01 -1.61506745e-02 1.04317132e+01] [-2.80185227e-01 1.84939380e-02 9.59767791e-01 -8.34927020e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:219.70, Y:10.40, Z:-83.50 [[ 9.61096886e-01 -1.60001990e-02 2.75747656e-01 2.19703065e+02] [ 1.16781337e-02 9.99781988e-01 1.73089152e-02 1.04047676e+01] [-2.75964486e-01 -1.34153265e-02 9.61074207e-01 -8.34997199e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.43864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:219.73, Y:10.42, Z:-83.51 [[ 9.59889976e-01 -1.13379378e-02 2.80147612e-01 2.19733487e+02] [ 1.21812878e-02 9.99925000e-01 -1.26936153e-03 1.04193539e+01] [-2.80112209e-01 4.63100610e-03 9.59956095e-01 -8.35077506e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:219.76, Y:10.41, Z:-83.52 [[ 9.60825640e-01 -1.76527617e-02 2.76590797e-01 2.19763337e+02] [ 1.39029636e-02 9.99783012e-01 1.55124735e-02 1.04072574e+01] [-2.76804619e-01 -1.10593505e-02 9.60862578e-01 -8.35152711e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.49864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:219.79, Y:10.43, Z:-83.52 [[ 9.58358848e-01 -8.07192439e-03 2.85452559e-01 2.19792938e+02] [ 1.32958123e-02 9.99777645e-01 -1.63670973e-02 1.04343092e+01] [-2.85256973e-01 1.94808762e-02 9.58253075e-01 -8.35249517e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:219.82, Y:10.42, Z:-83.53 [[ 9.58527385e-01 -1.47051025e-02 2.84620822e-01 2.19822602e+02] [ 1.39993258e-02 9.99891816e-01 4.51398638e-03 1.04192988e+01] [-2.84656409e-01 -3.42279938e-04 9.58629549e-01 -8.35342490e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:219.85, Y:10.43, Z:-83.54 [[ 9.56966337e-01 -1.26390581e-02 2.89923582e-01 2.19852306e+02] [ 1.40554506e-02 9.99897287e-01 -2.80361169e-03 1.04259017e+01] [-2.89858368e-01 6.75796858e-03 9.57045692e-01 -8.35429263e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.88, Y:10.43, Z:-83.55 [[ 9.56069785e-01 -1.18802254e-02 2.92898322e-01 2.19882968e+02] [ 1.22414849e-02 9.99924890e-01 5.99591334e-04 1.04255285e+01] [-2.92883446e-01 3.01225922e-03 9.56143406e-01 -8.35502161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.91, Y:10.42, Z:-83.56 [[ 9.56147945e-01 -1.38791948e-02 2.92555079e-01 2.19913523e+02] [ 1.12424667e-02 9.99879634e-01 1.06922185e-02 1.04195666e+01] [-2.92668265e-01 -6.93430197e-03 9.56188895e-01 -8.35602166e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:219.94, Y:10.43, Z:-83.57 [[ 9.55663075e-01 -1.13056409e-02 2.94245253e-01 2.19944284e+02] [ 1.09431334e-02 9.99935979e-01 2.87844429e-03 1.04266860e+01] [-2.94258958e-01 4.69142152e-04 9.55725612e-01 -8.35695035e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.67864000000003 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:219.97, Y:10.43, Z:-83.58 [[ 9.55264554e-01 -1.01831187e-02 2.95577293e-01 2.19974641e+02] [ 1.00645395e-02 9.99947503e-01 1.92263163e-03 1.04293105e+01] [-2.95581355e-01 1.13822751e-03 9.55316894e-01 -8.35786301e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.00, Y:10.41, Z:-83.59 [[ 9.56983051e-01 -1.73650032e-02 2.89623714e-01 2.20004070e+02] [ 9.73455892e-03 9.99567052e-01 2.77659485e-02 1.04103294e+01] [-2.89980478e-01 -2.37521830e-02 9.56737768e-01 -8.35854863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:220.03, Y:10.45, Z:-83.59 [[ 9.54317993e-01 -2.48867660e-03 2.98782487e-01 2.20034957e+02] [ 7.00503966e-03 9.99876814e-01 -1.40458881e-02 1.04461912e+01] [-2.98710725e-01 1.54972269e-02 9.54217867e-01 -8.35943407e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.06, Y:10.43, Z:-83.60 [[ 9.54496128e-01 -1.15946737e-02 2.97997827e-01 2.20064228e+02] [ 7.82909236e-03 9.99873754e-01 1.38268511e-02 1.04266474e+01] [-2.98120524e-01 -1.08646234e-02 9.54466402e-01 -8.36026103e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:220.09, Y:10.46, Z:-83.61 [[ 9.51611558e-01 1.29783027e-03 3.07300761e-01 2.20094492e+02] [ 5.24412481e-03 9.99776883e-01 -2.04617472e-02 1.04579827e+01] [-3.07258753e-01 2.10831587e-02 9.51392432e-01 -8.36133064e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:220.12, Y:10.42, Z:-83.62 [[ 9.53858335e-01 -1.32703259e-02 2.99963624e-01 2.20124225e+02] [ 5.53906912e-03 9.99630554e-01 2.66096796e-02 1.04218823e+01] [-3.00205923e-01 -2.37203455e-02 9.53579440e-01 -8.36226991e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:220.15, Y:10.43, Z:-83.63 [[ 9.55342345e-01 -9.52369193e-03 2.95347767e-01 2.20153544e+02] [ 5.62479062e-03 9.99885503e-01 1.40478490e-02 1.04345308e+01] [-2.95447738e-01 -1.17592357e-02 9.55286530e-01 -8.36313844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.88864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:220.18, Y:10.46, Z:-83.64 [[ 9.50936906e-01 1.75400274e-03 3.09379904e-01 2.20183519e+02] [ 4.80232530e-03 9.99779772e-01 -2.04290089e-02 1.04642326e+01] [-3.09347603e-01 2.09124415e-02 9.50719060e-01 -8.36407328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:220.21, Y:10.46, Z:-83.65 [[ 9.49269277e-01 -1.52245204e-03 3.14460684e-01 2.20213796e+02] [ 4.03471815e-03 9.99964934e-01 -7.33839060e-03 1.04555943e+01] [-3.14438485e-01 8.23486897e-03 9.49242132e-01 -8.36518415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.94864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:220.24, Y:10.45, Z:-83.66 [[ 9.50774459e-01 -6.84435804e-03 3.09808138e-01 2.20243635e+02] [ 4.84377317e-03 9.99962159e-01 7.22628926e-03 1.04468485e+01] [-3.09845874e-01 -5.36993092e-03 9.50771633e-01 -8.36615358e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:220.27, Y:10.46, Z:-83.67 [[ 9.48197382e-01 -6.32448150e-04 3.17681167e-01 2.20273962e+02] [ 4.34178206e-03 9.99930419e-01 -1.09684256e-02 1.04644489e+01] [-3.17652126e-01 1.17795348e-02 9.48134152e-01 -8.36723960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.00864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.31, Y:10.46, Z:-83.68 [[ 9.46622987e-01 -2.19425063e-03 3.22335393e-01 2.20305239e+02] [ 4.26729527e-03 9.99974508e-01 -5.72486035e-03 1.04629364e+01] [-3.22314614e-01 6.79478470e-03 9.46608219e-01 -8.36814946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:220.33, Y:10.45, Z:-83.69 [[ 9.46776669e-01 -6.90276917e-03 3.21817170e-01 2.20334876e+02] [ 3.52464131e-03 9.99932419e-01 1.10785093e-02 1.04538741e+01] [-3.21871894e-01 -9.35458405e-03 9.46737015e-01 -8.36916427e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.06864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:220.37, Y:10.46, Z:-83.70 [[ 9.46622225e-01 -3.94016921e-03 3.22321016e-01 2.20365799e+02] [ 3.86203473e-03 9.99992153e-01 8.81885965e-04 1.04649190e+01] [-3.22321962e-01 4.10002105e-04 9.46630015e-01 -8.37018539e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:220.40, Y:10.47, Z:-83.71 [[ 9.46644721e-01 -3.81401063e-03 3.22256459e-01 2.20395820e+02] [ 3.73361774e-03 9.99992654e-01 8.67548437e-04 1.04728256e+01] [-3.22257400e-01 3.81922284e-04 9.46652007e-01 -8.37135960e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.12864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:220.43, Y:10.47, Z:-83.72 [[ 9.47481306e-01 -8.16505504e-03 3.19706908e-01 2.20425971e+02] [ 4.97211552e-03 9.99929294e-01 1.08020538e-02 1.04694163e+01] [-3.19772502e-01 -8.64512436e-03 9.47454911e-01 -8.37243768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:220.45, Y:10.42, Z:-83.73 [[ 9.50446960e-01 -3.17361953e-02 3.09262654e-01 2.20452466e+02] [ 8.32253220e-03 9.97016757e-01 7.67353988e-02 1.04202024e+01] [-3.10775338e-01 -7.03590782e-02 9.47875672e-01 -8.37334783e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.18864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:220.49, Y:10.53, Z:-83.74 [[ 9.45893481e-01 1.46438848e-02 3.24146695e-01 2.20488013e+02] [ 4.20878158e-03 9.98343336e-01 -5.73835369e-02 1.05332950e+01] [-3.24450011e-01 5.56429761e-02 9.44264820e-01 -8.37376986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.52, Y:10.50, Z:-83.75 [[ 9.44917583e-01 -2.14901739e-03 3.27301302e-01 2.20518273e+02] [ 4.61164525e-03 9.99966597e-01 -6.74815243e-03 1.04966185e+01] [-3.27275868e-01 7.88584538e-03 9.44895931e-01 -8.37526098e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.24864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:220.55, Y:10.49, Z:-83.76 [[ 9.44901534e-01 -8.37927331e-03 3.27247429e-01 2.20548874e+02] [ 6.74388686e-03 9.99958460e-01 6.13180126e-03 1.04935608e+01] [-3.27285215e-01 -3.58702878e-03 9.44918791e-01 -8.37641197e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:220.58, Y:10.50, Z:-83.77 [[ 9.44484338e-01 -8.99386022e-03 3.28433319e-01 2.20579921e+02] [ 8.71147069e-03 9.99959337e-01 2.33120949e-03 1.04996075e+01] [-3.28440931e-01 6.59346381e-04 9.44524283e-01 -8.37748946e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.30864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:220.61, Y:10.43, Z:-83.78 [[ 9.47076471e-01 -4.02437973e-02 3.18475423e-01 2.20606201e+02] [ 1.25856647e-02 9.96002723e-01 8.84317682e-02 1.04319236e+01] [-3.20761219e-01 -7.97434220e-02 9.43797238e-01 -8.37848368e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:220.64, Y:10.57, Z:-83.79 [[ 9.42477674e-01 1.54066233e-02 3.33913865e-01 2.20641737e+02] [ 1.24099841e-02 9.96635891e-01 -8.10116906e-02 1.05667692e+01] [-3.34038659e-01 8.04955755e-02 9.39115880e-01 -8.37854638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.36864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:220.67, Y:10.50, Z:-83.80 [[ 9.42111041e-01 -1.60627885e-02 3.34916070e-01 2.20670203e+02] [ 1.53724186e-02 9.99870734e-01 4.71218599e-03 1.04995089e+01] [-3.34948467e-01 7.09067584e-04 9.42236181e-01 -8.38035612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:220.70, Y:10.50, Z:-83.82 [[ 9.42505614e-01 -1.83021419e-02 3.33688776e-01 2.20700367e+02] [ 1.75089927e-02 9.99832207e-01 5.38449949e-03 1.05009629e+01] [-3.33731333e-01 7.67633338e-04 9.42667920e-01 -8.38152862e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.42864000000003 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.73, Y:10.50, Z:-83.83 [[ 9.42722127e-01 -1.67457923e-02 3.33158476e-01 2.20730545e+02] [ 1.70558440e-02 9.99852550e-01 1.99425112e-03 1.05037313e+01] [-3.33142747e-01 3.80227432e-03 9.42868736e-01 -8.38262488e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.76, Y:10.54, Z:-83.84 [[ 9.28574256e-01 -2.69456497e-03 3.71136890e-01 2.20760373e+02] [ 1.95834747e-02 9.98936367e-01 -4.17447360e-02 1.05378933e+01] [-3.70629652e-01 4.60312371e-02 9.27639362e-01 -8.38361586e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:220.79, Y:10.46, Z:-83.85 [[ 9.42247154e-01 -3.26478104e-02 3.33323298e-01 2.20792835e+02] [ 1.64292597e-02 9.98544995e-01 5.13611996e-02 1.04604750e+01] [-3.34515142e-01 -4.29186891e-02 9.41412559e-01 -8.38496463e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:220.82, Y:10.54, Z:-83.86 [[ 9.27188275e-01 2.50543404e-04 3.74595570e-01 2.20823657e+02] [ 1.66787217e-02 9.98980453e-01 -4.19508516e-02 1.05354498e+01] [-3.74224162e-01 4.51441130e-02 9.26238784e-01 -8.38564148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:220.85, Y:10.40, Z:-83.87 [[ 9.43161062e-01 -5.27279118e-02 3.28126466e-01 2.20854213e+02] [ 1.21849944e-02 9.92156191e-01 1.24409080e-01 1.04036135e+01] [-3.32112536e-01 -1.13339581e-01 9.36405576e-01 -8.38700554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:220.95, Y:10.60, Z:-83.89 [[ 9.37561813e-01 4.75933872e-02 3.44547118e-01 2.20947048e+02] [-1.14074915e-02 9.94268657e-01 -1.06300076e-01 1.05985476e+01] [-3.47631581e-01 9.57324738e-02 9.32731246e-01 -8.38885659e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:220.97, Y:10.51, Z:-83.91 [[ 9.37066043e-01 1.05668836e-02 3.48992223e-01 2.20972629e+02] [-1.12859931e-02 9.99936311e-01 2.72508045e-05 1.05148889e+01] [-3.48969708e-01 -3.96425963e-03 9.37125620e-01 -8.39109532e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.63864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:221.00, Y:10.53, Z:-83.92 [[ 9.36233009e-01 1.81597756e-02 3.50910209e-01 2.21004432e+02] [-1.49122521e-02 9.99817335e-01 -1.19549552e-02 1.05282470e+01] [-3.51063210e-01 5.95976222e-03 9.36332796e-01 -8.39209890e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:221.03, Y:10.52, Z:-83.93 [[ 9.36659188e-01 1.26775873e-02 3.50012635e-01 2.21034305e+02] [-1.45755155e-02 9.99889883e-01 2.78875441e-03 1.05179166e+01] [-3.49938738e-01 -7.71372704e-03 9.36740828e-01 -8.39327182e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.69864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:221.07, Y:10.52, Z:-83.94 [[ 9.36451958e-01 1.46498524e-02 3.50489818e-01 2.21065702e+02] [-1.41358898e-02 9.99891983e-01 -4.02490534e-03 1.05242376e+01] [-3.50510923e-01 -1.18535494e-03 9.36557893e-01 -8.39448640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:221.10, Y:10.53, Z:-83.96 [[ 9.36216916e-01 1.39927151e-02 3.51143974e-01 2.21096240e+02] [-1.23478468e-02 9.99899795e-01 -6.92322832e-03 1.05272730e+01] [-3.51205662e-01 2.14577146e-03 9.36295882e-01 -8.39555779e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.75864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:221.13, Y:10.52, Z:-83.97 [[ 9.35642250e-01 1.11567963e-02 3.52773449e-01 2.21126793e+02] [-1.14085482e-02 9.99933988e-01 -1.36557925e-03 1.05246455e+01] [-3.52765398e-01 -2.74693926e-03 9.35707769e-01 -8.39665448e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:221.16, Y:10.53, Z:-83.98 [[ 9.34939365e-01 1.00983494e-02 3.54663795e-01 2.21158454e+02] [-9.32732594e-03 9.99948958e-01 -3.88353640e-03 1.05299507e+01] [-3.54684910e-01 3.22806236e-04 9.34985834e-01 -8.39782002e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.81864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:221.19, Y:10.51, Z:-83.99 [[ 9.36734859e-01 7.54000939e-04 3.50038905e-01 2.21186431e+02] [-7.57136426e-03 9.99807369e-01 1.81080019e-02 1.05136171e+01] [-3.49957823e-01 -1.96126686e-02 9.36560124e-01 -8.39899721e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:221.22, Y:10.55, Z:-84.00 [[ 9.34027744e-01 2.00911788e-02 3.56634991e-01 2.21219498e+02] [-1.01686473e-02 9.99507846e-01 -2.96759781e-02 1.05524242e+01] [-3.57055698e-01 2.40916914e-02 9.33772359e-01 -8.39999112e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.87864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:221.25, Y:10.53, Z:-84.01 [[ 9.34086228e-01 9.32535150e-03 3.56925702e-01 2.21248823e+02] [-9.35177623e-03 9.99954907e-01 -1.65178806e-03 1.05327974e+01] [-3.56925010e-01 -1.79497682e-03 9.34131316e-01 -8.40131615e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:221.28, Y:10.54, Z:-84.03 [[ 9.32437247e-01 1.42689989e-02 3.61050102e-01 2.21280689e+02] [-1.07740456e-02 9.99873611e-01 -1.16911033e-02 1.05422397e+01] [-3.61171290e-01 7.01124996e-03 9.32473132e-01 -8.40254232e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.93864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:221.31, Y:10.53, Z:-84.04 [[ 9.32250485e-01 6.62652830e-03 3.61752848e-01 2.21309651e+02] [-8.19062364e-03 9.99962563e-01 2.79039306e-03 1.05316157e+01] [-3.61720815e-01 -5.56432672e-03 9.32269859e-01 -8.40374001e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:221.34, Y:10.52, Z:-84.05 [[ 9.33745367e-01 9.55666713e-04 3.57936692e-01 2.21337534e+02] [-6.80785105e-03 9.99862963e-01 1.50899970e-02 1.05219788e+01] [-3.57873221e-01 -1.65269945e-02 9.33623916e-01 -8.40467567e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:221.37, Y:10.60, Z:-84.05 [[ 9.10510529e-01 3.86481934e-02 4.11675715e-01 2.21374511e+02] [-5.54099086e-03 9.96673232e-01 -8.13127617e-02 1.05978793e+01] [-4.13448757e-01 7.17550342e-02 9.07695621e-01 -8.40530620e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:221.40, Y:10.49, Z:-84.08 [[ 9.27358286e-01 -1.62823781e-02 3.73820136e-01 2.21400104e+02] [-2.61042774e-03 9.98746908e-01 4.99779833e-02 1.04917508e+01] [-3.74165466e-01 -4.73233273e-02 9.26153717e-01 -8.40752423e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.05864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:221.43, Y:10.52, Z:-84.09 [[ 9.27786351e-01 -8.45179620e-04 3.73110938e-01 2.21433401e+02] [-1.90591990e-03 9.99973652e-01 7.00446851e-03 1.05249595e+01] [-3.73107028e-01 -7.20976985e-03 9.27760295e-01 -8.40853814e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:221.47, Y:10.58, Z:-84.10 [[ 9.09845724e-01 2.45435314e-02 4.14220199e-01 2.21469032e+02] [ 2.46670306e-03 9.97911631e-01 -6.45468152e-02 1.05802136e+01] [-4.14939362e-01 5.97494021e-02 9.07885089e-01 -8.40952808e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.11864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.49, Y:10.44, Z:-84.11 [[ 9.23906947e-01 -4.38107551e-02 3.80100738e-01 2.21494635e+02] [ 3.22912574e-03 9.94280365e-01 1.06752652e-01 1.04422779e+01] [-3.82603615e-01 -9.74021237e-02 9.18764007e-01 -8.41142003e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:221.97, Y:11.25, Z:-83.40 [[ 8.90623002e-01 4.52679993e-01 4.32607560e-02 2.21974165e+02] [ 4.37863865e-03 8.65912638e-02 -9.96234300e-01 1.12534841e+01] [-4.54721339e-01 8.87458606e-01 7.51380491e-02 -8.33965062e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.17864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.62, Y:10.53, Z:-84.11 [[ 8.76985421e-01 2.04900337e-03 4.80512614e-01 2.21621111e+02] [ 2.48323234e-03 9.99958229e-01 -8.79618186e-03 1.05265340e+01] [-4.80510566e-01 8.90734771e-03 8.76943701e-01 -8.41141462e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:221.66, Y:10.52, Z:-84.13 [[ 8.77139799e-01 2.20351032e-03 4.80230067e-01 2.21655976e+02] [ 2.46084871e-03 9.99955721e-01 -9.08298207e-03 1.05237869e+01] [-4.80228817e-01 9.14881860e-03 8.77095538e-01 -8.41333846e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.69, Y:10.52, Z:-84.15 [[ 8.77445730e-01 1.40058072e-03 4.79673879e-01 2.21690326e+02] [ 3.76315041e-03 9.99944864e-01 -9.80346015e-03 1.05212731e+01] [-4.79661162e-01 1.04070892e-02 8.77392080e-01 -8.41503369e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.72, Y:10.51, Z:-84.17 [[ 8.77291446e-01 -2.66543433e-04 4.79957965e-01 2.21723797e+02] [ 5.98489367e-03 9.99928172e-01 -1.03841838e-02 1.05142169e+01] [-4.79920723e-01 1.19824530e-02 8.77230027e-01 -8.41675694e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.76, Y:10.51, Z:-84.19 [[ 8.76993273e-01 3.98378965e-04 4.80502487e-01 2.21757270e+02] [ 5.60794143e-03 9.99923062e-01 -1.10644073e-02 1.05103415e+01] [-4.80469926e-01 1.23980406e-02 8.76923565e-01 -8.41858099e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:221.79, Y:10.50, Z:-84.20 [[ 8.77783798e-01 1.75663749e-03 4.79053775e-01 2.21790303e+02] [ 4.37473929e-03 9.99922187e-01 -1.16825633e-02 1.05019888e+01] [-4.79037020e-01 1.23505002e-02 8.77707809e-01 -8.42041415e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:221.82, Y:10.50, Z:-84.22 [[ 8.77195187e-01 4.29968335e-03 4.80114691e-01 2.21823595e+02] [ 1.86480813e-03 9.99921849e-01 -1.23619380e-02 1.04984770e+01] [-4.80130322e-01 1.17391543e-02 8.77118616e-01 -8.42228177e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.38864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:221.86, Y:10.49, Z:-84.24 [[ 8.77640781e-01 6.99582769e-03 4.79267899e-01 2.21858873e+02] [-8.71864376e-04 9.99915128e-01 -1.29990976e-02 1.04949648e+01] [-4.79318162e-01 1.09906816e-02 8.77572393e-01 -8.42416438e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:221.89, Y:10.44, Z:-84.25 [[ 8.97613368e-01 -1.31888025e-02 4.40586311e-01 2.21891351e+02] [-8.00686938e-03 9.98899462e-01 4.62142381e-02 1.04437058e+01] [-4.40710939e-01 -4.50102350e-02 8.96519909e-01 -8.42547655e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.41, Y:11.25, Z:-83.62 [[ 8.56429276e-01 5.15513783e-01 2.78286696e-02 2.22414604e+02] [-1.38401433e-02 7.68105286e-02 -9.96949644e-01 1.12498989e+01] [-5.16078817e-01 8.53431709e-01 7.29175701e-02 -8.36183551e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:222.02, Y:10.49, Z:-84.27 [[ 8.39294142e-01 3.15884858e-02 5.42759164e-01 2.22022309e+02] [-2.44287940e-02 9.99493512e-01 -2.03949442e-02 1.04899959e+01] [-5.43128509e-01 3.85840540e-03 8.39640718e-01 -8.42705140e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.50864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:222.06, Y:10.45, Z:-84.29 [[ 8.61328394e-01 6.94171358e-03 5.08001191e-01 2.22055553e+02] [-2.86187794e-02 9.98981902e-01 3.48729912e-02 1.04456838e+01] [-5.07241918e-01 -4.45754715e-02 8.60650140e-01 -8.42875201e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:222.09, Y:10.40, Z:-84.31 [[ 8.61157404e-01 -1.74057115e-02 5.08040320e-01 2.22091742e+02] [-3.19959868e-02 9.95576016e-01 8.83439524e-02 1.04029082e+01] [-5.07330447e-01 -9.23333000e-02 8.56790744e-01 -8.43054794e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.56864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:222.18, Y:10.60, Z:-84.34 [[ 8.50437703e-01 1.30544528e-01 5.09621271e-01 2.22179553e+02] [-5.77616096e-02 9.86036267e-01 -1.56192437e-01 1.06022464e+01] [-5.22895123e-01 1.03395393e-01 8.46102880e-01 -8.43390218e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:222.75, Y:11.24, Z:-83.78 [[ 7.94103492e-01 6.07712632e-01 -9.21956468e-03 2.22748784e+02] [-7.36701915e-02 8.11860063e-02 -9.93972603e-01 1.12390126e+01] [-6.03301207e-01 7.89996322e-01 1.09240397e-01 -8.37765786e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.62864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.29, Y:10.54, Z:-84.37 [[ 7.84620172e-01 9.46955653e-02 6.12702159e-01 2.22289687e+02] [-5.24709922e-02 9.94863344e-01 -8.65662819e-02 1.05384365e+01] [-6.17752362e-01 3.57725608e-02 7.85558619e-01 -8.43700449e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:222.33, Y:10.50, Z:-84.41 [[ 7.84566325e-01 7.14231223e-02 6.15917543e-01 2.22331770e+02] [-6.27331091e-02 9.97389878e-01 -3.57489644e-02 1.05019247e+01] [-6.16863226e-01 -1.05909888e-02 7.86999105e-01 -8.44053844e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:222.37, Y:10.51, Z:-84.43 [[ 7.83821683e-01 7.72326954e-02 6.16164491e-01 2.22367746e+02] [-6.74852870e-02 9.96953255e-01 -3.91144835e-02 1.05056918e+01] [-6.17308112e-01 -1.09232573e-02 7.86645649e-01 -8.44317648e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:222.40, Y:10.51, Z:-84.46 [[ 7.83260792e-01 8.15052418e-02 6.16327371e-01 2.22403564e+02] [-7.16098957e-02 9.96598395e-01 -4.07880143e-02 1.05085716e+01] [-6.17555305e-01 -1.21874864e-02 7.86433030e-01 -8.44575275e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.74864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:222.44, Y:10.51, Z:-84.48 [[ 7.81754609e-01 8.63570691e-02 6.17577677e-01 2.22439197e+02] [-7.64360159e-02 9.96166590e-01 -4.25401051e-02 1.05145943e+01] [-6.18883887e-01 -1.39492539e-02 7.85358614e-01 -8.44834351e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:222.47, Y:10.52, Z:-84.51 [[ 7.81899676e-01 8.96537950e-02 6.16923896e-01 2.22473868e+02] [-7.93431141e-02 9.95868627e-01 -4.41627351e-02 1.05172005e+01] [-6.18334511e-01 -1.44178349e-02 7.85782768e-01 -8.45102988e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.80864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:222.51, Y:10.52, Z:-84.54 [[ 7.80917691e-01 9.31145353e-02 6.17654631e-01 2.22513215e+02] [-8.23905156e-02 9.95541900e-01 -4.59143489e-02 1.05215751e+01] [-6.19176359e-01 -1.50335562e-02 7.85108036e-01 -8.45398068e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:222.55, Y:10.52, Z:-84.57 [[ 7.81167339e-01 9.55825840e-02 6.16961553e-01 2.22549289e+02] [-8.38169154e-02 9.95320822e-01 -4.80747936e-02 1.05249727e+01] [-6.18669793e-01 -1.41573557e-02 7.85523556e-01 -8.45658154e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.86864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:222.58, Y:10.53, Z:-84.59 [[ 7.80244108e-01 9.77934528e-02 6.17782787e-01 2.22584574e+02] [-8.52931411e-02 9.95110547e-01 -4.98003929e-02 1.05283046e+01] [-6.19632319e-01 -1.38361713e-02 7.84770252e-01 -8.45924016e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89864 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:222.62, Y:10.53, Z:-84.62 [[ 7.79976453e-01 9.84814254e-02 6.18011442e-01 2.22620593e+02] [-8.48339455e-02 9.95063358e-01 -5.14986873e-02 1.05331434e+01] [-6.20032205e-01 -1.22605855e-02 7.84480556e-01 -8.46181640e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.92864000000003 meters Centerline goodness : 0.996518 Centerline is valid? [True, True] Translation: X:222.66, Y:10.53, Z:-84.65 [[ 7.79176878e-01 9.99320738e-02 6.18786694e-01 2.22655974e+02] [-8.53235661e-02 9.94929924e-01 -5.32384762e-02 1.05337920e+01] [-6.20969630e-01 -1.13148977e-02 7.83752953e-01 -8.46450338e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95864 meters Centerline goodness : 0.994743 Centerline is valid? [True, True] Translation: X:222.69, Y:10.44, Z:-84.67 [[ 8.09663784e-01 2.40370526e-02 5.86401550e-01 2.22686579e+02] [-8.43412455e-02 9.93555288e-01 7.57261152e-02 1.04355378e+01] [-5.80802128e-01 -1.10770530e-01 8.06473049e-01 -8.46729996e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98864 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:223.40, Y:11.21, Z:-84.09 [[ 7.39618838e-01 6.72319300e-01 -3.08339717e-02 2.23395987e+02] [-5.34003636e-02 1.29529645e-02 -9.98489170e-01 1.12133239e+01] [-6.70904148e-01 7.40147945e-01 4.54823516e-02 -8.40891705e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01864 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:222.82, Y:10.49, Z:-84.72 [[ 7.62682150e-01 6.79879114e-02 6.43190161e-01 2.22819799e+02] [-8.33721220e-02 9.96497461e-01 -6.47297185e-03 1.04915804e+01] [-6.41377446e-01 -4.86873085e-02 7.65679122e-01 -8.47165243e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04864 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:223.54, Y:11.20, Z:-84.22 [[ 6.91782717e-01 7.21807052e-01 -2.07665948e-02 2.23536321e+02] [-1.04748802e-01 7.18544318e-02 -9.91899506e-01 1.11998252e+01] [-7.14467887e-01 6.88354211e-01 1.25316078e-01 -8.42187303e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07864 meters Centerline goodness : 0.993734 Centerline is valid? [True, True] Translation: X:224.16, Y:10.38, Z:-83.73 [[ 6.76141743e-01 9.43391876e-02 -7.30706823e-01 2.24161635e+02] [-3.01660194e-03 -9.91405701e-01 -1.30788513e-01 1.03826038e+01] [-7.36765392e-01 9.06358249e-02 -6.70046195e-01 -8.37294496e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10864 meters Centerline goodness : 0.992561 Centerline is valid? [True, True] Translation: X:223.70, Y:9.55, Z:-84.39 [[ 7.43363272e-01 -6.56586152e-01 -1.27693660e-01 2.23699557e+02] [ 2.76910772e-02 -1.60532482e-01 9.86642046e-01 9.54609542e+00] [-6.68314484e-01 -7.36969435e-01 -1.01152373e-01 -8.43850135e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.13864 meters Centerline goodness : 0.992553 Centerline is valid? [True, True] Translation: X:223.17, Y:10.34, Z:-85.06 [[ 7.61250923e-01 -6.20944248e-02 6.45477586e-01 2.23169314e+02] [-3.56470057e-03 9.94988967e-01 9.99212065e-02 1.03372132e+01] [-6.48447627e-01 -7.83660450e-02 7.57214922e-01 -8.50590089e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16864 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:223.93, Y:11.13, Z:-84.44 [[ 6.96550537e-01 7.16840883e-01 -3.09272852e-02 2.23933708e+02] [ 2.18368428e-02 -6.42631215e-02 -9.97694043e-01 1.11328799e+01] [-7.17175363e-01 6.94268967e-01 -6.04160535e-02 -8.44449114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.19864 meters Centerline goodness : 0.992946 Centerline is valid? [True, True] Translation: X:223.82, Y:9.57, Z:-84.78 [[ 7.42431433e-01 -6.67732310e-01 5.41214365e-02 2.23815820e+02] [ 1.77560844e-02 1.00372883e-01 9.94791438e-01 9.56571364e+00] [-6.69686709e-01 -7.37603448e-01 8.63762945e-02 -8.47767749e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22864 meters Centerline goodness : 0.992197 Centerline is valid? [True, True] Translation: X:223.43, Y:10.35, Z:-85.30 [[ 7.58324200e-01 -5.13253661e-02 6.49853918e-01 2.23427850e+02] [-1.12301746e-02 9.95719077e-01 9.17464027e-02 1.03458325e+01] [-6.51780862e-01 -7.68714903e-02 7.54501479e-01 -8.53033023e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.25864 meters Centerline goodness : 0.993289 Centerline is valid? [True, True] Translation: X:224.19, Y:11.14, Z:-84.71 [[ 6.95821580e-01 7.17212105e-01 -3.79357870e-02 2.24194234e+02] [ 8.48405860e-03 -6.10239413e-02 -9.98100245e-01 1.11374066e+01] [-7.18164569e-01 6.94177841e-01 -4.85466448e-02 -8.47074956e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28864 meters Centerline goodness : 0.993487 Centerline is valid? [True, True] Translation: X:224.34, Y:11.13, Z:-84.79 [[ 6.45454978e-01 7.62931392e-01 -3.63807807e-02 2.24342134e+02] [ 1.24314191e-02 -5.81184517e-02 -9.98232290e-01 1.11326052e+01] [-7.63697146e-01 6.43861737e-01 -4.69971639e-02 -8.47916576e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.31864 meters Centerline goodness : 0.992651 Centerline is valid? [True, True] Translation: X:224.49, Y:11.13, Z:-84.89 [[ 5.91024729e-01 8.05864810e-01 -3.56605861e-02 2.24485797e+02] [ 1.56298359e-02 -5.56403501e-02 -9.98328533e-01 1.11277801e+01] [-8.06502001e-01 5.89479482e-01 -4.54803576e-02 -8.48870029e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34864 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:224.62, Y:11.13, Z:-84.99 [[ 5.33462368e-01 8.45247515e-01 -3.12176140e-02 2.24619946e+02] [ 2.02337725e-02 -4.96501545e-02 -9.98561694e-01 1.11257393e+01] [-8.45581750e-01 5.32063436e-01 -4.35890349e-02 -8.49935558e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.37864 meters Centerline goodness : 0.991978 Centerline is valid? [True, True] Translation: X:224.50, Y:9.55, Z:-85.27 [[ 5.83887127e-01 -8.10240472e-01 5.08546975e-02 2.24496847e+02] [-2.39611763e-02 4.54148973e-02 9.98680804e-01 9.54646727e+00] [-8.11481167e-01 -5.84335404e-01 7.10285913e-03 -8.52655542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40864 meters Centerline goodness : 0.990882 Centerline is valid? [True, True] Translation: X:224.55, Y:9.55, Z:-85.43 [[ 6.38701163e-01 -7.67515393e-01 5.45980409e-02 2.24548575e+02] [-2.62517981e-02 4.91795757e-02 9.98444897e-01 9.54931145e+00] [-7.69006936e-01 -6.39141214e-01 1.12623931e-02 -8.54298911e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.43864 meters Centerline goodness : 0.990989 Centerline is valid? [True, True] Translation: X:224.61, Y:9.55, Z:-85.59 [[ 6.91753647e-01 -7.19503185e-01 6.15796922e-02 2.24609874e+02] [-3.16775234e-02 5.49582425e-02 9.97986035e-01 9.55147983e+00] [-7.21438443e-01 -6.92311171e-01 1.52254857e-02 -8.55911270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46864 meters Centerline goodness : 0.991386 Centerline is valid? [True, True] Translation: X:224.68, Y:9.55, Z:-85.74 [[ 7.39832265e-01 -6.69461121e-01 6.68582556e-02 2.24682877e+02] [-3.66149503e-02 5.91629729e-02 9.97576608e-01 9.55436604e+00] [-6.71794288e-01 -7.40487373e-01 1.92583906e-02 -8.57447802e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.49864 meters Centerline goodness : 0.991226 Centerline is valid? [True, True] Translation: X:224.76, Y:9.56, Z:-85.89 [[ 7.84084361e-01 -6.16694425e-01 6.99978677e-02 2.24764777e+02] [-4.07239594e-02 6.14186207e-02 9.97280959e-01 9.55564106e+00] [-6.19316780e-01 -7.84802994e-01 2.30431412e-02 -8.58926773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52864 meters Centerline goodness : 0.990536 Centerline is valid? [True, True] Translation: X:225.08, Y:11.13, Z:-85.80 [[ 7.34613619e-01 6.77324278e-01 -3.96819063e-02 2.25075974e+02] [ 6.06928502e-03 -6.50437683e-02 -9.97863955e-01 1.11250599e+01] [-6.78458543e-01 7.32803610e-01 -5.18929121e-02 -8.58029418e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.55864 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:224.49, Y:10.37, Z:-86.49 [[ 7.54903078e-01 -5.85045085e-03 6.55810274e-01 2.24487420e+02] [-2.38301426e-02 9.99055195e-01 3.63433942e-02 1.03682655e+01] [-6.55403286e-01 -4.30637925e-02 7.54050424e-01 -8.64900617e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58864 meters Centerline goodness : 0.989873 Centerline is valid? [True, True] Translation: X:225.25, Y:11.12, Z:-85.90 [[ 6.79922341e-01 7.32293858e-01 -3.80961461e-02 2.25252593e+02] [ 7.29134179e-03 -5.87018216e-02 -9.98248933e-01 1.11221045e+01] [-7.33247876e-01 6.78453979e-01 -4.52520848e-02 -8.59032024e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.61864 meters Centerline goodness : 0.990109 Centerline is valid? [True, True] Translation: X:225.16, Y:9.54, Z:-86.19 [[ 7.44331622e-01 -6.64882448e-01 6.24641244e-02 2.25158604e+02] [-3.45015980e-02 5.51244385e-02 9.97883228e-01 9.54338744e+00] [-6.66918343e-01 -7.44911154e-01 1.80913558e-02 -8.61872307e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64864 meters Centerline goodness : 0.990355 Centerline is valid? [True, True] Translation: X:225.47, Y:11.12, Z:-86.12 [[ 6.73821792e-01 7.37819795e-01 -3.98264123e-02 2.25474811e+02] [ 5.13758293e-03 -5.85770606e-02 -9.98269670e-01 1.11171343e+01] [-7.38876037e-01 6.72451246e-01 -4.32611103e-02 -8.61169542e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.67864000000003 meters Centerline goodness : 0.989902 Centerline is valid? [True, True] Translation: X:225.38, Y:9.54, Z:-86.41 [[ 7.49178858e-01 -6.59600536e-01 6.04828228e-02 2.25375425e+02] [-3.31088878e-02 5.39071593e-02 9.97996904e-01 9.53851361e+00] [-6.61539750e-01 -7.49680699e-01 1.85474639e-02 -8.64064715e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70864 meters Centerline goodness : 0.990738 Centerline is valid? [True, True] Translation: X:225.47, Y:9.54, Z:-86.53 [[ 7.95070457e-01 -6.06465924e-01 7.87725858e-03 2.25469049e+02] [ 7.23183389e-03 2.24660304e-02 9.99721450e-01 9.54126748e+00] [-6.06473963e-01 -7.94792024e-01 2.22479379e-02 -8.65276931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73864 meters Centerline goodness : 0.990449 Centerline is valid? [True, True] Translation: X:225.09, Y:10.38, Z:-87.13 [[ 7.68768785e-01 2.50441713e-02 6.39036262e-01 2.25089480e+02] [-5.91004104e-02 9.97739123e-01 3.19966212e-02 1.03816422e+01] [-6.36790151e-01 -6.23653090e-02 7.68510814e-01 -8.71315352e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76864 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:225.12, Y:10.32, Z:-87.15 [[ 7.95051232e-01 -2.31473123e-02 6.06100437e-01 2.25119969e+02] [-5.61945989e-02 9.92162599e-01 1.11604412e-01 1.03200082e+01] [-6.03933527e-01 -1.22790796e-01 7.87519343e-01 -8.71522603e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79864 meters Centerline goodness : 0.989328 Centerline is valid? [True, True] Translation: X:225.78, Y:11.13, Z:-86.63 [[ 7.09678670e-01 7.02041324e-01 5.91114688e-02 2.25780116e+02] [-2.91454024e-02 1.13085763e-01 -9.93157669e-01 1.11309740e+01] [-7.03922390e-01 7.03099986e-01 1.00715831e-01 -8.66284554e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82864 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:225.26, Y:10.44, Z:-87.20 [[ 7.13012760e-01 7.72598692e-02 6.96881422e-01 2.25258025e+02] [-6.76822174e-02 9.96853110e-01 -4.12673595e-02 1.04428109e+01] [-6.97876723e-01 -1.77423260e-02 7.15998107e-01 -8.72002461e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85864 meters Centerline goodness : 0.989865 Centerline is valid? [True, True] Translation: X:225.29, Y:10.45, Z:-87.23 [[ 7.11907752e-01 8.11083876e-02 6.97573496e-01 2.25293290e+02] [-7.15528290e-02 9.96516226e-01 -4.28439596e-02 1.04499516e+01] [-6.98618311e-01 -1.94124101e-02 7.15231161e-01 -8.72318812e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.88864 meters Centerline goodness : 0.989623 Centerline is valid? [True, True] Translation: X:225.33, Y:10.45, Z:-87.26 [[ 7.12139711e-01 8.50763593e-02 6.96863721e-01 2.25327364e+02] [-7.49161166e-02 9.96171308e-01 -4.50588623e-02 1.04538578e+01] [-6.98029088e-01 -2.01181185e-02 7.15786738e-01 -8.72640781e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91864 meters Centerline goodness : 0.989576 Centerline is valid? [True, True] Translation: X:225.36, Y:10.46, Z:-87.30 [[ 7.12923844e-01 8.87253931e-02 6.95605777e-01 2.25361037e+02] [-7.78418233e-02 9.95845813e-01 -4.72415848e-02 1.04572577e+01] [-6.96907629e-01 -2.04675697e-02 7.16868771e-01 -8.72970654e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.94864 meters Centerline goodness : 0.989565 Centerline is valid? [True, True] Translation: X:225.88, Y:9.53, Z:-86.91 [[ 7.87456130e-01 -6.14018438e-01 5.37977794e-02 2.25883812e+02] [-6.73536150e-02 1.03835246e-03 9.97728627e-01 9.52742646e+00] [-6.12679634e-01 -7.89290998e-01 -4.05387045e-02 -8.69079538e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97864 meters Centerline goodness : 0.990497 Centerline is valid? [True, True] Translation: X:226.22, Y:11.11, Z:-86.87 [[ 7.10210935e-01 7.03390574e-01 -2.90194287e-02 2.26224886e+02] [-3.58213987e-02 -5.06074923e-03 -9.99345394e-01 1.11073893e+01] [-7.03076991e-01 7.10785543e-01 2.16022347e-02 -8.68739869e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.00864 meters Centerline goodness : 0.991792 Centerline is valid? [True, True] Translation: X:225.61, Y:10.37, Z:-87.53 [[ 7.35454138e-01 1.24274922e-02 6.77460529e-01 2.25612507e+02] [-7.37108365e-02 9.95365369e-01 6.17615974e-02 1.03670407e+01] [-6.73553207e-01 -9.53590046e-02 7.32961620e-01 -8.75275657e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03864 meters Centerline goodness : 0.992019 Centerline is valid? [True, True] Translation: X:225.69, Y:10.48, Z:-87.57 [[ 7.22965237e-01 1.13229377e-01 6.81542643e-01 2.25685773e+02] [-8.21845562e-02 9.93568830e-01 -7.78888935e-02 1.04805063e+01] [-6.85978837e-01 2.98682641e-04 7.27621430e-01 -8.75702127e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.06864 meters Centerline goodness : 0.992816 Centerline is valid? [True, True] Translation: X:226.52, Y:11.08, Z:-87.00 [[ 6.53359105e-01 7.52854434e-01 -7.95743744e-02 2.26520284e+02] [-3.50697336e-02 -7.48997896e-02 -9.96574200e-01 1.10801363e+01] [-7.56235409e-01 6.53911479e-01 -2.25340550e-02 -8.69985291e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09864 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:226.28, Y:9.51, Z:-87.31 [[ 7.17044553e-01 -6.88490099e-01 1.08758873e-01 2.26280342e+02] [-8.40474315e-02 6.94918432e-02 9.94035670e-01 9.51248781e+00] [-6.91941571e-01 -7.21908766e-01 -8.03707681e-03 -8.73114804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.12864 meters Centerline goodness : 0.994770 Centerline is valid? [True, True] Translation: X:226.37, Y:9.51, Z:-87.45 [[ 7.63107799e-01 -6.42259752e-01 7.18950550e-02 2.26368070e+02] [-5.95184267e-02 4.09308970e-02 9.97387697e-01 9.50772639e+00] [-6.43524704e-01 -7.65393411e-01 -6.99160330e-03 -8.74453778e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15864 meters Centerline goodness : 0.996380 Centerline is valid? [True, True] Translation: X:226.05, Y:10.41, Z:-88.03 [[ 7.43120764e-01 6.44576058e-02 6.66045605e-01 2.26050727e+02] [-8.69089020e-02 9.96216108e-01 5.55674405e-04 1.04101668e+01] [-6.63489543e-01 -5.82982254e-02 7.45910815e-01 -8.80250931e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.18864 meters Centerline goodness : 0.996280 Centerline is valid? [True, True] Translation: X:226.60, Y:9.47, Z:-87.51 [[ 7.99500684e-01 -6.00142100e-01 -2.50622525e-02 2.26604376e+02] [-9.38692341e-02 -1.66045063e-01 9.81640262e-01 9.47251703e+00] [-5.93285112e-01 -7.82469486e-01 -1.89088021e-01 -8.75078403e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:226.84, Y:11.07, Z:-87.67 [[ 7.57531408e-01 6.49674022e-01 6.37952303e-02 2.26836369e+02] [-6.63164295e-02 1.73807793e-01 -9.82544138e-01 1.10691560e+01] [-6.49421510e-01 7.40077372e-01 1.74748923e-01 -8.76683293e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.24864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:226.32, Y:10.40, Z:-88.24 [[ 7.73152868e-01 7.53231463e-02 6.29730948e-01 2.26322501e+02] [-8.21641971e-02 9.96450597e-01 -1.83098982e-02 1.04026137e+01] [-6.28874938e-01 -3.75849874e-02 7.76597503e-01 -8.82387979e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27864 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:227.16, Y:11.03, Z:-87.60 [[ 7.17709415e-01 6.87709250e-01 -1.09312322e-01 2.27155870e+02] [-6.42781510e-02 -9.08813240e-02 -9.93785140e-01 1.10273234e+01] [-6.93369682e-01 7.20275345e-01 -2.10217029e-02 -8.76004627e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.30864 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:227.31, Y:11.01, Z:-87.68 [[ 6.72514752e-01 7.32042239e-01 -1.08802894e-01 2.27310467e+02] [-5.77442557e-02 -9.46640167e-02 -9.93833147e-01 1.10101032e+01] [-7.37827561e-01 6.74650194e-01 -2.13917134e-02 -8.76820775e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33864 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:227.48, Y:10.98, Z:-87.75 [[ 6.16833733e-01 7.69527358e-01 -1.65359584e-01 2.27479706e+02] [-9.03511527e-02 -1.39473482e-01 -9.86095237e-01 1.09750850e+01] [-7.81890539e-01 6.23197235e-01 -1.65042645e-02 -8.77502114e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.36864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:227.97, Y:9.92, Z:-87.51 [[ 6.29938604e-01 -1.18893536e-01 -7.67490510e-01 2.27966492e+02] [-1.00532954e-02 -9.89378363e-01 1.45015126e-01 9.91747587e+00] [-7.76579865e-01 -8.36348170e-02 -6.24442896e-01 -8.75089476e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39864 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:227.37, Y:9.35, Z:-88.20 [[ 6.55186401e-01 -7.52946131e-01 -6.16676885e-02 2.27370818e+02] [ 3.37449335e-02 -5.23791052e-02 9.98056967e-01 9.35310805e+00] [-7.54713230e-01 -6.55994324e-01 -8.90996035e-03 -8.81983829e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.42864000000003 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:226.87, Y:10.21, Z:-88.72 [[ 6.56052346e-01 -6.47684715e-02 7.51931091e-01 2.26866166e+02] [ 2.12864707e-02 9.97502393e-01 6.73488129e-02 1.02146896e+01] [-7.54415142e-01 -2.81783875e-02 6.55792477e-01 -8.87248645e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:226.90, Y:10.27, Z:-88.76 [[ 6.56967381e-01 -1.59654525e-02 7.53749935e-01 2.26902906e+02] [ 2.00437695e-02 9.99792232e-01 3.70684300e-03 1.02669578e+01] [-7.53652511e-01 1.26727150e-02 6.57150892e-01 -8.87574270e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:226.94, Y:10.27, Z:-88.79 [[ 6.56874663e-01 -1.17799041e-02 7.53907761e-01 2.26935181e+02] [ 1.68249377e-02 9.99857987e-01 9.63454648e-04 1.02662967e+01] [-7.53812045e-01 1.20515822e-02 6.56979574e-01 -8.87933465e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:226.97, Y:10.22, Z:-88.83 [[ 6.88897076e-01 -5.51390174e-02 7.22758955e-01 2.26966933e+02] [ 1.40179132e-02 9.97929537e-01 6.27705188e-02 1.02167007e+01] [-7.24723614e-01 -3.31108546e-02 6.88243674e-01 -8.88311728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:227.76, Y:10.96, Z:-88.35 [[ 6.28273989e-01 7.76255511e-01 5.19535876e-02 2.27756468e+02] [ 1.11266279e-02 5.78068908e-02 -9.98265777e-01 1.09622253e+01] [-7.77912587e-01 6.27762491e-01 2.76814597e-02 -8.83508493e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:227.91, Y:10.96, Z:-88.45 [[ 5.73396252e-01 8.17915716e-01 4.72294467e-02 2.27906619e+02] [ 7.83254618e-03 5.21722724e-02 -9.98607383e-01 1.09622599e+01] [-8.19240740e-01 5.72967657e-01 2.35090228e-02 -8.84528329e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:228.05, Y:10.96, Z:-88.57 [[ 5.15417221e-01 8.56038217e-01 3.92894277e-02 2.28050369e+02] [ 4.73137453e-03 4.30050977e-02 -9.99063649e-01 1.09626371e+01] [-8.56926311e-01 5.15120502e-01 1.81153305e-02 -8.85655466e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.63864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:228.19, Y:10.96, Z:-88.69 [[ 4.55502060e-01 8.89704183e-01 3.07301251e-02 2.28187568e+02] [ 2.51341499e-03 3.32337284e-02 -9.99444447e-01 1.09617949e+01] [-8.90231181e-01 4.55326242e-01 1.29018359e-02 -8.86859670e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:228.32, Y:10.96, Z:-88.82 [[ 3.92053184e-01 9.19710360e-01 2.06677000e-02 2.28316999e+02] [ 1.75409220e-03 2.17188981e-02 -9.99762578e-01 1.09595894e+01] [-9.19940881e-01 3.91996355e-01 6.90170638e-03 -8.88155773e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.69864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:228.18, Y:9.36, Z:-89.03 [[ 4.32492682e-01 -9.01618668e-01 5.81873885e-03 2.28177088e+02] [-3.93447137e-02 -1.24248946e-02 9.99148445e-01 9.35884303e+00] [-9.00778593e-01 -4.32353327e-01 -4.08476043e-02 -8.90274402e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:228.28, Y:9.36, Z:-89.16 [[ 4.91853729e-01 -8.64401174e-01 -1.04357651e-01 2.28275017e+02] [ 1.21338774e-02 -1.13041176e-01 9.93516211e-01 9.35545601e+00] [-8.70593291e-01 -4.89930917e-01 -4.51111860e-02 -8.91573639e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.75864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:227.63, Y:10.02, Z:-89.62 [[ 5.24316375e-01 -2.35682616e-01 8.18257932e-01 2.27633660e+02] [-1.53847317e-02 9.58155254e-01 2.85835303e-01 1.00180984e+01] [-8.51384548e-01 -1.62456808e-01 4.98750575e-01 -8.96194408e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:227.74, Y:10.43, Z:-89.73 [[ 4.61487945e-01 2.14230877e-01 8.60891403e-01 2.27741587e+02] [-5.96220307e-02 9.75700622e-01 -2.10840010e-01 1.04310858e+01] [-8.85140718e-01 4.59720291e-02 4.63046954e-01 -8.97314036e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.81864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:227.75, Y:10.36, Z:-89.78 [[ 4.60603411e-01 1.39746851e-01 8.76535975e-01 2.27746503e+02] [-7.11348246e-02 9.90163518e-01 -1.20482551e-01 1.03617008e+01] [-8.84751002e-01 -6.85755872e-03 4.66013561e-01 -8.97827063e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:227.77, Y:10.37, Z:-89.83 [[ 4.58339400e-01 1.48131023e-01 8.76345933e-01 2.27772166e+02] [-7.70793784e-02 9.88922982e-01 -1.26846776e-01 1.03674124e+01] [-8.85428576e-01 -9.40932434e-03 4.64680214e-01 -8.98280967e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.87864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:227.79, Y:10.33, Z:-89.87 [[ 4.98818391e-01 1.04265737e-01 8.60412034e-01 2.27787703e+02] [-8.73819673e-02 9.93729157e-01 -6.97621230e-02 1.03260482e+01] [-8.62290325e-01 -4.03858663e-02 5.04801324e-01 -8.98724390e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:228.63, Y:10.96, Z:-89.65 [[ 4.03526499e-01 9.13438622e-01 5.28795548e-02 2.28633983e+02] [-1.03864058e-01 1.03150707e-01 -9.89228077e-01 1.09599793e+01] [-9.09053696e-01 3.93687458e-01 1.36497486e-01 -8.96481444e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.93864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:229.38, Y:10.00, Z:-89.41 [[ 4.35165868e-01 1.26286587e-02 -9.00261731e-01 2.29378068e+02] [ 1.05030511e-02 -9.99904792e-01 -8.94949400e-03 9.99761795e+00] [-9.00289039e-01 -5.56098065e-03 -4.35257076e-01 -8.94098821e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:227.95, Y:10.23, Z:-90.12 [[ 3.93824054e-01 1.76188025e-02 9.19016970e-01 2.27950386e+02] [-2.26688990e-02 9.99698351e-01 -9.45132718e-03 1.02275889e+01] [-9.18906271e-01 -1.71109429e-02 3.94104657e-01 -9.01203804e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.99864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:227.97, Y:10.24, Z:-90.17 [[ 3.94093715e-01 2.60149153e-02 9.18702002e-01 2.27973689e+02] [-2.55665558e-02 9.99522788e-01 -1.73362871e-02 1.02373434e+01] [-9.18714589e-01 -1.66559242e-02 3.94570760e-01 -9.01679638e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:228.53, Y:9.33, Z:-90.09 [[ 4.83666829e-01 -8.67412445e-01 1.16884765e-01 2.28527060e+02] [-4.25371109e-02 1.10090714e-01 9.93010891e-01 9.32856376e+00] [-8.74217932e-01 -4.85258368e-01 1.63500070e-02 -9.00917531e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.05864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:228.55, Y:9.34, Z:-90.27 [[ 5.36924825e-01 -8.34247569e-01 1.25470018e-01 2.28553506e+02] [-4.85728196e-02 1.17909471e-01 9.91835691e-01 9.33507807e+00] [-8.42230618e-01 -5.38635638e-01 2.27867655e-02 -9.02719356e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:229.09, Y:10.87, Z:-90.18 [[ 4.75012706e-01 8.72458265e-01 -1.14802022e-01 2.29090641e+02] [ 3.31273807e-03 -1.32231975e-01 -9.91213262e-01 1.08724729e+01] [-8.79972701e-01 4.70458585e-01 -6.57020937e-02 -9.01836370e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.11864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:228.72, Y:9.33, Z:-90.55 [[ 5.29980673e-01 -8.38833591e-01 1.24413392e-01 2.28715789e+02] [-4.55519689e-02 1.18339843e-01 9.91927769e-01 9.32702055e+00] [-8.46785394e-01 -5.31369822e-01 2.45073080e-02 -9.05483434e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:229.25, Y:10.86, Z:-90.46 [[ 4.81980781e-01 8.68515189e-01 -1.15654196e-01 2.29251776e+02] [ 2.33269268e-03 -1.33269446e-01 -9.91077098e-01 1.08643948e+01] [-8.76178683e-01 4.77410328e-01 -6.62592907e-02 -9.04593109e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.17864000000003 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:228.86, Y:9.33, Z:-90.83 [[ 5.29893538e-01 -8.38134225e-01 1.29398066e-01 2.28860527e+02] [-1.84496756e-02 1.41151522e-01 9.89816072e-01 9.33353121e+00] [-8.47863461e-01 -5.26884493e-01 5.93319748e-02 -9.08264580e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:228.44, Y:10.17, Z:-91.22 [[ 5.15874109e-01 -3.65267079e-02 8.55885333e-01 2.28436634e+02] [-3.89860597e-02 9.97054420e-01 6.60497524e-02 1.01743963e+01] [-8.55776835e-01 -6.74409538e-02 5.12930528e-01 -9.12186192e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:228.47, Y:10.20, Z:-91.25 [[ 5.53519835e-01 -1.07180777e-02 8.32767023e-01 2.28465517e+02] [-3.52328952e-02 9.98720659e-01 3.62724161e-02 1.01960109e+01] [-8.32090401e-01 -4.94182950e-02 5.52434066e-01 -9.12528320e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26864 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:229.28, Y:10.91, Z:-90.99 [[ 4.74108159e-01 8.72148798e-01 1.20739085e-01 2.29281211e+02] [-4.18106280e-02 1.59277327e-01 -9.86348115e-01 1.09085008e+01] [-8.79473322e-01 4.62587512e-01 1.11979769e-01 -9.09878348e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:229.27, Y:9.29, Z:-91.08 [[ 5.13692426e-01 -8.54974748e-01 -7.16817414e-02 2.29272791e+02] [-7.35018813e-02 -1.27094193e-01 9.89163555e-01 9.28614348e+00] [-8.54820195e-01 -5.02857084e-01 -1.28129577e-01 -9.10754144e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:229.37, Y:9.28, Z:-91.20 [[ 5.65788586e-01 -8.09555250e-01 -1.56536173e-01 2.29369753e+02] [-2.84565802e-02 -2.08902384e-01 9.77522387e-01 9.27827169e+00] [-8.24059160e-01 -5.48616525e-01 -1.41231758e-01 -9.12045118e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:228.73, Y:10.01, Z:-91.80 [[ 5.89930211e-01 -1.40089360e-01 7.95208977e-01 2.28734187e+02] [-4.62310036e-02 9.77359104e-01 2.06474879e-01 1.00130119e+01] [-8.06129668e-01 -1.58569078e-01 5.70097191e-01 -9.17992950e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.38864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:229.58, Y:10.87, Z:-91.47 [[ 5.33406555e-01 8.44963859e-01 3.89040382e-02 2.29580487e+02] [-5.03870539e-02 7.76527695e-02 -9.95706379e-01 1.08731734e+01] [-8.44356910e-01 5.29156049e-01 8.39957357e-02 -9.14677471e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41864 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:229.72, Y:10.86, Z:-91.58 [[ 4.75573016e-01 8.79375062e-01 2.30175469e-02 2.29719762e+02] [-5.40445997e-02 5.53242390e-02 -9.97004719e-01 1.08638599e+01] [-8.78014515e-01 4.72904567e-01 7.38361884e-02 -9.15835916e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.44864 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:229.86, Y:10.85, Z:-91.70 [[ 4.15570366e-01 9.09560637e-01 8.47973888e-04 2.29858137e+02] [-5.66123564e-02 2.67961537e-02 -9.98036576e-01 1.08523008e+01] [-9.07797506e-01 4.14706420e-01 6.26280583e-02 -9.17048022e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:229.71, Y:9.25, Z:-91.83 [[ 4.44190826e-01 -8.95079793e-01 3.90726738e-02 2.29707955e+02] [-9.09007081e-02 -1.63829175e-03 9.95858613e-01 9.24816876e+00] [-8.91308909e-01 -4.45902993e-01 -8.20911012e-02 -9.18313328e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.50864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:229.99, Y:10.83, Z:-92.01 [[ 4.16220567e-01 9.09258505e-01 3.06768998e-03 2.29988435e+02] [-5.61288480e-02 2.90605334e-02 -9.98000520e-01 1.08293070e+01] [-9.07529609e-01 4.15216157e-01 6.31312241e-02 -9.20097834e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:229.85, Y:9.23, Z:-92.13 [[ 4.45357285e-01 -8.94239836e-01 4.46318654e-02 2.29853375e+02] [-9.41157659e-02 2.81628735e-03 9.95557277e-01 9.22623686e+00] [-8.90392672e-01 -4.47579248e-01 -8.29078130e-02 -9.21258863e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.56864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:230.13, Y:10.80, Z:-92.31 [[ 4.12804889e-01 9.10797082e-01 -6.38738216e-03 2.30128210e+02] [-5.79854667e-02 1.92811757e-02 -9.98131215e-01 1.08042778e+01] [-9.08971842e-01 4.12403820e-01 6.07723575e-02 -9.23078792e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:230.26, Y:10.79, Z:-92.43 [[ 3.49042390e-01 9.36569172e-01 -3.17426477e-02 2.30261723e+02] [-5.82684920e-02 -1.21167851e-02 -9.98227412e-01 1.07892215e+01] [-9.35293640e-01 3.50273278e-01 5.03432017e-02 -9.24339244e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.62864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:230.45, Y:10.75, Z:-92.54 [[ 2.76169668e-01 9.47631458e-01 -1.60389942e-01 2.30454882e+02] [-8.97674529e-02 -1.40718100e-01 -9.85971714e-01 1.07518294e+01] [-9.56907581e-01 2.86693277e-01 4.62043914e-02 -9.25366088e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:231.08, Y:9.87, Z:-92.47 [[ 2.52042653e-01 1.55257395e-02 -9.67591573e-01 2.31084653e+02] [ 2.47359443e-03 -9.99878361e-01 -1.53994724e-02 9.86910424e+00] [-9.67712965e-01 1.48789475e-03 -2.52050399e-01 -9.24687540e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.68864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:230.33, Y:9.11, Z:-92.87 [[ 3.49157849e-01 -9.33370415e-01 -8.31171720e-02 2.30333400e+02] [-4.04366534e-03 -9.01995141e-02 9.95915507e-01 9.11233690e+00] [-9.37055199e-01 -3.47395618e-01 -3.52681059e-02 -9.28667161e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:230.35, Y:9.11, Z:-93.04 [[ 4.15314718e-01 -9.04705216e-01 -9.49850369e-02 2.30352026e+02] [ 3.17897038e-03 -1.02972065e-01 9.94679168e-01 9.11041951e+00] [-9.09672237e-01 -4.13406853e-01 -3.98897831e-02 -9.30385406e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.74864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:230.33, Y:10.71, Z:-93.18 [[ 3.44274426e-01 9.19389147e-01 1.90259601e-01 2.30333925e+02] [-1.26750380e-02 2.07180555e-01 -9.78220610e-01 1.07096144e+01] [-9.38783502e-01 3.34364791e-01 8.29802590e-02 -9.31816167e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:231.24, Y:9.93, Z:-93.03 [[ 3.51834748e-01 1.82718590e-01 -9.18055678e-01 2.31244954e+02] [ 9.86244619e-02 -9.82540691e-01 -1.57756158e-01 9.93439576e+00] [-9.30852043e-01 -3.50386489e-02 -3.63712479e-01 -9.30303410e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.80864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:230.66, Y:10.68, Z:-93.35 [[ 2.61342602e-01 9.65225245e-01 6.34588984e-03 2.30663048e+02] [ 1.06291435e-01 -2.22436356e-02 -9.94086189e-01 1.06787551e+01] [-9.59375930e-01 2.60471585e-01 -1.08408386e-01 -9.33488104e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:230.75, Y:10.69, Z:-93.49 [[ 1.98940257e-01 9.80011617e-01 -7.56592184e-05 2.30752391e+02] [ 6.18300468e-02 -1.26284154e-02 -9.98006798e-01 1.06880890e+01] [-9.78059211e-01 1.98539050e-01 -6.31064644e-02 -9.34944211e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.86864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:231.49, Y:10.05, Z:-93.56 [[ 1.73819633e-01 3.40965779e-01 -9.23866372e-01 2.31492279e+02] [ 1.61288182e-01 -9.35335997e-01 -3.14853450e-01 1.00477684e+01] [-9.71479726e-01 -9.42810161e-02 -2.17573510e-01 -9.35624046e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:230.26, Y:9.27, Z:-94.02 [[ 1.94978804e-01 -8.20938652e-01 5.36696372e-01 2.30260908e+02] [ 1.45940620e-01 5.65390257e-01 8.11809825e-01 9.27139619e+00] [-9.69888963e-01 -7.99599081e-02 2.30047412e-01 -9.40236728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.92864000000003 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:230.11, Y:9.47, Z:-94.10 [[ 1.93025964e-01 -6.16846054e-01 7.63047786e-01 2.30106376e+02] [ 1.46220003e-01 7.87073126e-01 5.99279237e-01 9.47062963e+00] [-9.70237439e-01 -4.10360284e-03 2.42120780e-01 -9.40997995e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:230.11, Y:9.51, Z:-94.18 [[ 1.95955961e-01 -5.93053336e-01 7.80953905e-01 2.30108346e+02] [ 1.40786896e-01 8.05157795e-01 5.76107607e-01 9.50622119e+00] [-9.70453663e-01 -2.94364365e-03 2.41269608e-01 -9.41756145e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:230.11, Y:9.54, Z:-94.23 [[ 1.96143030e-01 -5.67319857e-01 7.99797532e-01 2.30105480e+02] [ 1.39640483e-01 8.23488626e-01 5.49879094e-01 9.53776213e+00] [-9.70581499e-01 3.82916235e-03 2.40742373e-01 -9.42274092e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:231.06, Y:10.70, Z:-94.02 [[ 1.61144903e-01 9.73843244e-01 -1.60192561e-01 2.31060289e+02] [ 1.70483808e-01 -1.87341114e-01 -9.67387502e-01 1.06950169e+01] [-9.72094436e-01 1.28579327e-01 -1.96213570e-01 -9.40203033e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:230.29, Y:9.43, Z:-94.41 [[ 1.33023719e-01 -7.24894229e-01 6.75894258e-01 2.30288763e+02] [ 1.47959261e-01 6.88837394e-01 7.09655622e-01 9.42507506e+00] [-9.80006504e-01 5.60378482e-03 1.98886526e-01 -9.44062384e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:230.28, Y:9.45, Z:-94.46 [[ 1.35882464e-01 -7.07883815e-01 6.93135240e-01 2.30283907e+02] [ 1.45715265e-01 7.06295514e-01 6.92758045e-01 9.44840062e+00] [-9.79950518e-01 6.86671551e-03 1.99122652e-01 -9.44603608e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:230.32, Y:9.43, Z:-94.52 [[ 1.57336514e-01 -7.41307700e-01 6.52463114e-01 2.30321245e+02] [ 1.57674381e-01 6.71073488e-01 7.24430234e-01 9.42816748e+00] [-9.74876408e-01 -1.11026102e-02 2.22469596e-01 -9.45186148e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.13864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:230.42, Y:10.63, Z:-94.50 [[ 1.02544323e-01 6.91226504e-01 7.15325507e-01 2.30420681e+02] [ 1.11458993e-01 7.06603495e-01 -6.98776355e-01 1.06283319e+01] [-9.88464240e-01 1.51385009e-01 -4.58523372e-03 -9.44994788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:230.32, Y:9.56, Z:-94.67 [[ 9.40940865e-02 -6.56538429e-01 7.48400691e-01 2.30321807e+02] [ 8.46551449e-02 7.54289668e-01 6.51061137e-01 9.55943812e+00] [-9.91957564e-01 2.09496608e-03 1.26553553e-01 -9.46737637e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.19864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:230.31, Y:9.59, Z:-94.73 [[ 9.65682158e-02 -6.28942149e-01 7.71431366e-01 2.30309916e+02] [ 7.99040311e-02 7.77450849e-01 6.23847356e-01 9.58964881e+00] [-9.92113867e-01 1.39664981e-03 1.25332054e-01 -9.47276780e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:230.30, Y:9.62, Z:-94.82 [[ 1.05610534e-01 -6.06486259e-01 7.88048750e-01 2.30304298e+02] [ 6.65530912e-02 7.95014679e-01 6.02928144e-01 9.62191911e+00] [-9.92177958e-01 -1.12284829e-02 1.24325460e-01 -9.48173373e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.25864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:230.28, Y:9.68, Z:-94.89 [[ 1.09730178e-01 -5.41928322e-01 8.33230450e-01 2.30278608e+02] [ 5.90029707e-02 8.40365697e-01 5.38798799e-01 9.68474681e+00] [-9.92208616e-01 -9.95941618e-03 1.24188858e-01 -9.48901257e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:230.26, Y:9.73, Z:-94.95 [[ 1.11659474e-01 -4.95827117e-01 8.61212884e-01 2.30264671e+02] [ 5.44102006e-02 8.68382742e-01 4.92900541e-01 9.72840875e+00] [-9.92255860e-01 -8.17824960e-03 1.23941214e-01 -9.49452768e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.31864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:231.18, Y:10.86, Z:-94.92 [[ 5.59474730e-02 9.94936317e-01 -8.34961419e-02 2.31175088e+02] [ 9.12669287e-02 -8.83732569e-02 -9.91897432e-01 1.08611569e+01] [-9.94253603e-01 4.78737184e-02 -9.57490422e-02 -9.49220213e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:231.41, Y:10.81, Z:-95.08 [[-4.64904615e-03 9.51836666e-01 -3.06570299e-01 2.31408876e+02] [ 1.12882449e-01 -3.04114528e-01 -9.45923838e-01 1.08084903e+01] [-9.93597473e-01 -3.90040497e-02 -1.06031811e-01 -9.50814986e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.37864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:231.09, Y:9.28, Z:-95.24 [[ 3.67811045e-03 -9.98230798e-01 -5.93443000e-02 2.31091076e+02] [ 7.69206802e-02 -5.88864475e-02 9.95296737e-01 9.27981684e+00] [-9.97030431e-01 -8.22561526e-03 7.65680011e-02 -9.52390612e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:231.05, Y:9.28, Z:-95.25 [[ 7.04700089e-03 -9.99909291e-01 -1.14782443e-02 2.31052772e+02] [ 7.67604986e-02 -1.09037518e-02 9.96989937e-01 9.28287429e+00] [-9.97024656e-01 -7.90686473e-03 7.66766970e-02 -9.52534528e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.43864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:231.01, Y:9.29, Z:-95.31 [[ 8.65859192e-03 -9.99417608e-01 3.30071694e-02 2.31014248e+02] [ 7.58243339e-02 3.35695735e-02 9.96555946e-01 9.29188163e+00] [-9.97083597e-01 -6.12602463e-03 7.60708397e-02 -9.53073790e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:230.98, Y:9.30, Z:-95.36 [[ 1.17254535e-02 -9.97284376e-01 7.27075471e-02 2.30979505e+02] [ 7.44317475e-02 7.33813171e-02 9.94522547e-01 9.30178751e+00] [-9.97157174e-01 -6.24947810e-03 7.50900480e-02 -9.53644439e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.49864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:230.94, Y:9.31, Z:-95.42 [[ 1.32140882e-02 -9.92886545e-01 1.18328768e-01 2.30940440e+02] [ 7.30223644e-02 1.18981342e-01 9.90207642e-01 9.31424476e+00] [-9.97242760e-01 -4.44404475e-03 7.40751530e-02 -9.54207695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:230.90, Y:9.33, Z:-95.48 [[ 1.67601315e-02 -9.86376497e-01 1.63647498e-01 2.30902512e+02] [ 7.16461396e-02 1.64434527e-01 9.83782556e-01 9.32933684e+00] [-9.97289290e-01 -4.76361346e-03 7.34260125e-02 -9.54812334e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.55864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:230.83, Y:9.36, Z:-95.64 [[ 5.48426861e-02 -9.74633419e-01 2.16983820e-01 2.30833613e+02] [ 6.50636859e-02 2.20337268e-01 9.73251358e-01 9.36207738e+00] [-9.96372920e-01 -3.92579516e-02 7.54971303e-02 -9.56381237e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:230.65, Y:9.46, Z:-95.70 [[ 7.64143436e-02 -8.86506616e-01 4.56362649e-01 2.30649285e+02] [ 1.04897937e-01 4.62308600e-01 8.80492579e-01 9.45847767e+00] [-9.91542874e-01 -1.94107623e-02 1.28319723e-01 -9.56976717e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.61864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:230.45, Y:10.64, Z:-95.79 [[ 7.87506441e-03 4.90904609e-01 8.71177736e-01 2.30453964e+02] [ 2.11440343e-02 8.70928227e-01 -4.90955144e-01 1.06357634e+01] [-9.99745424e-01 2.22865153e-02 -3.52108800e-03 -9.57850044e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:231.38, Y:9.43, Z:-95.94 [[ 7.36610717e-02 -8.81235971e-01 -4.66901713e-01 2.31375587e+02] [ 6.49068322e-02 -4.62944699e-01 8.84007527e-01 9.42799530e+00] [-9.95168905e-01 -9.54220530e-02 2.30972326e-02 -9.59417728e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.67864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:230.51, Y:9.60, Z:-96.07 [[ 7.86361354e-02 -7.68568395e-01 6.34916515e-01 2.30513982e+02] [ 1.96880111e-02 6.37961792e-01 7.69816299e-01 9.60487412e+00] [-9.96708955e-01 -4.80351353e-02 6.52984330e-02 -9.60739354e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:231.16, Y:10.97, Z:-96.13 [[ 2.69498331e-02 9.97583468e-01 6.40385110e-02 2.31158510e+02] [ 6.79403758e-03 6.38775110e-02 -9.97934619e-01 1.09692662e+01] [-9.99613699e-01 2.73292515e-02 -5.05613131e-03 -9.61332458e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:231.94, Y:10.09, Z:-96.31 [[ 4.04879168e-02 3.72941993e-02 -9.98483786e-01 2.31939496e+02] [ 1.02105449e-01 -9.94226240e-01 -3.29948619e-02 1.00899814e+01] [-9.93949297e-01 -1.00614742e-01 -4.40620903e-02 -9.63121322e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:231.02, Y:9.36, Z:-96.46 [[ 2.17024117e-02 -9.97565477e-01 6.62731106e-02 2.31022716e+02] [ 1.28144406e-01 6.85175280e-02 9.89385850e-01 9.35734370e+00] [-9.91518036e-01 -1.29795307e-02 1.29319431e-01 -9.64593296e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:230.37, Y:10.36, Z:-96.54 [[-5.01455833e-03 1.03582466e-01 9.94608228e-01 2.30373089e+02] [ 3.42334575e-02 9.94055517e-01 -1.03352308e-01 1.03578944e+01] [-9.99401283e-01 3.35306123e-02 -8.53073532e-03 -9.65436699e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:231.88, Y:9.87, Z:-96.70 [[ 5.32756530e-02 -2.81329383e-01 -9.58131245e-01 2.31882633e+02] [ 8.18549600e-02 -9.55034542e-01 2.84971559e-01 9.87032013e+00] [-9.95219308e-01 -9.36098407e-02 -2.78518835e-02 -9.67032153e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:230.79, Y:9.46, Z:-96.91 [[ 4.24378297e-02 -9.34511575e-01 3.53393756e-01 2.30789977e+02] [ 6.86586677e-02 3.55604040e-01 9.32111450e-01 9.46225477e+00] [-9.96737186e-01 -1.52932424e-02 7.92533834e-02 -9.69054141e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.88864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:230.69, Y:9.53, Z:-96.97 [[ 6.68918081e-02 -8.71123896e-01 4.86486015e-01 2.30688243e+02] [ 1.03015104e-01 4.91002147e-01 8.65046114e-01 9.53149010e+00] [-9.92428020e-01 -7.74909118e-03 1.22582940e-01 -9.69665409e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:230.53, Y:10.72, Z:-97.05 [[ 1.30572089e-03 5.24745297e-01 8.51258285e-01 2.30534938e+02] [ 3.17693021e-02 8.50807551e-01 -5.24516179e-01 1.07176142e+01] [-9.99494375e-01 2.77287533e-02 -1.55598747e-02 -9.70460157e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.94864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:231.44, Y:9.49, Z:-97.22 [[ 7.58394718e-02 -8.78187702e-01 -4.72265534e-01 2.31435578e+02] [ 6.77654990e-02 -4.67995141e-01 8.81129040e-01 9.48933292e+00] [-9.94814662e-01 -9.88276706e-02 2.40183236e-02 -9.72193541e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:230.56, Y:9.68, Z:-97.34 [[ 7.52158546e-02 -7.57754277e-01 6.48190582e-01 2.30559979e+02] [ 2.54376086e-02 6.51278472e-01 7.58412341e-01 9.67723914e+00] [-9.96842768e-01 -4.05562141e-02 6.82619236e-02 -9.73437138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.00864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:230.40, Y:9.93, Z:-97.40 [[ 7.10238501e-02 -4.68436795e-01 8.80637600e-01 2.30400746e+02] [ 2.72919802e-02 8.83449258e-01 4.67731286e-01 9.93314049e+00] [-9.97101179e-01 -9.18573286e-03 7.55305354e-02 -9.74020712e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:230.39, Y:9.97, Z:-97.46 [[ 7.32275383e-02 -4.29256979e-01 9.00208961e-01 2.30390448e+02] [ 2.39405433e-02 9.03128781e-01 4.28701826e-01 9.97232880e+00] [-9.97027872e-01 -9.84128773e-03 7.64105427e-02 -9.74629803e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.06864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:230.38, Y:10.02, Z:-97.52 [[ 7.39365978e-02 -3.81538754e-01 9.21391100e-01 2.30382108e+02] [ 2.35668712e-02 9.24330371e-01 3.80864764e-01 1.00153126e+01] [-9.96984444e-01 -6.44553950e-03 7.73335175e-02 -9.75194344e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:231.16, Y:11.04, Z:-97.58 [[ 2.66692838e-02 9.87666657e-01 1.54283260e-01 2.31164927e+02] [ 2.13326853e-03 1.54281574e-01 -9.88024618e-01 1.10448968e+01] [-9.99642035e-01 2.66790365e-02 2.00762087e-03 -9.75788687e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.12864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:232.01, Y:10.17, Z:-97.75 [[ 3.90463227e-02 6.31932480e-02 -9.97237182e-01 2.32008495e+02] [ 9.42601723e-02 -9.93780904e-01 -5.92835196e-02 1.01717494e+01] [-9.94781586e-01 -9.16849452e-02 -4.47600963e-02 -9.77488800e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:230.97, Y:9.46, Z:-97.92 [[ 1.93791246e-02 -9.80093094e-01 1.97590426e-01 2.30971894e+02] [ 7.69079897e-02 1.98503273e-01 9.77078099e-01 9.46049365e+00] [-9.96849844e-01 -3.73863582e-03 7.92238093e-02 -9.79192533e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.18864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:230.91, Y:9.49, Z:-97.97 [[ 2.10646492e-02 -9.58915740e-01 2.82907907e-01 2.30906294e+02] [ 7.59773059e-02 2.83687781e-01 9.55902031e-01 9.49000558e+00] [-9.96887019e-01 1.35883963e-03 7.88316181e-02 -9.79731194e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:230.88, Y:9.51, Z:-98.03 [[ 2.49688525e-02 -9.47592817e-01 3.18503389e-01 2.30878826e+02] [ 7.49476876e-02 3.19480471e-01 9.44624302e-01 9.50732805e+00] [-9.96874817e-01 2.84907679e-04 7.89969511e-02 -9.80294912e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.24864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:230.89, Y:9.51, Z:-98.09 [[ 4.49398344e-02 -9.53961581e-01 2.96542935e-01 2.30894681e+02] [ 1.17126122e-01 2.99826994e-01 9.46776238e-01 9.50964367e+00] [-9.92099734e-01 -7.81504347e-03 1.25207996e-01 -9.80852316e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:230.52, Y:10.65, Z:-98.16 [[ 5.15792131e-04 3.54300549e-01 9.35131464e-01 2.30521327e+02] [ 3.43364228e-02 9.34573895e-01 -3.54108238e-01 1.06500607e+01] [-9.99410198e-01 3.22917156e-02 -1.16833676e-02 -9.81626788e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.30864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:230.75, Y:9.67, Z:-98.24 [[ 2.22740453e-03 -8.47885667e-01 5.30174437e-01 2.30746376e+02] [ 1.16603673e-02 5.30161730e-01 8.47816357e-01 9.66650560e+00] [-9.99929535e-01 4.29359870e-03 1.10675430e-02 -9.82384477e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:231.81, Y:9.75, Z:-98.39 [[ 6.33458072e-02 -5.65600983e-01 -8.22242566e-01 2.31813886e+02] [ 5.84484425e-02 -8.20380505e-01 5.68823001e-01 9.74520749e+00] [-9.96278620e-01 -8.40913495e-02 -1.89091688e-02 -9.83905492e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.36864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:230.68, Y:9.67, Z:-98.52 [[ 4.04493115e-02 -8.04721527e-01 5.92272840e-01 2.30679043e+02] [ 6.73902486e-02 5.93605403e-01 8.01929660e-01 9.67345659e+00] [-9.96906419e-01 7.47591132e-03 7.82413136e-02 -9.85196616e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:230.66, Y:9.70, Z:-98.58 [[ 4.20489959e-02 -7.75543272e-01 6.29892463e-01 2.30655317e+02] [ 6.54858626e-02 6.31233733e-01 7.72823121e-01 9.70292875e+00] [-9.96967143e-01 8.75261508e-03 7.73298648e-02 -9.85836181e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.42864000000003 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:230.65, Y:9.72, Z:-98.65 [[ 7.21040871e-02 -7.66909447e-01 6.37691854e-01 2.30654817e+02] [ 9.19193373e-02 6.41744564e-01 7.61390012e-01 9.71718322e+00] [-9.93152474e-01 3.71688088e-03 1.16766214e-01 -9.86480276e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:230.69, Y:10.89, Z:-98.74 [[ 1.65946469e-02 6.45607888e-01 7.63488751e-01 2.30693280e+02] [ 3.41888580e-02 7.62780983e-01 -6.45752503e-01 1.08864136e+01] [-9.99277609e-01 3.68188432e-02 -9.41451536e-03 -9.87392811e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:230.93, Y:11.06, Z:-98.91 [[-3.38066069e-02 8.44531441e-01 5.34437796e-01 2.30934171e+02] [-2.13758412e-03 5.34681137e-01 -8.45051190e-01 1.10580041e+01] [-9.99426107e-01 -2.97107191e-02 -1.62704980e-02 -9.89055360e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:231.98, Y:10.77, Z:-98.95 [[-1.47072550e-02 5.86583385e-01 -8.09755289e-01 2.31976993e+02] [-1.99744918e-02 -8.09853631e-01 -5.86291835e-01 1.07705498e+01] [-9.99692311e-01 7.55170691e-03 2.36274289e-02 -9.89500673e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:230.99, Y:9.62, Z:-98.97 [[ 9.41340959e-03 -9.52362865e-01 3.04821850e-01 2.30993030e+02] [-5.68849080e-02 3.03831689e-01 9.51025979e-01 9.62248112e+00] [-9.98336364e-01 -2.62921600e-02 -5.13149819e-02 -9.89666283e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:230.92, Y:11.06, Z:-99.10 [[ 1.99155460e-02 8.47348813e-01 5.30663133e-01 2.30922876e+02] [-2.48480309e-02 5.31023944e-01 -8.46992412e-01 1.10565927e+01] [-9.99492845e-01 3.68238247e-03 3.16305813e-02 -9.90997530e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:230.99, Y:11.08, Z:-99.15 [[ 3.47499895e-02 8.89843629e-01 4.54940385e-01 2.30986674e+02] [-6.71403065e-02 4.56265528e-01 -8.87307132e-01 1.10825443e+01] [-9.97138214e-01 2.89076593e-04 7.55995963e-02 -9.91516459e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.63864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:231.97, Y:10.76, Z:-99.28 [[-4.23184623e-02 6.31856969e-01 -7.73928885e-01 2.31973713e+02] [-9.66416080e-03 -7.74845450e-01 -6.32076841e-01 1.07628752e+01] [-9.99057432e-01 -1.92691467e-02 3.88966353e-02 -9.92811515e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:232.09, Y:10.50, Z:-99.33 [[-4.98677246e-02 3.12823586e-01 -9.48501246e-01 2.32092684e+02] [ 1.26742863e-02 -9.49408132e-01 -3.13789039e-01 1.04977326e+01] [-9.98675409e-01 -2.76695218e-02 4.33800076e-02 -9.93294686e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.69864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:232.10, Y:10.15, Z:-99.37 [[-2.24666016e-02 -1.15049350e-01 -9.93105684e-01 2.32100288e+02] [ 3.86764709e-02 -9.92712814e-01 1.14128876e-01 1.01536392e+01] [-9.98999190e-01 -3.58457351e-02 2.67525861e-02 -9.93723695e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:231.87, Y:9.73, Z:-99.41 [[-3.36571976e-02 -6.63535503e-01 -7.47387336e-01 2.31872404e+02] [ 4.43822124e-02 -7.48065608e-01 6.62139007e-01 9.73365492e+00] [-9.98447501e-01 -1.08849601e-02 5.46269656e-02 -9.94129917e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.75864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:230.80, Y:9.70, Z:-99.46 [[ 2.84909586e-02 -8.18827433e-01 5.73332278e-01 2.30804731e+02] [ 2.09790824e-03 5.73612836e-01 8.19123870e-01 9.70030970e+00] [-9.99591849e-01 -2.21348258e-02 1.80606044e-02 -9.94616399e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:230.60, Y:9.96, Z:-99.54 [[ 3.67082771e-02 -5.15117079e-01 8.56333403e-01 2.30599588e+02] [-1.67397385e-02 8.56473749e-01 5.15919082e-01 9.96135831e+00] [-9.99185810e-01 -3.32732978e-02 2.28167505e-02 -9.95407392e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.81864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:230.52, Y:10.42, Z:-99.62 [[ 3.43697855e-02 4.48409241e-02 9.98402729e-01 2.30524523e+02] [-3.72537222e-02 9.98356150e-01 -4.35563812e-02 1.04154407e+01] [-9.98714613e-01 -3.56971944e-02 3.59837781e-02 -9.96193445e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:230.66, Y:10.77, Z:-99.70 [[ 2.25890256e-02 5.01636734e-01 8.64783396e-01 2.30662617e+02] [-5.41157344e-02 8.64349475e-01 -4.99971471e-01 1.07680530e+01] [-9.98279131e-01 -3.55045203e-02 4.66712528e-02 -9.96984169e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.87864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:230.91, Y:11.00, Z:-99.74 [[ 9.09483052e-03 8.16851502e-01 5.76776306e-01 2.30912425e+02] [-5.82254941e-02 5.76254114e-01 -8.15193834e-01 1.09981331e+01] [-9.98262028e-01 -2.61690356e-02 5.28025159e-02 -9.97360901e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:232.00, Y:10.72, Z:-99.77 [[-1.89491027e-02 5.93092074e-01 -8.04911625e-01 2.31999192e+02] [ 1.63840667e-02 -8.04763874e-01 -5.93368916e-01 1.07179597e+01] [-9.99686198e-01 -2.44315343e-02 5.53229316e-03 -9.97734519e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.93864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.23, Y:9.51, Z:-99.83 [[ 3.85915434e-02 -9.99081214e-01 1.86392362e-02 2.31227020e+02] [-1.60908534e-02 1.80293873e-02 9.99707970e-01 9.51375006e+00] [-9.99125506e-01 -3.88801948e-02 -1.53802875e-02 -9.98315725e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:231.31, Y:9.50, Z:-100.00 [[ 1.08537805e-01 -9.84450702e-01 -1.38117197e-01 2.31305998e+02] [-6.26799893e-03 -1.39612957e-01 9.90186313e-01 9.50265768e+00] [-9.94072561e-01 -1.06606931e-01 -2.13238198e-02 -9.99972138e+01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.99864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:231.40, Y:9.51, Z:-100.16 [[ 1.75825726e-01 -9.38910405e-01 -2.95859030e-01 2.31401766e+02] [ 1.44129814e-02 -2.98053587e-01 9.54440320e-01 9.50604904e+00] [-9.84315793e-01 -1.72079373e-01 -3.88729902e-02 -1.00157487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.46, Y:9.51, Z:-100.32 [[ 2.39112885e-01 -8.91219032e-01 -3.85426601e-01 2.31456708e+02] [ 4.16614337e-02 -3.87159098e-01 9.21071201e-01 9.51118646e+00] [-9.70097600e-01 -2.36297417e-01 -5.54452663e-02 -1.00319354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.05864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:231.00, Y:11.04, Z:-100.51 [[ 1.56788137e-01 8.72586403e-01 4.62612635e-01 2.30998870e+02] [ 4.50146145e-02 4.61605264e-01 -8.85942586e-01 1.10385548e+01] [-9.86605881e-01 1.59729617e-01 3.30950887e-02 -1.00507841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:231.14, Y:11.09, Z:-100.65 [[ 9.66363488e-02 9.15700345e-01 3.90069601e-01 2.31135345e+02] [ 1.97672208e-02 3.90060822e-01 -9.20576891e-01 1.10858530e+01] [-9.95123446e-01 9.66717815e-02 1.95932027e-02 -1.00654627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:231.42, Y:9.52, Z:-100.80 [[ 1.79863637e-01 -9.63661222e-01 -1.97499676e-01 2.31416919e+02] [-3.89776740e-03 -2.01470589e-01 9.79486809e-01 9.52245912e+00] [-9.83683831e-01 -1.75404252e-01 -3.99933602e-02 -1.00797401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:231.48, Y:9.52, Z:-100.96 [[ 2.45107669e-01 -9.22142052e-01 -2.99292945e-01 2.31479281e+02] [ 1.84713884e-02 -3.04212003e-01 9.52425254e-01 9.52187509e+00] [-9.69319885e-01 -2.38975090e-01 -5.75314507e-02 -1.00959440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.17864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.56, Y:9.53, Z:-101.11 [[ 3.06034283e-01 -8.60332601e-01 -4.07640568e-01 2.31562699e+02] [ 4.76727158e-02 -4.13798625e-01 9.09119360e-01 9.53046889e+00] [-9.50826130e-01 -2.97655025e-01 -8.56221740e-02 -1.01113194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:231.63, Y:9.54, Z:-101.27 [[ 3.62728532e-01 -7.97616822e-01 -4.81908100e-01 2.31632058e+02] [ 8.12876377e-02 -4.88074885e-01 8.69008186e-01 9.54027035e+00] [-9.28342788e-01 -3.54387234e-01 -1.12202299e-01 -1.01269484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:231.69, Y:9.55, Z:-101.43 [[ 4.14136793e-01 -7.37678378e-01 -5.33217898e-01 2.31693623e+02] [ 1.17139328e-01 -5.37749849e-01 8.34927229e-01 9.55041485e+00] [-9.02645608e-01 -4.08234871e-01 -1.36290849e-01 -1.01428069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:231.03, Y:10.99, Z:-101.69 [[ 3.40818525e-01 7.22488491e-01 6.01542279e-01 2.31033294e+02] [ 1.09083326e-01 6.05138489e-01 -7.88611589e-01 1.09931337e+01] [-9.33779182e-01 3.34391671e-01 1.27430960e-01 -1.01694908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:231.80, Y:9.59, Z:-101.73 [[ 4.16304108e-01 -7.44852349e-01 -5.21426762e-01 2.31802663e+02] [ 1.10748933e-01 -5.27673349e-01 8.42196836e-01 9.58634545e+00] [-9.02455297e-01 -4.08357460e-01 -1.37180980e-01 -1.01725831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:231.87, Y:9.60, Z:-101.89 [[ 4.62354243e-01 -6.89784702e-01 -5.57158522e-01 2.31865108e+02] [ 1.48594995e-01 -5.59191879e-01 8.15612635e-01 9.59573990e+00] [-8.74155639e-01 -4.59892930e-01 -1.56046184e-01 -1.01885447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:231.94, Y:9.61, Z:-102.04 [[ 5.06174744e-01 -6.25776358e-01 -5.93456889e-01 2.31941263e+02] [ 1.87091642e-01 -5.92058540e-01 7.83877160e-01 9.61433781e+00] [-8.41893014e-01 -5.07809645e-01 -1.82607553e-01 -1.02037395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.38864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:232.02, Y:9.63, Z:-102.19 [[ 5.45497807e-01 -5.67088548e-01 -6.17124559e-01 2.32015825e+02] [ 2.28037977e-01 -6.08121445e-01 7.60386079e-01 9.63324162e+00] [-8.06492916e-01 -5.55516774e-01 -2.02411190e-01 -1.02192490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:231.23, Y:11.00, Z:-102.50 [[ 4.90192963e-01 5.68511578e-01 6.60685587e-01 2.31230387e+02] [ 2.30269455e-01 6.46603324e-01 -7.27241446e-01 1.10011125e+01] [-8.40646678e-01 5.08624349e-01 1.86049548e-01 -1.02503508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.44864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:231.37, Y:11.09, Z:-102.60 [[ 4.51306933e-01 6.30962206e-01 6.31037833e-01 2.31372672e+02] [ 1.87770097e-01 6.24172312e-01 -7.58387312e-01 1.10889611e+01] [-8.72390075e-01 4.60755487e-01 1.63217458e-01 -1.02602183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:231.51, Y:11.16, Z:-102.72 [[ 4.07788917e-01 6.84629100e-01 6.04145011e-01 2.31508869e+02] [ 1.49303954e-01 6.02755787e-01 -7.83832757e-01 1.11640338e+01] [-9.00786616e-01 4.09839550e-01 1.43579298e-01 -1.02715357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.50864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:232.32, Y:9.78, Z:-102.73 [[ 4.59406900e-01 -7.05666738e-01 -5.39425393e-01 2.32316658e+02] [ 1.33641245e-01 -5.45478151e-01 8.27401719e-01 9.77967730e+00] [-8.78114638e-01 -4.52203540e-01 -1.56290245e-01 -1.02731829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:231.66, Y:11.22, Z:-103.01 [[ 4.10922323e-01 6.89546420e-01 5.96379560e-01 2.31659709e+02] [ 1.48639815e-01 5.94734527e-01 -7.90061420e-01 1.12176570e+01] [-8.99471539e-01 4.13299621e-01 1.41895641e-01 -1.03012226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.56864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:232.45, Y:9.82, Z:-103.03 [[ 4.61370201e-01 -7.12470136e-01 -5.28700145e-01 2.32450125e+02] [ 1.29282008e-01 -5.35565244e-01 8.34539413e-01 9.82481349e+00] [-8.77737831e-01 -4.53383033e-01 -1.54984274e-01 -1.03030171e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:231.81, Y:11.27, Z:-103.31 [[ 4.12724061e-01 6.97626347e-01 5.85641810e-01 2.31812990e+02] [ 1.46150393e-01 5.83906515e-01 -7.98556976e-01 1.12726729e+01] [-8.99054454e-01 4.15175459e-01 1.39033903e-01 -1.03306504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.62864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:231.97, Y:11.35, Z:-103.42 [[ 3.64098374e-01 7.62107979e-01 5.35372584e-01 2.31968736e+02] [ 1.08824790e-01 5.36079170e-01 -8.37123819e-01 1.13464555e+01] [-9.24980832e-01 3.63057230e-01 1.12249313e-01 -1.03419121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:232.63, Y:9.89, Z:-103.48 [[ 4.15050630e-01 -7.84984152e-01 -4.59927012e-01 2.32629124e+02] [ 8.52550500e-02 -4.69744229e-01 8.78676240e-01 9.88956822e+00] [-9.05794983e-01 -4.03906228e-01 -1.28043775e-01 -1.03476731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.68864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:232.10, Y:11.39, Z:-103.72 [[ 3.65871985e-01 7.66722254e-01 5.27517465e-01 2.32104181e+02] [ 1.05201646e-01 5.29112253e-01 -8.42005248e-01 1.13854553e+01] [-9.24700116e-01 3.63561837e-01 1.12926907e-01 -1.03724861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:232.25, Y:11.44, Z:-103.85 [[ 3.11616088e-01 8.20233271e-01 4.79700734e-01 2.32250087e+02] [ 7.21246748e-02 4.82963615e-01 -8.72664986e-01 1.14430804e+01] [-9.47466857e-01 3.06534709e-01 9.13401746e-02 -1.03850833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.74864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:232.79, Y:9.94, Z:-103.93 [[ 3.65145401e-01 -8.46636420e-01 -3.87137713e-01 2.32785493e+02] [ 4.42737162e-02 -3.99588884e-01 9.15624684e-01 9.93882663e+00] [-9.29897131e-01 -3.51476168e-01 -1.08424303e-01 -1.03931676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:232.39, Y:11.48, Z:-104.16 [[ 3.11860136e-01 8.35438735e-01 4.52532182e-01 2.32388530e+02] [ 6.87233283e-02 4.55203766e-01 -8.87731173e-01 1.14755450e+01] [-9.47639362e-01 3.07947482e-01 8.45457777e-02 -1.04159215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.80864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:232.90, Y:9.96, Z:-104.24 [[ 3.68074856e-01 -8.44763916e-01 -3.88451833e-01 2.32897219e+02] [ 4.08684918e-02 -4.02679054e-01 9.14428426e-01 9.95959048e+00] [-9.28897555e-01 -3.52453552e-01 -1.13691807e-01 -1.04242569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:232.96, Y:9.96, Z:-104.41 [[ 4.26448740e-01 -7.95901995e-01 -4.29745841e-01 2.32956181e+02] [ 6.88812235e-02 -4.45158127e-01 8.92798756e-01 9.96212834e+00] [-9.01885164e-01 -4.10334324e-01 -1.35014419e-01 -1.04406083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.86864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:233.03, Y:9.97, Z:-104.56 [[ 4.79905651e-01 -7.35849384e-01 -4.77719844e-01 2.33029899e+02] [ 1.03056137e-01 -4.93469148e-01 8.63636285e-01 9.97108758e+00] [-8.71246233e-01 -4.63695895e-01 -1.60984838e-01 -1.04563622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:232.48, Y:11.45, Z:-104.84 [[ 4.19434294e-01 7.27282361e-01 5.43263510e-01 2.32478960e+02] [ 1.23951001e-01 5.46961310e-01 -8.27930839e-01 1.14500617e+01] [-8.99283616e-01 4.14600643e-01 1.39266954e-01 -1.04838354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.92864000000003 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:233.17, Y:10.01, Z:-104.86 [[ 4.84617062e-01 -7.37616814e-01 -4.70178411e-01 2.33174194e+02] [ 9.98255645e-02 -4.87366503e-01 8.67472621e-01 1.00091894e+01] [-8.69011599e-01 -4.67327858e-01 -1.62553108e-01 -1.04855854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:232.63, Y:11.49, Z:-105.13 [[ 4.17906998e-01 7.33321560e-01 5.36277196e-01 2.32630598e+02] [ 1.20491727e-01 5.40340932e-01 -8.32774532e-01 1.14913045e+01] [-9.00464039e-01 4.12639270e-01 1.37453076e-01 -1.05131767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:233.32, Y:10.05, Z:-105.14 [[ 4.90899700e-01 -7.33745638e-01 -4.69717813e-01 2.33316865e+02] [ 9.95807190e-02 -4.88361873e-01 8.66940806e-01 1.00478043e+01] [-8.65506306e-01 -4.72355819e-01 -1.66669778e-01 -1.05143974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:233.39, Y:10.06, Z:-105.30 [[ 5.41276936e-01 -6.73288546e-01 -5.03688210e-01 2.33390360e+02] [ 1.36631888e-01 -5.20637970e-01 8.42773891e-01 1.00558103e+01] [-8.29669215e-01 -5.24993940e-01 -1.89816640e-01 -1.05297769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:233.47, Y:10.07, Z:-105.45 [[ 5.87032206e-01 -6.08030912e-01 -5.34501263e-01 2.33472257e+02] [ 1.76811170e-01 -5.48001749e-01 8.17576842e-01 1.00682892e+01] [-7.90019620e-01 -5.74449731e-01 -2.14188019e-01 -1.05447038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:232.83, Y:11.51, Z:-105.76 [[ 5.03655932e-01 6.29952738e-01 5.91177003e-01 2.32833479e+02] [ 1.79607619e-01 5.93001381e-01 -7.84914305e-01 1.15072608e+01] [-8.45027695e-01 5.01506640e-01 1.85524352e-01 -1.05755710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:232.98, Y:11.58, Z:-105.85 [[ 4.57509332e-01 6.87958392e-01 5.63381275e-01 2.32983427e+02] [ 1.42370621e-01 5.68731705e-01 -8.10107927e-01 1.15821782e+01] [-8.77733341e-01 4.50840879e-01 1.62254999e-01 -1.05851315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.13864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:233.72, Y:10.15, Z:-105.84 [[ 5.53659945e-01 -6.66537863e-01 -4.99187282e-01 2.33716942e+02] [ 1.34492779e-01 -5.20007464e-01 8.43506923e-01 1.01544027e+01] [-8.21810415e-01 -5.34153082e-01 -1.98262774e-01 -1.05842799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:233.80, Y:10.16, Z:-105.99 [[ 5.96355219e-01 -6.04538086e-01 -5.28104303e-01 2.33797275e+02] [ 1.72260485e-01 -5.46186353e-01 8.19760205e-01 1.01649703e+01] [-7.84019628e-01 -5.79839780e-01 -2.21583058e-01 -1.05994503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.19864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:232.89, Y:10.86, Z:-106.69 [[ 5.68052852e-01 -2.77836453e-01 7.74675973e-01 2.32886019e+02] [ 1.12532464e-01 9.58673025e-01 2.61309158e-01 1.08606806e+01] [-8.15262168e-01 -6.12612166e-02 5.75842566e-01 -1.06693800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22864 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:232.91, Y:10.94, Z:-106.73 [[ 5.66105281e-01 -2.09967872e-01 7.97143841e-01 2.32905115e+02] [ 1.16141068e-01 9.77686601e-01 1.75043318e-01 1.09434661e+01] [-8.16110325e-01 -6.51180923e-03 5.77859441e-01 -1.06729071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.25864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:233.70, Y:11.77, Z:-106.22 [[ 5.30921413e-01 8.38424915e-01 1.23150785e-01 2.33703268e+02] [ 1.58569569e-01 4.44658868e-02 -9.86346023e-01 1.17670630e+01] [-8.32453089e-01 5.43200191e-01 -1.09340786e-01 -1.06217986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:233.71, Y:10.21, Z:-106.65 [[ 5.95960222e-01 -7.97433683e-01 -9.45036260e-02 2.33713079e+02] [ 9.44519218e-02 -4.72584602e-02 9.94407096e-01 1.02119712e+01] [-7.97439809e-01 -6.01553122e-01 4.71549815e-02 -1.06651565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.31864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:233.80, Y:10.23, Z:-106.80 [[ 6.43665438e-01 -7.49616282e-01 -1.54175982e-01 2.33797001e+02] [ 1.40755136e-01 -8.20640959e-02 9.86637459e-01 1.02280335e+01] [-7.52251816e-01 -6.56765494e-01 5.26905197e-02 -1.06795168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34864 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:233.21, Y:11.01, Z:-107.24 [[ 6.21267953e-01 -2.21801415e-01 7.51551903e-01 2.33211341e+02] [ 1.20459253e-01 9.74736472e-01 1.88091408e-01 1.10118442e+01] [-7.74283991e-01 -2.63237831e-02 6.32290565e-01 -1.07240882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.37864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:233.24, Y:11.01, Z:-107.28 [[ 6.53169268e-01 -2.29592906e-01 7.21565662e-01 2.33242074e+02] [ 1.28260758e-01 9.72700616e-01 1.93397751e-01 1.10132622e+01] [-7.46270115e-01 -3.37729088e-02 6.64785910e-01 -1.07276699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40864 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:233.94, Y:11.86, Z:-106.76 [[ 5.91662349e-01 7.77578493e-01 2.12855238e-01 2.33943753e+02] [ 1.46715126e-01 1.55764626e-01 -9.76837782e-01 1.18592397e+01] [-7.92723367e-01 6.09187220e-01 -2.19224623e-02 -1.06763047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.43864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:234.09, Y:11.89, Z:-106.87 [[ 5.38879015e-01 8.16072207e-01 2.08891266e-01 2.34093169e+02] [ 1.35465909e-01 1.60797216e-01 -9.77646788e-01 1.18882753e+01] [-8.31419506e-01 5.55130984e-01 -2.38997177e-02 -1.06868624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:234.24, Y:11.92, Z:-106.99 [[ 4.85686370e-01 8.50483514e-01 2.01956784e-01 2.34238631e+02] [ 1.22608767e-01 1.62471803e-01 -9.79065883e-01 1.19180449e+01] [-8.65491676e-01 5.00280627e-01 -2.53663948e-02 -1.06985725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.49864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:234.40, Y:11.93, Z:-107.09 [[ 4.33114509e-01 8.90817287e-01 1.37318549e-01 2.34404070e+02] [ 7.70106408e-02 1.15218977e-01 -9.90350417e-01 1.19312733e+01] [-8.98042974e-01 4.39510124e-01 -1.86993995e-02 -1.07086430e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:235.18, Y:11.29, Z:-106.97 [[ 3.92767122e-01 4.23320907e-01 -8.16414966e-01 2.35181175e+02] [ 1.38961617e-01 -9.04882555e-01 -4.02339696e-01 1.12918651e+01] [-9.09078466e-01 4.45754605e-02 -4.14233475e-01 -1.06971451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.55864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:234.78, Y:10.34, Z:-107.51 [[ 4.58375918e-01 -7.61278743e-01 -4.58635142e-01 2.34775122e+02] [ 1.52778985e-01 -4.40865115e-01 8.84475286e-01 1.03422413e+01] [-8.75528469e-01 -4.75491982e-01 -8.57745580e-02 -1.07506522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:233.85, Y:10.99, Z:-107.96 [[ 4.24877490e-01 -3.83236719e-01 8.20127268e-01 2.33851655e+02] [ 1.75138143e-01 9.23649385e-01 3.40878929e-01 1.09862935e+01] [-8.88147369e-01 -1.19621681e-03 4.59557200e-01 -1.07960750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.61864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:234.65, Y:11.96, Z:-107.55 [[ 3.99238066e-01 8.97137826e-01 1.89083813e-01 2.34651643e+02] [ 2.04745007e-01 1.13785574e-01 -9.72179163e-01 1.19558024e+01] [-8.93693711e-01 4.26844896e-01 -1.38256958e-01 -1.07547723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:234.75, Y:12.00, Z:-107.70 [[ 3.35935307e-01 9.15970750e-01 2.19419814e-01 2.34745355e+02] [ 1.94946098e-01 1.60296757e-01 -9.67626461e-01 1.19959884e+01] [-9.21489820e-01 3.67834929e-01 -1.24715583e-01 -1.07697452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.67864000000003 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:234.83, Y:10.43, Z:-108.11 [[ 3.93269664e-01 -8.97212590e-01 -2.00869461e-01 2.34834017e+02] [ 1.52784686e-01 -1.51663085e-01 9.76552686e-01 1.04270148e+01] [-9.06639846e-01 -4.14738324e-01 7.74358528e-02 -1.08114348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:234.17, Y:10.90, Z:-108.40 [[ 3.92516250e-01 -5.73924894e-01 7.18708014e-01 2.34170656e+02] [ 1.56021360e-01 8.11644789e-01 5.62929900e-01 1.08996747e+01] [-9.06415097e-01 -1.08825331e-01 4.08128311e-01 -1.08397574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:234.60, Y:12.03, Z:-108.22 [[ 3.29292212e-01 7.66469653e-01 5.51444386e-01 2.34596562e+02] [ 1.46816976e-01 5.35350845e-01 -8.31771753e-01 1.20308178e+01] [-9.32744024e-01 3.54857358e-01 6.37561073e-02 -1.08217704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:234.79, Y:12.10, Z:-108.32 [[ 2.91966179e-01 8.50517221e-01 4.37465664e-01 2.34790290e+02] [ 8.33220074e-02 4.33037139e-01 -8.97516729e-01 1.21036105e+01] [-9.52792314e-01 2.98495047e-01 5.55653966e-02 -1.08324672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:235.81, Y:11.62, Z:-108.25 [[ 2.47377521e-01 5.56824641e-01 -7.92938006e-01 2.35806201e+02] [ 1.38333315e-01 -8.30287073e-01 -5.39895610e-01 1.16214327e+01] [-9.58993355e-01 2.38682950e-02 -2.82421757e-01 -1.08246375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:235.43, Y:10.56, Z:-108.69 [[ 3.20398748e-01 -7.83488471e-01 -5.32438219e-01 2.35432598e+02] [ 1.48753183e-01 -5.13482555e-01 8.45108370e-01 1.05584521e+01] [-9.35530402e-01 -3.49973543e-01 -4.79727641e-02 -1.08687930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:235.13, Y:12.13, Z:-108.66 [[ 2.48148659e-01 9.38684273e-01 2.39361813e-01 2.35130874e+02] [ 1.65190893e-01 2.02467942e-01 -9.65255770e-01 1.21308388e+01] [-9.54533505e-01 2.79067317e-01 -1.04819945e-01 -1.08660604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.88864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.04, Y:11.39, Z:-108.75 [[ 2.54072688e-01 3.01519888e-01 -9.18984671e-01 2.36038780e+02] [ 2.48045799e-01 -9.38698995e-01 -2.39410689e-01 1.13890998e+01] [-9.34837072e-01 -1.67122569e-01 -3.13288519e-01 -1.08750860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:234.66, Y:10.85, Z:-109.27 [[ 1.94876417e-01 -7.45011013e-01 6.37951231e-01 2.34662242e+02] [ 2.20182587e-01 6.67049828e-01 7.11733205e-01 1.08509034e+01] [-9.55794335e-01 1.76573526e-03 2.94030733e-01 -1.09266973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.94864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:234.67, Y:10.87, Z:-109.32 [[ 1.97110339e-01 -7.37379903e-01 6.46079247e-01 2.34667583e+02] [ 2.16477546e-01 6.75477632e-01 7.04888247e-01 1.08734682e+01] [-9.56182507e-01 9.20888207e-04 2.92769817e-01 -1.09320923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:234.70, Y:10.87, Z:-109.37 [[ 2.29016994e-01 -7.57604693e-01 6.11217102e-01 2.34695109e+02] [ 2.43861107e-01 6.52535366e-01 7.17446414e-01 1.08676850e+01] [-9.42381545e-01 -1.52553427e-02 3.34192007e-01 -1.09370343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:234.82, Y:12.05, Z:-109.23 [[ 1.56274218e-01 6.10472086e-01 7.76467772e-01 2.34819491e+02] [ 2.06388764e-01 7.48590039e-01 -6.30092558e-01 1.20480187e+01] [-9.65909958e-01 2.58721446e-01 -9.00925585e-03 -1.09230504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:234.90, Y:12.13, Z:-109.38 [[ 1.11806333e-01 6.36300518e-01 7.63296138e-01 2.34898060e+02] [ 1.54075445e-01 7.47723351e-01 -6.45887410e-01 1.21316759e+01] [-9.81712840e-01 1.89819495e-01 -1.44380800e-02 -1.09384196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.06864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:235.04, Y:12.25, Z:-109.53 [[ 8.99778642e-02 7.31157610e-01 6.76248869e-01 2.35042461e+02] [ 8.24517051e-02 6.71203591e-01 -7.36673235e-01 1.22453170e+01] [-9.92524912e-01 1.22042157e-01 1.08273886e-04 -1.09526218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:236.09, Y:12.15, Z:-109.62 [[ 2.48683718e-02 8.46102471e-01 -5.32439830e-01 2.36086089e+02] [ 1.28636459e-01 -5.30885160e-01 -8.37623787e-01 1.21459546e+01] [-9.91379960e-01 -4.76608345e-02 -1.22041875e-01 -1.09616829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.12864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:236.19, Y:11.06, Z:-109.93 [[ 6.28303933e-02 -4.19317270e-01 -9.05662945e-01 2.36193544e+02] [ 1.96492594e-01 -8.84497208e-01 4.23149322e-01 1.10610543e+01] [-9.78490165e-01 -2.04542700e-01 2.68194306e-02 -1.09931532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:235.25, Y:10.79, Z:-110.11 [[ 6.75562515e-02 -9.81733685e-01 1.77862656e-01 2.35246695e+02] [ 1.51713351e-01 1.86304948e-01 9.70707745e-01 1.07862372e+01] [-9.86113184e-01 -3.85932369e-02 1.61528171e-01 -1.10112524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.18864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:236.24, Y:11.99, Z:-109.99 [[ 4.55059706e-02 7.15278061e-01 -6.97356797e-01 2.36236496e+02] [ 2.65142212e-01 -6.81690527e-01 -6.81907349e-01 1.19930431e+01] [-9.63134889e-01 -1.53867868e-01 -2.20671396e-01 -1.09988831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:235.36, Y:10.78, Z:-110.36 [[ 2.65885724e-02 -9.95373871e-01 9.23249978e-02 2.35362177e+02] [ 2.00645150e-01 9.57920658e-02 9.74969437e-01 1.07795138e+01] [-9.79303105e-01 -7.39848241e-03 2.02263914e-01 -1.10363993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.24864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:235.35, Y:10.80, Z:-110.42 [[ 3.00308190e-02 -9.93704615e-01 1.07931865e-01 2.35350636e+02] [ 2.00137743e-01 1.11771741e-01 9.73371441e-01 1.07961443e+01] [-9.79307426e-01 -7.62990172e-03 2.02234396e-01 -1.10419189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27864 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:235.35, Y:10.83, Z:-110.56 [[ 6.19455723e-02 -9.94000941e-01 9.01380890e-02 2.35349363e+02] [ 2.35209109e-01 1.02306463e-01 9.66545427e-01 1.08318885e+01] [-9.69968773e-01 -3.86719101e-02 2.40135508e-01 -1.10564376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.30864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:234.77, Y:11.86, Z:-110.54 [[ 1.82544008e-02 4.36911123e-02 9.98878303e-01 2.34772434e+02] [ 1.61890688e-01 9.85732485e-01 -4.60746480e-02 1.18635916e+01] [-9.86639844e-01 1.62550161e-01 1.09207716e-02 -1.10535134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:236.29, Y:11.30, Z:-110.72 [[ 7.44674852e-02 -2.90080620e-01 -9.54100533e-01 2.36288769e+02] [ 2.26813029e-01 -9.26754574e-01 2.99469214e-01 1.12950385e+01] [-9.71087248e-01 -2.38703151e-01 -3.21901845e-03 -1.10719007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.36864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:235.32, Y:10.92, Z:-110.96 [[ 8.29254442e-02 -9.87764560e-01 1.32077794e-01 2.35322553e+02] [ 1.86938997e-01 1.45599926e-01 9.71521731e-01 1.09224665e+01] [-9.78865252e-01 -5.58733806e-02 1.96725655e-01 -1.10956151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:235.15, Y:11.02, Z:-111.01 [[ 7.72179831e-02 -9.27820094e-01 3.64948292e-01 2.35146587e+02] [ 1.87988725e-01 3.73024748e-01 9.08577336e-01 1.10170986e+01] [-9.79131055e-01 -1.55234532e-03 2.03223935e-01 -1.11008981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.42864000000003 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:235.14, Y:11.04, Z:-111.06 [[ 7.86799842e-02 -9.21487106e-01 3.80356377e-01 2.35138517e+02] [ 1.87508866e-01 3.88408807e-01 9.02207860e-01 1.10377030e+01] [-9.79106677e-01 3.34492780e-04 2.03347001e-01 -1.11063367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:235.13, Y:11.06, Z:-111.12 [[ 8.04163047e-02 -9.14901848e-01 3.95585423e-01 2.35129560e+02] [ 1.86978251e-01 4.03671678e-01 8.95593831e-01 1.10588579e+01] [-9.79067082e-01 1.94552420e-03 2.03528532e-01 -1.11120492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:235.12, Y:11.08, Z:-111.18 [[ 8.08815595e-02 -9.07667349e-01 4.11822967e-01 2.35121138e+02] [ 1.86183213e-01 4.19662652e-01 8.88380026e-01 1.10793250e+01] [-9.79180261e-01 4.82096137e-03 2.02935393e-01 -1.11180761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:235.11, Y:11.10, Z:-111.24 [[ 8.26827727e-02 -8.99110475e-01 4.29841730e-01 2.35112633e+02] [ 1.85813159e-01 4.37663674e-01 8.79729492e-01 1.11002216e+01] [-9.79100112e-01 7.13177629e-03 2.03253804e-01 -1.11235379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:235.19, Y:11.07, Z:-111.29 [[ 1.01075057e-01 -9.39605514e-01 3.26994358e-01 2.35194524e+02] [ 2.18587716e-01 3.41619899e-01 9.14065236e-01 1.10664395e+01] [-9.70568515e-01 -2.09122461e-02 2.39915475e-01 -1.11285682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:234.90, Y:12.24, Z:-111.25 [[ 5.55984485e-02 3.25445265e-01 9.43924887e-01 2.34896075e+02] [ 1.61342350e-01 9.30034127e-01 -3.30159308e-01 1.22388721e+01] [-9.85331142e-01 1.70651405e-01 -7.99649204e-04 -1.11250640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:236.30, Y:11.37, Z:-111.43 [[ 1.43430975e-01 -3.95289655e-01 -9.07289173e-01 2.36299336e+02] [ 1.76695379e-01 -8.91809505e-01 4.16478751e-01 1.13724195e+01] [-9.73758850e-01 -2.20049757e-01 -5.80672516e-02 -1.11433669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.63864 meters Centerline goodness : 0.934845 Centerline is valid? [True, False] Translation: X:236.40, Y:11.87, Z:-112.07 [[ 1.58359922e-01 2.81776840e-01 -9.46321271e-01 2.36400153e+02] [-2.66362667e-01 9.35073923e-01 2.33853989e-01 1.18677579e+01] [ 9.50774981e-01 2.15031558e-01 2.23133064e-01 -1.12073033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66864 meters Centerline goodness : 0.998675 Centerline is valid? [False, True] Translation: X:236.40, Y:11.93, Z:-112.07 [[ 1.61847581e-01 2.09625409e-01 -9.64293808e-01 2.36404051e+02] [-2.52416054e-01 9.53463349e-01 1.64905359e-01 1.19292466e+01] [ 9.53987157e-01 2.16713705e-01 2.07228555e-01 -1.12070060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.69864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:236.03, Y:11.28, Z:-112.16 [[ 1.26407718e-01 9.10149498e-01 -3.94523738e-01 2.36027981e+02] [-2.47241707e-01 4.14069830e-01 8.76023809e-01 1.12836791e+01] [ 9.60673007e-01 -1.31934480e-02 2.77368538e-01 -1.12160685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:236.08, Y:11.31, Z:-112.13 [[ 1.46066983e-01 8.76605867e-01 -4.58504733e-01 2.36083050e+02] [-2.80624016e-01 4.81152800e-01 8.30507161e-01 1.13122337e+01] [ 9.48638286e-01 7.35776401e-03 3.16277197e-01 -1.12130745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.75864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:236.03, Y:11.26, Z:-112.11 [[ 1.24482844e-01 9.11686697e-01 -3.91575521e-01 2.36028683e+02] [-2.43867474e-01 4.10651741e-01 8.78574870e-01 1.12646570e+01] [ 9.61786191e-01 -1.38749653e-02 2.73449828e-01 -1.12109725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:236.10, Y:11.31, Z:-112.08 [[ 1.44453378e-01 8.65507984e-01 -4.79613544e-01 2.36103426e+02] [-2.80528258e-01 5.00631609e-01 8.18945596e-01 1.13072428e+01] [ 9.48913651e-01 1.62456941e-02 3.15117374e-01 -1.12077736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.81864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:236.04, Y:11.26, Z:-112.06 [[ 1.24688947e-01 9.08462857e-01 -3.98933458e-01 2.36040295e+02] [-2.46638228e-01 4.17830228e-01 8.74406933e-01 1.12550837e+01] [ 9.61052678e-01 -1.06366386e-02 2.76160481e-01 -1.12056196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:236.08, Y:11.27, Z:-112.03 [[ 1.24606894e-01 8.87398986e-01 -4.43842496e-01 2.36075800e+02] [-2.49799275e-01 4.60977582e-01 8.51528033e-01 1.12701876e+01] [ 9.60246554e-01 4.76527020e-03 2.79112608e-01 -1.12027497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.87864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.10, Y:11.28, Z:-112.00 [[ 1.44124433e-01 8.74060434e-01 -4.63946662e-01 2.36097704e+02] [-2.83749265e-01 4.85656877e-01 8.26815428e-01 1.12764783e+01] [ 9.48005539e-01 1.24802195e-02 3.18009028e-01 -1.11998279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.05, Y:11.23, Z:-111.98 [[ 1.24139807e-01 9.08029111e-01 -4.00090543e-01 2.36047854e+02] [-2.50403971e-01 4.18827350e-01 8.72858237e-01 1.12315257e+01] [ 9.60149551e-01 -8.17219282e-03 2.79367242e-01 -1.11976208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.93864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:236.09, Y:11.25, Z:-111.95 [[ 1.23496434e-01 8.84041475e-01 -4.50798516e-01 2.36090649e+02] [-2.53561447e-01 4.67307606e-01 8.46953478e-01 1.12507162e+01] [ 9.59403577e-01 9.70938948e-03 2.81869659e-01 -1.11946940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.08, Y:11.23, Z:-111.92 [[ 1.22685086e-01 8.92649125e-01 -4.33734837e-01 2.36082584e+02] [-2.57273896e-01 4.50702130e-01 8.54796895e-01 1.12345121e+01] [ 9.58518916e-01 6.71782126e-03 2.84949748e-01 -1.11920728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.99864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.08, Y:11.22, Z:-111.89 [[ 1.18185878e-01 8.98322439e-01 -4.23141694e-01 2.36079734e+02] [-2.58313329e-01 4.39270782e-01 8.60415832e-01 1.12239823e+01] [ 9.58804632e-01 7.61413878e-03 2.83964262e-01 -1.11894380e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.10, Y:11.23, Z:-111.87 [[ 1.16401184e-01 8.89100432e-01 -4.42663739e-01 2.36099783e+02] [-2.60997589e-01 4.57411675e-01 8.50091065e-01 1.12291251e+01] [ 9.58295895e-01 1.65825628e-02 2.85296330e-01 -1.11867179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.05864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.10, Y:11.22, Z:-111.84 [[ 1.13403931e-01 8.94357453e-01 -4.32740448e-01 2.36102607e+02] [-2.62183327e-01 4.47049696e-01 8.55223054e-01 1.12185382e+01] [ 9.58331598e-01 1.64716746e-02 2.85182805e-01 -1.11842169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.10, Y:11.21, Z:-111.82 [[ 1.09019350e-01 9.00945769e-01 -4.20013693e-01 2.36098064e+02] [-2.55233252e-01 4.33737102e-01 8.64134314e-01 1.12061651e+01] [ 9.60713677e-01 1.29940995e-02 2.77237056e-01 -1.11815905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.09, Y:11.19, Z:-111.79 [[ 1.13461934e-01 9.10353581e-01 -3.97973300e-01 2.36086649e+02] [-2.60521985e-01 4.13804525e-01 8.72292445e-01 1.11915259e+01] [ 9.58777704e-01 4.70880651e-03 2.84118183e-01 -1.11791748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:236.20, Y:11.26, Z:-111.76 [[ 1.18290054e-01 8.40757326e-01 -5.28331886e-01 2.36195446e+02] [-2.69151897e-01 5.39296835e-01 7.97944973e-01 1.12625380e+01] [ 9.55805796e-01 4.78125755e-02 2.90084881e-01 -1.11755758e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.17864000000003 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:236.15, Y:11.21, Z:-111.74 [[ 1.40163053e-01 8.82685286e-01 -4.48576642e-01 2.36148278e+02] [-3.00330585e-01 4.69606000e-01 8.30223912e-01 1.12110027e+01] [ 9.43480714e-01 1.83545671e-02 3.30918799e-01 -1.11735134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:236.12, Y:11.18, Z:-111.71 [[ 1.28262837e-01 9.02248667e-01 -4.11698903e-01 2.36123796e+02] [-2.62805104e-01 4.31208810e-01 8.63129446e-01 1.11826598e+01] [ 9.56285586e-01 -2.51085816e-03 2.92423620e-01 -1.11710984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:236.18, Y:11.21, Z:-111.68 [[ 1.54167320e-01 8.66836144e-01 -4.74159821e-01 2.36180037e+02] [-2.96568930e-01 4.98366635e-01 8.14664082e-01 1.12148083e+01] [ 9.42485707e-01 1.50264925e-02 3.33908516e-01 -1.11680831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:236.11, Y:11.15, Z:-111.66 [[ 1.32472598e-01 9.16266398e-01 -3.78030288e-01 2.36105790e+02] [-2.50301724e-01 3.99954988e-01 8.81694422e-01 1.11508490e+01] [ 9.59062072e-01 -2.21787174e-02 2.82326136e-01 -1.11659298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.22, Y:11.23, Z:-111.62 [[ 1.65810032e-01 8.36343392e-01 -5.22529199e-01 2.36224606e+02] [-2.88976158e-01 5.47810441e-01 7.85109229e-01 1.12324539e+01] [ 9.42867866e-01 2.08194941e-02 3.32515767e-01 -1.11623344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.14, Y:11.16, Z:-111.61 [[ 1.47294466e-01 8.97150849e-01 -4.16442906e-01 2.36144485e+02] [-2.54984681e-01 4.41246240e-01 8.60397913e-01 1.11572852e+01] [ 9.55660584e-01 -2.05452894e-02 2.93752853e-01 -1.11605326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:236.17, Y:11.16, Z:-111.58 [[ 1.48364957e-01 8.85453895e-01 -4.40408038e-01 2.36166209e+02] [-2.51009400e-01 4.64470156e-01 8.49271308e-01 1.11634101e+01] [ 9.56546978e-01 -1.54555442e-02 2.91168345e-01 -1.11577881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.13, Y:11.13, Z:-111.55 [[ 1.52100891e-01 9.06331093e-01 -3.94245189e-01 2.36134139e+02] [-2.53794323e-01 4.21326402e-01 8.70673593e-01 1.11320160e+01] [ 9.55224456e-01 -3.23730388e-02 2.94105807e-01 -1.11554615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:236.25, Y:11.22, Z:-111.52 [[ 1.50664599e-01 8.21369325e-01 -5.50138719e-01 2.36254293e+02] [-2.55700213e-01 5.69932122e-01 7.80893576e-01 1.12196000e+01] [ 9.54943757e-01 2.30175700e-02 2.95892906e-01 -1.11515765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.20, Y:11.16, Z:-111.50 [[ 1.73436998e-01 8.69448673e-01 -4.62578223e-01 2.36197584e+02] [-2.91027326e-01 4.93966667e-01 8.19329010e-01 1.11554579e+01] [ 9.40862744e-01 -7.47906018e-03 3.38705418e-01 -1.11497074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:236.17, Y:11.12, Z:-111.47 [[ 1.53816359e-01 8.91365673e-01 -4.26389217e-01 2.36168184e+02] [-2.59826013e-01 4.52825521e-01 8.52900634e-01 1.11234296e+01] [ 9.53326267e-01 -2.04030601e-02 3.01251961e-01 -1.11473928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.50864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:236.15, Y:11.11, Z:-111.45 [[ 1.45857557e-01 9.02443279e-01 -4.05366132e-01 2.36152423e+02] [-2.43113947e-01 4.29879563e-01 8.69539631e-01 1.11057183e+01] [ 9.58968812e-01 -2.82787664e-02 2.82097730e-01 -1.11449748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.19, Y:11.12, Z:-111.42 [[ 1.52929449e-01 8.83016279e-01 -4.43728334e-01 2.36187986e+02] [-2.60823619e-01 4.69154019e-01 8.43721249e-01 1.11211056e+01] [ 9.53196529e-01 -1.32949957e-02 3.02058967e-01 -1.11420610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.56864 meters Centerline goodness : 0.872039 Centerline is valid? [True, False] Translation: X:235.19, Y:11.09, Z:-110.94 [[-1.65030991e-01 -8.37337273e-01 5.21182370e-01 2.35187847e+02] [ 1.12947505e-01 5.08906737e-01 8.53379631e-01 1.10921322e+01] [-9.79799792e-01 1.99700335e-01 1.05897728e-02 -1.10944941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:235.94, Y:12.96, Z:-112.35 [[ 4.98374319e-01 -8.40611119e-01 -2.12122571e-01 2.35936312e+02] [ 5.24124986e-01 4.87034498e-01 -6.98634667e-01 1.29588708e+01] [ 6.90591079e-01 2.37002837e-01 6.83310777e-01 -1.12347346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.62864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.24, Y:12.79, Z:-112.41 [[ 4.81565229e-01 -6.71880646e-01 -5.62735576e-01 2.36242881e+02] [ 4.92042362e-01 7.38615836e-01 -4.60804689e-01 1.27862857e+01] [ 7.25251159e-01 -5.49822261e-02 6.86285444e-01 -1.12406639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:236.20, Y:12.82, Z:-112.40 [[ 4.59772569e-01 -7.42456547e-01 -4.87203717e-01 2.36199744e+02] [ 5.35189006e-01 6.69468046e-01 -5.15155573e-01 1.28161874e+01] [ 7.08647947e-01 -2.38916718e-02 7.05157624e-01 -1.12404116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.68864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:236.14, Y:12.91, Z:-112.34 [[ 4.87205931e-01 -7.66080150e-01 -4.19227366e-01 2.36141154e+02] [ 4.91808441e-01 6.37386724e-01 -5.93180093e-01 1.29080834e+01] [ 7.21633452e-01 8.28213023e-02 6.87303276e-01 -1.12344544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:236.27, Y:12.85, Z:-112.35 [[ 5.18456063e-01 -6.63222867e-01 -5.39758038e-01 2.36274725e+02] [ 4.76047160e-01 7.48220438e-01 -4.62109594e-01 1.28464029e+01] [ 7.10339645e-01 -1.73667603e-02 7.03644785e-01 -1.12350090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.74864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.22, Y:12.90, Z:-112.32 [[ 5.09499318e-01 -7.39006518e-01 -4.40771835e-01 2.36220367e+02] [ 5.22990238e-01 6.72728329e-01 -5.23371577e-01 1.28991360e+01] [ 6.83294707e-01 3.61380945e-02 7.29247819e-01 -1.12317047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.31, Y:12.85, Z:-112.31 [[ 4.92150729e-01 -6.79995309e-01 -5.43501647e-01 2.36310905e+02] [ 4.97915521e-01 7.32025646e-01 -4.64993105e-01 1.28503066e+01] [ 7.14050274e-01 -4.17712105e-02 6.98847174e-01 -1.12308263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.80864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.31, Y:12.88, Z:-112.29 [[ 5.01242862e-01 -6.86970444e-01 -5.26143708e-01 2.36313417e+02] [ 4.95205968e-01 7.26362886e-01 -4.76621451e-01 1.28777734e+01] [ 7.09596112e-01 -2.16464039e-02 7.04276075e-01 -1.12290625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83864 meters Centerline goodness : 0.905639 Centerline is valid? [True, False] Translation: X:236.35, Y:12.80, Z:-112.32 [[ 5.10143848e-01 -6.24431627e-01 -5.91471383e-01 2.36349783e+02] [ 4.85934873e-01 7.76663649e-01 -4.00825242e-01 1.27951341e+01] [ 7.09662281e-01 -8.29380397e-02 6.99643287e-01 -1.12321510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.86864 meters Centerline goodness : 0.999803 Centerline is valid? [False, True] Translation: X:236.38, Y:12.72, Z:-112.34 [[ 5.17270078e-01 -5.62149464e-01 -6.45305855e-01 2.36379506e+02] [ 4.77371270e-01 8.15342070e-01 -3.27618650e-01 1.27170032e+01] [ 7.10315660e-01 -1.38583151e-01 6.90106060e-01 -1.12344868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.26, Y:12.86, Z:-112.32 [[ 5.23991088e-01 -6.82788251e-01 -5.09149824e-01 2.36264030e+02] [ 4.74212534e-01 7.30438876e-01 -4.91509432e-01 1.28594835e+01] [ 7.07499691e-01 1.61013339e-02 7.06530208e-01 -1.12316130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.92864000000003 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.30, Y:12.86, Z:-112.30 [[ 5.28204464e-01 -6.58137047e-01 -5.36521828e-01 2.36302855e+02] [ 4.67312689e-01 7.52874877e-01 -4.63463343e-01 1.28563973e+01] [ 7.08956201e-01 -5.92005126e-03 7.05227664e-01 -1.12301140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.25, Y:12.93, Z:-112.27 [[ 5.55176761e-01 -7.05965388e-01 -4.39763159e-01 2.36253159e+02] [ 4.90714771e-01 7.04923336e-01 -5.12134849e-01 1.29266204e+01] [ 6.71548790e-01 6.85270888e-02 7.37784698e-01 -1.12269428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.36, Y:12.86, Z:-112.26 [[ 5.31330577e-01 -6.32960059e-01 -5.63071382e-01 2.36357192e+02] [ 4.64352595e-01 7.73511283e-01 -4.31343207e-01 1.28599175e+01] [ 7.08565089e-01 -3.22778230e-02 7.04906842e-01 -1.12263118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.28, Y:12.95, Z:-112.23 [[ 5.56579005e-01 -7.02308695e-01 -4.43826889e-01 2.36282913e+02] [ 4.89162961e-01 7.08828938e-01 -5.08213670e-01 1.29538818e+01] [ 6.71520222e-01 6.57573842e-02 7.38062706e-01 -1.12231345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:236.34, Y:12.93, Z:-112.22 [[ 5.56736181e-01 -6.70066329e-01 -4.90974478e-01 2.36340300e+02] [ 4.87919715e-01 7.42122386e-01 -4.59552734e-01 1.29334146e+01] [ 6.72293965e-01 1.62935065e-02 7.40104956e-01 -1.12220291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:236.36, Y:12.95, Z:-112.20 [[ 5.56407808e-01 -6.70581338e-01 -4.90643475e-01 2.36355030e+02] [ 4.88295048e-01 7.41656552e-01 -4.59905975e-01 1.29474323e+01] [ 6.72293312e-01 1.63164966e-02 7.40105043e-01 -1.12200441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.41, Y:12.93, Z:-112.18 [[ 5.28902393e-01 -6.39998066e-01 -5.57373065e-01 2.36405437e+02] [ 4.68583300e-01 7.67787979e-01 -4.36956875e-01 1.29264946e+01] [ 7.07595894e-01 -3.00681733e-02 7.05977305e-01 -1.12184698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.41, Y:12.94, Z:-112.16 [[ 5.19756653e-01 -6.45038062e-01 -5.60159727e-01 2.36412668e+02] [ 4.63490685e-01 7.63705684e-01 -4.49366236e-01 1.29428967e+01] [ 7.17655493e-01 -2.60677250e-02 6.95910243e-01 -1.12163356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.35, Y:13.02, Z:-112.13 [[ 5.32751749e-01 -7.03159517e-01 -4.70895176e-01 2.36353510e+02] [ 4.73895382e-01 7.08889888e-01 -5.22396682e-01 1.30206374e+01] [ 7.01141027e-01 5.51526963e-02 7.10886376e-01 -1.12132089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.19864 meters Centerline goodness : 0.984564 Centerline is valid? [True, True] Translation: X:236.43, Y:13.01, Z:-112.13 [[ 5.86664953e-01 -6.11333203e-01 -5.31127054e-01 2.36426583e+02] [ 4.30703699e-01 7.90938536e-01 -4.34638419e-01 1.30127417e+01] [ 6.85797751e-01 2.62287412e-02 7.27319392e-01 -1.12130990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.44, Y:13.00, Z:-112.11 [[ 5.19947361e-01 -6.70508529e-01 -5.29219287e-01 2.36435997e+02] [ 4.85190885e-01 7.41729189e-01 -4.63063296e-01 1.29995926e+01] [ 7.03025282e-01 -1.60038351e-02 7.10984761e-01 -1.12108688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.25864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:236.42, Y:13.04, Z:-112.08 [[ 5.21257361e-01 -6.96779370e-01 -4.92736515e-01 2.36420412e+02] [ 4.90886114e-01 7.17106582e-01 -4.94761531e-01 1.30385421e+01] [ 6.98084226e-01 1.60205769e-02 7.15836402e-01 -1.12084120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.45, Y:13.04, Z:-112.07 [[ 5.17500142e-01 -6.88945160e-01 -5.07492039e-01 2.36450564e+02] [ 4.93959885e-01 7.24810299e-01 -4.80264158e-01 1.30394603e+01] [ 6.98711124e-01 -2.14393875e-03 7.15400705e-01 -1.12068819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.31864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.44, Y:13.08, Z:-112.04 [[ 5.37784481e-01 -7.15224659e-01 -4.46364805e-01 2.36435530e+02] [ 5.21798776e-01 6.98221622e-01 -4.90114890e-01 1.30800079e+01] [ 6.62203813e-01 3.06635729e-02 7.48696104e-01 -1.12042553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.52, Y:13.04, Z:-112.03 [[ 5.09273926e-01 -6.68390956e-01 -5.42119542e-01 2.36517557e+02] [ 5.01731573e-01 7.42393106e-01 -4.43979622e-01 1.30351040e+01] [ 6.99217775e-01 -4.58912453e-02 7.13434298e-01 -1.12034319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.37864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.50, Y:13.08, Z:-112.01 [[ 5.09145231e-01 -7.01494100e-01 -4.98675407e-01 2.36495579e+02] [ 5.03023321e-01 7.12672722e-01 -4.88942870e-01 1.30809049e+01] [ 6.98382898e-01 -1.90242840e-03 7.15721809e-01 -1.12010410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:236.49, Y:13.12, Z:-111.99 [[ 5.31411144e-01 -7.22074283e-01 -4.42957024e-01 2.36485072e+02] [ 5.25781187e-01 6.91138022e-01 -4.95865282e-01 1.31191095e+01] [ 6.64196010e-01 3.06098669e-02 7.46931521e-01 -1.11985248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.43864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:236.61, Y:13.02, Z:-111.98 [[ 5.09914455e-01 -6.26328938e-01 -5.89660334e-01 2.36614383e+02] [ 5.06937121e-01 7.72590075e-01 -3.82255584e-01 1.30246646e+01] [ 6.94983456e-01 -1.04003064e-01 7.11464236e-01 -1.11979741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:236.49, Y:13.16, Z:-111.94 [[ 5.09823055e-01 -7.34773883e-01 -4.47423505e-01 2.36494509e+02] [ 5.03240932e-01 6.76545096e-01 -5.37620031e-01 1.31570065e+01] [ 6.97731336e-01 4.89292647e-02 7.14686581e-01 -1.11940597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.49864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.53, Y:13.16, Z:-111.92 [[ 5.31301487e-01 -7.25638162e-01 -4.37227616e-01 2.36529351e+02] [ 5.31458147e-01 6.87394182e-01 -4.95016643e-01 1.31592256e+01] [ 6.59750686e-01 3.06348994e-02 7.50859864e-01 -1.11924395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52864 meters Centerline goodness : 0.983142 Centerline is valid? [True, True] Translation: X:236.70, Y:13.07, Z:-111.91 [[ 4.96416098e-01 -6.44711440e-01 -5.81307335e-01 2.36702931e+02] [ 5.36514210e-01 7.54296224e-01 -3.78404162e-01 1.30723412e+01] [ 6.82439419e-01 -1.24033728e-01 7.20341636e-01 -1.11907627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.55864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.62, Y:13.13, Z:-111.90 [[ 5.26262852e-01 -6.86574710e-01 -5.01659823e-01 2.36623095e+02] [ 5.35667213e-01 7.25865436e-01 -4.31485812e-01 1.31276919e+01] [ 6.60384773e-01 -4.16477651e-02 7.49771576e-01 -1.11898037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:13.16, Z:-111.88 [[ 5.23365695e-01 -7.06312355e-01 -4.76666767e-01 2.36616063e+02] [ 5.37567679e-01 7.07712386e-01 -4.58436659e-01 1.31618479e+01] [ 6.61142451e-01 -1.63106273e-02 7.50083078e-01 -1.11876377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.63, Y:13.17, Z:-111.86 [[ 5.20633916e-01 -7.07582841e-01 -4.77772800e-01 2.36632863e+02] [ 5.37837393e-01 7.06415854e-01 -4.60116919e-01 1.31747480e+01] [ 6.63077118e-01 -1.74116044e-02 7.48348563e-01 -1.11858162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.68, Y:13.15, Z:-111.84 [[ 4.96187862e-01 -6.78172675e-01 -5.42106473e-01 2.36682910e+02] [ 5.18113370e-01 7.32315610e-01 -4.41896349e-01 1.31516219e+01] [ 6.96675062e-01 -6.16090072e-02 7.14736447e-01 -1.11844962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.67864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.62, Y:13.24, Z:-111.81 [[ 5.20017349e-01 -7.38564629e-01 -4.29073706e-01 2.36617311e+02] [ 5.36329559e-01 6.73297666e-01 -5.08940918e-01 1.32396676e+01] [ 6.64780085e-01 3.45331952e-02 7.46240509e-01 -1.11812373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.77, Y:13.11, Z:-111.81 [[ 4.86527460e-01 -6.24325242e-01 -6.11153845e-01 2.36767787e+02] [ 5.21154208e-01 7.68836256e-01 -3.70525442e-01 1.31141536e+01] [ 7.01205620e-01 -1.38234596e-01 6.99429678e-01 -1.11810900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.55, Y:13.33, Z:-111.75 [[ 5.20683821e-01 -7.89931974e-01 -3.23876266e-01 2.36549964e+02] [ 5.36160088e-01 5.97769170e-01 -5.95990251e-01 1.33344922e+01] [ 6.64395002e-01 1.36672954e-01 7.34778732e-01 -1.11748153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.71, Y:13.24, Z:-111.76 [[ 5.26838901e-01 -7.04750528e-01 -4.75149940e-01 2.36707285e+02] [ 5.36563944e-01 7.09314836e-01 -4.57134114e-01 1.32428114e+01] [ 6.59196410e-01 -1.41122913e-02 7.51838371e-01 -1.11761390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.78, Y:13.20, Z:-111.75 [[ 5.00263811e-01 -6.54702731e-01 -5.66657262e-01 2.36779149e+02] [ 5.14753886e-01 7.51103755e-01 -4.13366165e-01 1.31966223e+01] [ 6.96250355e-01 -8.48968944e-02 7.12760802e-01 -1.11747178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.73, Y:13.28, Z:-111.72 [[ 5.01866243e-01 -7.12824737e-01 -4.89909347e-01 2.36726163e+02] [ 5.10470332e-01 7.01342101e-01 -4.97533213e-01 1.32767862e+01] [ 6.98248032e-01 -3.89062189e-04 7.15855806e-01 -1.11722916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.70, Y:13.33, Z:-111.69 [[ 5.27569355e-01 -7.43226763e-01 -4.11442042e-01 2.36697823e+02] [ 5.38104259e-01 6.67140620e-01 -5.15138039e-01 1.33262010e+01] [ 6.57354076e-01 5.03723271e-02 7.51896434e-01 -1.11694914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.77, Y:13.29, Z:-111.69 [[ 5.28917568e-01 -7.04889825e-01 -4.72627274e-01 2.36771663e+02] [ 5.37579317e-01 7.09200831e-01 -4.56116936e-01 1.32923023e+01] [ 6.56699843e-01 -1.28263866e-02 7.54042970e-01 -1.11686142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:236.79, Y:13.30, Z:-111.67 [[ 5.30644436e-01 -7.03907541e-01 -4.72155331e-01 2.36788556e+02] [ 5.36113383e-01 7.10206314e-01 -4.56277802e-01 1.33041942e+01] [ 6.56505083e-01 -1.10075144e-02 7.54241282e-01 -1.11667094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.94864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:236.86, Y:13.29, Z:-111.63 [[ 5.39610464e-01 -6.33032778e-01 -5.55058600e-01 2.36863441e+02] [ 4.84253052e-01 7.72678174e-01 -4.10447829e-01 1.32901767e+01] [ 6.88708595e-01 -4.73068774e-02 7.23493283e-01 -1.11633032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.87, Y:13.27, Z:-111.63 [[ 5.12369023e-01 -6.60356835e-01 -5.49005314e-01 2.36866020e+02] [ 5.14671017e-01 7.47890081e-01 -4.19254304e-01 1.32748162e+01] [ 6.87453074e-01 -6.77442046e-02 7.23062234e-01 -1.11633753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.87, Y:13.30, Z:-111.61 [[ 5.18719676e-01 -6.70593457e-01 -5.30315296e-01 2.36867290e+02] [ 5.14156385e-01 7.40272508e-01 -4.33174129e-01 1.33007326e+01] [ 6.83061571e-01 -4.79690516e-02 7.28783823e-01 -1.11614395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.76, Y:13.42, Z:-111.58 [[ 5.43423136e-01 -7.51411295e-01 -3.74262423e-01 2.36764861e+02] [ 5.33252743e-01 6.53323278e-01 -5.37410650e-01 1.34170765e+01] [ 6.48330786e-01 9.24649171e-02 7.55723118e-01 -1.11576541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:236.93, Y:13.29, Z:-111.58 [[ 5.17425784e-01 -6.39878322e-01 -5.68178045e-01 2.36927367e+02] [ 5.09787773e-01 7.63783985e-01 -3.95917228e-01 1.32936374e+01] [ 6.87304143e-01 -8.47924378e-02 7.21403672e-01 -1.11577044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:236.79, Y:13.45, Z:-111.54 [[ 5.48932725e-01 -7.48809411e-01 -3.71426075e-01 2.36793141e+02] [ 5.32560607e-01 6.55809673e-01 -5.35063429e-01 1.34453321e+01] [ 6.44245344e-01 9.59069299e-02 7.58781785e-01 -1.11538012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.12864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:236.94, Y:13.34, Z:-111.54 [[ 5.22711043e-01 -6.55616007e-01 -5.44922761e-01 2.36937119e+02] [ 5.08749242e-01 7.52794406e-01 -4.17701796e-01 1.33415880e+01] [ 6.84066791e-01 -5.88917002e-02 7.27038096e-01 -1.11537345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.85, Y:13.45, Z:-111.51 [[ 5.50740959e-01 -7.34276102e-01 -3.96891677e-01 2.36846746e+02] [ 5.33900735e-01 6.75410538e-01 -5.08695007e-01 1.34547278e+01] [ 6.41587408e-01 6.82584184e-02 7.64006797e-01 -1.11505516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.18864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.97, Y:13.37, Z:-111.50 [[ 5.22045887e-01 -6.55560165e-01 -5.45627127e-01 2.36967494e+02] [ 5.13006869e-01 7.52407392e-01 -4.13167119e-01 1.33684974e+01] [ 6.81389789e-01 -6.42182692e-02 7.29098052e-01 -1.11500670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:236.91, Y:13.45, Z:-111.47 [[ 5.26309382e-01 -7.16252063e-01 -4.58237292e-01 2.36906129e+02] [ 5.13934965e-01 6.97301095e-01 -4.99641906e-01 1.34544611e+01] [ 6.77398912e-01 2.74620559e-02 7.35103088e-01 -1.11474310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.24864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:236.98, Y:13.42, Z:-111.46 [[ 5.20737279e-01 -6.76378168e-01 -5.20908111e-01 2.36978482e+02] [ 5.16883290e-01 7.35408636e-01 -4.38184668e-01 1.34165985e+01] [ 6.79458866e-01 -4.10696062e-02 7.32563265e-01 -1.11462452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.89, Y:13.52, Z:-111.43 [[ 5.44219353e-01 -7.48918676e-01 -3.78082150e-01 2.36892333e+02] [ 5.42403038e-01 6.57905051e-01 -5.22455633e-01 1.35225693e+01] [ 6.40018937e-01 7.92575600e-02 7.64260426e-01 -1.11428151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.30864 meters Centerline goodness : 0.999606 Centerline is valid? [True, True] Translation: X:237.02, Y:13.44, Z:-111.43 [[ 5.20161655e-01 -6.73420300e-01 -5.25297013e-01 2.37015384e+02] [ 5.23650312e-01 7.37350352e-01 -4.26737402e-01 1.34376876e+01] [ 6.74701567e-01 -5.30995118e-02 7.36178129e-01 -1.11425302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:237.03, Y:13.46, Z:-111.41 [[ 5.16627001e-01 -6.80486685e-01 -5.19648355e-01 2.37025701e+02] [ 5.28178384e-01 7.30967398e-01 -4.32104452e-01 1.34553966e+01] [ 6.73887332e-01 -5.12302012e-02 7.37055853e-01 -1.11406863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.36864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:236.97, Y:13.53, Z:-111.38 [[ 5.14738557e-01 -7.37051870e-01 -4.37948351e-01 2.36972294e+02] [ 5.31000096e-01 6.75122630e-01 -5.12101877e-01 1.35334227e+01] [ 6.73114489e-01 3.10479649e-02 7.38886262e-01 -1.11379842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.03, Y:13.51, Z:-111.37 [[ 5.11496039e-01 -7.12627731e-01 -4.80139062e-01 2.37026735e+02] [ 5.36289418e-01 7.01329259e-01 -4.69607209e-01 1.35111160e+01] [ 6.71390693e-01 -1.72912707e-02 7.40901849e-01 -1.11368596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.42864000000003 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:237.04, Y:13.52, Z:-111.35 [[ 5.09850213e-01 -7.13672579e-01 -4.80337601e-01 2.37044118e+02] [ 5.38414070e-01 7.00205840e-01 -4.68851864e-01 1.35226427e+01] [ 6.70941912e-01 -1.95762994e-02 7.41251455e-01 -1.11351571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.01, Y:13.58, Z:-111.33 [[ 5.30385976e-01 -7.49213492e-01 -3.96698702e-01 2.37014661e+02] [ 5.62842029e-01 6.61128853e-01 -4.96102297e-01 1.35821358e+01] [ 6.33955492e-01 3.98469985e-02 7.72342314e-01 -1.11326692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.17, Y:13.45, Z:-111.32 [[ 5.03736168e-01 -6.44636079e-01 -5.75060170e-01 2.37167550e+02] [ 5.49802345e-01 7.52700935e-01 -3.62158368e-01 1.34541071e+01] [ 6.66308678e-01 -1.33737161e-01 7.33585112e-01 -1.11316570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.05, Y:13.60, Z:-111.29 [[ 5.06297497e-01 -7.53450957e-01 -4.19493148e-01 2.37053686e+02] [ 5.43115654e-01 6.56448845e-01 -5.23545892e-01 1.35977751e+01] [ 6.69841945e-01 3.72366793e-02 7.41569415e-01 -1.11287863e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.12, Y:13.56, Z:-111.28 [[ 5.06416985e-01 -7.17980293e-01 -4.77541765e-01 2.37124110e+02] [ 5.46802983e-01 6.95609189e-01 -4.65976774e-01 1.35613543e+01] [ 6.66744580e-01 -2.51427085e-02 7.44862074e-01 -1.11276467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.13, Y:13.58, Z:-111.26 [[ 5.06940365e-01 -7.24395177e-01 -4.67186358e-01 2.37133802e+02] [ 5.48006216e-01 6.89205559e-01 -4.74009372e-01 1.35794579e+01] [ 6.65357538e-01 -1.57265439e-02 7.46359178e-01 -1.11258200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.12, Y:13.63, Z:-111.24 [[ 5.28037458e-01 -7.51309792e-01 -3.95866189e-01 2.37120158e+02] [ 5.68641344e-01 6.59029977e-01 -4.92266707e-01 1.36294204e+01] [ 6.30732483e-01 3.48293791e-02 7.75218324e-01 -1.11239132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.63864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:13.56, Z:-111.23 [[ 5.10296655e-01 -6.88850768e-01 -5.14861091e-01 2.37219489e+02] [ 5.52136756e-01 7.21419275e-01 -4.17970373e-01 1.35552117e+01] [ 6.59349927e-01 -7.09848491e-02 7.48477672e-01 -1.11225190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:13.59, Z:-111.20 [[ 5.10156768e-01 -7.06386504e-01 -4.90671151e-01 2.37215128e+02] [ 5.40581135e-01 7.07071517e-01 -4.55874880e-01 1.35905144e+01] [ 6.68963458e-01 -3.26799124e-02 7.42576539e-01 -1.11204328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.69864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:13.59, Z:-111.19 [[ 5.18892160e-01 -6.95981767e-01 -4.96346962e-01 2.37243290e+02] [ 5.43566116e-01 7.16761858e-01 -4.36793220e-01 1.35917228e+01] [ 6.59762687e-01 -4.31488127e-02 7.50234214e-01 -1.11187001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:13.62, Z:-111.17 [[ 5.23445824e-01 -7.10848258e-01 -4.69786360e-01 2.37237469e+02] [ 5.42429213e-01 7.03201559e-01 -4.59649992e-01 1.36243247e+01] [ 6.57095897e-01 -1.42239762e-02 7.53672781e-01 -1.11169505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.75864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.23, Y:13.66, Z:-111.15 [[ 5.29533576e-01 -7.27142192e-01 -4.36873465e-01 2.37225661e+02] [ 5.37019388e-01 6.86018985e-01 -4.90905418e-01 1.36635408e+01] [ 6.56661532e-01 2.53413805e-02 7.53759541e-01 -1.11146831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.24, Y:13.69, Z:-111.13 [[ 5.50917716e-01 -7.29846702e-01 -4.04738758e-01 2.37237730e+02] [ 5.55834892e-01 6.82641984e-01 -4.74391709e-01 1.36861127e+01] [ 6.22524893e-01 3.63828730e-02 7.81753825e-01 -1.11130609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.81864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.29, Y:13.67, Z:-111.12 [[ 5.57475101e-01 -7.00638430e-01 -4.45339535e-01 2.37289699e+02] [ 5.49634796e-01 7.13511963e-01 -4.34513832e-01 1.36666584e+01] [ 6.22192175e-01 -2.54346157e-03 7.82860414e-01 -1.11115832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:237.34, Y:13.64, Z:-111.10 [[ 5.38021174e-01 -6.71088856e-01 -5.10071528e-01 2.37335787e+02] [ 5.27957948e-01 7.40004296e-01 -4.16718186e-01 1.36434287e+01] [ 6.57110053e-01 -4.50931099e-02 7.52444676e-01 -1.11097101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.32, Y:13.69, Z:-111.08 [[ 5.44283801e-01 -6.94199614e-01 -4.71001103e-01 2.37318397e+02] [ 5.25449271e-01 7.19782314e-01 -4.53670016e-01 1.36937673e+01] [ 6.53955814e-01 -5.61945298e-04 7.56532535e-01 -1.11080054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90864 meters Centerline goodness : 0.841259 Centerline is valid? [True, False] Translation: X:237.34, Y:13.61, Z:-111.11 [[ 5.52627398e-01 -6.39610549e-01 -5.34323222e-01 2.37339780e+02] [ 5.18658764e-01 7.65773735e-01 -3.80241598e-01 1.36050068e+01] [ 6.52377227e-01 -6.69994968e-02 7.54927163e-01 -1.11109650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.93864 meters Centerline goodness : 0.999951 Centerline is valid? [False, True] Translation: X:237.36, Y:13.52, Z:-111.13 [[ 5.58468326e-01 -5.82934635e-01 -5.90169755e-01 2.37359895e+02] [ 5.11801068e-01 8.02035570e-01 -3.07893830e-01 1.35198570e+01] [ 6.52819113e-01 -1.30100559e-01 7.46258032e-01 -1.11130200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.22, Y:13.71, Z:-111.11 [[ 5.75142708e-01 -7.09521478e-01 -4.07173350e-01 2.37218154e+02] [ 5.08522902e-01 6.99973345e-01 -5.01439702e-01 1.37129230e+01] [ 6.40792731e-01 8.13424147e-02 7.63392486e-01 -1.11111992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.32, Y:13.63, Z:-111.10 [[ 5.66473269e-01 -6.40369642e-01 -5.18685605e-01 2.37322727e+02] [ 5.06089341e-01 7.67069133e-01 -3.94307651e-01 1.36339850e+01] [ 6.50370367e-01 -3.91365115e-02 7.58608410e-01 -1.11099332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.30, Y:13.69, Z:-111.08 [[ 5.70073601e-01 -6.72724119e-01 -4.71654905e-01 2.37297912e+02] [ 5.06360002e-01 7.39765105e-01 -4.43110751e-01 1.36908450e+01] [ 6.47005130e-01 1.37785626e-02 7.62361144e-01 -1.11080851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.05864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:237.30, Y:13.72, Z:-111.06 [[ 5.64368403e-01 -6.79829018e-01 -4.68317000e-01 2.37301019e+02] [ 5.03524708e-01 7.33032176e-01 -4.57303725e-01 1.37178544e+01] [ 6.54179772e-01 2.22785925e-02 7.56010906e-01 -1.11061686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08864 meters Centerline goodness : 0.988812 Centerline is valid? [True, True] Translation: X:237.36, Y:13.76, Z:-111.02 [[ 6.04077737e-01 -6.31596421e-01 -4.85979473e-01 2.37356351e+02] [ 4.78529251e-01 7.75118324e-01 -4.12554651e-01 1.37570593e+01] [ 6.37259636e-01 1.66596871e-02 7.70469086e-01 -1.11023252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.11864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.45, Y:13.60, Z:-111.03 [[ 5.55431013e-01 -5.72086510e-01 -6.03500965e-01 2.37453845e+02] [ 5.24127314e-01 8.04282263e-01 -2.80036782e-01 1.35965866e+01] [ 6.45590387e-01 -1.60770226e-01 7.46569479e-01 -1.11030985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.34, Y:13.76, Z:-111.02 [[ 5.59319158e-01 -6.92201911e-01 -4.56090555e-01 2.37335964e+02] [ 5.25378558e-01 7.21594652e-01 -4.50864202e-01 1.37607582e+01] [ 6.41201567e-01 1.25567880e-02 7.67269755e-01 -1.11019744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.17864000000003 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.36, Y:13.77, Z:-111.00 [[ 5.56821715e-01 -6.85299065e-01 -4.69377000e-01 2.37360874e+02] [ 5.27191578e-01 7.28252641e-01 -4.37855148e-01 1.37651886e+01] [ 6.41886764e-01 -3.64434718e-03 7.66790781e-01 -1.11002720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20864 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:237.33, Y:13.82, Z:-110.98 [[ 5.73670901e-01 -7.18231459e-01 -3.93757882e-01 2.37332693e+02] [ 5.51789829e-01 6.94152816e-01 -4.62255182e-01 1.38248058e+01] [ 6.05334356e-01 4.79107520e-02 7.94528084e-01 -1.10982071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:237.44, Y:13.74, Z:-110.97 [[ 5.43403381e-01 -6.47557038e-01 -5.34212175e-01 2.37442619e+02] [ 5.30863630e-01 7.58044478e-01 -3.78883063e-01 1.37425552e+01] [ 6.50304983e-01 -7.77074775e-02 7.55688412e-01 -1.10967748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:237.38, Y:13.84, Z:-110.95 [[ 5.51281844e-01 -7.09976949e-01 -4.38202077e-01 2.37380235e+02] [ 5.37258452e-01 7.03920762e-01 -4.64595434e-01 1.38391690e+01] [ 6.38311589e-01 2.06952581e-02 7.69499852e-01 -1.10950201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:237.38, Y:13.87, Z:-110.93 [[ 5.68676465e-01 -7.23351630e-01 -3.91624179e-01 2.37376905e+02] [ 5.60871670e-01 6.89251377e-01 -4.58645298e-01 1.38717038e+01] [ 6.01689328e-01 4.11698792e-02 7.97668473e-01 -1.10930993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:237.45, Y:13.79, Z:-110.94 [[ 5.22913618e-01 -7.04639400e-01 -4.79629715e-01 2.37446442e+02] [ 5.79467942e-01 7.06535433e-01 -4.06232181e-01 1.37944737e+01] [ 6.25122589e-01 -6.55057042e-02 7.77772943e-01 -1.10936190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35864 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:237.39, Y:13.90, Z:-110.89 [[ 5.52736079e-01 -7.26602000e-01 -4.08083767e-01 2.37394846e+02] [ 5.40908609e-01 6.85325171e-01 -4.87593363e-01 1.39035371e+01] [ 6.33956390e-01 4.87744212e-02 7.71829224e-01 -1.10894251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.38864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:237.49, Y:13.84, Z:-110.89 [[ 5.51092096e-01 -6.68583007e-01 -4.99293765e-01 2.37492196e+02] [ 5.45230984e-01 7.41471998e-01 -3.91078573e-01 1.38400384e+01] [ 6.31680834e-01 -5.67101203e-02 7.73151529e-01 -1.10885942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:237.43, Y:13.93, Z:-110.86 [[ 5.52320885e-01 -7.21605644e-01 -4.17404999e-01 2.37434192e+02] [ 5.43262051e-01 6.91350277e-01 -4.76341409e-01 1.39266202e+01] [ 6.32303711e-01 3.63330124e-02 7.73868160e-01 -1.10862289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.52, Y:13.87, Z:-110.85 [[ 5.52903465e-01 -6.69975134e-01 -4.95410010e-01 2.37521577e+02] [ 5.51007762e-01 7.39980752e-01 -3.85770570e-01 1.38690111e+01] [ 6.25050561e-01 -5.96808765e-02 7.78299421e-01 -1.10854019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.41, Y:14.00, Z:-110.82 [[ 5.69923784e-01 -7.51826837e-01 -3.31576972e-01 2.37413594e+02] [ 5.70064526e-01 6.52392530e-01 -4.99410075e-01 1.40001852e+01] [ 5.91788236e-01 9.56054106e-02 8.00403829e-01 -1.10819765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.50864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.56, Y:13.89, Z:-110.82 [[ 5.55286932e-01 -6.60784787e-01 -5.04994939e-01 2.37564497e+02] [ 5.55742724e-01 7.46560253e-01 -3.65783836e-01 1.38874476e+01] [ 6.18713543e-01 -7.75322793e-02 7.81781489e-01 -1.10816847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:237.51, Y:13.97, Z:-110.79 [[ 5.52589520e-01 -7.13493487e-01 -4.30780532e-01 2.37510093e+02] [ 5.50965814e-01 7.00536221e-01 -4.53525826e-01 1.39717823e+01] [ 6.25365089e-01 1.32682724e-02 7.80219494e-01 -1.10793950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.56864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:237.51, Y:14.01, Z:-110.78 [[ 5.72084943e-01 -7.27302021e-01 -3.79144547e-01 2.37508509e+02] [ 5.74253736e-01 6.85233549e-01 -4.47981728e-01 1.40072024e+01] [ 5.85620580e-01 3.85584289e-02 8.09667699e-01 -1.10775592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:237.60, Y:13.95, Z:-110.76 [[ 5.51221506e-01 -6.73850075e-01 -4.92017202e-01 2.37599655e+02] [ 5.56379027e-01 7.36306076e-01 -3.85091861e-01 1.39450828e+01] [ 6.21769435e-01 -6.14771370e-02 7.80783793e-01 -1.10763278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.62864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.54, Y:14.04, Z:-110.74 [[ 5.70377282e-01 -7.32037448e-01 -3.72546549e-01 2.37537216e+02] [ 5.75130744e-01 6.79753774e-01 -4.55147706e-01 1.40404975e+01] [ 5.86425088e-01 4.53429374e-02 8.08733352e-01 -1.10740548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.60, Y:14.02, Z:-110.73 [[ 5.70183395e-01 -7.05195969e-01 -4.21413741e-01 2.37597668e+02] [ 5.74633149e-01 7.08955014e-01 -4.08875938e-01 1.40165628e+01] [ 5.87101048e-01 -9.02403449e-03 8.09463357e-01 -1.10728964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.68864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.62, Y:14.03, Z:-110.71 [[ 5.68926934e-01 -7.05052511e-01 -4.23347494e-01 2.37616012e+02] [ 5.72730307e-01 7.09104446e-01 -4.11279564e-01 1.40309968e+01] [ 5.90171280e-01 -8.47591875e-03 8.07233559e-01 -1.10712552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71864 meters Centerline goodness : 0.999901 Centerline is valid? [True, True] Translation: X:237.63, Y:14.05, Z:-110.70 [[ 5.69381410e-01 -7.04879538e-01 -4.23024405e-01 2.37633039e+02] [ 5.72357288e-01 7.09283850e-01 -4.11489434e-01 1.40452636e+01] [ 5.90094861e-01 -7.82666687e-03 8.07295979e-01 -1.10696195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.71, Y:13.99, Z:-110.68 [[ 5.43323089e-01 -6.53270886e-01 -5.27292301e-01 2.37713030e+02] [ 5.53526942e-01 7.50981652e-01 -3.60047891e-01 1.39879081e+01] [ 6.31195648e-01 -9.62481623e-02 7.69628706e-01 -1.10679589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:237.63, Y:14.10, Z:-110.66 [[ 5.54281131e-01 -7.27947973e-01 -4.03564339e-01 2.37625609e+02] [ 5.50393608e-01 6.84281046e-01 -4.78357948e-01 1.41048862e+01] [ 6.24371127e-01 4.30255526e-02 7.79941984e-01 -1.10655482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.80864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:237.68, Y:14.08, Z:-110.64 [[ 5.53718013e-01 -6.99324205e-01 -4.52042053e-01 2.37683572e+02] [ 5.50771027e-01 7.14730605e-01 -4.31058509e-01 1.40805869e+01] [ 6.24537940e-01 -1.02868050e-02 7.80926721e-01 -1.10641641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:237.65, Y:14.14, Z:-110.62 [[ 5.79199886e-01 -7.27245936e-01 -3.68294502e-01 2.37652897e+02] [ 5.69401601e-01 6.84233829e-01 -4.55637887e-01 1.41437023e+01] [ 5.83360359e-01 5.41979329e-02 8.10403156e-01 -1.10619056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.86864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:237.75, Y:14.07, Z:-110.61 [[ 5.56244784e-01 -6.69288438e-01 -4.92589816e-01 2.37751128e+02] [ 5.50537564e-01 7.40804371e-01 -3.84860072e-01 1.40738908e+01] [ 6.22495085e-01 -5.71127895e-02 7.80536993e-01 -1.10607483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89864 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:237.72, Y:14.13, Z:-110.59 [[ 5.60530127e-01 -7.03113711e-01 -4.37535240e-01 2.37720170e+02] [ 5.48980763e-01 7.11051530e-01 -4.39347065e-01 1.41346566e+01] [ 6.20021047e-01 6.06883576e-03 7.84561706e-01 -1.10586497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.92864000000003 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:237.74, Y:14.14, Z:-110.57 [[ 5.60164165e-01 -6.97034946e-01 -4.47614111e-01 2.37744725e+02] [ 5.49111862e-01 7.17017786e-01 -4.29373564e-01 1.41425505e+01] [ 6.20235658e-01 -5.27053444e-03 7.84397827e-01 -1.10570495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95864 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:237.71, Y:14.21, Z:-110.55 [[ 5.82708319e-01 -7.28819412e-01 -3.59545935e-01 2.37711485e+02] [ 5.71216119e-01 6.82005840e-01 -4.56705792e-01 1.42082059e+01] [ 5.78068474e-01 6.07478309e-02 8.13723872e-01 -1.10549330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98864 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:237.82, Y:14.13, Z:-110.54 [[ 5.55979738e-01 -6.69325817e-01 -4.92838190e-01 2.37818090e+02] [ 5.52863134e-01 7.40536625e-01 -3.82031231e-01 1.41332976e+01] [ 6.20668096e-01 -6.00704427e-02 7.81768928e-01 -1.10539307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01864 meters Centerline goodness : 0.998034 Centerline is valid? [True, True] Translation: X:237.84, Y:14.14, Z:-110.52 [[ 5.59698765e-01 -6.67439777e-01 -4.91183710e-01 2.37837206e+02] [ 5.57574243e-01 7.41794155e-01 -3.72629033e-01 1.41419744e+01] [ 6.13064643e-01 -6.53113758e-02 7.87328500e-01 -1.10524134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04864 meters Centerline goodness : 0.996853 Centerline is valid? [True, True] Translation: X:237.76, Y:14.25, Z:-110.50 [[ 5.59872864e-01 -7.36325398e-01 -3.79956951e-01 2.37757399e+02] [ 5.54741049e-01 6.73729381e-01 -4.88212136e-01 1.42514329e+01] [ 6.15471157e-01 6.25590099e-02 7.85672722e-01 -1.10496392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07864 meters Centerline goodness : 0.997641 Centerline is valid? [True, True] Translation: X:237.79, Y:14.26, Z:-110.48 [[ 5.79420259e-01 -7.30891022e-01 -3.60652850e-01 2.37787128e+02] [ 5.81954297e-01 6.80816572e-01 -4.44767345e-01 1.42579193e+01] [ 5.70614896e-01 4.78237348e-02 8.19824085e-01 -1.10483353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10864 meters Centerline goodness : 0.997050 Centerline is valid? [True, True] Translation: X:237.85, Y:14.23, Z:-110.47 [[ 5.79389932e-01 -7.05831087e-01 -4.07565680e-01 2.37845982e+02] [ 5.82247343e-01 7.08353814e-01 -3.99027451e-01 1.42346061e+01] [ 5.70346683e-01 -6.11154706e-03 8.21381343e-01 -1.10470941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.13864 meters Centerline goodness : 0.997146 Centerline is valid? [True, True] Translation: X:237.86, Y:14.25, Z:-110.45 [[ 5.79719818e-01 -7.06300281e-01 -4.06281732e-01 2.37863126e+02] [ 5.83327336e-01 7.07886040e-01 -3.98279516e-01 1.42486327e+01] [ 5.68906100e-01 -6.10471204e-03 8.22379828e-01 -1.10453391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16864 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:237.88, Y:14.26, Z:-110.44 [[ 5.80109946e-01 -7.06251057e-01 -4.05810170e-01 2.37879282e+02] [ 5.83232448e-01 7.07939243e-01 -3.98323913e-01 1.42644493e+01] [ 5.68605630e-01 -5.60999518e-03 8.22591129e-01 -1.10436381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.19864 meters Centerline goodness : 0.996757 Centerline is valid? [True, True] Translation: X:237.94, Y:14.23, Z:-110.42 [[ 5.56210939e-01 -6.73170134e-01 -4.87310334e-01 2.37937445e+02] [ 5.63585556e-01 7.36486400e-01 -3.74111085e-01 1.42314470e+01] [ 6.10737843e-01 -6.65563878e-02 7.89030756e-01 -1.10419064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22864 meters Centerline goodness : 0.997347 Centerline is valid? [True, True] Translation: X:237.95, Y:14.25, Z:-110.40 [[ 5.57628322e-01 -6.74633595e-01 -4.83652941e-01 2.37951412e+02] [ 5.65660700e-01 7.35253176e-01 -3.73404257e-01 1.42451056e+01] [ 6.07518417e-01 -6.53626717e-02 7.91611706e-01 -1.10403543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.25864 meters Centerline goodness : 0.996756 Centerline is valid? [True, True] Translation: X:237.83, Y:14.40, Z:-110.37 [[ 5.82469682e-01 -7.61858330e-01 -2.83374229e-01 2.37825138e+02] [ 5.87321510e-01 6.35465069e-01 -5.01236063e-01 1.43952090e+01] [ 5.61945294e-01 1.25523030e-01 8.17594921e-01 -1.10371161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28864 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:237.94, Y:14.32, Z:-110.37 [[ 5.83188742e-01 -7.07082499e-01 -3.99906527e-01 2.37944388e+02] [ 5.87892453e-01 7.07105967e-01 -3.92916804e-01 1.43183502e+01] [ 5.60600887e-01 -5.95737209e-03 8.28064704e-01 -1.10367081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.31864 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:237.96, Y:14.33, Z:-110.35 [[ 5.82685807e-01 -7.07399866e-01 -4.00078342e-01 2.37962891e+02] [ 5.87827627e-01 7.06789431e-01 -3.93582749e-01 1.43326711e+01] [ 5.61191527e-01 -5.84202072e-03 8.27665355e-01 -1.10350920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34864 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:238.06, Y:14.26, Z:-110.33 [[ 5.61380704e-01 -6.43701252e-01 -5.20096532e-01 2.38059161e+02] [ 5.73975399e-01 7.55597326e-01 -3.15634159e-01 1.42572814e+01] [ 5.96157652e-01 -1.21331688e-01 7.93646442e-01 -1.10331657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.37864 meters Centerline goodness : 0.995875 Centerline is valid? [True, True] Translation: X:237.90, Y:14.44, Z:-110.30 [[ 5.83026561e-01 -7.59239967e-01 -2.89196649e-01 2.37902417e+02] [ 5.89970895e-01 6.40369265e-01 -4.91794212e-01 1.44448037e+01] [ 5.58582467e-01 1.16111482e-01 8.21281773e-01 -1.10304712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40864 meters Centerline goodness : 0.995827 Centerline is valid? [True, True] Translation: X:238.01, Y:14.38, Z:-110.30 [[ 5.86684639e-01 -7.06332390e-01 -3.96100605e-01 2.38011913e+02] [ 5.88842686e-01 7.07866854e-01 -3.90113840e-01 1.43755214e+01] [ 5.55936530e-01 -4.36714685e-03 8.31213271e-01 -1.10298858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.43864 meters Centerline goodness : 0.996212 Centerline is valid? [True, True] Translation: X:238.06, Y:14.35, Z:-110.28 [[ 5.68943396e-01 -6.78370145e-01 -4.64884242e-01 2.38061787e+02] [ 5.69818431e-01 7.32785061e-01 -3.71931459e-01 1.43512898e+01] [ 5.92967425e-01 -5.32916616e-02 8.03461033e-01 -1.10280561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46864 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:238.04, Y:14.40, Z:-110.26 [[ 5.73752399e-01 -7.01226935e-01 -4.23189049e-01 2.38042109e+02] [ 5.64904489e-01 7.12937799e-01 -4.15454707e-01 1.44031447e+01] [ 5.93035500e-01 -6.93259105e-04 8.05176015e-01 -1.10262660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.49864 meters Centerline goodness : 0.995728 Centerline is valid? [True, True] Translation: X:238.06, Y:14.41, Z:-110.25 [[ 5.74356393e-01 -6.95321011e-01 -4.32022483e-01 2.38064533e+02] [ 5.64068742e-01 7.18628289e-01 -4.06693788e-01 1.44113680e+01] [ 5.93246314e-01 -1.01032015e-02 8.04957599e-01 -1.10246186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52864 meters Centerline goodness : 0.995236 Centerline is valid? [True, True] Translation: X:238.07, Y:14.44, Z:-110.23 [[ 5.77111510e-01 -7.02034653e-01 -4.17240520e-01 2.38068024e+02] [ 5.64262865e-01 7.12120459e-01 -4.17722242e-01 1.44391816e+01] [ 5.90381000e-01 5.63898236e-03 8.07104997e-01 -1.10228938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.55864 meters Centerline goodness : 0.995628 Centerline is valid? [True, True] Translation: X:238.08, Y:14.46, Z:-110.21 [[ 5.80124154e-01 -7.03980503e-01 -4.09716264e-01 2.38078620e+02] [ 5.66634286e-01 7.10145184e-01 -4.17874866e-01 1.44607748e+01] [ 5.85133790e-01 1.02600207e-02 8.10871864e-01 -1.10212435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58864 meters Centerline goodness : 0.995437 Centerline is valid? [True, True] Translation: X:238.11, Y:14.46, Z:-110.20 [[ 5.78113887e-01 -6.93295365e-01 -4.30262560e-01 2.38111695e+02] [ 5.67553202e-01 7.20520103e-01 -3.98414539e-01 1.44599292e+01] [ 5.86231777e-01 -1.38679156e-02 8.10024681e-01 -1.10196217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.61864 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:238.09, Y:14.52, Z:-110.18 [[ 5.90954730e-01 -7.25857212e-01 -3.51999737e-01 2.38086947e+02] [ 5.92672854e-01 6.86672232e-01 -4.20975217e-01 1.45162997e+01] [ 5.47276342e-01 4.01566072e-02 8.35988069e-01 -1.10179080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64864 meters Centerline goodness : 0.995584 Centerline is valid? [True, True] Translation: X:238.14, Y:14.50, Z:-110.17 [[ 5.87682726e-01 -7.09509991e-01 -3.88876055e-01 2.38135369e+02] [ 5.94808228e-01 7.04684114e-01 -3.86811933e-01 1.45025479e+01] [ 5.48481709e-01 -3.98398589e-03 8.36153062e-01 -1.10165849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.67864000000003 meters Centerline goodness : 0.996059 Centerline is valid? [True, True] Translation: X:238.24, Y:14.42, Z:-110.14 [[ 5.57364117e-01 -6.43507306e-01 -5.24636625e-01 2.38242926e+02] [ 5.81959706e-01 7.53476704e-01 -3.05934238e-01 1.44206967e+01] [ 5.92172392e-01 -1.34800610e-01 7.94456200e-01 -1.10144623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70864 meters Centerline goodness : 0.995972 Centerline is valid? [True, True] Translation: X:238.07, Y:14.62, Z:-110.12 [[ 5.76886373e-01 -7.69386379e-01 -2.74311343e-01 2.38074501e+02] [ 6.00919962e-01 6.27220882e-01 -4.95468631e-01 1.46208225e+01] [ 5.53260618e-01 1.20989939e-01 8.24174813e-01 -1.10121842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73864 meters Centerline goodness : 0.996169 Centerline is valid? [True, True] Translation: X:238.28, Y:14.45, Z:-110.11 [[ 5.54701006e-01 -6.47871251e-01 -5.22082020e-01 2.38277270e+02] [ 5.86661675e-01 7.49487464e-01 -3.06751724e-01 1.44506754e+01] [ 5.90029553e-01 -1.36130022e-01 7.95822684e-01 -1.10112813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76864 meters Centerline goodness : 0.995773 Centerline is valid? [True, True] Translation: X:238.11, Y:14.65, Z:-110.09 [[ 5.77053167e-01 -7.69851592e-01 -2.72650269e-01 2.38110116e+02] [ 6.02526992e-01 6.26664950e-01 -4.94218842e-01 1.46504326e+01] [ 5.51335530e-01 1.20911402e-01 8.25475358e-01 -1.10088002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79864 meters Centerline goodness : 0.995970 Centerline is valid? [True, True] Translation: X:238.23, Y:14.58, Z:-110.08 [[ 5.79695958e-01 -7.16512581e-01 -3.88023606e-01 2.38225821e+02] [ 6.03099413e-01 6.97506936e-01 -3.86982135e-01 1.45777489e+01] [ 5.47926724e-01 -9.68482959e-03 8.36470268e-01 -1.10083896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82864 meters Centerline goodness : 0.995867 Centerline is valid? [True, True] Translation: X:238.32, Y:14.50, Z:-110.06 [[ 5.62312554e-01 -6.45748945e-01 -5.16539342e-01 2.38324840e+02] [ 5.85103604e-01 7.52108781e-01 -3.03292194e-01 1.44982340e+01] [ 5.84344389e-01 -1.31684022e-01 8.00750244e-01 -1.10059390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85864 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:238.25, Y:14.61, Z:-110.05 [[ 5.73054764e-01 -7.15809673e-01 -3.99029760e-01 2.38245728e+02] [ 5.83882455e-01 6.98282078e-01 -4.14105564e-01 1.46115206e+01] [ 5.75056099e-01 4.31869053e-03 8.18102580e-01 -1.10047339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.88864 meters Centerline goodness : 0.995968 Centerline is valid? [True, True] Translation: X:238.27, Y:14.62, Z:-110.03 [[ 5.73972348e-01 -7.09746454e-01 -4.08430796e-01 2.38270644e+02] [ 5.86250816e-01 7.04389744e-01 -4.00181295e-01 1.46165643e+01] [ 5.71721719e-01 -9.74989004e-03 8.20389673e-01 -1.10032272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91864 meters Centerline goodness : 0.996218 Centerline is valid? [True, True] Translation: X:238.20, Y:14.71, Z:-110.01 [[ 5.92081411e-01 -7.56327233e-01 -2.78224225e-01 2.38201598e+02] [ 6.06407122e-01 6.45517804e-01 -4.64302883e-01 1.47100084e+01] [ 5.30763606e-01 1.06187955e-01 8.40841313e-01 -1.10007232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.94864 meters Centerline goodness : 0.995818 Centerline is valid? [True, True] Translation: X:238.30, Y:14.65, Z:-110.00 [[ 5.94385600e-01 -7.11962549e-01 -3.73918557e-01 2.38298388e+02] [ 6.05351452e-01 7.02208241e-01 -3.74770871e-01 1.46538176e+01] [ 5.29391517e-01 -3.59373277e-03 8.48370030e-01 -1.10000194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97864 meters Centerline goodness : 0.995619 Centerline is valid? [True, True] Translation: X:238.31, Y:14.67, Z:-109.99 [[ 5.94754880e-01 -7.11534906e-01 -3.74145305e-01 2.38313838e+02] [ 6.04412287e-01 7.02645063e-01 -3.75467311e-01 1.46724654e+01] [ 5.30049450e-01 -2.82700397e-03 8.47962021e-01 -1.09985113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.00864 meters Centerline goodness : 0.995387 Centerline is valid? [True, True] Translation: X:238.36, Y:14.65, Z:-109.97 [[ 5.78647834e-01 -6.82835837e-01 -4.45984198e-01 2.38362581e+02] [ 5.84633832e-01 7.28558887e-01 -3.56938693e-01 1.46539586e+01] [ 5.68656282e-01 -5.41956492e-02 8.20787954e-01 -1.09968047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03864 meters Centerline goodness : 0.994877 Centerline is valid? [True, True] Translation: X:238.35, Y:14.70, Z:-109.95 [[ 5.79744293e-01 -7.04042597e-01 -4.10147017e-01 2.38345405e+02] [ 5.81515470e-01 7.10108472e-01 -3.96970674e-01 1.47045951e+01] [ 5.70733136e-01 -8.36535292e-03 8.21092996e-01 -1.09951989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.06864 meters Centerline goodness : 0.995142 Centerline is valid? [True, True] Translation: X:238.31, Y:14.77, Z:-109.93 [[ 5.98292025e-01 -7.31784620e-01 -3.26401475e-01 2.38314242e+02] [ 6.01808188e-01 6.79328560e-01 -4.19928104e-01 1.47668665e+01] [ 5.29030772e-01 5.48085553e-02 8.46830836e-01 -1.09934266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09864 meters Centerline goodness : 0.995581 Centerline is valid? [True, True] Translation: X:238.37, Y:14.75, Z:-109.92 [[ 5.99477917e-01 -7.07770306e-01 -3.73747805e-01 2.38367857e+02] [ 5.99409251e-01 7.06440835e-01 -3.76364048e-01 1.47495812e+01] [ 5.30410008e-01 1.59404364e-03 8.47739749e-01 -1.09922438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.12864 meters Centerline goodness : 0.996367 Centerline is valid? [True, True] Translation: X:238.38, Y:14.77, Z:-109.91 [[ 6.02946557e-01 -7.05591853e-01 -3.72284281e-01 2.38379629e+02] [ 5.97476359e-01 7.08607779e-01 -3.75362512e-01 1.47697417e+01] [ 5.28656268e-01 3.89247834e-03 8.48827072e-01 -1.09906585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15864 meters Centerline goodness : 0.997349 Centerline is valid? [True, True] Translation: X:238.43, Y:14.75, Z:-109.89 [[ 5.87911779e-01 -6.79753880e-01 -4.38513858e-01 2.38427183e+02] [ 5.79876151e-01 7.32110559e-01 -3.57432202e-01 1.47521532e+01] [ 5.64006552e-01 -4.41451265e-02 8.24589484e-01 -1.09889721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.18864 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:238.37, Y:14.84, Z:-109.87 [[ 6.07799307e-01 -7.22849823e-01 -3.28737185e-01 2.38371763e+02] [ 5.95801081e-01 6.88799703e-01 -4.13008525e-01 1.48382965e+01] [ 5.24977214e-01 5.51643252e-02 8.49326688e-01 -1.09870387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:238.42, Y:14.82, Z:-109.86 [[ 6.09009363e-01 -7.01562516e-01 -3.70023826e-01 2.38422781e+02] [ 5.93606437e-01 7.12561530e-01 -3.74015326e-01 1.48245883e+01] [ 5.26059877e-01 8.13031064e-03 8.50408669e-01 -1.09859023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.24864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:238.44, Y:14.84, Z:-109.84 [[ 6.11450475e-01 -6.99491580e-01 -3.69918703e-01 2.38435811e+02] [ 5.90957299e-01 7.14566439e-01 -3.74385196e-01 1.48441080e+01] [ 5.26210782e-01 1.03118477e-02 8.50291643e-01 -1.09844092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:238.49, Y:14.83, Z:-109.83 [[ 5.95560815e-01 -6.72178913e-01 -4.39866825e-01 2.38485466e+02] [ 5.74103078e-01 7.39152913e-01 -3.52219571e-01 1.48252464e+01] [ 5.61883414e-01 -4.27607236e-02 8.26110495e-01 -1.09828064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.30864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:238.42, Y:14.92, Z:-109.81 [[ 6.15613361e-01 -7.18916380e-01 -3.22768381e-01 2.38423890e+02] [ 5.90189156e-01 6.92012295e-01 -4.15687075e-01 1.49165423e+01] [ 5.22203935e-01 6.54081189e-02 8.50308666e-01 -1.09807756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:238.48, Y:14.90, Z:-109.80 [[ 6.15674754e-01 -6.96941841e-01 -3.67718191e-01 2.38479244e+02] [ 5.88851715e-01 7.17007334e-01 -3.73033699e-01 1.48993334e+01] [ 5.23639432e-01 1.31359437e-02 8.51838712e-01 -1.09797402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.36864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:238.49, Y:14.92, Z:-109.78 [[ 6.17340573e-01 -6.95885886e-01 -3.66924312e-01 2.38493868e+02] [ 5.87847303e-01 7.18008338e-01 -3.72692332e-01 1.49182054e+01] [ 5.22806049e-01 1.43826304e-02 8.52330320e-01 -1.09781990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:238.55, Y:14.89, Z:-109.77 [[ 5.96627549e-01 -6.66377647e-01 -4.47187209e-01 2.38552290e+02] [ 5.71926961e-01 7.43963945e-01 -3.45567938e-01 1.48901619e+01] [ 5.62969909e-01 -4.95830695e-02 8.24988727e-01 -1.09766936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.42864000000003 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:238.47, Y:15.00, Z:-109.74 [[ 6.17736209e-01 -7.22707688e-01 -3.09992860e-01 2.38474935e+02] [ 5.90305821e-01 6.86603802e-01 -4.24398700e-01 1.49952362e+01] [ 5.19558479e-01 7.91758542e-02 8.50758585e-01 -1.09743639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45864 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:238.61, Y:14.89, Z:-109.73 [[ 5.92740991e-01 -6.46909530e-01 -4.79756374e-01 2.38610061e+02] [ 5.74069300e-01 7.57158669e-01 -3.11697273e-01 1.48944620e+01] [ 5.64891633e-01 -9.06576550e-02 8.20169880e-01 -1.09734329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:238.47, Y:15.05, Z:-109.70 [[ 6.18430516e-01 -7.38752310e-01 -2.67934173e-01 2.38472322e+02] [ 5.93639702e-01 6.62588279e-01 -4.56693198e-01 1.50548140e+01] [ 5.14913197e-01 1.23376647e-01 8.48317513e-01 -1.09703649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:238.57, Y:15.00, Z:-109.70 [[ 6.17420246e-01 -6.98149771e-01 -3.62462600e-01 2.38570551e+02] [ 5.92780639e-01 7.15833815e-01 -3.69043444e-01 1.50034847e+01] [ 5.17110582e-01 1.29940821e-02 8.55819958e-01 -1.09702088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:238.63, Y:14.98, Z:-109.69 [[ 5.97489953e-01 -6.70574888e-01 -4.39698847e-01 2.38630089e+02] [ 5.78342898e-01 7.40196831e-01 -3.42969596e-01 1.49764270e+01] [ 5.55450491e-01 -4.93758175e-02 8.30082394e-01 -1.09687371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:238.56, Y:15.07, Z:-109.67 [[ 6.14962290e-01 -7.25579622e-01 -3.08797010e-01 2.38560808e+02] [ 5.98802222e-01 6.84485058e-01 -4.15831823e-01 1.50737041e+01] [ 5.13086036e-01 7.08125539e-02 8.55411189e-01 -1.09665187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:238.62, Y:15.05, Z:-109.66 [[ 6.14665405e-01 -7.01856033e-01 -3.59978539e-01 2.38622034e+02] [ 5.98112117e-01 7.12241234e-01 -3.67388513e-01 1.50517198e+01] [ 5.14245404e-01 1.05134833e-02 8.57578645e-01 -1.09655580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.63864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:238.64, Y:15.07, Z:-109.64 [[ 6.13647454e-01 -7.03033025e-01 -3.59418097e-01 2.38638039e+02] [ 5.99550188e-01 7.11088432e-01 -3.67277570e-01 1.50684576e+01] [ 5.13786312e-01 9.88975790e-03 8.57861188e-01 -1.09640840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.70, Y:15.04, Z:-109.63 [[ 5.90893395e-01 -6.73503076e-01 -4.44115529e-01 2.38700297e+02] [ 5.84292955e-01 7.36861329e-01 -3.40054591e-01 1.50365374e+01] [ 5.56279372e-01 -5.85575632e-02 8.28929594e-01 -1.09626760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.69864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:238.62, Y:15.14, Z:-109.60 [[ 6.08614547e-01 -7.34185420e-01 -3.00932054e-01 2.38622070e+02] [ 6.06036039e-01 6.74923987e-01 -4.20948846e-01 1.51414242e+01] [ 5.12160767e-01 7.38199216e-02 8.55711381e-01 -1.09603226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:238.73, Y:15.08, Z:-109.60 [[ 5.87303310e-01 -6.85256541e-01 -4.30695131e-01 2.38725721e+02] [ 5.91866549e-01 7.26585276e-01 -3.48952469e-01 1.50755878e+01] [ 5.52058702e-01 -4.99731005e-02 8.32306361e-01 -1.09596145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.75864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:238.67, Y:15.17, Z:-109.57 [[ 6.05382775e-01 -7.33316281e-01 -3.09449395e-01 2.38665175e+02] [ 6.10938225e-01 6.77316161e-01 -4.09874740e-01 1.51653942e+01] [ 5.10162896e-01 5.90766430e-02 8.58046484e-01 -1.09574935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:238.77, Y:15.10, Z:-109.57 [[ 5.82157546e-01 -6.84911586e-01 -4.38165165e-01 2.38765930e+02] [ 5.95998045e-01 7.26030249e-01 -3.43025375e-01 1.50992221e+01] [ 5.53063217e-01 -6.14507712e-02 8.30869954e-01 -1.09565734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.81864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:238.69, Y:15.20, Z:-109.54 [[ 6.01952819e-01 -7.39759349e-01 -3.00680742e-01 2.38694640e+02] [ 6.15373112e-01 6.69704765e-01 -4.15705978e-01 1.52002301e+01] [ 5.08889710e-01 6.52045416e-02 8.58358684e-01 -1.09543809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.81, Y:15.13, Z:-109.54 [[ 5.77758770e-01 -6.86173022e-01 -4.41997045e-01 2.38805854e+02] [ 5.99407105e-01 7.24251798e-01 -3.40837874e-01 1.51260015e+01] [ 5.53990908e-01 -6.80140990e-02 8.29739812e-01 -1.09536182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.87864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:238.82, Y:15.14, Z:-109.52 [[ 5.81079967e-01 -6.90966698e-01 -4.30012900e-01 2.38815215e+02] [ 6.04176137e-01 7.20247640e-01 -3.40902527e-01 1.51438901e+01] [ 5.45268070e-01 -6.17119037e-02 8.35987065e-01 -1.09523385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:238.79, Y:15.20, Z:-109.50 [[ 5.84515701e-01 -7.16815420e-01 -3.80153981e-01 2.38791365e+02] [ 6.04111164e-01 6.97250850e-01 -3.85863905e-01 1.51987549e+01] [ 5.41655884e-01 -4.11175276e-03 8.40590267e-01 -1.09504019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.93864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:238.71, Y:15.30, Z:-109.47 [[ 6.03942015e-01 -7.63803661e-01 -2.27723537e-01 2.38707314e+02] [ 6.25991618e-01 6.31419394e-01 -4.57650568e-01 1.52994441e+01] [ 4.93344237e-01 1.33841380e-01 8.59475391e-01 -1.09470780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:238.86, Y:15.19, Z:-109.47 [[ 5.86347972e-01 -6.89804466e-01 -4.24695014e-01 2.38864506e+02] [ 6.08073398e-01 7.21191386e-01 -3.31857993e-01 1.51891073e+01] [ 5.35203511e-01 -6.36614791e-02 8.42320852e-01 -1.09473378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.99864 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:238.88, Y:15.20, Z:-109.46 [[ 5.89600777e-01 -6.86540901e-01 -4.25479161e-01 2.38884181e+02] [ 6.10096927e-01 7.23762931e-01 -3.22411165e-01 1.52005879e+01] [ 5.29294496e-01 -6.94896549e-02 8.45587680e-01 -1.09458409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:238.76, Y:15.35, Z:-109.42 [[ 6.07881388e-01 -7.61893133e-01 -2.23604723e-01 2.38755623e+02] [ 6.26709700e-01 6.33287998e-01 -4.54071871e-01 1.53487132e+01] [ 4.87560428e-01 1.35886590e-01 8.62449804e-01 -1.09424978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.05864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:238.87, Y:15.28, Z:-109.43 [[ 6.09880383e-01 -7.15720131e-01 -3.40280198e-01 2.38873036e+02] [ 6.24559656e-01 6.98386903e-01 -3.49543946e-01 1.52819326e+01] [ 4.87822872e-01 6.54711678e-04 8.72942390e-01 -1.09427080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08864 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:238.89, Y:15.30, Z:-109.41 [[ 6.08860317e-01 -7.16395809e-01 -3.40684838e-01 2.38890546e+02] [ 6.24857525e-01 6.97693938e-01 -3.50394409e-01 1.52990816e+01] [ 4.88714833e-01 4.61766701e-04 8.72443465e-01 -1.09412963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.11864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.96, Y:15.25, Z:-109.40 [[ 5.83684083e-01 -6.77784976e-01 -4.47124610e-01 2.38964391e+02] [ 6.06385452e-01 7.30070358e-01 -3.15109435e-01 1.52549106e+01] [ 5.40008865e-01 -8.72054971e-02 8.37129397e-01 -1.09398170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:238.89, Y:15.36, Z:-109.38 [[ 5.93683629e-01 -7.30205852e-01 -3.38140744e-01 2.38894786e+02] [ 6.05915537e-01 6.82163810e-01 -4.09290726e-01 1.53557720e+01] [ 5.29533862e-01 3.81044729e-02 8.47432557e-01 -1.09379762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.17864000000003 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:238.94, Y:15.34, Z:-109.37 [[ 5.93184484e-01 -7.12360133e-01 -3.75066938e-01 2.38942075e+02] [ 6.06087968e-01 7.01794382e-01 -3.74355473e-01 1.53447451e+01] [ 5.29895784e-01 -5.26169982e-03 8.48046445e-01 -1.09367473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.96, Y:15.36, Z:-109.35 [[ 5.95548006e-01 -7.11550808e-01 -3.72851205e-01 2.38955624e+02] [ 6.02955062e-01 7.02634619e-01 -3.77822425e-01 1.53646205e+01] [ 5.30818016e-01 1.98870417e-04 8.47485807e-01 -1.09351911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:238.97, Y:15.39, Z:-109.34 [[ 5.98510594e-01 -7.13156955e-01 -3.64955101e-01 2.38968119e+02] [ 6.03608181e-01 7.00968785e-01 -3.79868300e-01 1.53862718e+01] [ 5.26727855e-01 7.06531696e-03 8.50004617e-01 -1.09338525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:238.99, Y:15.40, Z:-109.33 [[ 5.98490823e-01 -7.10862976e-01 -3.69435467e-01 2.38987703e+02] [ 6.04526577e-01 7.03330348e-01 -3.73997378e-01 1.53978127e+01] [ 5.25696065e-01 5.00439938e-04 8.50672320e-01 -1.09325045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.01, Y:15.41, Z:-109.31 [[ 5.98387453e-01 -7.05042999e-01 -3.80587475e-01 2.39008872e+02] [ 6.02061055e-01 7.09100645e-01 -3.67013298e-01 1.54083155e+01] [ 5.28634980e-01 -9.52074404e-03 8.48795861e-01 -1.09311562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:239.00, Y:15.45, Z:-109.29 [[ 6.06348276e-01 -7.17792354e-01 -3.42222011e-01 2.38998740e+02] [ 6.03977952e-01 6.95646855e-01 -3.88955122e-01 1.54525142e+01] [ 5.17254679e-01 2.91477184e-02 8.55335027e-01 -1.09293549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:239.02, Y:15.46, Z:-109.28 [[ 6.09987554e-01 -7.08202593e-01 -3.55477526e-01 2.39023635e+02] [ 6.03287498e-01 7.05908475e-01 -3.71129923e-01 1.54601999e+01] [ 5.13769772e-01 1.19294871e-02 8.57845154e-01 -1.09280090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.38864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:239.01, Y:15.51, Z:-109.26 [[ 6.25705808e-01 -7.24618302e-01 -2.88826174e-01 2.39005500e+02] [ 6.18199645e-01 6.86441644e-01 -3.82919140e-01 1.55112442e+01] [ 4.75732531e-01 6.10424918e-02 8.77469300e-01 -1.09262558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:239.09, Y:15.47, Z:-109.25 [[ 6.09763287e-01 -6.83383560e-01 -4.01466864e-01 2.39090396e+02] [ 6.01758913e-01 7.28826701e-01 -3.26646368e-01 1.54655839e+01] [ 5.15824528e-01 -4.24093004e-02 8.55643914e-01 -1.09253946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.44864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:239.06, Y:15.52, Z:-109.24 [[ 6.12009425e-01 -7.10428269e-01 -3.47471061e-01 2.39061339e+02] [ 6.04770733e-01 7.03532300e-01 -3.73222004e-01 1.55237911e+01] [ 5.09604577e-01 1.82750557e-02 8.60214623e-01 -1.09237085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:239.09, Y:15.53, Z:-109.22 [[ 6.08835221e-01 -7.04837812e-01 -3.64037542e-01 2.39089677e+02] [ 6.06224586e-01 7.09366287e-01 -3.59570887e-01 1.55305905e+01] [ 5.11675117e-01 -1.76908753e-03 8.59177191e-01 -1.09224576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.50864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:239.09, Y:15.56, Z:-109.21 [[ 6.06444449e-01 -7.18251426e-01 -3.41086528e-01 2.39088103e+02] [ 6.14902432e-01 6.95609475e-01 -3.71513737e-01 1.55630005e+01] [ 5.04103292e-01 1.55675076e-02 8.63503053e-01 -1.09208536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:239.08, Y:15.60, Z:-109.19 [[ 6.16486654e-01 -7.31399334e-01 -2.91546256e-01 2.39084139e+02] [ 6.33810049e-01 6.80673258e-01 -3.67380916e-01 1.55992097e+01] [ 4.67149898e-01 4.17004850e-02 8.83194227e-01 -1.09191858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.56864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:239.19, Y:15.53, Z:-109.19 [[ 5.98482181e-01 -6.83810481e-01 -4.17399456e-01 2.39190225e+02] [ 6.29013442e-01 7.23745920e-01 -2.83785011e-01 1.55333274e+01] [ 4.96146318e-01 -9.27095962e-02 8.63275021e-01 -1.09186073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:239.12, Y:15.63, Z:-109.16 [[ 5.97774219e-01 -7.38224074e-01 -3.12555915e-01 2.39119824e+02] [ 6.30264532e-01 6.73715567e-01 -3.85841879e-01 1.56319892e+01] [ 4.95411549e-01 3.36534204e-02 8.68006247e-01 -1.09163488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.62864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.13, Y:15.66, Z:-109.15 [[ 6.04598809e-01 -7.47290442e-01 -2.75712307e-01 2.39127127e+02] [ 6.47625887e-01 6.62703685e-01 -3.76037946e-01 1.56601853e+01] [ 4.63725125e-01 4.87936669e-02 8.84634493e-01 -1.09147531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:239.18, Y:15.64, Z:-109.14 [[ 6.02043290e-01 -7.31244842e-01 -3.20663154e-01 2.39183537e+02] [ 6.49995264e-01 6.82082129e-01 -3.35067345e-01 1.56434774e+01] [ 4.63734874e-01 -6.70448464e-03 8.85948653e-01 -1.09138953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.68864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:239.20, Y:15.66, Z:-109.13 [[ 6.00967211e-01 -7.32035138e-01 -3.20878432e-01 2.39200431e+02] [ 6.50569872e-01 6.81230718e-01 -3.35683705e-01 1.56601263e+01] [ 4.64324512e-01 -7.01894094e-03 8.85637331e-01 -1.09125014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:239.26, Y:15.64, Z:-109.11 [[ 5.89159300e-01 -7.06497025e-01 -3.92113851e-01 2.39259398e+02] [ 6.38158451e-01 7.04509955e-01 -3.10514919e-01 1.56360210e+01] [ 4.95625978e-01 -6.72880160e-02 8.65925639e-01 -1.09112463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.74864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.19, Y:15.73, Z:-109.09 [[ 6.01574332e-01 -7.52307779e-01 -2.68591380e-01 2.39194228e+02] [ 6.51028188e-01 6.56572659e-01 -3.80886652e-01 1.57290614e+01] [ 4.62893748e-01 5.42710738e-02 8.84750829e-01 -1.09088943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:239.26, Y:15.71, Z:-109.08 [[ 6.03247090e-01 -7.31173695e-01 -3.18556080e-01 2.39255034e+02] [ 6.50532759e-01 6.82166372e-01 -3.33850520e-01 1.57096927e+01] [ 4.61410963e-01 -5.83681100e-03 8.87167320e-01 -1.09081752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.80864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:239.27, Y:15.73, Z:-109.07 [[ 6.04517986e-01 -7.30323167e-01 -3.18097588e-01 2.39273331e+02] [ 6.49615067e-01 6.83084393e-01 -3.33760359e-01 1.57261902e+01] [ 4.61040420e-01 -4.87684587e-03 8.87365735e-01 -1.09067595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:239.29, Y:15.74, Z:-109.05 [[ 6.04162857e-01 -7.30702047e-01 -3.17902124e-01 2.39290603e+02] [ 6.49945288e-01 6.82679200e-01 -3.33946452e-01 1.57442476e+01] [ 4.61040524e-01 -4.86094459e-03 8.87365768e-01 -1.09053993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.86864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:239.31, Y:15.76, Z:-109.04 [[ 6.04390247e-01 -7.30847944e-01 -3.17133587e-01 2.39308665e+02] [ 6.50336078e-01 6.82524284e-01 -3.33502004e-01 1.57609115e+01] [ 4.60190629e-01 -4.67805469e-03 8.87807806e-01 -1.09040387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:239.36, Y:15.75, Z:-109.03 [[ 5.90054900e-01 -7.15754312e-01 -3.73538457e-01 2.39356608e+02] [ 6.40440420e-01 6.96666507e-01 -3.23251987e-01 1.57459604e+01] [ 4.91600736e-01 -4.84927074e-02 8.69469478e-01 -1.09029766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.92864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:239.32, Y:15.82, Z:-109.01 [[ 6.01794645e-01 -7.48785910e-01 -2.77782048e-01 2.39316723e+02] [ 6.54063031e-01 6.61667522e-01 -3.66602841e-01 1.58186531e+01] [ 4.58306401e-01 3.89326585e-02 8.87941153e-01 -1.09009747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:239.37, Y:15.81, Z:-109.00 [[ 6.01822648e-01 -7.33836253e-01 -3.15109271e-01 2.39366646e+02] [ 6.54440992e-01 6.79296440e-01 -3.32059234e-01 1.58077290e+01] [ 4.57729710e-01 -6.37965663e-03 8.89068508e-01 -1.09000747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:239.39, Y:15.82, Z:-108.99 [[ 5.99878464e-01 -7.35113049e-01 -3.15839569e-01 2.39386890e+02] [ 6.55292916e-01 6.77907587e-01 -3.33215392e-01 1.58227999e+01] [ 4.59061023e-01 -7.07869393e-03 8.88376536e-01 -1.08987227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:239.41, Y:15.84, Z:-108.97 [[ 5.99289915e-01 -7.35801895e-01 -3.15352453e-01 2.39405645e+02] [ 6.56132610e-01 6.77157537e-01 -3.33088080e-01 1.58385485e+01] [ 4.58630131e-01 -7.29670043e-03 8.88597300e-01 -1.08973576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04864 meters Centerline goodness : 0.999803 Centerline is valid? [True, True] Translation: X:239.43, Y:15.85, Z:-108.96 [[ 5.99011650e-01 -7.36383213e-01 -3.14523142e-01 2.39426649e+02] [ 6.57032942e-01 6.76523983e-01 -3.32600382e-01 1.58521148e+01] [ 4.57703786e-01 -7.42056179e-03 8.89073776e-01 -1.08959355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.45, Y:15.87, Z:-108.95 [[ 5.98675959e-01 -7.36804364e-01 -3.14175788e-01 2.39445845e+02] [ 6.57495788e-01 6.76065086e-01 -3.32618834e-01 1.58682789e+01] [ 4.57478289e-01 -7.43835768e-03 8.89189679e-01 -1.08945828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:239.47, Y:15.88, Z:-108.93 [[ 5.98090089e-01 -7.37377883e-01 -3.13946021e-01 2.39465383e+02] [ 6.58067671e-01 6.75437977e-01 -3.32761897e-01 1.58842529e+01] [ 4.57422328e-01 -7.57613379e-03 8.89217305e-01 -1.08933206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:239.49, Y:15.90, Z:-108.92 [[ 5.97500663e-01 -7.37402881e-01 -3.15007854e-01 2.39489351e+02] [ 6.57324922e-01 6.75413378e-01 -3.34276407e-01 1.58968353e+01] [ 4.59256905e-01 -7.33213785e-03 8.88273232e-01 -1.08921188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:239.51, Y:15.91, Z:-108.91 [[ 5.98295752e-01 -7.36874776e-01 -3.14734426e-01 2.39509032e+02] [ 6.56675647e-01 6.75996807e-01 -3.34373164e-01 1.59118574e+01] [ 4.59150617e-01 -6.62438914e-03 8.88333737e-01 -1.08907579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.19864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:239.53, Y:15.93, Z:-108.89 [[ 6.01042592e-01 -7.35298130e-01 -3.13184391e-01 2.39528547e+02] [ 6.55533689e-01 6.77724707e-01 -3.33113801e-01 1.59256032e+01] [ 4.57190754e-01 -5.08733666e-03 8.89354110e-01 -1.08892150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:239.58, Y:15.91, Z:-108.88 [[ 5.88230909e-01 -7.15357895e-01 -3.77157102e-01 2.39577668e+02] [ 6.41598694e-01 6.96724965e-01 -3.20819948e-01 1.59088892e+01] [ 4.92275852e-01 -5.32672949e-02 8.68807851e-01 -1.08877145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.25864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:239.53, Y:15.99, Z:-108.86 [[ 6.02457076e-01 -7.50511787e-01 -2.71620191e-01 2.39531555e+02] [ 6.54349287e-01 6.59297018e-01 -3.70343694e-01 1.59875122e+01] [ 4.57025690e-01 4.53817004e-02 8.88295007e-01 -1.08862032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:239.62, Y:15.94, Z:-108.85 [[ 5.92143790e-01 -7.10661697e-01 -3.79902203e-01 2.39620261e+02] [ 6.38284731e-01 7.01407783e-01 -3.17206123e-01 1.59373805e+01] [ 4.91892604e-01 -5.46541399e-02 8.68938773e-01 -1.08848897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.31864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:239.60, Y:15.99, Z:-108.83 [[ 5.93579391e-01 -7.30465571e-01 -3.37762574e-01 2.39603326e+02] [ 6.37056635e-01 6.82942855e-01 -3.57418383e-01 1.59864640e+01] [ 4.91754360e-01 -3.01770323e-03 8.70728743e-01 -1.08834781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:239.59, Y:16.03, Z:-108.82 [[ 6.08579457e-01 -7.46768693e-01 -2.68267709e-01 2.39589208e+02] [ 6.51902947e-01 6.63292879e-01 -3.67512047e-01 1.60343122e+01] [ 4.52386552e-01 4.87757721e-02 8.90487132e-01 -1.08820383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.37864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:239.68, Y:15.98, Z:-108.81 [[ 5.95053361e-01 -7.04525480e-01 -3.86723863e-01 2.39680880e+02] [ 6.34677106e-01 7.07139179e-01 -3.11671547e-01 1.59802982e+01] [ 4.93048141e-01 -5.99835805e-02 8.67931737e-01 -1.08806050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:239.62, Y:16.07, Z:-108.79 [[ 6.10805091e-01 -7.47801150e-01 -2.60212568e-01 2.39619024e+02] [ 6.50790937e-01 6.61344112e-01 -3.72954584e-01 1.60730623e+01] [ 4.50985916e-01 5.84585775e-02 8.90614562e-01 -1.08792814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.43864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:239.71, Y:16.02, Z:-108.78 [[ 5.98602903e-01 -7.02098243e-01 -3.85658686e-01 2.39712244e+02] [ 6.32225605e-01 7.09730403e-01 -3.10762834e-01 1.60169589e+01] [ 4.91899734e-01 -5.77997609e-02 8.68731166e-01 -1.08778050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:239.65, Y:16.11, Z:-108.76 [[ 6.15317572e-01 -7.45291850e-01 -2.56757364e-01 2.39648598e+02] [ 6.49411314e-01 6.63903082e-01 -3.70806746e-01 1.61125659e+01] [ 4.46821251e-01 6.14227697e-02 8.92512192e-01 -1.08764832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.49864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:239.74, Y:16.05, Z:-108.75 [[ 6.01317976e-01 -7.00997834e-01 -3.83430213e-01 2.39744831e+02] [ 6.31858802e-01 7.10914679e-01 -3.08795682e-01 1.60549720e+01] [ 4.89051271e-01 -5.65893609e-02 8.70417428e-01 -1.08751044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:239.68, Y:16.15, Z:-108.74 [[ 6.17519377e-01 -7.44509208e-01 -2.53723981e-01 2.39679512e+02] [ 6.48612818e-01 6.64475354e-01 -3.71179088e-01 1.61520811e+01] [ 4.44939581e-01 6.46416530e-02 8.93224622e-01 -1.08738039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.55864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:239.74, Y:16.14, Z:-108.73 [[ 6.17675349e-01 -7.25314898e-01 -3.03966220e-01 2.39736569e+02] [ 6.47731930e-01 6.88400989e-01 -3.26416032e-01 1.61350845e+01] [ 4.46005057e-01 4.73051013e-03 8.95017939e-01 -1.08727358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:239.75, Y:16.15, Z:-108.71 [[ 6.16775603e-01 -7.25966829e-01 -3.04236781e-01 2.39752190e+02] [ 6.48113360e-01 6.87714529e-01 -3.27105180e-01 1.61548919e+01] [ 4.46695565e-01 4.57057184e-03 8.94674344e-01 -1.08714697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.61864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:239.77, Y:16.18, Z:-108.70 [[ 6.14437861e-01 -7.27529146e-01 -3.05233445e-01 2.39766574e+02] [ 6.49115169e-01 6.86066483e-01 -3.28576137e-01 1.61755407e+01] [ 4.48459153e-01 3.75795953e-03 8.93795427e-01 -1.08702179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:239.78, Y:16.19, Z:-108.69 [[ 6.13160494e-01 -7.28926510e-01 -3.04467323e-01 2.39781689e+02] [ 6.50894587e-01 6.84585250e-01 -3.28145199e-01 1.61946150e+01] [ 4.47627573e-01 3.02953992e-03 8.94214950e-01 -1.08689201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.67864000000003 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:239.79, Y:16.22, Z:-108.68 [[ 6.12085218e-01 -7.29987269e-01 -3.04089251e-01 2.39794362e+02] [ 6.52084706e-01 6.83455965e-01 -3.28136374e-01 1.62159359e+01] [ 4.47366988e-01 2.55547384e-03 8.94346827e-01 -1.08675207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:239.84, Y:16.20, Z:-108.66 [[ 5.96981540e-01 -7.11120173e-01 -3.71377357e-01 2.39843010e+02] [ 6.38426466e-01 7.01434386e-01 -3.16861879e-01 1.62013989e+01] [ 4.85823722e-01 -4.79364416e-02 8.72741318e-01 -1.08661286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:239.83, Y:16.25, Z:-108.65 [[ 5.97542681e-01 -7.29478380e-01 -3.32872406e-01 2.39828142e+02] [ 6.39049411e-01 6.83999270e-01 -3.51796601e-01 1.62479878e+01] [ 4.84312497e-01 -2.50843040e-03 8.74891486e-01 -1.08647183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:239.81, Y:16.30, Z:-108.63 [[ 6.10166732e-01 -7.48947749e-01 -2.58406322e-01 2.39805324e+02] [ 6.56057742e-01 6.60483045e-01 -3.65171722e-01 1.63019950e+01] [ 4.44167534e-01 5.32861681e-02 8.94357751e-01 -1.08631542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:239.90, Y:16.25, Z:-108.62 [[ 5.94331163e-01 -7.07084581e-01 -3.83147315e-01 2.39896876e+02] [ 6.39866078e-01 7.04360530e-01 -3.07323358e-01 1.62485403e+01] [ 4.87177454e-01 -6.25111208e-02 8.71062850e-01 -1.08619616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82864 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:239.86, Y:16.32, Z:-108.60 [[ 5.97027468e-01 -7.36168011e-01 -3.18770862e-01 2.39860113e+02] [ 6.40441851e-01 6.76679543e-01 -3.63234127e-01 1.63161238e+01] [ 4.83107066e-01 1.27065502e-02 8.75469078e-01 -1.08604709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:239.85, Y:16.36, Z:-108.59 [[ 6.09949569e-01 -7.49175622e-01 -2.58258420e-01 2.39849685e+02] [ 6.57998414e-01 6.60426199e-01 -3.61766944e-01 1.63597738e+01] [ 4.41587602e-01 5.07259609e-02 8.95783047e-01 -1.08590694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.88864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:239.93, Y:16.31, Z:-108.58 [[ 5.93050381e-01 -7.16546928e-01 -3.67221657e-01 2.39932704e+02] [ 6.45788378e-01 6.95701926e-01 -3.14573046e-01 1.63141312e+01] [ 4.80883164e-01 -5.05898139e-02 8.75323971e-01 -1.08580751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:239.88, Y:16.40, Z:-108.56 [[ 6.07610832e-01 -7.52674422e-01 -2.53555302e-01 2.39880273e+02] [ 6.62342196e-01 6.56372557e-01 -3.61217222e-01 1.63967217e+01] [ 4.38305706e-01 5.15391218e-02 8.97347105e-01 -1.08563183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.94864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:239.93, Y:16.38, Z:-108.55 [[ 6.05585571e-01 -7.38331286e-01 -2.96872073e-01 2.39933767e+02] [ 6.64261666e-01 6.74435238e-01 -3.22325222e-01 1.63836411e+01] [ 4.38203783e-01 -2.00523454e-03 8.98873419e-01 -1.08554771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97864 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:239.95, Y:16.40, Z:-108.54 [[ 6.04480561e-01 -7.39269337e-01 -2.96789653e-01 2.39951917e+02] [ 6.65162502e-01 6.73405604e-01 -3.22620115e-01 1.64005978e+01] [ 4.38362974e-01 -2.39576038e-03 8.98794839e-01 -1.08541749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.00864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:239.97, Y:16.42, Z:-108.53 [[ 6.03557872e-01 -7.39998901e-01 -2.96849325e-01 2.39969845e+02] [ 6.65758346e-01 6.72602892e-01 -3.23065279e-01 1.64176947e+01] [ 4.38729665e-01 -2.64132305e-03 8.98615215e-01 -1.08528462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:239.99, Y:16.44, Z:-108.52 [[ 6.03572552e-01 -7.40163944e-01 -2.96407675e-01 2.39987304e+02] [ 6.65988011e-01 6.72421921e-01 -3.22968620e-01 1.64363212e+01] [ 4.38360746e-01 -2.46896429e-03 8.98795728e-01 -1.08516004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.06864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:240.00, Y:16.46, Z:-108.50 [[ 6.05964070e-01 -7.37720304e-01 -2.97617707e-01 2.40002805e+02] [ 6.62435685e-01 6.75106348e-01 -3.24669650e-01 1.64555505e+01] [ 4.40438996e-01 -4.14446593e-04 8.97782445e-01 -1.08502961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09864 meters Centerline goodness : 0.998230 Centerline is valid? [True, True] Translation: X:240.05, Y:16.44, Z:-108.49 [[ 5.93458562e-01 -7.19348485e-01 -3.61032813e-01 2.40048106e+02] [ 6.47016157e-01 6.93182887e-01 -3.17596564e-01 1.64437592e+01] [ 4.78724375e-01 -4.51136632e-02 8.76805412e-01 -1.08490707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.12864 meters Centerline goodness : 0.997891 Centerline is valid? [True, True] Translation: X:240.03, Y:16.49, Z:-108.48 [[ 5.98898555e-01 -7.32590380e-01 -3.23468477e-01 2.40032655e+02] [ 6.43086366e-01 6.80666414e-01 -3.50903347e-01 1.64902742e+01] [ 4.77242544e-01 2.13734012e-03 8.78769017e-01 -1.08475354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:240.01, Y:16.54, Z:-108.46 [[ 6.14579601e-01 -7.47082103e-01 -2.53298728e-01 2.40013361e+02] [ 6.56333933e-01 6.62390965e-01 -3.61197976e-01 1.65425002e+01] [ 4.37627333e-01 5.57363580e-02 8.97427310e-01 -1.08459087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.18864 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:240.10, Y:16.50, Z:-108.45 [[ 6.01135603e-01 -7.10656050e-01 -3.65518761e-01 2.40098705e+02] [ 6.41266342e-01 7.01898400e-01 -3.10025990e-01 1.64963520e+01] [ 4.76878879e-01 -4.80272187e-02 8.77655924e-01 -1.08448886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:240.04, Y:16.58, Z:-108.43 [[ 6.16548797e-01 -7.47223011e-01 -2.48043046e-01 2.40041612e+02] [ 6.55721812e-01 6.61723069e-01 -3.63526457e-01 1.65845408e+01] [ 4.35771140e-01 6.14845639e-02 8.97954989e-01 -1.08431929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.24864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:240.12, Y:16.54, Z:-108.42 [[ 6.01115335e-01 -7.15956417e-01 -3.55058816e-01 2.40124203e+02] [ 6.43691961e-01 6.97071786e-01 -3.15834744e-01 1.65408084e+01] [ 4.73625394e-01 -3.86953973e-02 8.79875930e-01 -1.08424120e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:240.13, Y:16.57, Z:-108.41 [[ 5.92775280e-01 -7.25068971e-01 -3.50560201e-01 2.40127957e+02] [ 6.41731116e-01 6.88244496e-01 -3.38379503e-01 1.65686799e+01] [ 4.86619607e-01 -2.43823845e-02 8.73273644e-01 -1.08410345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.30864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:240.08, Y:16.65, Z:-108.39 [[ 6.10599834e-01 -7.58405842e-01 -2.28009697e-01 2.40075327e+02] [ 6.63876374e-01 6.47163414e-01 -3.74763492e-01 1.66505325e+01] [ 4.31782355e-01 7.74602755e-02 8.98645594e-01 -1.08391563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:240.15, Y:16.62, Z:-108.39 [[ 6.09268910e-01 -7.37414737e-01 -2.91566288e-01 2.40146349e+02] [ 6.64758488e-01 6.75439921e-01 -3.19181868e-01 1.66246018e+01] [ 4.32304924e-01 6.46424005e-04 9.01727251e-01 -1.08385755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.36864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:240.16, Y:16.64, Z:-108.37 [[ 6.07787689e-01 -7.38750646e-01 -2.91275830e-01 2.40163724e+02] [ 6.66210679e-01 6.73978845e-01 -3.19242617e-01 1.66420396e+01] [ 4.32154437e-01 -1.93359760e-05 9.01799613e-01 -1.08371623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:240.18, Y:16.66, Z:-108.36 [[ 6.06443460e-01 -7.40152336e-01 -2.90518244e-01 2.40181218e+02] [ 6.67979877e-01 6.72438835e-01 -3.18792875e-01 1.66595180e+01] [ 4.31311040e-01 -7.30486537e-04 9.02203000e-01 -1.08358158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.42864000000003 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:240.20, Y:16.68, Z:-108.35 [[ 6.06068903e-01 -7.40470871e-01 -2.90488164e-01 2.40198317e+02] [ 6.68168025e-01 6.72088114e-01 -3.19137990e-01 1.66777465e+01] [ 4.31546028e-01 -6.75291215e-04 9.02090666e-01 -1.08346579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45864 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:240.22, Y:16.70, Z:-108.33 [[ 6.06536607e-01 -7.39553025e-01 -2.91846994e-01 2.40216376e+02] [ 6.66249394e-01 6.73098250e-01 -3.21014784e-01 1.66953902e+01] [ 4.33849155e-01 2.64334897e-04 9.00985483e-01 -1.08334870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:240.26, Y:16.69, Z:-108.32 [[ 5.92553380e-01 -7.24621822e-01 -3.51857509e-01 2.40259882e+02] [ 6.52213057e-01 6.87935999e-01 -3.18374293e-01 1.66858281e+01] [ 4.72756407e-01 -4.08322980e-02 8.80246615e-01 -1.08322441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51864 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:240.22, Y:16.76, Z:-108.31 [[ 6.07710674e-01 -7.51565592e-01 -2.56587018e-01 2.40219742e+02] [ 6.64637244e-01 6.58163230e-01 -3.53664385e-01 1.67563332e+01] [ 4.34678123e-01 4.43883327e-02 8.99491303e-01 -1.08306350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54864 meters Centerline goodness : 0.996960 Centerline is valid? [True, True] Translation: X:240.26, Y:16.75, Z:-108.30 [[ 6.10153541e-01 -7.36380595e-01 -2.92329054e-01 2.40264993e+02] [ 6.62149788e-01 6.76560718e-01 -3.22216161e-01 1.67506638e+01] [ 4.35052083e-01 3.03571011e-03 9.00400172e-01 -1.08295410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57864 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:240.28, Y:16.77, Z:-108.28 [[ 6.11391022e-01 -7.35569632e-01 -2.91784740e-01 2.40281042e+02] [ 6.61357464e-01 6.77437933e-01 -3.22000237e-01 1.67686399e+01] [ 4.34519647e-01 3.89403836e-03 9.00653936e-01 -1.08282161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60864 meters Centerline goodness : 0.997352 Centerline is valid? [True, True] Translation: X:240.30, Y:16.79, Z:-108.27 [[ 6.11938822e-01 -7.35053366e-01 -2.91937368e-01 2.40298303e+02] [ 6.60517551e-01 6.77993965e-01 -3.22553481e-01 1.67875033e+01] [ 4.35025795e-01 4.55324193e-03 9.00406478e-01 -1.08269723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.63864 meters Centerline goodness : 0.997206 Centerline is valid? [True, True] Translation: X:240.35, Y:16.77, Z:-108.26 [[ 5.97613974e-01 -7.15556714e-01 -3.61712768e-01 2.40347453e+02] [ 6.46411083e-01 6.96891528e-01 -3.10636300e-01 1.67722949e+01] [ 4.74352454e-01 -4.81745482e-02 8.79015906e-01 -1.08255181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66864 meters Centerline goodness : 0.996956 Centerline is valid? [True, True] Translation: X:240.33, Y:16.82, Z:-108.24 [[ 6.00743209e-01 -7.33064804e-01 -3.18941358e-01 2.40326886e+02] [ 6.44988228e-01 6.80149329e-01 -3.48406482e-01 1.68235555e+01] [ 4.72332280e-01 3.58940687e-03 8.81413259e-01 -1.08239852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.69864 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:240.30, Y:16.88, Z:-108.22 [[ 6.17889568e-01 -7.47851267e-01 -2.42757007e-01 2.40298571e+02] [ 6.58831123e-01 6.60959922e-01 -3.59268053e-01 1.68813943e+01] [ 4.29131721e-01 6.20521100e-02 9.01107930e-01 -1.08222947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72864 meters Centerline goodness : 0.996465 Centerline is valid? [True, True] Translation: X:240.35, Y:16.87, Z:-108.21 [[ 6.18083530e-01 -7.31395317e-01 -2.88155583e-01 2.40353683e+02] [ 6.58008128e-01 6.81908938e-01 -3.19414314e-01 1.68690381e+01] [ 4.30114001e-01 7.81601135e-03 9.02740747e-01 -1.08214796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.75864 meters Centerline goodness : 0.995542 Centerline is valid? [True, True] Translation: X:240.42, Y:16.83, Z:-108.20 [[ 6.06070565e-01 -6.97614918e-01 -3.82115029e-01 2.40424702e+02] [ 6.47733628e-01 7.11684134e-01 -2.71931684e-01 1.68300067e+01] [ 4.61648803e-01 -8.26989645e-02 8.83199447e-01 -1.08204646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78864 meters Centerline goodness : 0.995974 Centerline is valid? [True, True] Translation: X:240.37, Y:16.92, Z:-108.18 [[ 6.03679451e-01 -7.37661095e-01 -3.02369359e-01 2.40365946e+02] [ 6.40142385e-01 6.74574282e-01 -3.67651011e-01 1.69200881e+01] [ 4.75172441e-01 2.83839177e-02 8.79434764e-01 -1.08184160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.81864 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:240.37, Y:16.95, Z:-108.17 [[ 6.07845068e-01 -7.42592952e-01 -2.81211806e-01 2.40371200e+02] [ 6.47595293e-01 6.68539900e-01 -3.65615561e-01 1.69510080e+01] [ 4.59504852e-01 4.01261735e-02 8.87268382e-01 -1.08172639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84864 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:240.41, Y:16.95, Z:-108.16 [[ 6.05197287e-01 -7.31758355e-01 -3.13474009e-01 2.40412596e+02] [ 6.49905453e-01 6.81564133e-01 -3.36293375e-01 1.69475979e+01] [ 4.59738128e-01 -2.04629275e-04 8.88054509e-01 -1.08162151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.87864 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:240.42, Y:16.97, Z:-108.15 [[ 6.04316710e-01 -7.38154714e-01 -2.99881531e-01 2.40417563e+02] [ 6.54018944e-01 6.74545031e-01 -3.42415277e-01 1.69742434e+01] [ 4.55039048e-01 1.07990710e-02 8.90406000e-01 -1.08148489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90864 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:240.40, Y:17.02, Z:-108.13 [[ 6.11898657e-01 -7.52643807e-01 -2.43119998e-01 2.40403396e+02] [ 6.72287623e-01 6.56856008e-01 -3.41422813e-01 1.70194773e+01] [ 4.16664597e-01 4.54695952e-02 9.07922425e-01 -1.08130435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.93864 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:240.48, Y:16.99, Z:-108.13 [[ 5.95709097e-01 -7.28718068e-01 -3.37787875e-01 2.40475801e+02] [ 6.62580997e-01 6.83559426e-01 -3.06158347e-01 1.69886789e+01] [ 4.54001206e-01 -4.14305140e-02 8.90037313e-01 -1.08126577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96864 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:240.43, Y:17.06, Z:-108.11 [[ 6.07259299e-01 -7.57218049e-01 -2.40534759e-01 2.40433619e+02] [ 6.77625978e-01 6.51681717e-01 -3.40784351e-01 1.70600928e+01] [ 4.14800166e-01 4.39518654e-02 9.08850403e-01 -1.08105899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.99864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:240.48, Y:17.05, Z:-108.10 [[ 6.03190536e-01 -7.47451321e-01 -2.78348163e-01 2.40481507e+02] [ 6.80338320e-01 6.64311320e-01 -3.09564600e-01 1.70548798e+01] [ 4.16294304e-01 -2.64448453e-03 9.09226077e-01 -1.08099811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:240.55, Y:17.03, Z:-108.09 [[ 5.89588869e-01 -7.23276982e-01 -3.59521032e-01 2.40545258e+02] [ 6.72848751e-01 6.86056196e-01 -2.76769678e-01 1.70255637e+01] [ 4.46832769e-01 -7.87229558e-02 8.91147110e-01 -1.08093334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.05864 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:240.46, Y:17.14, Z:-108.07 [[ 5.99435237e-01 -7.72824452e-01 -2.08374093e-01 2.40456452e+02] [ 6.84953469e-01 6.29969815e-01 -3.66028382e-01 1.71364231e+01] [ 4.14145073e-01 7.66837522e-02 9.06974895e-01 -1.08065167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08864 meters Centerline goodness : 0.997892 Centerline is valid? [True, True] Translation: X:240.58, Y:17.06, Z:-108.07 [[ 5.89422873e-01 -7.28976872e-01 -3.48099695e-01 2.40576574e+02] [ 6.78284817e-01 6.80643360e-01 -2.76865172e-01 1.70643887e+01] [ 4.38760054e-01 -7.29200729e-02 8.95640708e-01 -1.08067637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.11864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:240.50, Y:17.16, Z:-108.04 [[ 5.97751935e-01 -7.72592091e-01 -2.13995526e-01 2.40501195e+02] [ 6.88623681e-01 6.31497829e-01 -3.56381703e-01 1.71635577e+01] [ 4.10475395e-01 6.56654663e-02 9.09504259e-01 -1.08041672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:240.57, Y:17.14, Z:-108.04 [[ 5.98363389e-01 -7.53032931e-01 -2.73683501e-01 2.40569969e+02] [ 6.88751701e-01 6.57952676e-01 -3.04498554e-01 1.71404620e+01] [ 4.09368231e-01 -6.29918994e-03 9.12347506e-01 -1.08037812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.17864000000003 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:240.59, Y:17.16, Z:-108.03 [[ 5.98849696e-01 -7.52642771e-01 -2.73693078e-01 2.40588730e+02] [ 6.88164288e-01 6.58403666e-01 -3.04851645e-01 1.71582222e+01] [ 4.09644913e-01 -5.78548761e-03 9.12226712e-01 -1.08026045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20864 meters Centerline goodness : 0.997693 Centerline is valid? [True, True] Translation: X:240.64, Y:17.14, Z:-108.02 [[ 5.83194846e-01 -7.34990293e-01 -3.45937916e-01 2.40643028e+02] [ 6.77455126e-01 6.75053308e-01 -2.92160201e-01 1.71376592e+01] [ 4.48261446e-01 -6.39710912e-02 8.91610552e-01 -1.08016692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23864 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:240.58, Y:17.23, Z:-107.99 [[ 5.99047733e-01 -7.70079123e-01 -2.19362617e-01 2.40583196e+02] [ 6.89059107e-01 6.35333939e-01 -3.48637825e-01 1.72269928e+01] [ 4.07847226e-01 5.76968900e-02 9.11225389e-01 -1.07994190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26864 meters Centerline goodness : 0.997793 Centerline is valid? [True, True] Translation: X:240.67, Y:17.18, Z:-107.99 [[ 5.86696064e-01 -7.42285464e-01 -3.23728309e-01 2.40667761e+02] [ 6.77737695e-01 6.68875744e-01 -3.05412598e-01 1.71833546e+01] [ 4.43237346e-01 -4.02185086e-02 8.95501606e-01 -1.07990220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:240.64, Y:17.25, Z:-107.97 [[ 6.00891726e-01 -7.62789478e-01 -2.38917026e-01 2.40637277e+02] [ 6.87174005e-01 6.45646324e-01 -3.33065624e-01 1.72478645e+01] [ 4.08314853e-01 3.59588083e-02 9.12132635e-01 -1.07971349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:240.69, Y:17.24, Z:-107.96 [[ 6.02283252e-01 -7.49851622e-01 -2.73820067e-01 2.40685959e+02] [ 6.84863232e-01 6.61596196e-01 -3.05373258e-01 1.72417900e+01] [ 4.10142948e-01 -3.60809749e-03 9.12014114e-01 -1.07964604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35864 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:240.71, Y:17.26, Z:-107.95 [[ 6.02880684e-01 -7.49293098e-01 -2.74034184e-01 2.40705102e+02] [ 6.83985402e-01 6.62231828e-01 -3.05962377e-01 1.72590010e+01] [ 4.10729656e-01 -2.97657433e-03 9.11752318e-01 -1.07952365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.38864 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:240.72, Y:17.28, Z:-107.94 [[ 6.03999578e-01 -7.48664603e-01 -2.73287068e-01 2.40723068e+02] [ 6.83510104e-01 6.62945014e-01 -3.05479698e-01 1.72762168e+01] [ 4.09876136e-01 -2.28486386e-03 9.12138330e-01 -1.07939122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41864 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:240.74, Y:17.29, Z:-107.93 [[ 6.06787723e-01 -7.46470578e-01 -2.73112313e-01 2.40741058e+02] [ 6.81031101e-01 6.65418202e-01 -3.05639093e-01 1.72928600e+01] [ 4.09884495e-01 -5.39929618e-04 9.12137276e-01 -1.07925444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.44864 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:240.76, Y:17.31, Z:-107.91 [[ 6.07491034e-01 -7.45850016e-01 -2.73244207e-01 2.40758803e+02] [ 6.80124562e-01 6.66113905e-01 -3.06141871e-01 1.73108390e+01] [ 4.10347685e-01 1.38345560e-04 9.11929141e-01 -1.07913131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47864 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:240.78, Y:17.33, Z:-107.90 [[ 6.08236882e-01 -7.45410000e-01 -2.72785314e-01 2.40777066e+02] [ 6.79712235e-01 6.66605915e-01 -3.05986651e-01 1.73290184e+01] [ 4.09925814e-01 6.96851127e-04 9.12118601e-01 -1.07901801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.50864 meters Centerline goodness : 0.996858 Centerline is valid? [True, True] Translation: X:240.81, Y:17.32, Z:-107.89 [[ 5.90846220e-01 -7.37461914e-01 -3.27185986e-01 2.40813148e+02] [ 6.68511538e-01 6.74547909e-01 -3.13173181e-01 1.73216363e+01] [ 4.51655917e-01 -3.36904167e-02 8.91555881e-01 -1.07888988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:240.78, Y:17.39, Z:-107.87 [[ 6.08418758e-01 -7.57380643e-01 -2.37067874e-01 2.40783399e+02] [ 6.81022517e-01 6.51635313e-01 -3.34035553e-01 1.73867467e+01] [ 4.07473860e-01 4.17849359e-02 9.12260419e-01 -1.07873645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.56864 meters Centerline goodness : 0.997546 Centerline is valid? [True, True] Translation: X:240.86, Y:17.35, Z:-107.87 [[ 5.92965506e-01 -7.33990115e-01 -3.31135049e-01 2.40855649e+02] [ 6.70873255e-01 6.77753517e-01 -3.00963862e-01 1.73527559e+01] [ 4.45332444e-01 -4.36884592e-02 8.94298794e-01 -1.07867232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59864 meters Centerline goodness : 0.997988 Centerline is valid? [True, True] Translation: X:240.90, Y:17.35, Z:-107.85 [[ 5.94235882e-01 -7.22190183e-01 -3.54012790e-01 2.40896387e+02] [ 6.72759150e-01 6.87533083e-01 -2.73300906e-01 1.73505675e+01] [ 4.40770737e-01 -7.57601390e-02 8.94416882e-01 -1.07853744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.62864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:240.78, Y:17.49, Z:-107.83 [[ 6.07135946e-01 -7.77599732e-01 -1.63476600e-01 2.40779366e+02] [ 6.85129534e-01 6.16501454e-01 -3.87973554e-01 1.74858652e+01] [ 4.02471693e-01 1.23550044e-01 9.07056736e-01 -1.07825958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:240.88, Y:17.44, Z:-107.83 [[ 6.10077484e-01 -7.45662823e-01 -2.67941073e-01 2.40882044e+02] [ 6.82259032e-01 6.66323025e-01 -3.00892406e-01 1.74362052e+01] [ 4.02899588e-01 7.62465143e-04 9.15243870e-01 -1.07827090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.68864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:240.90, Y:17.45, Z:-107.82 [[ 6.11100135e-01 -7.44696561e-01 -2.68297703e-01 2.40899230e+02] [ 6.80871506e-01 6.67401139e-01 -3.01645012e-01 1.74544338e+01] [ 4.03696196e-01 1.65904610e-03 9.14891594e-01 -1.07815575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:240.95, Y:17.44, Z:-107.80 [[ 6.00499888e-01 -7.26227415e-01 -3.34654489e-01 2.40948315e+02] [ 6.66877868e-01 6.85769368e-01 -2.91537791e-01 1.74411080e+01] [ 4.41218533e-01 -4.81052610e-02 8.96109418e-01 -1.07804732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.74864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:240.94, Y:17.48, Z:-107.79 [[ 6.01831904e-01 -7.36583373e-01 -3.08615124e-01 2.40940327e+02] [ 6.64357174e-01 6.76213595e-01 -3.18378264e-01 1.74806332e+01] [ 4.43201878e-01 -1.34204746e-02 8.96321363e-01 -1.07790156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:240.93, Y:17.53, Z:-107.78 [[ 6.06049927e-01 -7.48932750e-01 -2.67961234e-01 2.40925372e+02] [ 6.64355888e-01 6.61851982e-01 -3.47250929e-01 1.75273724e+01] [ 4.37418267e-01 3.24297761e-02 8.98673227e-01 -1.07776244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.80864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:240.97, Y:17.53, Z:-107.77 [[ 6.06364989e-01 -7.37075191e-01 -2.98398497e-01 2.40965119e+02] [ 6.62736826e-01 6.75807317e-01 -3.22590094e-01 1.75278628e+01] [ 4.39433043e-01 -2.15233408e-03 8.98272769e-01 -1.07765910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:240.94, Y:17.59, Z:-107.75 [[ 6.19550939e-01 -7.53960526e-01 -2.18403660e-01 2.40939562e+02] [ 6.77620262e-01 6.54156744e-01 -3.36020439e-01 1.75850697e+01] [ 3.96216374e-01 6.01870337e-02 9.16182354e-01 -1.07749712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.86864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:240.99, Y:17.57, Z:-107.74 [[ 6.19845543e-01 -7.39056221e-01 -2.63794247e-01 2.40992641e+02] [ 6.76553080e-01 6.73617537e-01 -2.97515284e-01 1.75741256e+01] [ 3.97576953e-01 5.94271232e-03 9.17549590e-01 -1.07741920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89864 meters Centerline goodness : 0.998280 Centerline is valid? [True, True] Translation: X:241.06, Y:17.55, Z:-107.73 [[ 6.04353628e-01 -7.15948366e-01 -3.49534877e-01 2.41055281e+02] [ 6.65258835e-01 6.94882638e-01 -2.73072888e-01 1.75496081e+01] [ 4.38391805e-01 -6.74985747e-02 8.96245819e-01 -1.07729473e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.92864000000003 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:241.05, Y:17.58, Z:-107.72 [[ 6.08396905e-01 -7.24282515e-01 -3.24450374e-01 2.41054840e+02] [ 6.67930522e-01 6.88085647e-01 -2.83561210e-01 1.75832848e+01] [ 4.28628071e-01 -4.41925453e-02 9.02399576e-01 -1.07717173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:240.95, Y:17.70, Z:-107.69 [[ 6.19492565e-01 -7.69744741e-01 -1.54019463e-01 2.40950146e+02] [ 6.83065666e-01 6.25258738e-01 -3.77455701e-01 1.77031547e+01] [ 3.86846556e-01 1.28625593e-01 9.13129344e-01 -1.07689540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:241.08, Y:17.63, Z:-107.69 [[ 6.09828084e-01 -7.24858550e-01 -3.20452477e-01 2.41082425e+02] [ 6.68405059e-01 6.87657601e-01 -2.83481396e-01 1.76271464e+01] [ 4.25845495e-01 -4.13171400e-02 9.03852039e-01 -1.07693270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:241.04, Y:17.70, Z:-107.68 [[ 6.21655513e-01 -7.52113325e-01 -2.18792069e-01 2.41035437e+02] [ 6.81035407e-01 6.56977292e-01 -3.23375342e-01 1.77020724e+01] [ 3.86956325e-01 5.20229187e-02 9.20629360e-01 -1.07676736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04864 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:241.12, Y:17.66, Z:-107.67 [[ 6.09743502e-01 -7.20936657e-01 -3.29337514e-01 2.41118960e+02] [ 6.66156885e-01 6.91287048e-01 -2.79923599e-01 1.76636802e+01] [ 4.29473942e-01 -4.87088569e-02 9.01764703e-01 -1.07668864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07864 meters Centerline goodness : 0.998822 Centerline is valid? [True, True] Translation: X:241.06, Y:17.75, Z:-107.65 [[ 6.23525789e-01 -7.52633662e-01 -2.11561248e-01 2.41060267e+02] [ 6.79993351e-01 6.55623598e-01 -3.28278450e-01 1.77474969e+01] [ 3.85777959e-01 6.08298384e-02 9.20584107e-01 -1.07649593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:241.16, Y:17.70, Z:-107.64 [[ 6.09884630e-01 -7.17673457e-01 -3.36133228e-01 2.41155875e+02] [ 6.66575217e-01 6.93957040e-01 -2.72215183e-01 1.76984844e+01] [ 4.28623631e-01 -5.80382228e-02 9.01617074e-01 -1.07643419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.13864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:241.08, Y:17.79, Z:-107.62 [[ 6.23624781e-01 -7.55600807e-01 -2.00398486e-01 2.41083241e+02] [ 6.82944838e-01 6.51352199e-01 -3.30645823e-01 1.77934452e+01] [ 3.80366246e-01 6.93378177e-02 9.22233043e-01 -1.07622814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:241.18, Y:17.74, Z:-107.62 [[ 6.10857198e-01 -7.19485570e-01 -3.30445153e-01 2.41182737e+02] [ 6.67914188e-01 6.92403810e-01 -2.72887527e-01 1.77432242e+01] [ 4.25140120e-01 -5.40136958e-02 9.03514471e-01 -1.07620000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.19864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:241.16, Y:17.79, Z:-107.61 [[ 6.12338742e-01 -7.36738899e-01 -2.86804916e-01 2.41161261e+02] [ 6.67444772e-01 6.76177211e-01 -3.11932454e-01 1.77939757e+01] [ 4.23743721e-01 -4.18114997e-04 9.05782029e-01 -1.07606419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:241.13, Y:17.86, Z:-107.59 [[ 6.26195348e-01 -7.53944440e-01 -1.98613109e-01 2.41126502e+02] [ 6.81002797e-01 6.52943694e-01 -3.31511272e-01 1.78576427e+01] [ 3.79624257e-01 7.23347341e-02 9.22308576e-01 -1.07589408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.25864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:241.22, Y:17.81, Z:-107.59 [[ 6.14137440e-01 -7.21057928e-01 -3.20796929e-01 2.41221499e+02] [ 6.66880427e-01 6.91512492e-01 -2.77634598e-01 1.78111166e+01] [ 4.22025711e-01 -4.34273917e-02 9.05543130e-01 -1.07585649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:241.21, Y:17.85, Z:-107.57 [[ 6.12726576e-01 -7.36395169e-01 -2.86859371e-01 2.41207485e+02] [ 6.68857513e-01 6.76544583e-01 -3.08086116e-01 1.78544604e+01] [ 4.20946281e-01 -3.09549440e-03 9.07080287e-01 -1.07569701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.31864 meters Centerline goodness : 0.997694 Centerline is valid? [True, True] Translation: X:241.21, Y:17.89, Z:-107.56 [[ 6.12891796e-01 -7.43382551e-01 -2.67854492e-01 2.41210002e+02] [ 6.71061258e-01 6.68661971e-01 -3.20262325e-01 1.78858485e+01] [ 4.17181537e-01 1.65393789e-02 9.08672666e-01 -1.07556671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34864 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:241.24, Y:17.90, Z:-107.55 [[ 6.09316336e-01 -7.42515303e-01 -2.78216872e-01 2.41235087e+02] [ 6.74915206e-01 6.69828576e-01 -3.09546675e-01 1.78958469e+01] [ 4.16200754e-01 8.39048099e-04 9.09272362e-01 -1.07548355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.37864 meters Centerline goodness : 0.996667 Centerline is valid? [True, True] Translation: X:241.24, Y:17.92, Z:-107.54 [[ 6.07021466e-01 -7.48165485e-01 -2.67905482e-01 2.41244331e+02] [ 6.78961982e-01 6.63451879e-01 -3.14391843e-01 1.79187845e+01] [ 4.12959521e-01 8.94496025e-03 9.10705453e-01 -1.07537042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40864 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:241.23, Y:17.96, Z:-107.52 [[ 6.15939787e-01 -7.59692231e-01 -2.08532717e-01 2.41234999e+02] [ 6.95007706e-01 6.48644290e-01 -3.10201344e-01 1.79596375e+01] [ 3.70921107e-01 4.61335045e-02 9.27517780e-01 -1.07521523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.43864 meters Centerline goodness : 0.997256 Centerline is valid? [True, True] Translation: X:241.31, Y:17.93, Z:-107.52 [[ 5.99829120e-01 -7.37196261e-01 -3.11041316e-01 2.41313930e+02] [ 6.85133604e-01 6.74012719e-01 -2.76222373e-01 1.79259748e+01] [ 4.13275903e-01 -4.74186349e-02 9.09370387e-01 -1.07518006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:241.29, Y:17.97, Z:-107.50 [[ 5.96224816e-01 -7.58225967e-01 -2.63835843e-01 2.41294351e+02] [ 6.90574741e-01 6.51976458e-01 -3.13102578e-01 1.79747767e+01] [ 4.09417264e-01 4.48115793e-03 9.12336245e-01 -1.07502960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.49864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:241.29, Y:18.02, Z:-107.49 [[ 6.05041372e-01 -7.69072520e-01 -2.06039794e-01 2.41288312e+02] [ 7.05861092e-01 6.37847541e-01 -3.08075695e-01 1.80157748e+01] [ 3.68354528e-01 4.09630672e-02 9.28782520e-01 -1.07487405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:241.34, Y:18.01, Z:-107.48 [[ 6.00562873e-01 -7.62010787e-01 -2.42206103e-01 2.41338885e+02] [ 7.09818313e-01 6.47541500e-01 -2.77214660e-01 1.80085221e+01] [ 3.68079065e-01 -5.43749434e-03 9.29778595e-01 -1.07481360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.55864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:241.36, Y:18.03, Z:-107.47 [[ 5.98410411e-01 -7.63564571e-01 -2.42639910e-01 2.41357303e+02] [ 7.11175908e-01 6.45701845e-01 -2.78025099e-01 1.80265820e+01] [ 3.68963153e-01 -6.18654463e-03 9.29423433e-01 -1.07469346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:241.38, Y:18.04, Z:-107.46 [[ 5.96444917e-01 -7.65104775e-01 -2.42627585e-01 2.41376187e+02] [ 7.12722486e-01 6.43868555e-01 -2.78316261e-01 1.80442663e+01] [ 3.69161373e-01 -6.92581643e-03 9.29339504e-01 -1.07458878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.61864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:241.40, Y:18.06, Z:-107.45 [[ 5.96042142e-01 -7.65152419e-01 -2.43465689e-01 2.41396562e+02] [ 7.12274410e-01 6.43813610e-01 -2.79587554e-01 1.80601021e+01] [ 3.70673617e-01 -6.76841546e-03 9.28738531e-01 -1.07448238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:241.41, Y:18.08, Z:-107.44 [[ 5.95678146e-01 -7.65484680e-01 -2.43312042e-01 2.41413822e+02] [ 7.12578749e-01 6.43418660e-01 -2.79721209e-01 1.80797757e+01] [ 3.70673808e-01 -6.75517966e-03 9.28738551e-01 -1.07437078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.67864000000003 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:241.43, Y:18.10, Z:-107.43 [[ 5.96543851e-01 -7.64937292e-01 -2.42912274e-01 2.41433062e+02] [ 7.12053624e-01 6.44074880e-01 -2.79548179e-01 1.80972335e+01] [ 3.70290521e-01 -6.20381751e-03 9.28895281e-01 -1.07426064e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:241.48, Y:18.09, Z:-107.42 [[ 5.85268457e-01 -7.51538702e-01 -3.04385304e-01 2.41480859e+02] [ 7.01082300e-01 6.57632521e-01 -2.75686552e-01 1.80864189e+01] [ 4.07362788e-01 -5.20485063e-02 9.11782053e-01 -1.07416288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:241.44, Y:18.16, Z:-107.40 [[ 6.00601286e-01 -7.73433216e-01 -2.02679932e-01 2.41440000e+02] [ 7.08620741e-01 6.32319303e-01 -3.13095744e-01 1.81572478e+01] [ 3.70317082e-01 4.44225030e-02 9.27842605e-01 -1.07397262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:241.52, Y:18.13, Z:-107.39 [[ 5.90700403e-01 -7.50569186e-01 -2.96173819e-01 2.41515003e+02] [ 6.97009727e-01 6.59564939e-01 -2.81338819e-01 1.81264728e+01] [ 4.06510115e-01 -4.02490785e-02 9.12759299e-01 -1.07391671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:241.48, Y:18.19, Z:-107.38 [[ 6.06993874e-01 -7.66504320e-01 -2.09832229e-01 2.41484252e+02] [ 7.03796219e-01 6.41109566e-01 -3.06021904e-01 1.81887516e+01] [ 3.69092561e-01 3.80742913e-02 9.28612422e-01 -1.07375385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:241.55, Y:18.16, Z:-107.37 [[ 5.97786992e-01 -7.43535764e-01 -2.99675289e-01 2.41552367e+02] [ 6.90775925e-01 6.67452290e-01 -2.78093620e-01 1.81608798e+01] [ 4.06791510e-01 -4.07677265e-02 9.12610903e-01 -1.07368225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:241.54, Y:18.20, Z:-107.35 [[ 6.01818697e-01 -7.52879348e-01 -2.66433749e-01 2.41540936e+02] [ 6.87483310e-01 6.58156761e-01 -3.06914282e-01 1.82035089e+01] [ 4.06424598e-01 1.53799772e-03 9.13683031e-01 -1.07354550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.88864 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:241.56, Y:18.22, Z:-107.34 [[ 6.07968272e-01 -7.45171840e-01 -2.74031950e-01 2.41560100e+02] [ 6.80771536e-01 6.66868494e-01 -3.03045423e-01 1.82208503e+01] [ 4.08564189e-01 -2.31114938e-03 9.12726664e-01 -1.07342741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91864 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:241.56, Y:18.25, Z:-107.33 [[ 6.13302456e-01 -7.47718201e-01 -2.54514419e-01 2.41563269e+02] [ 6.78917008e-01 6.63722952e-01 -3.13916451e-01 1.82532471e+01] [ 4.03648106e-01 1.97315626e-02 9.14701521e-01 -1.07329571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.94864 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:241.61, Y:18.24, Z:-107.32 [[ 6.10072666e-01 -7.32148953e-01 -3.02934404e-01 2.41607209e+02] [ 6.74288874e-01 6.80513404e-01 -2.86768236e-01 1.82435787e+01] [ 4.16107987e-01 -2.93158361e-02 9.08842520e-01 -1.07317632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:241.54, Y:18.34, Z:-107.30 [[ 6.27772420e-01 -7.61033165e-01 -1.63494071e-01 2.41538394e+02] [ 6.90401093e-01 6.41392591e-01 -3.34607046e-01 1.83367067e+01] [ 3.59510945e-01 9.71805893e-02 9.28066708e-01 -1.07296897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.00864 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:241.61, Y:18.31, Z:-107.30 [[ 6.27673146e-01 -7.41820661e-01 -2.36068909e-01 2.41613931e+02] [ 6.89925910e-01 6.70546945e-01 -2.72706863e-01 1.83107296e+01] [ 3.60594871e-01 8.30071751e-03 9.32685605e-01 -1.07295991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03864 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:241.65, Y:18.31, Z:-107.29 [[ 6.13084653e-01 -7.37258099e-01 -2.83862120e-01 2.41650610e+02] [ 6.84245372e-01 6.75140230e-01 -2.75669984e-01 1.83129671e+01] [ 3.94886666e-01 -2.52223055e-02 9.18383556e-01 -1.07287510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.06864 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:241.65, Y:18.35, Z:-107.27 [[ 6.10930804e-01 -7.46389625e-01 -2.63943327e-01 2.41647770e+02] [ 6.85786107e-01 6.65508440e-01 -2.94611493e-01 1.83457363e+01] [ 3.95551474e-01 -1.02142971e-03 9.18443242e-01 -1.07274005e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09864 meters Centerline goodness : 0.996763 Centerline is valid? [True, True] Translation: X:241.67, Y:18.35, Z:-107.26 [[ 6.12430546e-01 -7.42903970e-01 -2.70226789e-01 2.41671714e+02] [ 6.92639079e-01 6.69033035e-01 -2.69529043e-01 1.83526688e+01] [ 3.81024845e-01 -2.21018158e-02 9.24300588e-01 -1.07264847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.12864 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:241.62, Y:18.43, Z:-107.24 [[ 6.21292328e-01 -7.66044721e-01 -1.64837280e-01 2.41621863e+02] [ 7.02212970e-01 6.37663863e-01 -3.16672927e-01 1.84315892e+01] [ 3.47696401e-01 8.09955839e-02 9.34102204e-01 -1.07242770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:241.69, Y:18.41, Z:-107.24 [[ 6.20953739e-01 -7.49930207e-01 -2.28081430e-01 2.41691809e+02] [ 7.02122393e-01 6.61507806e-01 -2.63498705e-01 1.84107912e+01] [ 3.48483284e-01 3.47942666e-03 9.37308537e-01 -1.07241481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.18864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:241.71, Y:18.43, Z:-107.23 [[ 6.18308670e-01 -7.51807393e-01 -2.29085209e-01 2.41707310e+02] [ 7.03574216e-01 6.59377452e-01 -2.64961694e-01 1.84322136e+01] [ 3.50253781e-01 2.64966665e-03 9.36651092e-01 -1.07232029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21864 meters Centerline goodness : 0.997741 Centerline is valid? [True, True] Translation: X:241.72, Y:18.45, Z:-107.22 [[ 6.17107961e-01 -7.52553754e-01 -2.29870859e-01 2.41722623e+02] [ 7.03912094e-01 6.58526260e-01 -2.66178378e-01 1.84533029e+01] [ 3.51689535e-01 2.45191853e-03 9.36113486e-01 -1.07222360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.24864 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:241.74, Y:18.47, Z:-107.21 [[ 6.16858352e-01 -7.52849357e-01 -2.29572687e-01 2.41738205e+02] [ 7.04244507e-01 6.58188144e-01 -2.66135383e-01 1.84738895e+01] [ 3.51461873e-01 2.49252987e-03 9.36198878e-01 -1.07212209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27864 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:241.75, Y:18.49, Z:-107.20 [[ 6.15398409e-01 -7.53932490e-01 -2.29936074e-01 2.41754694e+02] [ 7.05126004e-01 6.56948567e-01 -2.66863074e-01 1.84932627e+01] [ 3.52252916e-01 2.09320577e-03 9.35902506e-01 -1.07200787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.30864 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:241.82, Y:18.47, Z:-107.19 [[ 6.05356610e-01 -7.32876034e-01 -3.10541611e-01 2.41820682e+02] [ 6.99073009e-01 6.76086736e-01 -2.32816782e-01 1.84674190e+01] [ 3.80578904e-01 -7.61540805e-02 9.21607429e-01 -1.07193753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33864 meters Centerline goodness : 0.996715 Centerline is valid? [True, True] Translation: X:241.78, Y:18.54, Z:-107.18 [[ 6.08049952e-01 -7.58881426e-01 -2.33182842e-01 2.41776235e+02] [ 7.02759785e-01 6.51145878e-01 -2.86596808e-01 1.85361703e+01] [ 3.69329041e-01 1.03936512e-02 9.29240567e-01 -1.07177976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.36864 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:241.78, Y:18.57, Z:-107.17 [[ 6.02877738e-01 -7.67463911e-01 -2.18031140e-01 2.41776269e+02] [ 7.01929285e-01 6.40122707e-01 -3.12311060e-01 1.85691122e+01] [ 3.79254151e-01 3.52429435e-02 9.24621124e-01 -1.07165353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39864 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:241.82, Y:18.56, Z:-107.16 [[ 6.01437730e-01 -7.56995810e-01 -2.55401647e-01 2.41824932e+02] [ 7.01950108e-01 6.53361039e-01 -2.83523189e-01 1.85648989e+01] [ 3.81495352e-01 -8.75767054e-03 9.24329270e-01 -1.07158414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.42864000000003 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:241.81, Y:18.61, Z:-107.14 [[ 6.09829331e-01 -7.71111782e-01 -1.83015866e-01 2.41807249e+02] [ 7.15819838e-01 6.35028921e-01 -2.90413893e-01 1.86147928e+01] [ 3.40161943e-01 4.60965223e-02 9.39236372e-01 -1.07141397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45864 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:241.86, Y:18.61, Z:-107.14 [[ 6.09276904e-01 -7.60915602e-01 -2.23134717e-01 2.41855823e+02] [ 7.15298257e-01 6.48849140e-01 -2.59505680e-01 1.86095601e+01] [ 3.42242690e-01 -1.49705708e-03 9.39610398e-01 -1.07136034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:241.88, Y:18.63, Z:-107.13 [[ 6.07387483e-01 -7.62690969e-01 -2.22222707e-01 2.41875823e+02] [ 7.17467512e-01 6.46759043e-01 -2.58733666e-01 1.86278501e+01] [ 3.41058376e-01 -2.28598289e-03 9.40039339e-01 -1.07126870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51864 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:241.95, Y:18.60, Z:-107.12 [[ 5.98513435e-01 -7.40342412e-01 -3.06063361e-01 2.41948815e+02] [ 7.11966004e-01 6.66711178e-01 -2.20455473e-01 1.85976884e+01] [ 3.67268400e-01 -8.59611452e-02 9.26134226e-01 -1.07120566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:241.88, Y:18.69, Z:-107.10 [[ 5.95090166e-01 -7.76149536e-01 -2.08469643e-01 2.41882748e+02] [ 7.10027899e-01 6.29276052e-01 -3.16025368e-01 1.86869771e+01] [ 3.76467896e-01 4.00443258e-02 9.25563815e-01 -1.07101755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57864 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:241.94, Y:18.67, Z:-107.10 [[ 5.95953557e-01 -7.61473357e-01 -2.54946437e-01 2.41941582e+02] [ 7.12604768e-01 6.47848600e-01 -2.69233423e-01 1.86733185e+01] [ 3.70180770e-01 -2.12254306e-02 9.28717222e-01 -1.07097471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60864 meters Centerline goodness : 0.998130 Centerline is valid? [True, True] Translation: X:241.97, Y:18.69, Z:-107.09 [[ 5.93321680e-01 -7.59409850e-01 -2.66957047e-01 2.41966037e+02] [ 7.11570986e-01 6.49851329e-01 -2.67132890e-01 1.86865395e+01] [ 3.76345740e-01 -3.14631537e-02 9.25944898e-01 -1.07085723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.63864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:241.97, Y:18.72, Z:-107.07 [[ 5.98093407e-01 -7.66189983e-01 -2.35025928e-01 2.41967972e+02] [ 7.15249269e-01 6.42602979e-01 -2.74736046e-01 1.87163428e+01] [ 3.61528368e-01 -3.78430559e-03 9.32353430e-01 -1.07073642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:241.98, Y:18.74, Z:-107.06 [[ 5.97873541e-01 -7.66862335e-01 -2.33386777e-01 2.41984942e+02] [ 7.15728382e-01 6.41807067e-01 -2.75348094e-01 1.87357249e+01] [ 3.60943365e-01 -2.41819996e-03 9.32584602e-01 -1.07063377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.69864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:242.00, Y:18.75, Z:-107.05 [[ 5.97251771e-01 -7.66289772e-01 -2.36833921e-01 2.42001361e+02] [ 7.14211048e-01 6.42486666e-01 -2.77693110e-01 1.87528645e+01] [ 3.64956026e-01 -3.29670134e-03 9.31018921e-01 -1.07053914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:241.97, Y:18.82, Z:-107.04 [[ 6.06524060e-01 -7.81540580e-01 -1.46023583e-01 2.41966174e+02] [ 7.23826341e-01 6.18772858e-01 -3.05279507e-01 1.88177865e+01] [ 3.28943753e-01 7.94636505e-02 9.41000285e-01 -1.07036351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.75864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:242.10, Y:18.74, Z:-107.04 [[ 5.98091576e-01 -7.37314666e-01 -3.14091629e-01 2.42102588e+02] [ 7.13810479e-01 6.68270360e-01 -2.09497795e-01 1.87355071e+01] [ 3.64363922e-01 -9.89030295e-02 9.25989807e-01 -1.07036851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:242.00, Y:18.86, Z:-107.01 [[ 6.06188309e-01 -7.84470830e-01 -1.30924604e-01 2.41995144e+02] [ 7.26102422e-01 6.13049640e-01 -3.11360580e-01 1.88599993e+01] [ 3.24516574e-01 9.36784710e-02 9.41229694e-01 -1.07012860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.81864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:242.08, Y:18.83, Z:-107.01 [[ 6.07275288e-01 -7.66141414e-01 -2.10342718e-01 2.42078790e+02] [ 7.25570607e-01 6.42664005e-01 -2.46029006e-01 1.88275054e+01] [ 3.23672704e-01 -3.21115821e-03 9.46163659e-01 -1.07012105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:242.10, Y:18.85, Z:-107.00 [[ 6.06087844e-01 -7.67268109e-01 -2.09659663e-01 2.42097140e+02] [ 7.26940321e-01 6.41316291e-01 -2.45501903e-01 1.88458788e+01] [ 3.22823938e-01 -3.61434375e-03 9.46452134e-01 -1.07002175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.87864 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:242.17, Y:18.82, Z:-106.99 [[ 5.95531460e-01 -7.48664748e-01 -2.91278862e-01 2.42166061e+02] [ 7.20476188e-01 6.58140090e-01 -2.18553619e-01 1.88196740e+01] [ 3.55325687e-01 -7.97039281e-02 9.31338252e-01 -1.06994518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90864 meters Centerline goodness : 0.997059 Centerline is valid? [True, True] Translation: X:242.09, Y:18.92, Z:-106.98 [[ 6.00908305e-01 -7.85417598e-01 -1.48419694e-01 2.42085616e+02] [ 7.30306282e-01 6.14954735e-01 -2.97461607e-01 1.89236514e+01] [ 3.24902975e-01 7.03553148e-02 9.43126814e-01 -1.06976641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.93864 meters Centerline goodness : 0.997298 Centerline is valid? [True, True] Translation: X:242.15, Y:18.90, Z:-106.97 [[ 6.01365468e-01 -7.70426509e-01 -2.11666169e-01 2.42154486e+02] [ 7.29341706e-01 6.37508662e-01 -2.48280851e-01 1.89019567e+01] [ 3.26221166e-01 -5.06943512e-03 9.45279880e-01 -1.06973389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96864 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:242.17, Y:18.92, Z:-106.96 [[ 6.01672852e-01 -7.70026816e-01 -2.12246275e-01 2.42172340e+02] [ 7.28590802e-01 6.37994342e-01 -2.49236159e-01 1.89209552e+01] [ 3.27330449e-01 -4.68205257e-03 9.44898331e-01 -1.06963480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.99864 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:242.22, Y:18.91, Z:-106.95 [[ 5.91400380e-01 -7.59211800e-01 -2.71740748e-01 2.42216612e+02] [ 7.19147917e-01 6.49023138e-01 -2.48183883e-01 1.89140958e+01] [ 3.64790165e-01 -4.86457501e-02 9.29818115e-01 -1.06954105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02864 meters Centerline goodness : 0.997201 Centerline is valid? [True, True] Translation: X:242.18, Y:18.98, Z:-106.94 [[ 6.03556846e-01 -7.78491672e-01 -1.72249381e-01 2.42176157e+02] [ 7.28785253e-01 6.26277131e-01 -2.76855577e-01 1.89846966e+01] [ 3.23405609e-01 4.15652696e-02 9.45347100e-01 -1.06937286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.05864 meters Centerline goodness : 0.996273 Centerline is valid? [True, True] Translation: X:242.22, Y:18.98, Z:-106.93 [[ 6.04324388e-01 -7.68843168e-01 -2.08978987e-01 2.42224111e+02] [ 7.28477647e-01 6.39426981e-01 -2.45872840e-01 1.89798254e+01] [ 3.22664456e-01 -3.64956756e-03 9.46506381e-01 -1.06931011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08864 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:242.24, Y:19.00, Z:-106.92 [[ 6.02675677e-01 -7.69850344e-01 -2.10029702e-01 2.42241367e+02] [ 7.29031002e-01 6.38211757e-01 -2.47385430e-01 1.89988956e+01] [ 3.24493184e-01 -4.02498286e-03 9.45879471e-01 -1.06920526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.11864 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:242.26, Y:19.02, Z:-106.91 [[ 6.00503821e-01 -7.71637644e-01 -2.09691455e-01 2.42260275e+02] [ 7.30964879e-01 6.36044295e-01 -2.47260996e-01 1.90180436e+01] [ 3.24168947e-01 -4.79591615e-03 9.45987047e-01 -1.06911558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14864 meters Centerline goodness : 0.997501 Centerline is valid? [True, True] Translation: X:242.28, Y:19.04, Z:-106.90 [[ 5.99477858e-01 -7.72263093e-01 -2.10323591e-01 2.42277906e+02] [ 7.31280420e-01 6.35283443e-01 -2.48281884e-01 1.90377364e+01] [ 3.25354031e-01 -4.96603212e-03 9.45579237e-01 -1.06902009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.17864000000003 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:242.30, Y:19.06, Z:-106.89 [[ 5.96897846e-01 -7.74122131e-01 -2.10826675e-01 2.42295310e+02] [ 7.32955249e-01 6.33009615e-01 -2.49149415e-01 1.90577726e+01] [ 3.26327389e-01 -5.80976915e-03 9.45238955e-01 -1.06891743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20864 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:242.31, Y:19.08, Z:-106.88 [[ 5.95508702e-01 -7.75115042e-01 -2.11106742e-01 2.42312804e+02] [ 7.33801189e-01 6.31789907e-01 -2.49754536e-01 1.90765661e+01] [ 3.26963607e-01 -6.17937906e-03 9.45016727e-01 -1.06880878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23864 meters Centerline goodness : 0.996031 Centerline is valid? [True, True] Translation: X:242.33, Y:19.10, Z:-106.87 [[ 5.93296883e-01 -7.76619347e-01 -2.11804624e-01 2.42331588e+02] [ 7.35020625e-01 6.29932927e-01 -2.50856908e-01 1.90958403e+01] [ 3.28243035e-01 -6.84814569e-03 9.44568480e-01 -1.06871548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26864 meters Centerline goodness : 0.994998 Centerline is valid? [True, True] Translation: X:242.38, Y:19.08, Z:-106.86 [[ 5.84189576e-01 -7.63908701e-01 -2.74164250e-01 2.42382066e+02] [ 7.27652323e-01 6.42594231e-01 -2.39989064e-01 1.90843867e+01] [ 3.59506100e-01 -5.92971438e-02 9.31256792e-01 -1.06861076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29864 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:242.33, Y:19.16, Z:-106.85 [[ 5.91273453e-01 -7.89108799e-01 -1.66442204e-01 2.42331935e+02] [ 7.37369620e-01 6.12557676e-01 -2.84708865e-01 1.91634321e+01] [ 3.26621721e-01 4.56113690e-02 9.44053947e-01 -1.06846943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32864 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:242.39, Y:19.15, Z:-106.84 [[ 5.91934410e-01 -7.78537579e-01 -2.08549495e-01 2.42386018e+02] [ 7.38223332e-01 6.27552991e-01 -2.47393522e-01 1.91535869e+01] [ 3.23481013e-01 -7.51536492e-03 9.46204816e-01 -1.06841027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35864 meters Centerline goodness : 0.995096 Centerline is valid? [True, True] Translation: X:242.42, Y:19.16, Z:-106.83 [[ 5.84745096e-01 -7.68630083e-01 -2.59385750e-01 2.42422204e+02] [ 7.24646641e-01 6.38646471e-01 -2.58878215e-01 1.91576222e+01] [ 3.64637378e-01 -3.65852460e-02 9.30430601e-01 -1.06828481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.38864 meters Centerline goodness : 0.995492 Centerline is valid? [True, True] Translation: X:242.44, Y:19.17, Z:-106.82 [[ 5.85427969e-01 -7.71544077e-01 -2.48985604e-01 2.42440642e+02] [ 7.33377406e-01 6.34896644e-01 -2.43030517e-01 1.91727631e+01] [ 3.45588880e-01 -4.03235545e-02 9.37519246e-01 -1.06820924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41864 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:242.40, Y:19.24, Z:-106.81 [[ 5.88313964e-01 -7.93150819e-01 -1.57475264e-01 2.42399034e+02] [ 7.40754399e-01 6.06712299e-01 -2.88414817e-01 1.92439184e+01] [ 3.24298627e-01 5.30279699e-02 9.44467276e-01 -1.06806514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.44864 meters Centerline goodness : 0.995149 Centerline is valid? [True, True] Translation: X:242.50, Y:19.20, Z:-106.80 [[ 5.81961156e-01 -7.66297383e-01 -2.72230663e-01 2.42495970e+02] [ 7.35172660e-01 6.38854505e-01 -2.26684983e-01 1.91955260e+01] [ 3.47623894e-01 -6.82146862e-02 9.35149392e-01 -1.06800207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47864 meters Centerline goodness : 0.995197 Centerline is valid? [True, True] Translation: X:242.44, Y:19.28, Z:-106.79 [[ 5.84439558e-01 -7.95596789e-01 -1.59549842e-01 2.42437810e+02] [ 7.43454796e-01 6.03805232e-01 -2.87566008e-01 1.92814025e+01] [ 3.25123622e-01 4.94468552e-02 9.44377911e-01 -1.06786338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.50864 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:242.50, Y:19.27, Z:-106.78 [[ 5.82024815e-01 -7.85604953e-01 -2.09933259e-01 2.42498743e+02] [ 7.44869036e-01 6.18632257e-01 -2.49928488e-01 1.92663363e+01] [ 3.26216544e-01 -1.09082026e-02 9.45232129e-01 -1.06780824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53864 meters Centerline goodness : 0.995788 Centerline is valid? [True, True] Translation: X:242.52, Y:19.29, Z:-106.77 [[ 5.81657829e-01 -7.85912083e-01 -2.09800782e-01 2.42516035e+02] [ 7.45155496e-01 6.18242234e-01 -2.50039650e-01 1.92867454e+01] [ 3.26216886e-01 -1.08966861e-02 9.45232144e-01 -1.06771066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.56864 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:242.54, Y:19.30, Z:-106.76 [[ 5.79233440e-01 -7.88001989e-01 -2.08665973e-01 2.42536206e+02] [ 7.47742743e-01 6.15558881e-01 -2.48933834e-01 1.93037048e+01] [ 3.24606550e-01 -1.18376663e-02 9.45775057e-01 -1.06760766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59864 meters Centerline goodness : 0.996030 Centerline is valid? [True, True] Translation: X:242.55, Y:19.32, Z:-106.75 [[ 5.78661240e-01 -7.88763954e-01 -2.07370669e-01 2.42554465e+02] [ 7.48974003e-01 6.14578877e-01 -2.47650451e-01 1.93221672e+01] [ 3.22783382e-01 -1.20095227e-02 9.46396671e-01 -1.06751062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.62864 meters Centerline goodness : 0.995634 Centerline is valid? [True, True] Translation: X:242.57, Y:19.34, Z:-106.74 [[ 5.78265455e-01 -7.89127072e-01 -2.07093043e-01 2.42573186e+02] [ 7.49380328e-01 6.14112253e-01 -2.47578805e-01 1.93408162e+01] [ 3.22549513e-01 -1.20251825e-02 9.46476205e-01 -1.06742140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65864 meters Centerline goodness : 0.996322 Centerline is valid? [True, True] Translation: X:242.59, Y:19.36, Z:-106.73 [[ 5.77022862e-01 -7.89685248e-01 -2.08427029e-01 2.42592807e+02] [ 7.49355183e-01 6.13389803e-01 -2.49438887e-01 1.93594852e+01] [ 3.24825223e-01 -1.22539339e-02 9.45694673e-01 -1.06732907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.68864 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:242.61, Y:19.38, Z:-106.72 [[ 5.77739163e-01 -7.89061668e-01 -2.08804080e-01 2.42613070e+02] [ 7.48451650e-01 6.14201491e-01 -2.50153267e-01 1.93771989e+01] [ 3.25634131e-01 -1.17564191e-02 9.45422762e-01 -1.06723940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71864 meters Centerline goodness : 0.995394 Centerline is valid? [True, True] Translation: X:242.63, Y:19.39, Z:-106.71 [[ 5.78509799e-01 -7.88905968e-01 -2.07252952e-01 2.42633333e+02] [ 7.48813630e-01 6.14408164e-01 -2.48557349e-01 1.93943792e+01] [ 3.23426281e-01 -1.14009729e-02 9.46184685e-01 -1.06712663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.74864 meters Centerline goodness : 0.995098 Centerline is valid? [True, True] Translation: X:242.65, Y:19.41, Z:-106.70 [[ 5.79184930e-01 -7.88264910e-01 -2.07805796e-01 2.42652543e+02] [ 7.47821255e-01 6.15239441e-01 -2.49487077e-01 1.94126048e+01] [ 3.24512230e-01 -1.09024357e-02 9.45818666e-01 -1.06702597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77864 meters Centerline goodness : 0.995582 Centerline is valid? [True, True] Translation: X:242.70, Y:19.41, Z:-106.69 [[ 5.74451260e-01 -7.76448080e-01 -2.59102546e-01 2.42699736e+02] [ 7.41331805e-01 6.27718348e-01 -2.37480169e-01 1.94053773e+01] [ 3.47034444e-01 -5.56601757e-02 9.36199252e-01 -1.06691527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.80864 meters Centerline goodness : 0.995490 Centerline is valid? [True, True] Translation: X:242.68, Y:19.45, Z:-106.68 [[ 5.74617456e-01 -7.89504468e-01 -2.15632730e-01 2.42684073e+02] [ 7.41138670e-01 6.13735083e-01 -2.72107919e-01 1.94534522e+01] [ 3.47171789e-01 -3.45579446e-03 9.37795184e-01 -1.06682603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83864 meters Centerline goodness : 0.996617 Centerline is valid? [True, True] Translation: X:242.71, Y:19.47, Z:-106.67 [[ 5.73117308e-01 -7.87172531e-01 -2.27806845e-01 2.42708566e+02] [ 7.38711628e-01 6.16610636e-01 -2.72206638e-01 1.94656325e+01] [ 3.54741712e-01 -1.22772299e-02 9.34883729e-01 -1.06673336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.86864 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:242.73, Y:19.48, Z:-106.66 [[ 5.76619102e-01 -7.83612114e-01 -2.31219518e-01 2.42732195e+02] [ 7.38900186e-01 6.20929595e-01 -2.61673372e-01 1.94805124e+01] [ 3.48621466e-01 -1.99622802e-02 9.37051002e-01 -1.06663502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89864 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:242.71, Y:19.54, Z:-106.65 [[ 5.85777330e-01 -7.94611695e-01 -1.59553042e-01 2.42709380e+02] [ 7.45292746e-01 6.05476155e-01 -2.79172612e-01 1.95363384e+01] [ 3.18439385e-01 4.46192621e-02 9.46892538e-01 -1.06650761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.92864000000003 meters Centerline goodness : 0.996567 Centerline is valid? [True, True] Translation: X:242.76, Y:19.53, Z:-106.64 [[ 5.88185389e-01 -7.83048600e-01 -2.02170318e-01 2.42761703e+02] [ 7.44342342e-01 6.21916459e-01 -2.43257879e-01 1.95273872e+01] [ 3.16215790e-01 -7.40319796e-03 9.48658404e-01 -1.06641240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95864 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:242.78, Y:19.55, Z:-106.63 [[ 5.88646926e-01 -7.82552343e-01 -2.02747695e-01 2.42779677e+02] [ 7.43500757e-01 6.22545630e-01 -2.44220317e-01 1.95465905e+01] [ 3.17334873e-01 -6.98352631e-03 9.48287830e-01 -1.06632850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98864 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:242.84, Y:19.52, Z:-106.62 [[ 5.81749714e-01 -7.63286837e-01 -2.80999065e-01 2.42842613e+02] [ 7.33365959e-01 6.41646098e-01 -2.24643394e-01 1.95244534e+01] [ 3.51769300e-01 -7.53889185e-02 9.33046018e-01 -1.06620300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01864 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:242.77, Y:19.62, Z:-106.61 [[ 5.90894679e-01 -7.93236751e-01 -1.47033788e-01 2.42770300e+02] [ 7.40121197e-01 6.05540798e-01 -2.92473854e-01 1.96236074e+01] [ 3.21035967e-01 6.39984209e-02 9.44902170e-01 -1.06612490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04864 meters Centerline goodness : 0.997745 Centerline is valid? [True, True] Translation: X:242.83, Y:19.61, Z:-106.60 [[ 5.93712063e-01 -7.78255822e-01 -2.04508829e-01 2.42831820e+02] [ 7.38128712e-01 6.27931395e-01 -2.46714750e-01 1.96067133e+01] [ 3.20424705e-01 -4.47631530e-03 9.47263412e-01 -1.06603894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07864 meters Centerline goodness : 0.997596 Centerline is valid? [True, True] Translation: X:242.85, Y:19.63, Z:-106.59 [[ 5.94520168e-01 -7.77875205e-01 -2.03607305e-01 2.42848708e+02] [ 7.37995380e-01 6.28405628e-01 -2.45904829e-01 1.96264039e+01] [ 3.19231246e-01 -4.06587050e-03 9.47668128e-01 -1.06594705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10864 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:242.87, Y:19.65, Z:-106.59 [[ 5.95039330e-01 -7.77641085e-01 -2.02984085e-01 2.42866266e+02] [ 7.37905824e-01 6.28697323e-01 -2.45427525e-01 1.96458888e+01] [ 3.18470078e-01 -3.74410889e-03 9.47925520e-01 -1.06585438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.13864 meters Centerline goodness : 0.998184 Centerline is valid? [True, True] Translation: X:242.88, Y:19.67, Z:-106.58 [[ 5.95293737e-01 -7.77559975e-01 -2.02548397e-01 2.42883735e+02] [ 7.37902792e-01 6.28798991e-01 -2.45176055e-01 1.96659243e+01] [ 3.18001315e-01 -3.50925782e-03 9.48083777e-01 -1.06575289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:242.96, Y:19.62, Z:-106.56 [[ 5.84737601e-01 -7.51886260e-01 -3.04547188e-01 2.42961833e+02] [ 7.31679967e-01 6.50948674e-01 -2.02262825e-01 1.96247465e+01] [ 3.50323227e-01 -1.04560398e-01 9.30774280e-01 -1.06559852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.19864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:242.85, Y:19.76, Z:-106.55 [[ 5.93872120e-01 -7.96419007e-01 -1.14160727e-01 2.42849297e+02] [ 7.40254038e-01 5.96463270e-01 -3.10250749e-01 1.97600396e+01] [ 3.15182273e-01 9.97413308e-02 9.43775292e-01 -1.06550934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22864 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:242.95, Y:19.71, Z:-106.54 [[ 5.85676400e-01 -7.73999268e-01 -2.40641410e-01 2.42950757e+02] [ 7.32980324e-01 6.32487980e-01 -2.50397285e-01 1.97085376e+01] [ 3.46010115e-01 -2.97336382e-02 9.37759517e-01 -1.06542519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.25864 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:242.95, Y:19.74, Z:-106.53 [[ 5.85569591e-01 -7.79851159e-01 -2.21224827e-01 2.42952373e+02] [ 7.33212487e-01 6.25930163e-01 -2.65727080e-01 1.97415718e+01] [ 3.45698863e-01 -6.60310809e-03 9.38322277e-01 -1.06532916e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28864 meters Centerline goodness : 0.998078 Centerline is valid? [True, True] Translation: X:243.01, Y:19.73, Z:-106.52 [[ 5.86289722e-01 -7.63407173e-01 -2.71060600e-01 2.43011002e+02] [ 7.34802488e-01 6.42016077e-01 -2.18816499e-01 1.97263716e+01] [ 3.41071348e-01 -7.08861388e-02 9.37360918e-01 -1.06520419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.31864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:242.94, Y:19.82, Z:-106.51 [[ 5.85999778e-01 -7.93116991e-01 -1.66041257e-01 2.42941741e+02] [ 7.31389581e-01 6.05910413e-01 -3.12956631e-01 1.98208437e+01] [ 3.48817348e-01 6.19516711e-02 9.35140871e-01 -1.06514119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:243.03, Y:19.78, Z:-106.50 [[ 5.80285314e-01 -7.70940109e-01 -2.62526765e-01 2.43029240e+02] [ 7.29604988e-01 6.35336340e-01 -2.53030228e-01 1.97804722e+01] [ 3.61863946e-01 -4.47111123e-02 9.31158097e-01 -1.06501594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.37864 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:242.97, Y:19.87, Z:-106.49 [[ 5.94909999e-01 -7.92449168e-01 -1.34560062e-01 2.42973912e+02] [ 7.42108221e-01 6.05818737e-01 -2.86808378e-01 1.98654086e+01] [ 3.08800067e-01 7.07670438e-02 9.48490666e-01 -1.06492137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:243.04, Y:19.84, Z:-106.48 [[ 5.96308654e-01 -7.78800873e-01 -1.94641181e-01 2.43040406e+02] [ 7.42160060e-01 6.27260514e-01 -2.36098904e-01 1.98449541e+01] [ 3.05964760e-01 -3.66709110e-03 9.52035776e-01 -1.06482990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.43864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:243.06, Y:19.86, Z:-106.47 [[ 5.96058137e-01 -7.79053026e-01 -1.94399280e-01 2.43057740e+02] [ 7.42432323e-01 6.26947620e-01 -2.36073987e-01 1.98641647e+01] [ 3.05792320e-01 -3.61448816e-03 9.52091378e-01 -1.06473137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:243.08, Y:19.88, Z:-106.46 [[ 5.95285445e-01 -7.79648805e-01 -1.94378447e-01 2.43076512e+02] [ 7.42981738e-01 6.26205808e-01 -2.36314245e-01 1.98836320e+01] [ 3.05963031e-01 -3.74520574e-03 9.52036027e-01 -1.06464200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.49864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:243.10, Y:19.90, Z:-106.46 [[ 5.94485519e-01 -7.80184980e-01 -1.94675023e-01 2.43095057e+02] [ 7.43345062e-01 6.25537016e-01 -2.36942104e-01 1.99026236e+01] [ 3.06635104e-01 -3.85206732e-03 9.51819350e-01 -1.06455230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:243.16, Y:19.88, Z:-106.44 [[ 5.81604649e-01 -7.63150223e-01 -2.81669610e-01 2.43156537e+02] [ 7.32267210e-01 6.41963729e-01 -2.27304429e-01 1.98790266e+01] [ 3.54289099e-01 -7.40561070e-02 9.32198974e-01 -1.06440861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.55864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:243.17, Y:19.90, Z:-106.43 [[ 5.85130797e-01 -7.64370728e-01 -2.70849295e-01 2.43169480e+02] [ 7.33681178e-01 6.41262216e-01 -2.24710256e-01 1.99020514e+01] [ 3.45447361e-01 -6.72321387e-02 9.36026688e-01 -1.06430156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:243.08, Y:20.01, Z:-106.42 [[ 5.89081781e-01 -7.96068492e-01 -1.38771796e-01 2.43084638e+02] [ 7.31009210e-01 5.98176273e-01 -3.28345367e-01 2.00084062e+01] [ 3.44395398e-01 9.19788125e-02 9.34308144e-01 -1.06423531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.61864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:243.16, Y:19.98, Z:-106.41 [[ 5.89647332e-01 -7.78683849e-01 -2.14400295e-01 2.43164133e+02] [ 7.31667236e-01 6.27416445e-01 -2.66480129e-01 1.99784843e+01] [ 3.42022044e-01 2.59625558e-04 9.39691893e-01 -1.06414924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:243.23, Y:19.95, Z:-106.40 [[ 5.92898606e-01 -7.57091343e-01 -2.74379191e-01 2.43227604e+02] [ 7.30868318e-01 6.48964800e-01 -2.11367429e-01 1.99497862e+01] [ 3.38086888e-01 -7.52156040e-02 9.38104402e-01 -1.06401654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.67864000000003 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:243.15, Y:20.06, Z:-106.40 [[ 5.98949775e-01 -7.86399524e-01 -1.51112393e-01 2.43151837e+02] [ 7.26384021e-01 6.12972813e-01 -3.10854603e-01 2.00583592e+01] [ 3.37083701e-01 7.64206669e-02 9.38367977e-01 -1.06395214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:243.23, Y:20.03, Z:-106.39 [[ 5.97409028e-01 -7.68901731e-01 -2.27799433e-01 2.43228372e+02] [ 7.26200831e-01 6.39208353e-01 -2.53071204e-01 2.00276945e+01] [ 3.40198187e-01 -1.42411155e-02 9.40245917e-01 -1.06385047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73864 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:243.24, Y:20.05, Z:-106.37 [[ 6.01090476e-01 -7.67078799e-01 -2.24232815e-01 2.43243511e+02] [ 7.23313304e-01 6.41495425e-01 -2.55541553e-01 2.00488068e+01] [ 3.39864832e-01 -8.58698433e-03 9.40435091e-01 -1.06374891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76864 meters Centerline goodness : 0.997743 Centerline is valid? [True, True] Translation: X:243.25, Y:20.08, Z:-106.37 [[ 6.03583442e-01 -7.69681856e-01 -2.08030934e-01 2.43249623e+02] [ 7.22632275e-01 6.38353737e-01 -2.65154862e-01 2.00788434e+01] [ 3.36882211e-01 9.71321737e-03 9.41496697e-01 -1.06367352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79864 meters Centerline goodness : 0.997500 Centerline is valid? [True, True] Translation: X:243.28, Y:20.09, Z:-106.36 [[ 6.06096146e-01 -7.62805739e-01 -2.25332788e-01 2.43277559e+02] [ 7.18594047e-01 6.46592418e-01 -2.56009456e-01 2.00887717e+01] [ 3.40983955e-01 -6.75645510e-03 9.40044836e-01 -1.06356676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:243.29, Y:20.12, Z:-106.35 [[ 6.08198122e-01 -7.64388443e-01 -2.14021849e-01 2.43286868e+02] [ 7.18581116e-01 6.44738492e-01 -2.60678839e-01 2.01150604e+01] [ 3.37248016e-01 4.75232129e-03 9.41403841e-01 -1.06348137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:243.29, Y:20.14, Z:-106.34 [[ 6.10925223e-01 -7.65768678e-01 -2.00919646e-01 2.43294883e+02] [ 7.18135706e-01 6.42849151e-01 -2.66507180e-01 2.01434158e+01] [ 3.33243875e-01 1.85283868e-02 9.42658591e-01 -1.06340440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.88864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:243.32, Y:20.16, Z:-106.33 [[ 6.13819077e-01 -7.60244867e-01 -2.12729601e-01 2.43318981e+02] [ 7.17039307e-01 6.49631628e-01 -2.52652684e-01 2.01563283e+01] [ 3.30273783e-01 2.54755208e-03 9.43881739e-01 -1.06329872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:243.35, Y:20.17, Z:-106.32 [[ 6.14587089e-01 -7.54130324e-01 -2.31452295e-01 2.43346492e+02] [ 7.14746584e-01 6.56498718e-01 -2.41136380e-01 2.01665872e+01] [ 3.33796392e-01 -1.72304316e-02 9.42487709e-01 -1.06317766e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.94864 meters Centerline goodness : 0.997549 Centerline is valid? [True, True] Translation: X:243.33, Y:20.22, Z:-106.31 [[ 6.21596182e-01 -7.60125860e-01 -1.89279855e-01 2.43330218e+02] [ 7.12850866e-01 6.49075082e-01 -2.65603428e-01 2.02169735e+01] [ 3.24748871e-01 3.01697683e-02 9.45318970e-01 -1.06312000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:243.33, Y:20.25, Z:-106.31 [[ 6.30361028e-01 -7.63751557e-01 -1.39027096e-01 2.43327099e+02] [ 7.23463520e-01 6.42900313e-01 -2.51554614e-01 2.02546326e+01] [ 2.81505791e-01 5.79891924e-02 9.57805692e-01 -1.06307210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.00864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:243.40, Y:20.23, Z:-106.29 [[ 6.21075587e-01 -7.44693928e-01 -2.44327788e-01 2.43404108e+02] [ 7.12615612e-01 6.66335323e-01 -2.19490834e-01 2.02250127e+01] [ 3.26257727e-01 -3.77913979e-02 9.44525122e-01 -1.06293564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03864 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:243.39, Y:20.27, Z:-106.29 [[ 6.18187134e-01 -7.57446927e-01 -2.10044807e-01 2.43388221e+02] [ 7.15123263e-01 6.52883595e-01 -2.49683261e-01 2.02708563e+01] [ 3.26256627e-01 4.14305137e-03 9.45272156e-01 -1.06285263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.06864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:243.37, Y:20.32, Z:-106.28 [[ 6.24863703e-01 -7.68457012e-01 -1.37910022e-01 2.43372369e+02] [ 7.29454080e-01 6.37603241e-01 -2.47707190e-01 2.03198984e+01] [ 2.78284205e-01 5.41842037e-02 9.58969224e-01 -1.06279550e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09864 meters Centerline goodness : 0.998282 Centerline is valid? [True, True] Translation: X:243.42, Y:20.32, Z:-106.27 [[ 6.22073791e-01 -7.62872791e-01 -1.76208125e-01 2.43420414e+02] [ 7.31203802e-01 6.46515615e-01 -2.17620219e-01 2.03157865e+01] [ 2.79937848e-01 6.53178397e-03 9.59995905e-01 -1.06271166e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.12864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:243.47, Y:20.31, Z:-106.26 [[ 6.07994370e-01 -7.57180659e-01 -2.38789231e-01 2.43465488e+02] [ 7.27059359e-01 6.51822153e-01 -2.15667729e-01 2.03103222e+01] [ 3.18947544e-01 -4.24891796e-02 9.46819483e-01 -1.06258248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15864 meters Centerline goodness : 0.948400 Centerline is valid? [True, False] Translation: X:243.51, Y:20.32, Z:-106.24 [[ 6.21901634e-01 -7.32891268e-01 -2.75878137e-01 2.43508925e+02] [ 7.10455261e-01 6.76221084e-01 -1.94880393e-01 2.03178213e+01] [ 3.29380751e-01 -7.48026391e-02 9.41229455e-01 -1.06238408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.18864 meters Centerline goodness : 0.999019 Centerline is valid? [False, True] Translation: X:243.55, Y:20.32, Z:-106.22 [[ 6.34892408e-01 -7.06400872e-01 -3.12904840e-01 2.43554147e+02] [ 6.93415718e-01 6.99601348e-01 -1.72431425e-01 2.03243010e+01] [ 3.40714357e-01 -1.07497732e-01 9.34001052e-01 -1.06216607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:243.50, Y:20.41, Z:-106.21 [[ 6.37949730e-01 -7.35915283e-01 -2.26823365e-01 2.43504438e+02] [ 6.92254507e-01 6.77069756e-01 -2.49720330e-01 2.04068577e+01] [ 3.37348248e-01 2.28952041e-03 9.41377139e-01 -1.06212842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.24864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:243.51, Y:20.44, Z:-106.20 [[ 6.40414687e-01 -7.41505353e-01 -2.00097076e-01 2.43505433e+02] [ 6.94365546e-01 6.70333547e-01 -2.61743049e-01 2.04414274e+01] [ 3.28215655e-01 2.86835778e-02 9.44167218e-01 -1.06204313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:243.56, Y:20.43, Z:-106.19 [[ 6.36582826e-01 -7.31096901e-01 -2.45478362e-01 2.43555040e+02] [ 6.93541333e-01 6.81908479e-01 -2.32381681e-01 2.04313273e+01] [ 3.37287303e-01 -2.23192032e-02 9.41137146e-01 -1.06194663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.30864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:243.52, Y:20.51, Z:-106.19 [[ 6.48661299e-01 -7.47517433e-01 -1.43025193e-01 2.43518545e+02] [ 7.03293860e-01 6.60559499e-01 -2.62752535e-01 2.05050336e+01] [ 2.90888750e-01 6.98486607e-02 9.54203804e-01 -1.06187433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:243.58, Y:20.49, Z:-106.18 [[ 6.50100373e-01 -7.34364812e-01 -1.95135409e-01 2.43578155e+02] [ 7.01152294e-01 6.78735288e-01 -2.18412152e-01 2.04874673e+01] [ 2.92839487e-01 5.17018182e-03 9.56147637e-01 -1.06178130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.36864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:243.63, Y:20.47, Z:-106.16 [[ 6.37407001e-01 -7.19493562e-01 -2.75755923e-01 2.43631509e+02] [ 6.91756229e-01 6.91977079e-01 -2.06497073e-01 2.04693449e+01] [ 3.39390093e-01 -5.91331976e-02 9.38785188e-01 -1.06162747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39864 meters Centerline goodness : 0.776787 Centerline is valid? [True, False] Translation: X:243.67, Y:20.48, Z:-106.14 [[ 6.50411702e-01 -6.92730471e-01 -3.11591258e-01 2.43674068e+02] [ 6.74117302e-01 7.15469874e-01 -1.83490390e-01 2.04752007e+01] [ 3.50043542e-01 -9.07047617e-02 9.32331575e-01 -1.06141622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.42864000000003 meters Centerline goodness : 0.999559 Centerline is valid? [False, True] Translation: X:243.71, Y:20.49, Z:-106.12 [[ 6.68323084e-01 -6.65136380e-01 -3.33073343e-01 2.43712165e+02] [ 6.54892095e-01 7.38457867e-01 -1.60612337e-01 2.04855148e+01] [ 3.52789738e-01 -1.10786167e-01 9.29120996e-01 -1.06121780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:243.66, Y:20.58, Z:-106.12 [[ 6.71924488e-01 -6.98571033e-01 -2.45999988e-01 2.43663113e+02] [ 6.53304029e-01 7.15519207e-01 -2.47439102e-01 2.05754039e+01] [ 3.48871506e-01 5.54760880e-03 9.37154148e-01 -1.06118876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:243.68, Y:20.59, Z:-106.11 [[ 6.71618180e-01 -6.98045367e-01 -2.48317713e-01 2.43683603e+02] [ 6.55056210e-01 7.16053213e-01 -2.41182829e-01 2.05910691e+01] [ 3.46165253e-01 -6.79286816e-04 9.38173308e-01 -1.06109151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:243.69, Y:20.62, Z:-106.10 [[ 6.72314788e-01 -7.02077202e-01 -2.34692201e-01 2.43691473e+02] [ 6.56484660e-01 7.11972888e-01 -2.49243851e-01 2.06199561e+01] [ 3.42082910e-01 1.34984977e-02 9.39572814e-01 -1.06101641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:243.71, Y:20.64, Z:-106.09 [[ 6.71381093e-01 -7.01993817e-01 -2.37596524e-01 2.43709626e+02] [ 6.57546755e-01 7.12127216e-01 -2.45981896e-01 2.06372526e+01] [ 3.41876721e-01 8.91677130e-03 9.39702505e-01 -1.06092691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:243.71, Y:20.67, Z:-106.08 [[ 6.73076090e-01 -7.06594692e-01 -2.18386168e-01 2.43714610e+02] [ 6.58922920e-01 7.07026883e-01 -2.56775333e-01 2.06714990e+01] [ 3.35840979e-01 2.89296861e-02 9.41474328e-01 -1.06084536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:243.76, Y:20.67, Z:-106.08 [[ 6.71200358e-01 -6.97983706e-01 -2.49617359e-01 2.43755473e+02] [ 6.58866094e-01 7.16048026e-01 -2.30587717e-01 2.06674473e+01] [ 3.39684486e-01 -9.69385641e-03 9.40489489e-01 -1.06075509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.63864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:243.73, Y:20.73, Z:-106.07 [[ 6.82355784e-01 -7.12289511e-01 -1.64420912e-01 2.43729251e+02] [ 6.69463552e-01 6.99224331e-01 -2.50806475e-01 2.07310185e+01] [ 2.93613924e-01 6.10654409e-02 9.53971633e-01 -1.06065066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:243.82, Y:20.67, Z:-106.05 [[ 6.69107569e-01 -6.84438073e-01 -2.89550662e-01 2.43818431e+02] [ 6.60858669e-01 7.26204545e-01 -1.89453897e-01 2.06745363e+01] [ 3.39942467e-01 -6.45870288e-02 9.38225791e-01 -1.06053157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.69864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:243.79, Y:20.74, Z:-106.05 [[ 6.71942365e-01 -7.04752025e-01 -2.27635763e-01 2.43788041e+02] [ 6.60284611e-01 7.09282749e-01 -2.46864771e-01 2.07429866e+01] [ 3.35436567e-01 1.55745067e-02 9.41934044e-01 -1.06045973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:243.80, Y:20.77, Z:-106.04 [[ 6.74859234e-01 -7.03924935e-01 -2.21482957e-01 2.43801578e+02] [ 6.60135481e-01 7.10013816e-01 -2.45156129e-01 2.07668846e+01] [ 3.29827472e-01 1.92371194e-02 9.43845206e-01 -1.06036946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.75864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:243.84, Y:20.77, Z:-106.03 [[ 6.73021448e-01 -6.96671012e-01 -2.48378003e-01 2.43838233e+02] [ 6.59972858e-01 7.17264125e-01 -2.23535235e-01 2.07666047e+01] [ 3.33883149e-01 -1.34787332e-02 9.42518099e-01 -1.06027687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:243.84, Y:20.80, Z:-106.02 [[ 6.72973680e-01 -7.01136557e-01 -2.35613995e-01 2.43841646e+02] [ 6.60472851e-01 7.13021724e-01 -2.35320281e-01 2.07979906e+01] [ 3.32989548e-01 2.74770876e-03 9.42926514e-01 -1.06018755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.81864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:243.86, Y:20.82, Z:-106.01 [[ 6.72396696e-01 -7.02387241e-01 -2.33526972e-01 2.43857428e+02] [ 6.62163533e-01 7.11789087e-01 -2.34298422e-01 2.08178073e+01] [ 3.30790173e-01 2.90843977e-03 9.43699848e-01 -1.06010164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:243.83, Y:20.88, Z:-106.00 [[ 6.80725817e-01 -7.18101360e-01 -1.44716269e-01 2.43833911e+02] [ 6.75591003e-01 6.91802077e-01 -2.54924858e-01 2.08816746e+01] [ 2.83176903e-01 7.57649231e-02 9.56070352e-01 -1.06000763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.87864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:243.92, Y:20.83, Z:-105.99 [[ 6.67609004e-01 -6.98661850e-01 -2.57234983e-01 2.43920475e+02] [ 6.70685701e-01 7.14374434e-01 -1.99624293e-01 2.08329411e+01] [ 3.23231974e-01 -3.92528488e-02 9.45505317e-01 -1.05993654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:243.92, Y:20.87, Z:-105.98 [[ 6.66132945e-01 -7.06213364e-01 -2.39853255e-01 2.43922781e+02] [ 6.71258182e-01 7.07850284e-01 -2.19910047e-01 2.08672722e+01] [ 3.25083608e-01 -1.45141327e-02 9.45573893e-01 -1.05983604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.93864 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:243.92, Y:20.90, Z:-105.97 [[ 6.64837218e-01 -7.15051519e-01 -2.16085166e-01 2.43922510e+02] [ 6.74676060e-01 6.98970539e-01 -2.37175885e-01 2.09033238e+01] [ 3.20630141e-01 1.18958678e-02 9.47129770e-01 -1.05974281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96864 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:243.97, Y:20.89, Z:-105.96 [[ 6.59171477e-01 -7.03699193e-01 -2.65142245e-01 2.43973620e+02] [ 6.74015388e-01 7.09226003e-01 -2.06643976e-01 2.08907953e+01] [ 3.33460973e-01 -4.24961385e-02 9.41805637e-01 -1.05964938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.99864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:243.94, Y:20.96, Z:-105.96 [[ 6.63736210e-01 -7.24092574e-01 -1.87467833e-01 2.43939499e+02] [ 6.77845222e-01 6.88266167e-01 -2.58487017e-01 2.09601754e+01] [ 3.16196296e-01 4.44930184e-02 9.47649869e-01 -1.05955354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:243.96, Y:20.98, Z:-105.95 [[ 6.72004539e-01 -7.24169357e-01 -1.54882669e-01 2.43958301e+02] [ 6.88226490e-01 6.87932235e-01 -2.30420354e-01 2.09832463e+01] [ 2.73412140e-01 4.82491678e-02 9.60686119e-01 -1.05947779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.05864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:244.01, Y:20.97, Z:-105.94 [[ 6.71859442e-01 -7.15623624e-01 -1.91017586e-01 2.44007244e+02] [ 6.88613968e-01 6.98485755e-01 -1.94752286e-01 2.09741102e+01] [ 2.72792399e-01 -6.91216127e-04 9.62072673e-01 -1.05941671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:244.03, Y:20.99, Z:-105.93 [[ 6.70909243e-01 -7.16498186e-01 -1.91078876e-01 2.44027540e+02] [ 6.89443660e-01 6.97588389e-01 -1.95033021e-01 2.09919814e+01] [ 2.73035211e-01 -8.88662977e-04 9.62003630e-01 -1.05933032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.11864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:244.05, Y:21.01, Z:-105.92 [[ 6.70774211e-01 -7.16786665e-01 -1.90470036e-01 2.44046797e+02] [ 6.89858271e-01 6.97292019e-01 -1.94626325e-01 2.10104710e+01] [ 2.72318791e-01 -8.47010420e-04 9.62206713e-01 -1.05924983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:244.07, Y:21.03, Z:-105.92 [[ 6.70864524e-01 -7.16563786e-01 -1.90989874e-01 2.44067143e+02] [ 6.89414747e-01 6.97521311e-01 -1.95374837e-01 2.10283146e+01] [ 2.73218040e-01 -6.01188758e-04 9.61951943e-01 -1.05917898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.17864000000003 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:244.09, Y:21.05, Z:-105.91 [[ 6.70886860e-01 -7.16868680e-01 -1.89763318e-01 2.44086396e+02] [ 6.90025207e-01 6.97207987e-01 -1.94335372e-01 2.10461511e+01] [ 2.71617442e-01 -5.64424898e-04 9.62405136e-01 -1.05908418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:244.14, Y:21.03, Z:-105.90 [[ 6.58974066e-01 -7.02599157e-01 -2.68528592e-01 2.44140878e+02] [ 6.81770089e-01 7.08739112e-01 -1.81324064e-01 2.10254675e+01] [ 3.17714851e-01 -6.35869058e-02 9.46051785e-01 -1.05897829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:244.18, Y:21.02, Z:-105.88 [[ 6.56201974e-01 -6.91929026e-01 -3.01053473e-01 2.44184766e+02] [ 6.84158930e-01 7.13856971e-01 -1.49448263e-01 2.10158344e+01] [ 3.18316711e-01 -1.07900176e-01 9.41823775e-01 -1.05883771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:244.09, Y:21.15, Z:-105.87 [[ 6.61712407e-01 -7.34190754e-01 -1.51988903e-01 2.44088061e+02] [ 6.80218037e-01 6.73135264e-01 -2.90159161e-01 2.11498299e+01] [ 3.15341263e-01 8.86163231e-02 9.44831749e-01 -1.05873802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:244.16, Y:21.12, Z:-105.87 [[ 6.58283393e-01 -7.21318364e-01 -2.15320208e-01 2.44157857e+02] [ 6.84264670e-01 6.92597553e-01 -2.28233412e-01 2.11155184e+01] [ 3.13759200e-01 2.90625390e-03 9.49498140e-01 -1.05871233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:244.13, Y:21.18, Z:-105.86 [[ 6.69236714e-01 -7.32759184e-01 -1.23232299e-01 2.44134968e+02] [ 6.95700997e-01 6.76169681e-01 -2.42476154e-01 2.11785559e+01] [ 2.61002573e-01 7.65411114e-02 9.62298870e-01 -1.05860674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:244.24, Y:21.11, Z:-105.85 [[ 6.56420308e-01 -7.06457842e-01 -2.64631247e-01 2.44236782e+02] [ 6.87681467e-01 7.04574276e-01 -1.75126493e-01 2.11116520e+01] [ 3.10171854e-01 -6.70254174e-02 9.48314829e-01 -1.05853526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.38864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:244.23, Y:21.16, Z:-105.85 [[ 6.54514118e-01 -7.20032166e-01 -2.30575257e-01 2.44225684e+02] [ 6.86975103e-01 6.93736934e-01 -2.16319843e-01 2.11604471e+01] [ 3.15715817e-01 -1.68150696e-02 9.48704789e-01 -1.05845455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:244.23, Y:21.19, Z:-105.84 [[ 6.55113196e-01 -7.26067503e-01 -2.08932241e-01 2.44229867e+02] [ 6.89125163e-01 6.87598460e-01 -2.28724435e-01 2.11911228e+01] [ 3.09730866e-01 5.85993125e-03 9.50806211e-01 -1.05837624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.44864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:244.26, Y:21.20, Z:-105.83 [[ 6.52197519e-01 -7.25061347e-01 -2.21188697e-01 2.44258957e+02] [ 6.91671679e-01 6.88597067e-01 -2.17771365e-01 2.11982990e+01] [ 3.10207487e-01 -1.09600133e-02 9.50605698e-01 -1.05827988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47864 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:244.28, Y:21.22, Z:-105.82 [[ 6.51305120e-01 -7.25663016e-01 -2.21844153e-01 2.44277746e+02] [ 6.92000025e-01 6.87961495e-01 -2.18734879e-01 2.12173886e+01] [ 3.11348047e-01 -1.10530129e-02 9.50231669e-01 -1.05818700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.50864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:244.35, Y:21.19, Z:-105.81 [[ 6.48297862e-01 -7.06707409e-01 -2.83327585e-01 2.44345375e+02] [ 6.95214054e-01 7.01178079e-01 -1.58198357e-01 2.11886550e+01] [ 3.10463042e-01 -9.44136623e-02 9.45885173e-01 -1.05805371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:244.30, Y:21.27, Z:-105.80 [[ 6.52063447e-01 -7.29268002e-01 -2.07319662e-01 2.44303013e+02] [ 6.91247914e-01 6.84177516e-01 -2.32545583e-01 2.12673998e+01] [ 3.11431504e-01 8.32519087e-03 9.50232135e-01 -1.05800746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.56864 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:244.31, Y:21.30, Z:-105.79 [[ 6.56483428e-01 -7.30178724e-01 -1.89389915e-01 2.44309007e+02] [ 6.85817610e-01 6.82287481e-01 -2.53254808e-01 2.13048833e+01] [ 3.14139641e-01 3.63706459e-02 9.48679852e-01 -1.05789852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:244.35, Y:21.30, Z:-105.78 [[ 6.54201160e-01 -7.26686332e-01 -2.09637345e-01 2.44347088e+02] [ 6.92391068e-01 6.86968914e-01 -2.20608977e-01 2.12960946e+01] [ 3.04327868e-01 -8.28375888e-04 9.52566986e-01 -1.05783283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.62864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:244.39, Y:21.29, Z:-105.77 [[ 6.52466969e-01 -7.17533225e-01 -2.43788689e-01 2.44387968e+02] [ 6.91233932e-01 6.95362386e-01 -1.96638765e-01 2.12932346e+01] [ 3.10616332e-01 -4.02147151e-02 9.49684301e-01 -1.05771719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:244.36, Y:21.36, Z:-105.76 [[ 6.59140008e-01 -7.32663517e-01 -1.69524690e-01 2.44355155e+02] [ 6.91219413e-01 6.79051137e-01 -2.47194816e-01 2.13596898e+01] [ 2.96226557e-01 4.57572367e-02 9.54021018e-01 -1.05764692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.68864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:244.44, Y:21.31, Z:-105.76 [[ 6.55741467e-01 -7.10010570e-01 -2.56686812e-01 2.44441723e+02] [ 6.95405836e-01 7.00392029e-01 -1.60815824e-01 2.13073924e+01] [ 2.93962332e-01 -7.30479027e-02 9.53021590e-01 -1.05755894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:244.38, Y:21.41, Z:-105.75 [[ 6.64823199e-01 -7.33488676e-01 -1.41437179e-01 2.44376018e+02] [ 6.90220336e-01 6.75585011e-01 -2.59192556e-01 2.14121689e+01] [ 2.85667643e-01 7.46944075e-02 9.55413389e-01 -1.05746581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.74864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:244.44, Y:21.39, Z:-105.74 [[ 6.63982744e-01 -7.22984682e-01 -1.90840419e-01 2.44435051e+02] [ 6.93879759e-01 6.90859805e-01 -2.03085227e-01 2.13900743e+01] [ 2.78671483e-01 2.42478219e-03 9.60383426e-01 -1.05741826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:244.45, Y:21.41, Z:-105.74 [[ 6.65025710e-01 -7.24585004e-01 -1.80879454e-01 2.44448007e+02] [ 6.95210849e-01 6.89109486e-01 -2.04474917e-01 2.14128013e+01] [ 2.72805206e-01 1.02317183e-02 9.62014881e-01 -1.05736009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.80864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:244.47, Y:21.42, Z:-105.73 [[ 6.64803726e-01 -7.22330910e-01 -1.90457509e-01 2.44474736e+02] [ 6.94878422e-01 6.91546518e-01 -1.97249567e-01 2.14238071e+01] [ 2.74189686e-01 -1.21256620e-03 9.61674865e-01 -1.05728107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:244.54, Y:21.40, Z:-105.72 [[ 6.61111680e-01 -7.05877960e-01 -2.54298351e-01 2.44540961e+02] [ 6.96483155e-01 7.03413806e-01 -1.41845802e-01 2.13953259e+01] [ 2.79002797e-01 -8.33386012e-02 9.56667192e-01 -1.05716898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.86864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:244.47, Y:21.50, Z:-105.71 [[ 6.68229201e-01 -7.31661588e-01 -1.34688733e-01 2.44472591e+02] [ 6.93791643e-01 6.78227837e-01 -2.42198589e-01 2.15027199e+01] [ 2.68557052e-01 6.83982521e-02 9.60832342e-01 -1.05710529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:244.49, Y:21.52, Z:-105.71 [[ 6.75079850e-01 -7.30565863e-01 -1.02667990e-01 2.44491912e+02] [ 7.03098232e-01 6.79262189e-01 -2.10370517e-01 2.15230803e+01] [ 2.23428001e-01 6.98312149e-02 9.72215783e-01 -1.05705366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.92864000000003 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:244.60, Y:21.46, Z:-105.70 [[ 6.65777908e-01 -7.05347272e-01 -2.43361879e-01 2.44597225e+02] [ 6.96484186e-01 7.04483399e-01 -1.36429170e-01 2.14555700e+01] [ 2.67674347e-01 -7.86661727e-02 9.60292704e-01 -1.05695671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:244.56, Y:21.53, Z:-105.69 [[ 6.73815203e-01 -7.19608954e-01 -1.67737968e-01 2.44561185e+02] [ 6.92408327e-01 6.94186549e-01 -1.96661495e-01 2.15296959e+01] [ 2.57960814e-01 1.63703395e-02 9.66016682e-01 -1.05689487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:244.61, Y:21.52, Z:-105.68 [[ 6.72147905e-01 -7.09489602e-01 -2.11758585e-01 2.44609474e+02] [ 6.91496756e-01 7.03750555e-01 -1.62995069e-01 2.15181878e+01] [ 2.64668529e-01 -3.68735799e-02 9.63634220e-01 -1.05680148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:244.58, Y:21.58, Z:-105.67 [[ 6.79875083e-01 -7.18527451e-01 -1.46588446e-01 2.44584768e+02] [ 6.88808268e-01 6.94300115e-01 -2.08543811e-01 2.15819961e+01] [ 2.51620828e-01 4.08124068e-02 9.66964998e-01 -1.05674047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:244.64, Y:21.57, Z:-105.67 [[ 6.77860539e-01 -7.09162245e-01 -1.93891725e-01 2.44636787e+02] [ 6.88263156e-01 7.04839571e-01 -1.71741103e-01 2.15682441e+01] [ 2.58454867e-01 -1.70320138e-02 9.65873176e-01 -1.05667112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:244.68, Y:21.56, Z:-105.66 [[ 6.75209560e-01 -6.99783471e-01 -2.33227663e-01 2.44681657e+02] [ 6.88725503e-01 7.11311165e-01 -1.40333917e-01 2.15603189e+01] [ 2.64100796e-01 -6.58750371e-02 9.62242822e-01 -1.05656253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10864 meters Centerline goodness : 0.945471 Centerline is valid? [True, False] Translation: X:244.72, Y:21.57, Z:-105.65 [[ 6.87976068e-01 -6.76571134e-01 -2.62565098e-01 2.44715799e+02] [ 6.72763403e-01 7.30242937e-01 -1.18889265e-01 2.15675581e+01] [ 2.72173353e-01 -9.48512196e-02 9.57561963e-01 -1.05645062e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.13864 meters Centerline goodness : 0.999461 Centerline is valid? [False, True] Translation: X:244.75, Y:21.57, Z:-105.63 [[ 6.99855239e-01 -6.52515853e-01 -2.90561019e-01 2.44748937e+02] [ 6.56665610e-01 7.47823299e-01 -9.77271169e-02 2.15709744e+01] [ 2.81056793e-01 -1.22406594e-01 9.51852775e-01 -1.05633802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16864 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:244.66, Y:21.71, Z:-105.63 [[ 7.10817763e-01 -6.93066939e-01 -1.19984688e-01 2.44656212e+02] [ 6.63505300e-01 7.17313865e-01 -2.12653558e-01 2.17098277e+01] [ 2.33449831e-01 7.15474500e-02 9.69733024e-01 -1.05629591e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.19864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:244.75, Y:21.65, Z:-105.62 [[ 7.01220128e-01 -6.70979873e-01 -2.40990338e-01 2.44748730e+02] [ 6.58258550e-01 7.39155192e-01 -1.42636892e-01 2.16533774e+01] [ 2.73835743e-01 -5.86140905e-02 9.59988736e-01 -1.05622958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:244.70, Y:21.74, Z:-105.61 [[ 7.07693807e-01 -6.95087432e-01 -1.26581739e-01 2.44700697e+02] [ 6.67564166e-01 7.16523882e-01 -2.02365041e-01 2.17432033e+01] [ 2.31360236e-01 5.87110536e-02 9.71094977e-01 -1.05614330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.25864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:244.79, Y:21.69, Z:-105.61 [[ 6.95663924e-01 -6.73983039e-01 -2.48593178e-01 2.44792095e+02] [ 6.64465753e-01 7.35226243e-01 -1.33894119e-01 2.16867938e+01] [ 2.73014594e-01 -7.20363451e-02 9.59309020e-01 -1.05607647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:244.73, Y:21.79, Z:-105.60 [[ 7.02911372e-01 -7.01827045e-01 -1.15561245e-01 2.44730507e+02] [ 6.73442843e-01 7.08962226e-01 -2.09397466e-01 2.17911470e+01] [ 2.28889362e-01 6.93639669e-02 9.70978012e-01 -1.05598992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.31864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:244.82, Y:21.74, Z:-105.59 [[ 6.93105352e-01 -6.81042661e-01 -2.36190317e-01 2.44820499e+02] [ 6.68785625e-01 7.29807645e-01 -1.41797704e-01 2.17362998e+01] [ 2.68943785e-01 -5.96799412e-02 9.61305126e-01 -1.05594899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34864 meters Centerline goodness : 0.999754 Centerline is valid? [True, True] Translation: X:244.81, Y:21.79, Z:-105.59 [[ 6.94550162e-01 -6.92700573e-01 -1.94334734e-01 2.44807775e+02] [ 6.67890009e-01 7.21222009e-01 -1.83743707e-01 2.17887304e+01] [ 2.67437859e-01 -2.17500586e-03 9.63572655e-01 -1.05587462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.37864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:244.79, Y:21.84, Z:-105.58 [[ 6.99814168e-01 -7.03551474e-01 -1.23593907e-01 2.44794157e+02] [ 6.77350230e-01 7.08527084e-01 -1.97954635e-01 2.18424947e+01] [ 2.26840906e-01 5.48150966e-02 9.72388044e-01 -1.05578865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:244.89, Y:21.77, Z:-105.57 [[ 6.87697626e-01 -6.78107761e-01 -2.59310314e-01 2.44893136e+02] [ 6.72460081e-01 7.29584601e-01 -1.24514056e-01 2.17748022e+01] [ 2.73622759e-01 -8.87478140e-02 9.57733998e-01 -1.05572237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.43864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:21.85, Z:-105.57 [[ 6.91995217e-01 -6.98872742e-01 -1.80885348e-01 2.44856853e+02] [ 6.70655438e-01 7.15086119e-01 -1.97162689e-01 2.18541771e+01] [ 2.67140231e-01 1.51238950e-02 9.63538979e-01 -1.05566069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.85, Y:21.90, Z:-105.56 [[ 6.99542577e-01 -7.05580054e-01 -1.13123696e-01 2.44849260e+02] [ 6.78870648e-01 7.05618994e-01 -2.03067668e-01 2.19026768e+01] [ 2.23102725e-01 6.52581225e-02 9.72608118e-01 -1.05557432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.49864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:244.91, Y:21.88, Z:-105.56 [[ 7.02078721e-01 -6.93499662e-01 -1.61690101e-01 2.44906230e+02] [ 6.75823714e-01 7.20456950e-01 -1.55576642e-01 2.18841865e+01] [ 2.24383106e-01 -4.69548650e-05 9.74501011e-01 -1.05555100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:244.97, Y:21.85, Z:-105.55 [[ 6.92899142e-01 -6.75892347e-01 -2.51118129e-01 2.44969744e+02] [ 6.68640629e-01 7.32656831e-01 -1.27018415e-01 2.18546567e+01] [ 2.69834187e-01 -7.98968333e-02 9.59586373e-01 -1.05546435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.55864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:244.95, Y:21.92, Z:-105.54 [[ 6.96765854e-01 -6.89503665e-01 -1.97742359e-01 2.44945165e+02] [ 6.64746429e-01 7.24272019e-01 -1.83145374e-01 2.19180830e+01] [ 2.69498664e-01 -3.83908411e-03 9.62993111e-01 -1.05538594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:244.91, Y:21.99, Z:-105.53 [[ 7.09838161e-01 -6.97083004e-01 -1.01020154e-01 2.44913792e+02] [ 6.69433891e-01 7.12265905e-01 -2.11034465e-01 2.19898024e+01] [ 2.19061750e-01 8.21740017e-02 9.72244508e-01 -1.05528084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.61864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:245.03, Y:21.91, Z:-105.52 [[ 7.00676720e-01 -6.66164779e-01 -2.55492898e-01 2.45026305e+02] [ 6.61175018e-01 7.40832380e-01 -1.18384878e-01 2.19104811e+01] [ 2.68141248e-01 -8.59759935e-02 9.59535512e-01 -1.05523456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:244.99, Y:21.99, Z:-105.52 [[ 7.07594085e-01 -6.81921407e-01 -1.85185868e-01 2.44991018e+02] [ 6.56468995e-01 7.31367691e-01 -1.84796536e-01 2.19862905e+01] [ 2.61455675e-01 9.19215502e-03 9.65171712e-01 -1.05515349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.67864000000003 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.97, Y:22.05, Z:-105.51 [[ 7.15726308e-01 -6.91791661e-01 -9.57086731e-02 2.44967957e+02] [ 6.65884240e-01 7.17301523e-01 -2.05126069e-01 2.20495421e+01] [ 2.10556481e-01 8.30832270e-02 9.74044735e-01 -1.05506572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:245.03, Y:22.02, Z:-105.51 [[ 7.15382993e-01 -6.81902931e-01 -1.52432168e-01 2.45031302e+02] [ 6.65779012e-01 7.31431698e-01 -1.47465174e-01 2.20245737e+01] [ 2.12050654e-01 4.00793962e-03 9.77250458e-01 -1.05505126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73864 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:245.09, Y:22.00, Z:-105.50 [[ 7.02903465e-01 -6.70251945e-01 -2.38094621e-01 2.45090162e+02] [ 6.63167064e-01 7.38572475e-01 -1.21326598e-01 2.20001846e+01] [ 2.57169522e-01 -7.26156245e-02 9.63634167e-01 -1.05497635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:245.03, Y:22.11, Z:-105.49 [[ 7.13585191e-01 -6.93960591e-01 -9.59941292e-02 2.45025197e+02] [ 6.69213884e-01 7.15752651e-01 -1.99626953e-01 2.21095557e+01] [ 2.07241291e-01 7.82102334e-02 9.75158555e-01 -1.05485378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:245.09, Y:22.09, Z:-105.48 [[ 7.12026082e-01 -6.86289374e-01 -1.48410758e-01 2.45087733e+02] [ 6.71078963e-01 7.27323469e-01 -1.43713593e-01 2.20862572e+01] [ 2.06571739e-01 2.73248928e-03 9.78427642e-01 -1.05484994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:245.11, Y:22.11, Z:-105.48 [[ 7.10350636e-01 -6.88012062e-01 -1.48463387e-01 2.45107003e+02] [ 6.72815314e-01 7.25695679e-01 -1.43823973e-01 2.21054042e+01] [ 2.06691866e-01 2.27701058e-03 9.78403438e-01 -1.05479950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:245.13, Y:22.13, Z:-105.47 [[ 7.08883851e-01 -6.89309160e-01 -1.49454232e-01 2.45127057e+02] [ 6.73921831e-01 7.24464662e-01 -1.44845845e-01 2.21253420e+01] [ 2.08117878e-01 1.95841085e-03 9.78101791e-01 -1.05473602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.88864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:245.15, Y:22.14, Z:-105.47 [[ 7.06862187e-01 -6.91180275e-01 -1.50385092e-01 2.45147512e+02] [ 6.75631514e-01 7.22680934e-01 -1.45788631e-01 2.21445447e+01] [ 2.09446664e-01 1.44756332e-03 9.77819001e-01 -1.05469060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:245.17, Y:22.16, Z:-105.46 [[ 7.05946929e-01 -6.92218329e-01 -1.49909035e-01 2.45167877e+02] [ 6.76783544e-01 7.21687209e-01 -1.45367149e-01 2.21633260e+01] [ 2.08813238e-01 1.16552447e-03 9.77954842e-01 -1.05462071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.94864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:245.24, Y:22.12, Z:-105.45 [[ 6.90126949e-01 -6.75473835e-01 -2.59730422e-01 2.45242225e+02] [ 6.74114990e-01 7.30570618e-01 -1.08791321e-01 2.21209363e+01] [ 2.63237105e-01 -1.00008348e-01 9.59533510e-01 -1.05450880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:245.15, Y:22.26, Z:-105.44 [[ 7.04337132e-01 -7.06070938e-01 -7.33009891e-02 2.45150763e+02] [ 6.80443132e-01 7.00955402e-01 -2.13678891e-01 2.22577614e+01] [ 2.02253179e-01 1.00624822e-01 9.74150038e-01 -1.05436096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.00864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:245.23, Y:22.22, Z:-105.44 [[ 7.02412891e-01 -6.96552176e-01 -1.46393980e-01 2.45231376e+02] [ 6.81951296e-01 7.17506121e-01 -1.41871057e-01 2.22187675e+01] [ 2.03859170e-01 -1.81504853e-04 9.79000207e-01 -1.05440636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:245.25, Y:22.24, Z:-105.43 [[ 7.01259663e-01 -6.97860673e-01 -1.45689280e-01 2.45252877e+02] [ 6.83421143e-01 7.16233342e-01 -1.41227972e-01 2.22378037e+01] [ 2.02904968e-01 -5.29654078e-04 9.79198291e-01 -1.05434040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.06864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:245.32, Y:22.21, Z:-105.43 [[ 6.88178487e-01 -6.85393952e-01 -2.38003154e-01 2.45317097e+02] [ 6.79459641e-01 7.23851620e-01 -1.19889231e-01 2.22102517e+01] [ 2.54450322e-01 -7.92083480e-02 9.63836641e-01 -1.05425416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:245.29, Y:22.28, Z:-105.42 [[ 6.91325733e-01 -7.01636877e-01 -1.72552668e-01 2.45288998e+02] [ 6.78240951e-01 7.12497458e-01 -1.79823758e-01 2.22757817e+01] [ 2.49114318e-01 7.28450564e-03 9.68446691e-01 -1.05416946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:245.28, Y:22.33, Z:-105.41 [[ 7.00689927e-01 -7.07822392e-01 -8.95605244e-02 2.45276982e+02] [ 6.86043230e-01 7.02896607e-01 -1.87832496e-01 2.23317409e+01] [ 1.95903835e-01 7.01699462e-02 9.78109332e-01 -1.05407852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:245.38, Y:22.27, Z:-105.40 [[ 6.90721836e-01 -6.86589922e-01 -2.26930880e-01 2.45375511e+02] [ 6.79447666e-01 7.23628039e-01 -1.21298519e-01 2.22679948e+01] [ 2.47495888e-01 -7.04041207e-02 9.66327608e-01 -1.05402433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.18864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:245.32, Y:22.37, Z:-105.39 [[ 7.03099362e-01 -7.05210778e-01 -9.12635993e-02 2.45320241e+02] [ 6.83315116e-01 7.05568021e-01 -1.87761070e-01 2.23696355e+01] [ 1.96803808e-01 6.96528919e-02 9.77965611e-01 -1.05393530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:245.38, Y:22.35, Z:-105.39 [[ 7.04149486e-01 -6.95735849e-01 -1.41863071e-01 2.45381539e+02] [ 6.82048387e-01 7.18297728e-01 -1.37325792e-01 2.23484215e+01] [ 1.97442398e-01 -5.95926883e-05 9.80314488e-01 -1.05393015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.24864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:245.40, Y:22.37, Z:-105.39 [[ 7.04229313e-01 -6.95820940e-01 -1.41047134e-01 2.45401859e+02] [ 6.82286308e-01 7.18215299e-01 -1.36572976e-01 2.23683669e+01] [ 1.96332546e-01 -5.58348733e-05 9.80537367e-01 -1.05387519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:245.42, Y:22.39, Z:-105.38 [[ 7.04364615e-01 -6.95785380e-01 -1.40546055e-01 2.45421304e+02] [ 6.82339493e-01 7.18249751e-01 -1.36125352e-01 2.23879326e+01] [ 1.95661199e-01 -1.82433628e-05 9.80671553e-01 -1.05380267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.30864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:245.44, Y:22.41, Z:-105.37 [[ 7.02878748e-01 -6.97170082e-01 -1.41121727e-01 2.45443077e+02] [ 6.83634717e-01 7.16905662e-01 -1.36710808e-01 2.24062814e+01] [ 1.96481650e-01 -3.84590435e-04 9.80507426e-01 -1.05373437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:245.46, Y:22.42, Z:-105.37 [[ 7.01614586e-01 -6.98227976e-01 -1.42178294e-01 2.45464878e+02] [ 6.84500782e-01 7.15875172e-01 -1.37773065e-01 2.24244187e+01] [ 1.97978919e-01 -6.57561496e-04 9.80206057e-01 -1.05368547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.36864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:245.48, Y:22.44, Z:-105.36 [[ 7.01401778e-01 -6.98337347e-01 -1.42690205e-01 2.45484642e+02] [ 6.84504731e-01 7.15768475e-01 -1.38306777e-01 2.24438473e+01] [ 1.98717938e-01 -6.63501451e-04 9.80056499e-01 -1.05362201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:245.50, Y:22.46, Z:-105.36 [[ 7.02159220e-01 -6.97605868e-01 -1.42542914e-01 2.45503819e+02] [ 6.83779529e-01 7.16481590e-01 -1.38201617e-01 2.24643976e+01] [ 1.98539633e-01 -4.28387485e-04 9.80092766e-01 -1.05356839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.42864000000003 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:245.53, Y:22.48, Z:-105.35 [[ 7.02652745e-01 -6.97545755e-01 -1.40388890e-01 2.45525080e+02] [ 6.84129636e-01 7.16540143e-01 -1.36150150e-01 2.24820112e+01] [ 1.95565234e-01 -3.77923983e-04 9.80690622e-01 -1.05348689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:245.55, Y:22.50, Z:-105.34 [[ 7.02221196e-01 -6.98164984e-01 -1.39467011e-01 2.45546825e+02] [ 6.84930913e-01 7.15936719e-01 -1.35293235e-01 2.25001906e+01] [ 1.94306554e-01 -5.19489727e-04 9.80940719e-01 -1.05341616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:245.60, Y:22.48, Z:-105.33 [[ 6.92069687e-01 -6.86313409e-01 -2.23636876e-01 2.45604123e+02] [ 6.80227746e-01 7.23753349e-01 -1.16065944e-01 2.24758635e+01] [ 2.41515552e-01 -7.17982861e-02 9.67737177e-01 -1.05333425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:245.58, Y:22.54, Z:-105.33 [[ 6.94991503e-01 -6.99846482e-01 -1.64929417e-01 2.45577459e+02] [ 6.77951655e-01 7.14235830e-01 -1.73921628e-01 2.25427379e+01] [ 2.39516938e-01 9.05988224e-03 9.70849914e-01 -1.05327943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:245.57, Y:22.59, Z:-105.32 [[ 7.02178109e-01 -7.05623972e-01 -9.50826698e-02 2.45570664e+02] [ 6.85307210e-01 7.06022472e-01 -1.78567346e-01 2.25927498e+01] [ 1.93131902e-01 6.02252423e-02 9.79322719e-01 -1.05321482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:245.63, Y:22.58, Z:-105.32 [[ 7.03377831e-01 -6.97144783e-01 -1.38739966e-01 2.45626055e+02] [ 6.84015711e-01 7.16930344e-01 -1.34660273e-01 2.25774922e+01] [ 1.93344598e-01 -1.83265596e-04 9.81130895e-01 -1.05318649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:245.65, Y:22.60, Z:-105.31 [[ 7.03323314e-01 -6.97408483e-01 -1.37687052e-01 2.45645262e+02] [ 6.84477659e-01 7.16673814e-01 -1.33674899e-01 2.25974763e+01] [ 1.91902713e-01 -2.27037836e-04 9.81413927e-01 -1.05312362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.63864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:245.66, Y:22.62, Z:-105.31 [[ 7.03137079e-01 -6.97520209e-01 -1.38071742e-01 2.45664768e+02] [ 6.84511102e-01 7.16565074e-01 -1.34085968e-01 2.26185260e+01] [ 1.92465061e-01 -2.30824143e-04 9.81303800e-01 -1.05305751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:245.72, Y:22.60, Z:-105.30 [[ 6.92864960e-01 -6.87069831e-01 -2.18799441e-01 2.45720861e+02] [ 6.80154203e-01 7.23495715e-01 -1.18085605e-01 2.25999678e+01] [ 2.39433514e-01 -6.69999811e-02 9.68598263e-01 -1.05297034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.69864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:245.71, Y:22.66, Z:-105.29 [[ 6.96349361e-01 -6.96766299e-01 -1.72088036e-01 2.45705816e+02] [ 6.76939837e-01 7.17296498e-01 -1.65039968e-01 2.26562263e+01] [ 2.38432434e-01 -1.56777027e-03 9.71157823e-01 -1.05290937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:245.72, Y:22.68, Z:-105.28 [[ 6.97713745e-01 -6.96931216e-01 -1.65778197e-01 2.45721290e+02] [ 6.76414297e-01 7.17120297e-01 -1.67935043e-01 2.26785312e+01] [ 2.35922084e-01 5.03584521e-03 9.71758926e-01 -1.05284690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.75864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:245.74, Y:22.70, Z:-105.28 [[ 6.98563647e-01 -6.96040573e-01 -1.65940811e-01 2.45740625e+02] [ 6.76557656e-01 7.17999732e-01 -1.63542418e-01 2.26978141e+01] [ 2.32977616e-01 1.97626243e-03 9.72480090e-01 -1.05277241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:245.73, Y:22.75, Z:-105.27 [[ 7.06310145e-01 -7.01817752e-01 -9.26165331e-02 2.45729103e+02] [ 6.82617025e-01 7.09882296e-01 -1.73496750e-01 2.27518305e+01] [ 1.87509936e-01 5.93208924e-02 9.80469814e-01 -1.05269971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.81864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:245.78, Y:22.74, Z:-105.27 [[ 7.07037695e-01 -6.94339483e-01 -1.34128224e-01 2.45782520e+02] [ 6.81959303e-01 7.19647139e-01 -1.30535456e-01 2.27383505e+01] [ 1.87160914e-01 8.23497498e-04 9.82328924e-01 -1.05267523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:245.89, Y:22.66, Z:-105.25 [[ 6.94331768e-01 -6.63725291e-01 -2.78158470e-01 2.45888970e+02] [ 6.81118243e-01 7.30864738e-01 -4.37569875e-02 2.26640796e+01] [ 2.32338836e-01 -1.59076942e-01 9.59538009e-01 -1.05253234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.87864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:245.73, Y:22.87, Z:-105.24 [[ 7.05598645e-01 -7.08458615e-01 -1.47289723e-02 2.45732766e+02] [ 6.85540275e-01 6.87738592e-01 -2.38851755e-01 2.28682313e+01] [ 1.79346267e-01 1.58436171e-01 9.70944332e-01 -1.05236264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:245.88, Y:22.77, Z:-105.25 [[ 6.96597493e-01 -6.87113907e-01 -2.06461645e-01 2.45876823e+02] [ 6.80473684e-01 7.23943010e-01 -1.13411128e-01 2.27653315e+01] [ 2.27392828e-01 -6.14898085e-02 9.71859818e-01 -1.05245452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.93864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:245.86, Y:22.83, Z:-105.24 [[ 6.99291664e-01 -6.98704783e-01 -1.51005944e-01 2.45856987e+02] [ 6.79855494e-01 7.15336077e-01 -1.61526481e-01 2.28254807e+01] [ 2.20879324e-01 1.02919005e-02 9.75246841e-01 -1.05238202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:245.88, Y:22.84, Z:-105.23 [[ 6.99977273e-01 -6.98110020e-01 -1.50579604e-01 2.45878284e+02] [ 6.80842682e-01 7.15968907e-01 -1.54407792e-01 2.28421018e+01] [ 2.15603941e-01 5.56092381e-03 9.76465062e-01 -1.05231415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.99864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:245.88, Y:22.89, Z:-105.22 [[ 7.06044083e-01 -7.02204813e-01 -9.17068907e-02 2.45876263e+02] [ 6.86844614e-01 7.10557407e-01 -1.52815729e-01 2.28858514e+01] [ 1.72470951e-01 4.49062573e-02 9.83990447e-01 -1.05224736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:246.01, Y:22.79, Z:-105.21 [[ 6.93955162e-01 -6.65139019e-01 -2.75710570e-01 2.46009296e+02] [ 6.84139485e-01 7.28487505e-01 -3.54840841e-02 2.27859985e+01] [ 2.24453554e-01 -1.64000124e-01 9.60585530e-01 -1.05212552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.05864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:245.92, Y:22.93, Z:-105.21 [[ 7.01773088e-01 -7.00651424e-01 -1.28849193e-01 2.45919501e+02] [ 6.78945131e-01 7.12561631e-01 -1.76888190e-01 2.29250929e+01] [ 2.15749953e-01 3.66538390e-02 9.75760449e-01 -1.05206789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:245.99, Y:22.89, Z:-105.21 [[ 6.98850277e-01 -6.87989515e-01 -1.95649474e-01 2.45985436e+02] [ 6.81492224e-01 7.23518418e-01 -1.09952023e-01 2.28893995e+01] [ 2.17201837e-01 -5.64935939e-02 9.74490552e-01 -1.05205859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.11864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:245.87, Y:23.04, Z:-105.18 [[ 7.07796611e-01 -7.06215820e-01 1.68277216e-02 2.45874047e+02] [ 6.88701640e-01 6.84550332e-01 -2.38916082e-01 2.30421312e+01] [ 1.57206895e-01 1.80693273e-01 9.70894399e-01 -1.05179129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.00, Y:22.97, Z:-105.19 [[ 7.08479754e-01 -6.96673870e-01 -1.12702959e-01 2.45998563e+02] [ 6.88015098e-01 7.17387983e-01 -1.09497524e-01 2.29662513e+01] [ 1.57135813e-01 3.54412589e-05 9.87577002e-01 -1.05194733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.17864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.02, Y:22.99, Z:-105.19 [[ 7.08111213e-01 -6.97102716e-01 -1.12366870e-01 2.46020112e+02] [ 6.88520211e-01 7.16971256e-01 -1.09051074e-01 2.29902132e+01] [ 1.56583616e-01 -1.46572461e-04 9.87664695e-01 -1.05188635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:246.12, Y:22.93, Z:-105.18 [[ 6.95639581e-01 -6.74048891e-01 -2.48482728e-01 2.46116272e+02] [ 6.86978398e-01 7.25324532e-01 -4.43283599e-02 2.29295604e+01] [ 2.10110100e-01 -1.39865705e-01 9.67621481e-01 -1.05178481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:246.06, Y:23.03, Z:-105.17 [[ 7.00834197e-01 -6.96946193e-01 -1.51978398e-01 2.46062987e+02] [ 6.82649970e-01 7.17104170e-01 -1.40536931e-01 2.30272123e+01] [ 2.06931022e-01 -5.25496166e-03 9.78341422e-01 -1.05173328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:246.01, Y:23.12, Z:-105.16 [[ 7.05994193e-01 -7.08155881e-01 -9.35139568e-03 2.46008680e+02] [ 6.92447716e-01 6.92984544e-01 -2.00720158e-01 2.31231228e+01] [ 1.48621533e-01 1.35231913e-01 9.79603986e-01 -1.05157761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.13, Y:23.04, Z:-105.16 [[ 7.00253171e-01 -6.92803624e-01 -1.72245859e-01 2.46133805e+02] [ 6.88041581e-01 7.19298258e-01 -9.59624877e-02 2.30366744e+01] [ 1.90379306e-01 -5.13142769e-02 9.80368586e-01 -1.05164036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.10, Y:23.11, Z:-105.16 [[ 7.07268622e-01 -7.03563725e-01 -6.90592576e-02 2.46100050e+02] [ 6.91781630e-01 7.08912204e-01 -1.37410563e-01 2.31144324e+01] [ 1.45634038e-01 4.94122534e-02 9.88103819e-01 -1.05156594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.15, Y:23.11, Z:-105.15 [[ 7.08261180e-01 -6.98119354e-01 -1.04859283e-01 2.46151771e+02] [ 6.90696842e-01 7.15981217e-01 -1.01532112e-01 2.31080966e+01] [ 1.45958809e-01 -5.14722272e-04 9.89290534e-01 -1.05154726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.38864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.21, Y:23.09, Z:-105.15 [[ 7.01450541e-01 -6.89799273e-01 -1.79287761e-01 2.46206775e+02] [ 6.86827966e-01 7.21418116e-01 -8.84491161e-02 2.30905670e+01] [ 1.90353575e-01 -6.10971680e-02 9.79812560e-01 -1.05147991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.19, Y:23.15, Z:-105.14 [[ 7.04186016e-01 -6.98161300e-01 -1.29200828e-01 2.46193417e+02] [ 6.84787806e-01 7.15901901e-01 -1.36198858e-01 2.31451896e+01] [ 1.87583890e-01 7.43417993e-03 9.82220452e-01 -1.05141175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.44864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.22, Y:23.16, Z:-105.14 [[ 7.04872049e-01 -6.96776649e-01 -1.32882265e-01 2.46219524e+02] [ 6.84289316e-01 7.17286275e-01 -1.31333665e-01 2.31624376e+01] [ 1.86824856e-01 1.64351554e-03 9.82391863e-01 -1.05135560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.22, Y:23.21, Z:-105.13 [[ 7.11540118e-01 -6.99758597e-01 -6.36283431e-02 2.46216027e+02] [ 6.88378564e-01 7.12384136e-01 -1.36542283e-01 2.32108257e+01] [ 1.40874459e-01 5.33549250e-02 9.88588711e-01 -1.05132195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.50864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:246.36, Y:23.09, Z:-105.12 [[ 6.93903420e-01 -6.67666635e-01 -2.69665179e-01 2.46360053e+02] [ 6.90409976e-01 7.23278793e-01 -1.42075235e-02 2.30928171e+01] [ 2.04528995e-01 -1.76320881e-01 9.62849333e-01 -1.05118660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.23, Y:23.28, Z:-105.11 [[ 7.08522186e-01 -7.03393939e-01 -5.68619261e-02 2.46230677e+02] [ 6.81229242e-01 7.02770883e-01 -2.05036109e-01 2.32762116e+01] [ 1.84182062e-01 1.06536625e-01 9.77101282e-01 -1.05113534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.56864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.31, Y:23.23, Z:-105.11 [[ 7.06558596e-01 -6.95281711e-01 -1.31750873e-01 2.46310470e+02] [ 6.84039638e-01 7.18734181e-01 -1.24542968e-01 2.32324756e+01] [ 1.81286304e-01 -2.12591420e-03 9.83428064e-01 -1.05114015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.29, Y:23.30, Z:-105.11 [[ 7.14491221e-01 -6.98121285e-01 -4.61407275e-02 2.46293537e+02] [ 6.87088435e-01 7.12579297e-01 -1.41916270e-01 2.32951511e+01] [ 1.31953696e-01 6.96951688e-02 9.88802713e-01 -1.05108364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.62864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.36, Y:23.28, Z:-105.11 [[ 7.17816527e-01 -6.90061216e-01 -9.24929780e-02 2.46356360e+02] [ 6.84287817e-01 7.23750713e-01 -8.90791150e-02 2.32787189e+01] [ 1.28411901e-01 6.50642985e-04 9.91720707e-01 -1.05108312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.41, Y:23.26, Z:-105.10 [[ 7.10184836e-01 -6.82818772e-01 -1.71452686e-01 2.46411433e+02] [ 6.81979392e-01 7.27697015e-01 -7.32199690e-02 2.32594554e+01] [ 1.74761577e-01 -6.49274867e-02 9.82467716e-01 -1.05100531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.68864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.36, Y:23.36, Z:-105.10 [[ 7.18234530e-01 -6.94216085e-01 -4.69381299e-02 2.46361793e+02] [ 6.83779444e-01 7.16703095e-01 -1.37048695e-01 2.33566222e+01] [ 1.28782112e-01 6.63377769e-02 9.89451599e-01 -1.05095348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.42, Y:23.35, Z:-105.09 [[ 7.19513878e-01 -6.88124464e-01 -9.37256774e-02 2.46419124e+02] [ 6.82205514e-01 7.25592157e-01 -9.00647433e-02 2.33452630e+01] [ 1.29982370e-01 8.62658777e-04 9.91515930e-01 -1.05093527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.74864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:246.47, Y:23.33, Z:-105.09 [[ 7.11370273e-01 -6.81847340e-01 -1.70401115e-01 2.46472595e+02] [ 6.80644738e-01 7.28792028e-01 -7.47323307e-02 2.33283556e+01] [ 1.75143015e-01 -6.28202640e-02 9.82536787e-01 -1.05085905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.42, Y:23.42, Z:-105.08 [[ 7.18315317e-01 -6.94290943e-01 -4.45330367e-02 2.46424653e+02] [ 6.84722938e-01 7.16848537e-01 -1.31463579e-01 2.34229046e+01] [ 1.23197414e-01 6.39395106e-02 9.90320219e-01 -1.05079212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.80864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:246.51, Y:23.37, Z:-105.08 [[ 7.10759679e-01 -6.84368242e-01 -1.62667722e-01 2.46511837e+02] [ 6.83288339e-01 7.26637513e-01 -7.15190257e-02 2.33718981e+01] [ 1.67145819e-01 -6.03161181e-02 9.84085485e-01 -1.05075586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.50, Y:23.43, Z:-105.07 [[ 7.10812668e-01 -6.93445458e-01 -1.17808100e-01 2.46499733e+02] [ 6.83727814e-01 7.20507141e-01 -1.15696740e-01 2.34291995e+01] [ 1.65110956e-01 1.69003416e-03 9.86273550e-01 -1.05071213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.86864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:246.49, Y:23.48, Z:-105.07 [[ 7.11996158e-01 -7.00759556e-01 -4.46935903e-02 2.46491310e+02] [ 6.91786793e-01 7.10944265e-01 -1.26448746e-01 2.34837010e+01] [ 1.20384819e-01 5.91125858e-02 9.90965790e-01 -1.05067134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:246.55, Y:23.47, Z:-105.07 [[ 7.12266593e-01 -6.96578532e-01 -8.63403049e-02 2.46547806e+02] [ 6.91664783e-01 7.17480007e-01 -8.25970130e-02 2.34728566e+01] [ 1.19482749e-01 -8.87455204e-04 9.92835880e-01 -1.05065338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.92864000000003 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.57, Y:23.50, Z:-105.06 [[ 7.12103724e-01 -6.96859857e-01 -8.54085847e-02 2.46570988e+02] [ 6.92064131e-01 7.17206642e-01 -8.16202849e-02 2.34966902e+01] [ 1.18133504e-01 -9.86109112e-04 9.92997232e-01 -1.05061088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:246.59, Y:23.52, Z:-105.06 [[ 7.12160155e-01 -6.96809403e-01 -8.53496954e-02 2.46594640e+02] [ 6.92030141e-01 7.17255587e-01 -8.14782621e-02 2.35195922e+01] [ 1.17992365e-01 -1.03899000e-03 9.93013959e-01 -1.05056580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:246.62, Y:23.54, Z:-105.05 [[ 7.12018570e-01 -6.96829951e-01 -8.63572488e-02 2.46618294e+02] [ 6.91947590e-01 7.17235503e-01 -8.23514761e-02 2.35423847e+01] [ 1.19323460e-01 -1.11890994e-03 9.92854803e-01 -1.05052531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:246.64, Y:23.57, Z:-105.05 [[ 7.12616521e-01 -6.96302339e-01 -8.56781620e-02 2.46640336e+02] [ 6.91503021e-01 7.17747782e-01 -8.16191908e-02 2.35667693e+01] [ 1.18326944e-01 -1.08352411e-03 9.92974098e-01 -1.05047885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:246.66, Y:23.59, Z:-105.04 [[ 7.13447233e-01 -6.95560963e-01 -8.47820319e-02 2.46662524e+02] [ 6.90866408e-01 7.18466371e-01 -8.06825920e-02 2.35907344e+01] [ 1.17032700e-01 -1.01028581e-03 9.93127548e-01 -1.05042673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:246.68, Y:23.62, Z:-105.04 [[ 7.15110100e-01 -6.93922239e-01 -8.41989941e-02 2.46682914e+02] [ 6.89290601e-01 7.20049506e-01 -8.00448337e-02 2.36165356e+01] [ 1.16172334e-01 -7.96706193e-04 9.93228752e-01 -1.05038599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:246.76, Y:23.57, Z:-105.03 [[ 7.10024928e-01 -6.77377169e-01 -1.92418224e-01 2.46764380e+02] [ 6.87264506e-01 7.26126388e-01 -2.01982209e-02 2.35695383e+01] [ 1.53401764e-01 -1.17900975e-01 9.81105121e-01 -1.05031429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.13864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:246.66, Y:23.73, Z:-105.02 [[ 7.14304634e-01 -6.99831162e-01 -2.28781716e-03 2.46659169e+02] [ 6.90201674e-01 7.05009009e-01 -1.63045842e-01 2.37285669e+01] [ 1.15717493e-01 1.14885346e-01 9.86615842e-01 -1.05018448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:246.74, Y:23.69, Z:-105.03 [[ 7.14920986e-01 -6.94189339e-01 -8.36011113e-02 2.46744409e+02] [ 6.89648515e-01 7.19791777e-01 -7.92762429e-02 2.36883340e+01] [ 1.15208115e-01 -9.79132573e-04 9.93340894e-01 -1.05026040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.19864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:246.82, Y:23.64, Z:-105.02 [[ 7.05651764e-01 -6.81068599e-01 -1.95451148e-01 2.46824501e+02] [ 6.90024240e-01 7.23210917e-01 -2.88533710e-02 2.36415605e+01] [ 1.61003529e-01 -1.14505598e-01 9.80288902e-01 -1.05019155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:246.72, Y:23.80, Z:-105.01 [[ 7.10994656e-01 -7.03195738e-01 -1.53408976e-03 2.46724536e+02] [ 6.94192520e-01 7.02236257e-01 -1.57990456e-01 2.37956976e+01] [ 1.12175509e-01 1.11265416e-01 9.87439447e-01 -1.05005366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.25864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:246.81, Y:23.76, Z:-105.01 [[ 7.10888873e-01 -6.98803139e-01 -7.94429521e-02 2.46807756e+02] [ 6.94752742e-01 7.15311849e-01 -7.51504195e-02 2.37573397e+01] [ 1.09341834e-01 -1.76961177e-03 9.94002632e-01 -1.05010980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:246.83, Y:23.78, Z:-105.01 [[ 7.10419124e-01 -6.99326782e-01 -7.90361871e-02 2.46830258e+02] [ 6.95329555e-01 7.14799591e-01 -7.46883808e-02 2.37815373e+01] [ 1.08726619e-01 -1.89614276e-03 9.94069880e-01 -1.05007901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.31864 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:246.85, Y:23.81, Z:-105.00 [[ 7.10269654e-01 -6.99602918e-01 -7.79280181e-02 2.46852121e+02] [ 6.95726964e-01 7.14529145e-01 -7.35669240e-02 2.38053116e+01] [ 1.07149475e-01 -1.96426979e-03 9.94240983e-01 -1.05003124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34864 meters Centerline goodness : 0.997555 Centerline is valid? [True, True] Translation: X:246.93, Y:23.76, Z:-105.00 [[ 7.04043096e-01 -6.85015855e-01 -1.87287473e-01 2.46930894e+02] [ 6.94053886e-01 7.19562330e-01 -2.27872047e-02 2.37595687e+01] [ 1.50374607e-01 -1.13944424e-01 9.82040807e-01 -1.04996243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.37864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:246.83, Y:23.91, Z:-104.98 [[ 7.08193052e-01 -7.06017578e-01 1.33434258e-03 2.46832839e+02] [ 6.98042350e-01 6.99907457e-01 -1.51216496e-01 2.39111137e+01] [ 1.05827588e-01 1.08021900e-01 9.88499768e-01 -1.04980648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40864 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:246.92, Y:23.87, Z:-104.99 [[ 7.11069150e-01 -6.99194767e-01 -7.42114638e-02 2.46917233e+02] [ 6.95693912e-01 7.14928662e-01 -6.99070002e-02 2.38722112e+01] [ 1.01934511e-01 -1.91975233e-03 9.94789259e-01 -1.04988405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.43864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:246.94, Y:23.89, Z:-104.98 [[ 7.11906638e-01 -6.98264425e-01 -7.49381867e-02 2.46941630e+02] [ 6.94696892e-01 7.15837513e-01 -7.05186665e-02 2.38939264e+01] [ 1.02884241e-01 -1.85661868e-03 9.94691603e-01 -1.04984845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46864 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:246.96, Y:23.92, Z:-104.98 [[ 7.12364104e-01 -6.97728944e-01 -7.55758156e-02 2.46964405e+02] [ 6.94104922e-01 7.16359483e-01 -7.10454026e-02 2.39169551e+01] [ 1.03709886e-01 -1.84735100e-03 9.94605875e-01 -1.04980857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.49864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:247.04, Y:23.88, Z:-104.97 [[ 7.08346684e-01 -6.82831508e-01 -1.78846600e-01 2.47042378e+02] [ 6.90861509e-01 7.22629773e-01 -2.27285207e-02 2.38770149e+01] [ 1.44759628e-01 -1.07458560e-01 9.83614410e-01 -1.04974950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52864 meters Centerline goodness : 0.997016 Centerline is valid? [True, True] Translation: X:247.01, Y:23.95, Z:-104.97 [[ 7.10790770e-01 -6.94367184e-01 -1.12386364e-01 2.47014172e+02] [ 6.88892163e-01 7.19470923e-01 -8.82563307e-02 2.39523703e+01] [ 1.42141021e-01 -1.46903001e-02 9.89737402e-01 -1.04968807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.55864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:247.03, Y:23.98, Z:-104.96 [[ 7.10772596e-01 -6.96530233e-01 -9.82239854e-02 2.47026162e+02] [ 6.89221490e-01 7.17516920e-01 -1.00713488e-01 2.39812527e+01] [ 1.40627361e-01 3.88630580e-03 9.90054969e-01 -1.04963283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58864 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:246.99, Y:24.06, Z:-104.95 [[ 7.12637030e-01 -7.01504703e-01 6.29408748e-03 2.46993519e+02] [ 6.94976294e-01 7.04724422e-01 -1.42728551e-01 2.40596067e+01] [ 9.56891526e-02 1.06087892e-01 9.89741858e-01 -1.04951059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.61864 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:247.14, Y:23.95, Z:-104.96 [[ 7.07489458e-01 -6.81890696e-01 -1.85697995e-01 2.47135360e+02] [ 6.91534240e-01 7.22142097e-01 -1.70642254e-02 2.39488431e+01] [ 1.45736276e-01 -1.16343762e-01 9.82458685e-01 -1.04957468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64864 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:247.10, Y:24.04, Z:-104.95 [[ 7.12132786e-01 -6.93964723e-01 -1.06206680e-01 2.47099763e+02] [ 6.87424612e-01 7.19990086e-01 -9.51928484e-02 2.40368573e+01] [ 1.42528235e-01 -5.21913736e-03 9.89776976e-01 -1.04952649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.67864000000003 meters Centerline goodness : 0.997203 Centerline is valid? [True, True] Translation: X:247.12, Y:24.07, Z:-104.95 [[ 7.14070857e-01 -6.93589193e-01 -9.50623103e-02 2.47115659e+02] [ 6.85760696e-01 7.20310602e-01 -1.04330740e-01 2.40655275e+01] [ 1.40837064e-01 9.30954489e-03 9.89989017e-01 -1.04947516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70864 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:247.15, Y:24.07, Z:-104.94 [[ 7.15170409e-01 -6.89161751e-01 -1.16564864e-01 2.47151900e+02] [ 6.84214733e-01 7.24352473e-01 -8.46386062e-02 2.40663247e+01] [ 1.42763737e-01 -1.92243704e-02 9.89570078e-01 -1.04941972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73864 meters Centerline goodness : 0.996672 Centerline is valid? [True, True] Translation: X:247.10, Y:24.16, Z:-104.93 [[ 7.20669388e-01 -6.93115721e-01 1.50409491e-02 2.47101003e+02] [ 6.87586408e-01 7.11809252e-01 -1.43361507e-01 2.41645232e+01] [ 8.86598273e-02 1.13658201e-01 9.89556086e-01 -1.04926934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76864 meters Centerline goodness : 0.995104 Centerline is valid? [True, True] Translation: X:247.21, Y:24.09, Z:-104.93 [[ 7.23399371e-01 -6.77625346e-01 -1.32352714e-01 2.47213477e+02] [ 6.78642869e-01 7.33132867e-01 -4.42725207e-02 2.40895238e+01] [ 1.27032307e-01 -5.77935120e-02 9.90213463e-01 -1.04933230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79864 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:247.18, Y:24.18, Z:-104.92 [[ 7.29319090e-01 -6.83882587e-01 -1.99567389e-02 2.47175010e+02] [ 6.79379616e-01 7.27347539e-01 -9.69994639e-02 2.41781262e+01] [ 8.08517293e-02 5.71853592e-02 9.95084334e-01 -1.04924268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82864 meters Centerline goodness : 0.996281 Centerline is valid? [True, True] Translation: X:247.30, Y:24.08, Z:-104.92 [[ 7.26456066e-01 -6.62684691e-01 -1.81963138e-01 2.47300695e+02] [ 6.76352174e-01 7.36344732e-01 1.85518812e-02 2.40821740e+01] [ 1.21693551e-01 -1.36548291e-01 9.83130329e-01 -1.04924412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85864 meters Centerline goodness : 0.995404 Centerline is valid? [True, True] Translation: X:247.18, Y:24.26, Z:-104.91 [[ 7.30739140e-01 -6.81671372e-01 3.66667409e-02 2.47176964e+02] [ 6.78243890e-01 7.18870008e-01 -1.52352019e-01 2.42644494e+01] [ 7.74953893e-02 1.36198576e-01 9.87645894e-01 -1.04905078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.88864 meters Centerline goodness : 0.996184 Centerline is valid? [True, True] Translation: X:247.30, Y:24.18, Z:-104.92 [[ 7.29103368e-01 -6.72284469e-01 -1.28225859e-01 2.47298548e+02] [ 6.73062999e-01 7.38290528e-01 -4.37412244e-02 2.41793189e+01] [ 1.24074483e-01 -5.44122074e-02 9.90779912e-01 -1.04918522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91864 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:247.26, Y:24.27, Z:-104.91 [[ 7.32968269e-01 -6.79959744e-01 -2.03042597e-02 2.47260436e+02] [ 6.75733484e-01 7.31202197e-01 -9.34216539e-02 2.42659177e+01] [ 7.83694832e-02 5.47548398e-02 9.95419576e-01 -1.04907826e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.94864 meters Centerline goodness : 0.995590 Centerline is valid? [True, True] Translation: X:247.34, Y:24.23, Z:-104.91 [[ 7.30098201e-01 -6.73118005e-01 -1.17765734e-01 2.47338289e+02] [ 6.73364065e-01 7.38016433e-01 -4.37330636e-02 2.42271933e+01] [ 1.16350559e-01 -4.73697823e-02 9.92077946e-01 -1.04910828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97864 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:247.37, Y:24.24, Z:-104.91 [[ 7.30201929e-01 -6.71514877e-01 -1.25987748e-01 2.47370452e+02] [ 6.74567750e-01 7.37852026e-01 -2.30811268e-02 2.42351045e+01] [ 1.08459635e-01 -6.81333886e-02 9.91763252e-01 -1.04905229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.00864 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:247.29, Y:24.36, Z:-104.89 [[ 7.30805804e-01 -6.82021745e-01 2.77347375e-02 2.47293419e+02] [ 6.79065122e-01 7.22315111e-01 -1.30887131e-01 2.43632448e+01] [ 6.92346495e-02 1.14486768e-01 9.91009255e-01 -1.04886278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03864 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:247.38, Y:24.32, Z:-104.90 [[ 7.32485457e-01 -6.78881095e-01 -5.08479498e-02 2.47378454e+02] [ 6.77233615e-01 7.34248203e-01 -4.72673940e-02 2.43217936e+01] [ 6.94239560e-02 1.86737804e-04 9.97587229e-01 -1.04897142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.06864 meters Centerline goodness : 0.995300 Centerline is valid? [True, True] Translation: X:247.40, Y:24.34, Z:-104.89 [[ 7.32561807e-01 -6.78741903e-01 -5.16006617e-02 2.47402644e+02] [ 6.77048525e-01 7.34376880e-01 -4.79154696e-02 2.43438344e+01] [ 7.04165699e-02 1.64891077e-04 9.97517659e-01 -1.04894673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09864 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:247.43, Y:24.37, Z:-104.89 [[ 7.33463253e-01 -6.77699260e-01 -5.24916104e-02 2.47426348e+02] [ 6.75947980e-01 7.35339146e-01 -4.86895227e-02 2.43672020e+01] [ 7.15959895e-02 2.30377717e-04 9.97433688e-01 -1.04890488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.12864 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:247.45, Y:24.39, Z:-104.89 [[ 7.33683723e-01 -6.77412419e-01 -5.31094067e-02 2.47449127e+02] [ 6.75622713e-01 7.35603402e-01 -4.92096080e-02 2.43910221e+01] [ 7.24026598e-02 2.22367030e-04 9.97375459e-01 -1.04887394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15864 meters Centerline goodness : 0.995544 Centerline is valid? [True, True] Translation: X:247.47, Y:24.41, Z:-104.88 [[ 7.33842058e-01 -6.77238526e-01 -5.31395669e-02 2.47473594e+02] [ 6.75450724e-01 7.35763509e-01 -4.91770140e-02 2.44137184e+01] [ 7.24027226e-02 1.95002226e-04 9.97375460e-01 -1.04884222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.18864 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:247.50, Y:24.44, Z:-104.88 [[ 7.34203421e-01 -6.76823708e-01 -5.34322493e-02 2.47496373e+02] [ 6.75016091e-01 7.36145106e-01 -4.94333864e-02 2.44373587e+01] [ 7.27915766e-02 2.26533315e-04 9.97347149e-01 -1.04881462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21864 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:247.52, Y:24.46, Z:-104.88 [[ 7.33422907e-01 -6.77650945e-01 -5.36659595e-02 2.47520182e+02] [ 6.75833560e-01 7.35383699e-01 -4.95965170e-02 2.44598258e+01] [ 7.30741984e-02 1.05965269e-04 9.97326501e-01 -1.04879486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.24864 meters Centerline goodness : 0.995050 Centerline is valid? [True, True] Translation: X:247.54, Y:24.48, Z:-104.88 [[ 7.32754007e-01 -6.78320857e-01 -5.43358112e-02 2.47544603e+02] [ 6.76463631e-01 7.34765823e-01 -5.01611520e-02 2.44815225e+01] [ 7.39494526e-02 -4.14986636e-07 9.97261991e-01 -1.04876725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27864 meters Centerline goodness : 0.994764 Centerline is valid? [True, True] Translation: X:247.57, Y:24.50, Z:-104.87 [[ 7.31672022e-01 -6.79527921e-01 -5.38317466e-02 2.47568942e+02] [ 6.77712129e-01 7.33649630e-01 -4.96436385e-02 2.45037876e+01] [ 7.32278794e-02 -1.59566193e-04 9.97315222e-01 -1.04872381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.30864 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:247.59, Y:24.53, Z:-104.87 [[ 7.28983211e-01 -6.82513004e-01 -5.25307367e-02 2.47592777e+02] [ 6.80795288e-01 7.30873290e-01 -4.83943209e-02 2.45267656e+01] [ 7.14230657e-02 -4.84030632e-04 9.97445994e-01 -1.04867843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33864 meters Centerline goodness : 0.996427 Centerline is valid? [True, True] Translation: X:247.62, Y:24.55, Z:-104.86 [[ 7.28254685e-01 -6.83262098e-01 -5.28963121e-02 2.47616984e+02] [ 6.81526095e-01 7.30172956e-01 -4.86788985e-02 2.45495354e+01] [ 7.18839029e-02 -5.99581133e-04 9.97412826e-01 -1.04864347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.36864 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:247.64, Y:24.57, Z:-104.86 [[ 7.28512009e-01 -6.82885124e-01 -5.42048069e-02 2.47641071e+02] [ 6.81065013e-01 7.30525515e-01 -4.98289107e-02 2.45721786e+01] [ 7.36254163e-02 -6.16037649e-04 9.97285776e-01 -1.04862310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39864 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:247.67, Y:24.60, Z:-104.86 [[ 7.28683262e-01 -6.82676492e-01 -5.45299030e-02 2.47665367e+02] [ 6.80837774e-01 7.30720467e-01 -5.00751832e-02 2.45950147e+01] [ 7.40312666e-02 -6.37069909e-04 9.97255717e-01 -1.04859262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.42864000000003 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:247.69, Y:24.62, Z:-104.86 [[ 7.29449580e-01 -6.81857994e-01 -5.45251008e-02 2.47689539e+02] [ 6.80021163e-01 7.31484330e-01 -5.00189207e-02 2.46180877e+01] [ 7.39900578e-02 -5.91941723e-04 9.97258803e-01 -1.04856309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45864 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:247.77, Y:24.57, Z:-104.85 [[ 7.25034530e-01 -6.69909780e-01 -1.59830589e-01 2.47767475e+02] [ 6.78493147e-01 7.34605783e-01 -1.18024325e-03 2.45742979e+01] [ 1.18203131e-01 -1.07588242e-01 9.87143753e-01 -1.04852724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48864 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:247.68, Y:24.72, Z:-104.84 [[ 7.28633013e-01 -6.84624007e-01 1.95934100e-02 2.47677005e+02] [ 6.81209188e-01 7.21437727e-01 -1.24425272e-01 2.47198334e+01] [ 7.10491034e-02 1.04007572e-01 9.92035508e-01 -1.04836254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51864 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:247.76, Y:24.68, Z:-104.85 [[ 7.30049771e-01 -6.81391104e-01 -5.22828412e-02 2.47756124e+02] [ 6.79708506e-01 7.31919263e-01 -4.78595831e-02 2.46836252e+01] [ 7.08779127e-02 -5.97214210e-04 9.97484819e-01 -1.04845555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:247.78, Y:24.71, Z:-104.84 [[ 7.30000327e-01 -6.81437539e-01 -5.23679584e-02 2.47780392e+02] [ 6.79753112e-01 7.31875995e-01 -4.78877287e-02 2.47063755e+01] [ 7.09593477e-02 -6.39225129e-04 9.97479003e-01 -1.04842725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:247.80, Y:24.73, Z:-104.84 [[ 7.29506140e-01 -6.82006965e-01 -5.18390938e-02 2.47804981e+02] [ 6.80361305e-01 7.31345319e-01 -4.73552450e-02 2.47288577e+01] [ 7.02088856e-02 -7.23371480e-04 9.97532049e-01 -1.04839345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:247.83, Y:24.75, Z:-104.84 [[ 7.28003534e-01 -6.83679081e-01 -5.09290459e-02 2.47829943e+02] [ 6.82098083e-01 7.29782226e-01 -4.64769612e-02 2.47506760e+01] [ 6.89424386e-02 -9.03212493e-04 9.97620231e-01 -1.04835594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.63864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:247.85, Y:24.77, Z:-104.83 [[ 7.27285032e-01 -6.84462556e-01 -5.06704172e-02 2.47854708e+02] [ 6.82902742e-01 7.29047320e-01 -4.61936127e-02 2.47726109e+01] [ 6.85589301e-02 -1.00704374e-03 9.97646560e-01 -1.04832138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:247.88, Y:24.79, Z:-104.83 [[ 7.26984661e-01 -6.84815343e-01 -5.02120395e-02 2.47880803e+02] [ 6.83287636e-01 7.28715866e-01 -4.57295733e-02 2.47930864e+01] [ 6.79066232e-02 -1.06456742e-03 9.97691113e-01 -1.04828784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.69864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:247.90, Y:24.82, Z:-104.82 [[ 7.27818662e-01 -6.83960793e-01 -4.97757878e-02 2.47904455e+02] [ 6.82460660e-01 7.29518069e-01 -4.52861334e-02 2.48158126e+01] [ 6.72862763e-02 -1.00992399e-03 9.97733199e-01 -1.04824954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:247.93, Y:24.84, Z:-104.82 [[ 7.29352066e-01 -6.82345216e-01 -4.95032288e-02 2.47927631e+02] [ 6.80860802e-01 7.31029559e-01 -4.49928146e-02 2.48390491e+01] [ 6.68889553e-02 -8.89205764e-04 9.97760030e-01 -1.04822408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.75864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:247.95, Y:24.86, Z:-104.82 [[ 7.31385388e-01 -6.80057166e-01 -5.09672967e-02 2.47951883e+02] [ 6.78481363e-01 7.33158721e-01 -4.62745178e-02 2.48614632e+01] [ 6.88364355e-02 -7.35854740e-04 9.97627688e-01 -1.04820474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:247.98, Y:24.88, Z:-104.82 [[ 7.32110463e-01 -6.79299540e-01 -5.06597070e-02 2.47977340e+02] [ 6.77744120e-01 7.33860785e-01 -4.59483980e-02 2.48820153e+01] [ 6.83898979e-02 -6.95015626e-04 9.97658428e-01 -1.04818140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.81864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:248.06, Y:24.83, Z:-104.81 [[ 7.24830037e-01 -6.69303201e-01 -1.63262496e-01 2.48056254e+02] [ 6.78244199e-01 7.34835394e-01 -1.32249694e-03 2.48347072e+01] [ 1.20856212e-01 -1.09773256e-01 9.86581780e-01 -1.04814214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:247.97, Y:24.98, Z:-104.80 [[ 7.30134638e-01 -6.82889791e-01 2.37685469e-02 2.47966223e+02] [ 6.80008672e-01 7.22762724e-01 -1.23297411e-01 2.49830625e+01] [ 6.70195234e-02 1.06186528e-01 9.92085079e-01 -1.04797310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.87864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:248.05, Y:24.94, Z:-104.81 [[ 7.32109958e-01 -6.79460456e-01 -4.84612959e-02 2.48048185e+02] [ 6.78044898e-01 7.33711734e-01 -4.38429881e-02 2.49436394e+01] [ 6.53461982e-02 -7.61046221e-04 9.97862363e-01 -1.04806328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:248.07, Y:24.97, Z:-104.80 [[ 7.31591742e-01 -6.80079186e-01 -4.76006790e-02 2.48073062e+02] [ 6.78717599e-01 7.33138190e-01 -4.30211003e-02 2.49651856e+01] [ 6.41556305e-02 -8.33536813e-04 9.97939557e-01 -1.04803710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.93864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:248.18, Y:24.88, Z:-104.80 [[ 7.23256330e-01 -6.60821371e-01 -2.00537771e-01 2.48183819e+02] [ 6.81242502e-01 7.30323378e-01 5.03628609e-02 2.48807059e+01] [ 1.13176567e-01 -1.73040111e-01 9.78390609e-01 -1.04797063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96864 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:248.03, Y:25.11, Z:-104.77 [[ 7.29090270e-01 -6.80946864e-01 6.88385555e-02 2.48027464e+02] [ 6.81391993e-01 7.12739513e-01 -1.66455214e-01 2.51056552e+01] [ 6.42831971e-02 1.68266917e-01 9.83643185e-01 -1.04772135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.99864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:248.14, Y:25.03, Z:-104.79 [[ 7.31869675e-01 -6.79875619e-01 -4.62160276e-02 2.48142600e+02] [ 6.78600404e-01 7.33326901e-01 -4.16311004e-02 2.50296060e+01] [ 6.21954265e-02 -8.93675067e-04 9.98063590e-01 -1.04794277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:248.17, Y:25.05, Z:-104.79 [[ 7.33199555e-01 -6.78446937e-01 -4.61320535e-02 2.48167008e+02] [ 6.77176178e-01 7.34648970e-01 -4.15128261e-02 2.50520017e+01] [ 6.20551153e-02 -8.02342042e-04 9.98072402e-01 -1.04790686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.05864 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:248.19, Y:25.08, Z:-104.79 [[ 7.35901006e-01 -6.75602564e-01 -4.48428886e-02 2.48189367e+02] [ 6.74399027e-01 7.37265789e-01 -4.03126347e-02 2.50763001e+01] [ 6.02964470e-02 -5.75891976e-04 9.98180348e-01 -1.04787232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:248.21, Y:25.10, Z:-104.78 [[ 7.37075944e-01 -6.74292379e-01 -4.52641226e-02 2.48213022e+02] [ 6.73066247e-01 7.38464307e-01 -4.06484148e-02 2.50990344e+01] [ 6.08348553e-02 -5.04784368e-04 9.98147717e-01 -1.04783630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.11864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:248.28, Y:25.06, Z:-104.78 [[ 7.29518041e-01 -6.66354724e-01 -1.54190821e-01 2.48284900e+02] [ 6.73856471e-01 7.38846540e-01 -4.82148809e-03 2.50580485e+01] [ 1.17136176e-01 -1.00385120e-01 9.88029323e-01 -1.04782096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:248.20, Y:25.20, Z:-104.77 [[ 7.35866650e-01 -6.76791290e-01 2.13031213e-02 2.48204382e+02] [ 6.74376726e-01 7.29683134e-01 -1.13042275e-01 2.51979920e+01] [ 6.09614986e-02 9.75503692e-02 9.93361778e-01 -1.04767301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.17864000000003 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:248.28, Y:25.16, Z:-104.78 [[ 7.37229106e-01 -6.74160834e-01 -4.47260016e-02 2.48280598e+02] [ 6.72969610e-01 7.38584357e-01 -4.00630893e-02 2.51629003e+01] [ 6.00428908e-02 -5.63564350e-04 9.98195639e-01 -1.04775650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:248.31, Y:25.18, Z:-104.77 [[ 7.36451669e-01 -6.75039704e-01 -4.42756915e-02 2.48305056e+02] [ 6.73876414e-01 7.37781108e-01 -3.96183616e-02 2.51845505e+01] [ 5.94097358e-02 -6.59335741e-04 9.98233464e-01 -1.04773588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:248.33, Y:25.21, Z:-104.77 [[ 7.35360878e-01 -6.76211146e-01 -4.45293656e-02 2.48330087e+02] [ 6.75039122e-01 7.36707447e-01 -3.98035368e-02 2.52054061e+01] [ 5.97207105e-02 -7.89100119e-04 9.98214814e-01 -1.04771403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:248.36, Y:25.23, Z:-104.77 [[ 7.34432716e-01 -6.77244854e-01 -4.41360727e-02 2.48355454e+02] [ 6.76097699e-01 7.35757165e-01 -3.94118707e-02 2.52260129e+01] [ 5.91649184e-02 -8.94929878e-04 9.98247821e-01 -1.04769884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29864 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:248.38, Y:25.25, Z:-104.77 [[ 7.34546392e-01 -6.77113511e-01 -4.42593497e-02 2.48380656e+02] [ 6.75962107e-01 7.35878015e-01 -3.94813641e-02 2.52475838e+01] [ 5.93028474e-02 -9.16749666e-04 9.98239616e-01 -1.04766965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:248.41, Y:25.27, Z:-104.76 [[ 7.34750052e-01 -6.76836104e-01 -4.51137508e-02 2.48405341e+02] [ 6.75641821e-01 7.36133140e-01 -4.02011129e-02 2.52692320e+01] [ 6.04192916e-02 -9.42966932e-04 9.98172640e-01 -1.04763778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:248.48, Y:25.23, Z:-104.76 [[ 7.28747917e-01 -6.68790355e-01 -1.47125573e-01 2.48475294e+02] [ 6.75551127e-01 7.37293671e-01 -5.35882025e-03 2.52307242e+01] [ 1.12058681e-01 -9.54856177e-02 9.89103305e-01 -1.04760659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.38864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:248.40, Y:25.36, Z:-104.75 [[ 7.35295802e-01 -6.77495848e-01 1.84244194e-02 2.48403251e+02] [ 6.75131857e-01 7.29803124e-01 -1.07630742e-01 2.53626312e+01] [ 5.94731822e-02 9.15793455e-02 9.94020203e-01 -1.04747568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:248.52, Y:25.28, Z:-104.75 [[ 7.31044491e-01 -6.68182249e-01 -1.38226026e-01 2.48517015e+02] [ 6.73490468e-01 7.39114968e-01 -1.09386464e-02 2.52751578e+01] [ 1.09473934e-01 -8.50972734e-02 9.90340301e-01 -1.04754474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.44864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:248.50, Y:25.35, Z:-104.75 [[ 7.35879693e-01 -6.72467208e-01 -7.91765837e-02 2.48496619e+02] [ 6.68600071e-01 7.40126915e-01 -7.20145456e-02 2.53456335e+01] [ 1.07028141e-01 5.65721963e-05 9.94255990e-01 -1.04748099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:248.48, Y:25.41, Z:-104.74 [[ 7.39607844e-01 -6.72902379e-01 1.35139415e-02 2.48479221e+02] [ 6.70875849e-01 7.35474941e-01 -9.48799589e-02 2.54134680e+01] [ 5.39057847e-02 7.92401388e-02 9.95396990e-01 -1.04739495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.50864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:248.59, Y:25.33, Z:-104.74 [[ 7.36047427e-01 -6.61243444e-01 -1.44883720e-01 2.48593589e+02] [ 6.68540182e-01 7.43672561e-01 2.26854720e-03 2.53268151e+01] [ 1.06245985e-01 -9.85303470e-02 9.89446088e-01 -1.04742288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:248.52, Y:25.46, Z:-104.73 [[ 7.43754709e-01 -6.67929877e-01 2.64312903e-02 2.48515357e+02] [ 6.66575438e-01 7.38124746e-01 -1.04158751e-01 2.54634668e+01] [ 5.00611524e-02 9.50870106e-02 9.94209405e-01 -1.04730400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.56864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:248.63, Y:25.38, Z:-104.74 [[ 7.41751903e-01 -6.58613529e-01 -1.26618851e-01 2.48628405e+02] [ 6.63267191e-01 7.48349420e-01 -7.05543950e-03 2.53803711e+01] [ 9.94019513e-02 -7.87487437e-02 9.91926352e-01 -1.04737906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:248.61, Y:25.45, Z:-104.73 [[ 7.46304996e-01 -6.61437107e-01 -7.43626705e-02 2.48610067e+02] [ 6.58550427e-01 7.49995205e-01 -6.17942448e-02 2.54496473e+01] [ 9.66446527e-02 -2.85421479e-03 9.95314857e-01 -1.04731647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.62864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:248.63, Y:25.48, Z:-104.73 [[ 7.48136399e-01 -6.60092806e-01 -6.75974526e-02 2.48627283e+02] [ 6.56875012e-01 7.51171108e-01 -6.52471065e-02 2.54752662e+01] [ 9.38463990e-02 4.41065779e-03 9.95576918e-01 -1.04727946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:248.65, Y:25.49, Z:-104.73 [[ 7.49293714e-01 -6.58518969e-01 -7.00835066e-02 2.48652152e+02] [ 6.55891249e-01 7.52561709e-01 -5.88008789e-02 2.54943768e+01] [ 9.14636577e-02 -1.90802972e-03 9.95806587e-01 -1.04725240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.68864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:248.63, Y:25.56, Z:-104.72 [[ 7.51388351e-01 -6.59510625e-01 2.14774702e-02 2.48630379e+02] [ 6.58696352e-01 7.47733249e-01 -8.37502456e-02 2.55640098e+01] [ 3.91747582e-02 7.70760902e-02 9.96255296e-01 -1.04716790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:248.73, Y:25.50, Z:-104.73 [[ 7.48044406e-01 -6.54081976e-01 -1.12277940e-01 2.48729438e+02] [ 6.57797040e-01 7.53177606e-01 -5.15239891e-03 2.54966605e+01] [ 8.79353212e-02 -7.00018733e-02 9.93663483e-01 -1.04725237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.74864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:248.71, Y:25.56, Z:-104.72 [[ 7.49136177e-01 -6.59615018e-01 -6.08524124e-02 2.48713065e+02] [ 6.57062101e-01 7.51595351e-01 -5.80846322e-02 2.55619241e+01] [ 8.40498859e-02 3.52948541e-03 9.96455297e-01 -1.04720072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:248.75, Y:25.56, Z:-104.72 [[ 7.46024003e-01 -6.60592832e-01 -8.40553225e-02 2.48749376e+02] [ 6.60232335e-01 7.50198001e-01 -3.60030980e-02 2.55641306e+01] [ 8.68415233e-02 -2.86368665e-02 9.95810464e-01 -1.04718322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.80864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:248.71, Y:25.66, Z:-104.70 [[ 7.47588476e-01 -6.62983681e-01 3.95488311e-02 2.48706960e+02] [ 6.63405622e-01 7.42570234e-01 -9.21001006e-02 2.56589255e+01] [ 3.16930789e-02 9.50898907e-02 9.94964050e-01 -1.04703615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:248.78, Y:25.62, Z:-104.71 [[ 7.47493951e-01 -6.63857957e-01 -2.33539541e-02 2.48782368e+02] [ 6.63538758e-01 7.47858677e-01 -2.05843392e-02 2.56240552e+01] [ 3.11305346e-02 -1.09584716e-04 9.99515321e-01 -1.04713632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.86864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:248.81, Y:25.64, Z:-104.71 [[ 7.48281840e-01 -6.62933372e-01 -2.43645571e-02 2.48807647e+02] [ 6.62586241e-01 7.48678393e-01 -2.14508351e-02 2.56447369e+01] [ 3.24616919e-02 -9.23499517e-05 9.99472976e-01 -1.04711801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:248.83, Y:25.67, Z:-104.71 [[ 7.48528937e-01 -6.62662852e-01 -2.41324421e-02 2.48832243e+02] [ 6.62322874e-01 7.48917843e-01 -2.12244071e-02 2.56662823e+01] [ 3.21378426e-02 -9.63855333e-05 9.99483441e-01 -1.04711601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.92864000000003 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:248.89, Y:25.65, Z:-104.71 [[ 7.44827689e-01 -6.59364461e-01 -1.02324097e-01 2.48889117e+02] [ 6.62794687e-01 7.48800908e-01 -6.33986762e-04 2.56456713e+01] [ 7.70384053e-02 -6.73476572e-02 9.94750912e-01 -1.04711497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:248.88, Y:25.71, Z:-104.71 [[ 7.47126075e-01 -6.62482431e-01 -5.40338426e-02 2.48877054e+02] [ 6.60623237e-01 7.49076192e-01 -4.96165065e-02 2.57071069e+01] [ 7.33455289e-02 1.37377374e-03 9.97305643e-01 -1.04705775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98864 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:248.87, Y:25.76, Z:-104.70 [[ 7.49736607e-01 -6.61382803e-01 2.16288763e-02 2.48869951e+02] [ 6.61164155e-01 7.47329104e-01 -6.60391620e-02 2.57642560e+01] [ 2.75132773e-02 6.38122150e-02 9.97582588e-01 -1.04697184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:248.99, Y:25.67, Z:-104.70 [[ 7.46763127e-01 -6.50448564e-01 -1.38785799e-01 2.48991318e+02] [ 6.61239339e-01 7.48517604e-01 4.98390709e-02 2.56660909e+01] [ 7.14658614e-02 -1.28988610e-01 9.89067525e-01 -1.04702301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:248.95, Y:25.76, Z:-104.70 [[ 7.49871348e-01 -6.59391308e-01 -5.38150950e-02 2.48949902e+02] [ 6.58105624e-01 7.51787153e-01 -4.13891857e-02 2.57623188e+01] [ 6.77491664e-02 -4.37945219e-03 9.97692774e-01 -1.04696730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:248.91, Y:25.86, Z:-104.68 [[ 7.51385340e-01 -6.56275469e-01 6.87210344e-02 2.48905675e+02] [ 6.59592994e-01 7.44010209e-01 -1.06704693e-01 2.58593333e+01] [ 1.88985214e-02 1.25504255e-01 9.91913065e-01 -1.04679752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:249.00, Y:25.81, Z:-104.69 [[ 7.53635708e-01 -6.57138108e-01 -1.42382151e-02 2.48996798e+02] [ 6.57019723e-01 7.53770194e-01 -1.24731284e-02 2.58066495e+01] [ 1.89289102e-02 4.54068212e-05 9.99820831e-01 -1.04694098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.13864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:249.08, Y:25.75, Z:-104.69 [[ 7.49700914e-01 -6.49788648e-01 -1.25392395e-01 2.49079091e+02] [ 6.58598116e-01 7.51133234e-01 4.52480478e-02 2.57548391e+01] [ 6.47847271e-02 -1.16505698e-01 9.91074852e-01 -1.04692679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:249.02, Y:25.88, Z:-104.68 [[ 7.52585782e-01 -6.58404381e-01 -1.08771134e-02 2.49015252e+02] [ 6.55737031e-01 7.50842377e-01 -7.90232308e-02 2.58753731e+01] [ 6.01962391e-02 5.23392339e-02 9.96813432e-01 -1.04683979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.19864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.04, Y:25.90, Z:-104.68 [[ 7.50267277e-01 -6.60450355e-01 3.00722720e-02 2.49036759e+02] [ 6.61001768e-01 7.48428221e-01 -5.41466578e-02 2.58989615e+01] [ 1.32542423e-02 6.05022905e-02 9.98080056e-01 -1.04682506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:249.09, Y:25.88, Z:-104.69 [[ 7.50475597e-01 -6.60819732e-01 -1.01813174e-02 2.49093404e+02] [ 6.60759691e-01 7.50544655e-01 -8.90792615e-03 2.58846575e+01] [ 1.35280668e-02 -4.22229558e-05 9.99908491e-01 -1.04687060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.25864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.12, Y:25.91, Z:-104.69 [[ 7.48929444e-01 -6.62570897e-01 -1.02222509e-02 2.49118299e+02] [ 6.62510667e-01 7.48999198e-01 -8.93400116e-03 2.59058974e+01] [ 1.35758669e-02 -8.14137409e-05 9.99907840e-01 -1.04687083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.14, Y:25.93, Z:-104.69 [[ 7.48639725e-01 -6.62904481e-01 -9.80870453e-03 2.49144404e+02] [ 6.62849161e-01 7.48703974e-01 -8.56438815e-03 2.59263857e+01] [ 1.30211873e-02 -9.00503798e-05 9.99915217e-01 -1.04687014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.31864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:249.17, Y:25.95, Z:-104.69 [[ 7.47682642e-01 -6.63968989e-01 -1.07632934e-02 2.49171407e+02] [ 6.63902656e-01 7.47760099e-01 -9.38605548e-03 2.59460800e+01] [ 1.42804111e-02 -1.27988308e-04 9.99898022e-01 -1.04685229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:249.20, Y:25.97, Z:-104.68 [[ 7.45802230e-01 -6.66091691e-01 -1.00445283e-02 2.49198309e+02] [ 6.66034218e-01 7.45869849e-01 -8.75149507e-03 2.59653927e+01] [ 1.33212089e-02 -1.63114990e-04 9.99911255e-01 -1.04682507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.37864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:249.22, Y:25.99, Z:-104.68 [[ 7.45261353e-01 -6.66706355e-01 -9.38892071e-03 2.49223315e+02] [ 6.66656280e-01 7.45320473e-01 -8.17296190e-03 2.59872373e+01] [ 1.24467205e-02 -1.68190309e-04 9.99922522e-01 -1.04680896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:249.25, Y:26.00, Z:-104.68 [[ 7.42903504e-01 -6.69344768e-01 -8.48321830e-03 2.49251946e+02] [ 6.69304123e-01 7.42951912e-01 -7.37886227e-03 2.60047439e+01] [ 1.12416261e-02 -1.96070353e-04 9.99936792e-01 -1.04681944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.43864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:249.30, Y:25.99, Z:-104.68 [[ 7.40557379e-01 -6.67956753e-01 -7.35428085e-02 2.49304370e+02] [ 6.70081236e-01 7.42264413e-01 5.88876776e-03 2.59890619e+01] [ 5.06547674e-02 -5.36406264e-02 9.97274675e-01 -1.04681113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:249.28, Y:26.07, Z:-104.68 [[ 7.42758493e-01 -6.69064472e-01 2.57401123e-02 2.49277403e+02] [ 6.69454953e-01 7.41414543e-01 -4.62011077e-02 2.60715255e+01] [ 1.18274262e-02 5.15481108e-02 9.98600473e-01 -1.04677045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.49864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:249.33, Y:26.06, Z:-104.68 [[ 7.46040001e-01 -6.65817901e-01 -1.05280232e-02 2.49330132e+02] [ 6.65755364e-01 7.46114256e-01 -9.12754456e-03 2.60612871e+01] [ 1.39323908e-02 -1.99574587e-04 9.99902920e-01 -1.04680101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:249.36, Y:26.08, Z:-104.68 [[ 7.47831332e-01 -6.63808228e-01 -1.03409524e-02 2.49355936e+02] [ 6.63747824e-01 7.47902807e-01 -8.95637764e-03 2.60824974e+01] [ 1.36793445e-02 -1.65924828e-04 9.99906420e-01 -1.04679578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.55864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:249.38, Y:26.10, Z:-104.68 [[ 7.50472043e-01 -6.60852517e-01 -8.10330967e-03 2.49384415e+02] [ 6.60815283e-01 7.50515784e-01 -7.01562713e-03 2.61003696e+01] [ 1.07179567e-02 -8.97588498e-05 9.99942557e-01 -1.04676031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:249.41, Y:26.12, Z:-104.67 [[ 7.51360263e-01 -6.59845638e-01 -7.84150041e-03 2.49410419e+02] [ 6.59810781e-01 7.51401177e-01 -6.78265379e-03 2.61200466e+01] [ 1.03676171e-02 -7.76899774e-05 9.99946252e-01 -1.04674096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.61864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:249.44, Y:26.14, Z:-104.67 [[ 7.52877045e-01 -6.58106011e-01 -8.52249353e-03 2.49435954e+02] [ 6.58064833e-01 7.52925278e-01 -7.36215911e-03 2.61406472e+01] [ 1.12618820e-02 -6.55526855e-05 9.99936581e-01 -1.04672946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:249.49, Y:26.12, Z:-104.67 [[ 7.52925678e-01 -6.52710126e-01 -8.40976569e-02 2.49492776e+02] [ 6.55667823e-01 7.54975468e-01 1.05711301e-02 2.61198658e+01] [ 5.65917842e-02 -6.30994030e-02 9.96401443e-01 -1.04671193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.67864000000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:249.45, Y:26.22, Z:-104.67 [[ 7.56753764e-01 -6.52807193e-01 3.41542015e-02 2.49454337e+02] [ 6.53652864e-01 7.55037946e-01 -5.15328477e-02 2.62155297e+01] [ 7.85329548e-03 6.13226681e-02 9.98087098e-01 -1.04667720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:249.51, Y:26.20, Z:-104.67 [[ 7.59806048e-01 -6.50113901e-01 -6.83263318e-03 2.49511856e+02] [ 6.50087232e-01 7.59836769e-01 -5.88865386e-03 2.62001399e+01] [ 9.01998165e-03 3.24272299e-05 9.99959319e-01 -1.04670073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:249.56, Y:26.18, Z:-104.67 [[ 7.57140805e-01 -6.48169144e-01 -8.13299530e-02 2.49563817e+02] [ 6.50821139e-01 7.59184615e-01 8.40034231e-03 2.61831731e+01] [ 5.62996063e-02 -5.92914946e-02 9.96651831e-01 -1.04666424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:249.53, Y:26.28, Z:-104.66 [[ 7.60610876e-01 -6.48406341e-01 3.22538670e-02 2.49527951e+02] [ 6.49165564e-01 7.59053486e-01 -4.92125660e-02 2.62756332e+01] [ 7.42732968e-03 5.83697127e-02 9.98267405e-01 -1.04663521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:249.58, Y:26.26, Z:-104.67 [[ 7.62374388e-01 -6.47107428e-01 -6.10488197e-03 2.49583839e+02] [ 6.47086138e-01 7.62398829e-01 -5.24941306e-03 2.62610380e+01] [ 8.05128904e-03 5.16335705e-05 9.99967587e-01 -1.04665652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:249.61, Y:26.28, Z:-104.66 [[ 7.63218293e-01 -6.46120108e-01 -5.16169901e-03 2.49608362e+02] [ 6.46104878e-01 7.63235746e-01 -4.43647596e-03 2.62831979e+01] [ 6.80608952e-03 5.10006998e-05 9.99976837e-01 -1.04664363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:249.66, Y:26.26, Z:-104.66 [[ 7.61764419e-01 -6.42590377e-01 -8.24170915e-02 2.49663536e+02] [ 6.45904250e-01 7.63163706e-01 1.97194793e-02 2.62628887e+01] [ 5.02261854e-02 -6.82551473e-02 9.96402813e-01 -1.04659509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.88864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:249.65, Y:26.32, Z:-104.66 [[ 7.63323956e-01 -6.44835267e-01 -3.90386585e-02 2.49654140e+02] [ 6.44179556e-01 7.64316268e-01 -2.92120229e-02 2.63227062e+01] [ 4.86748244e-02 -2.84966882e-03 9.98810613e-01 -1.04658200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:249.67, Y:26.35, Z:-104.66 [[ 7.62409447e-01 -6.46499586e-01 -2.77510332e-02 2.49670367e+02] [ 6.45447088e-01 7.62826923e-01 -3.86411900e-02 2.63491882e+01] [ 4.61507486e-02 1.15485848e-02 9.98867728e-01 -1.04656475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.94864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:249.67, Y:26.40, Z:-104.65 [[ 7.62868089e-01 -6.45360838e-01 3.92640879e-02 2.49668802e+02] [ 6.46554158e-01 7.61457837e-01 -4.63646776e-02 2.64014617e+01] [ 2.39997324e-05 6.07564922e-02 9.98152618e-01 -1.04654310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:249.75, Y:26.35, Z:-104.66 [[ 7.59943779e-01 -6.45153818e-01 -7.91328255e-02 2.49753454e+02] [ 6.48167323e-01 7.61285068e-01 1.80046170e-02 2.63453594e+01] [ 4.86268911e-02 -6.49738084e-02 9.96701475e-01 -1.04655508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.00864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:249.71, Y:26.45, Z:-104.65 [[ 7.61865780e-01 -6.46460571e-01 4.06111101e-02 2.49711610e+02] [ 6.47734590e-01 7.60302738e-01 -4.87816279e-02 2.64451507e+01] [ 6.58660825e-04 6.34702738e-02 9.97983512e-01 -1.04653273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:249.77, Y:26.43, Z:-104.66 [[ 7.61825929e-01 -6.47781277e-01 8.19580940e-04 2.49769444e+02] [ 6.47780914e-01 7.61826370e-01 6.85270205e-04 2.64285009e+01] [-1.06828358e-03 8.85228004e-06 9.99999429e-01 -1.04655931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.06864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:249.79, Y:26.45, Z:-104.65 [[ 7.60848828e-01 -6.48927944e-01 1.25856877e-03 2.49792211e+02] [ 6.48927082e-01 7.60849869e-01 1.05780392e-03 2.64521659e+01] [-1.64402041e-03 1.18904887e-05 9.99998649e-01 -1.04654818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:249.82, Y:26.48, Z:-104.66 [[ 7.61195203e-01 -6.48522341e-01 7.96975216e-04 2.49816137e+02] [ 6.48522001e-01 7.61195621e-01 6.64647653e-04 2.64751691e+01] [-1.03769290e-03 1.09293559e-05 9.99999462e-01 -1.04655257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.12864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:249.88, Y:26.45, Z:-104.65 [[ 7.57660275e-01 -6.47129205e-01 -8.47035999e-02 2.49875210e+02] [ 6.50811069e-01 7.58869991e-01 2.36915495e-02 2.64491800e+01] [ 4.89475264e-02 -7.30761863e-02 9.96124496e-01 -1.04653694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:249.86, Y:26.51, Z:-104.65 [[ 7.59835326e-01 -6.49246180e-01 -3.36106279e-02 2.49860798e+02] [ 6.48521926e-01 7.60576799e-01 -3.06959977e-02 2.65137411e+01] [ 4.54927231e-02 1.52667426e-03 9.98963504e-01 -1.04651961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.18864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:249.88, Y:26.54, Z:-104.65 [[ 7.59422035e-01 -6.50162393e-01 -2.38125075e-02 2.49879657e+02] [ 6.49341848e-01 7.59721154e-01 -3.43355818e-02 2.65395208e+01] [ 4.04145697e-02 1.06127397e-02 9.99126635e-01 -1.04649452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:249.91, Y:26.55, Z:-104.65 [[ 7.60119060e-01 -6.49005999e-01 -3.17840642e-02 2.49909081e+02] [ 6.48680156e-01 7.60769377e-01 -2.10715359e-02 2.65510030e+01] [ 3.78558959e-02 -4.60081563e-03 9.99272617e-01 -1.04648616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:249.93, Y:26.58, Z:-104.65 [[ 7.61045199e-01 -6.48268127e-01 -2.36355798e-02 2.49926982e+02] [ 6.47666879e-01 7.61384346e-01 -2.86616649e-02 2.65772944e+01] [ 3.65762043e-02 6.50484027e-03 9.99309696e-01 -1.04648759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:249.96, Y:26.59, Z:-104.65 [[ 7.61096477e-01 -6.47896099e-01 -3.10289935e-02 2.49957887e+02] [ 6.47681113e-01 7.61701219e-01 -1.79005233e-02 2.65886225e+01] [ 3.52325014e-02 -6.47286784e-03 9.99358180e-01 -1.04649080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.30864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:250.01, Y:26.57, Z:-104.65 [[ 7.59931120e-01 -6.45611506e-01 -7.54352532e-02 2.50011593e+02] [ 6.48729445e-01 7.60579639e-01 2.58596316e-02 2.65703745e+01] [ 4.06792419e-02 -6.85886087e-02 9.96815330e-01 -1.04646112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:249.93, Y:26.72, Z:-104.63 [[ 7.62795220e-01 -6.39151309e-01 9.81277554e-02 2.49932246e+02] [ 6.46428231e-01 7.57598653e-01 -9.04147277e-02 2.67159446e+01] [-1.65527638e-02 1.32400473e-01 9.91058081e-01 -1.04634117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.36864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:250.02, Y:26.66, Z:-104.65 [[ 7.65499033e-01 -6.43311232e-01 1.27235926e-02 2.50024958e+02] [ 6.43222198e-01 7.65604767e-01 1.07025920e-02 2.66568807e+01] [-1.66263408e-02 -8.72657301e-06 9.99861773e-01 -1.04646147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:250.08, Y:26.64, Z:-104.64 [[ 7.65346849e-01 -6.40511633e-01 -6.31589138e-02 2.50078682e+02] [ 6.42925884e-01 7.65383644e-01 2.88822494e-02 2.66369978e+01] [ 2.98413829e-02 -6.27114391e-02 9.97585469e-01 -1.04643716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.42864000000003 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:250.07, Y:26.70, Z:-104.64 [[ 7.68462264e-01 -6.39426186e-01 -2.44928696e-02 2.50071445e+02] [ 6.39234320e-01 7.68845200e-01 -1.60169464e-02 2.66958847e+01] [ 2.90728801e-02 -3.34826393e-03 9.99571687e-01 -1.04640991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:250.08, Y:26.73, Z:-104.64 [[ 7.72382285e-01 -6.35039980e-01 -1.22405121e-02 2.50083753e+02] [ 6.34630517e-01 7.72382793e-01 -2.58636464e-02 2.67290366e+01] [ 2.58788104e-02 1.22084197e-02 9.99590537e-01 -1.04640866e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:250.09, Y:26.78, Z:-104.64 [[ 7.74135591e-01 -6.31243967e-01 4.73829044e-02 2.50087035e+02] [ 6.32777076e-01 7.73740555e-01 -3.03104780e-02 2.67751039e+01] [-1.75287684e-02 5.34472355e-02 9.98416814e-01 -1.04640508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:250.14, Y:26.76, Z:-104.65 [[ 7.75425200e-01 -6.31317327e-01 1.24173663e-02 2.50139388e+02] [ 6.31231525e-01 7.75524582e-01 1.04108068e-02 2.67644127e+01] [-1.62024956e-02 -2.34568868e-04 9.99868703e-01 -1.04645198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:250.21, Y:26.72, Z:-104.64 [[ 7.70681810e-01 -6.29025233e-01 -1.01866596e-01 2.50213242e+02] [ 6.35739510e-01 7.69894257e-01 5.56606511e-02 2.67183997e+01] [ 4.34145535e-02 -1.07657271e-01 9.93239693e-01 -1.04640149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:250.13, Y:26.87, Z:-104.63 [[ 7.75981559e-01 -6.25368175e-01 8.22633849e-02 2.50130427e+02] [ 6.30420075e-01 7.73197836e-01 -6.88159537e-02 2.68710776e+01] [-2.05705638e-02 1.05260400e-01 9.94231915e-01 -1.04632732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:250.21, Y:26.83, Z:-104.64 [[ 7.78342380e-01 -6.27633953e-01 1.60860458e-02 2.50209747e+02] [ 6.27489890e-01 7.78508497e-01 1.34520492e-02 2.68274254e+01] [-2.09660862e-02 -3.76468879e-04 9.99780117e-01 -1.04640851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.63864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:250.23, Y:26.85, Z:-104.64 [[ 7.78968725e-01 -6.26821026e-01 1.74105613e-02 2.50234396e+02] [ 6.26652425e-01 7.79163158e-01 1.45434296e-02 2.68492471e+01] [-2.26817954e-02 -4.18506340e-04 9.99742647e-01 -1.04640477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:250.26, Y:26.87, Z:-104.64 [[ 7.80059660e-01 -6.25438880e-01 1.82519850e-02 2.50256740e+02] [ 6.25253608e-01 7.80273022e-01 1.52294871e-02 2.68736389e+01] [-2.37666449e-02 -4.67789072e-04 9.99717424e-01 -1.04640131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.69864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:250.28, Y:26.90, Z:-104.64 [[ 7.81305827e-01 -6.23874480e-01 1.84888363e-02 2.50280730e+02] [ 6.23684334e-01 7.81524391e-01 1.54103003e-02 2.68960375e+01] [-2.40635696e-02 -5.08959859e-04 9.99710301e-01 -1.04641622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:250.30, Y:26.92, Z:-104.64 [[ 7.82427512e-01 -6.22481814e-01 1.79883044e-02 2.50304704e+02] [ 6.22301834e-01 7.82634088e-01 1.49770322e-02 2.69186310e+01] [-2.34011904e-02 -5.24287244e-04 9.99726017e-01 -1.04642010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.75864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:250.33, Y:26.94, Z:-104.64 [[ 7.83982980e-01 -6.20569932e-01 1.62371954e-02 2.50328740e+02] [ 6.20423181e-01 7.84150940e-01 1.35048483e-02 2.69411612e+01] [-2.11131149e-02 -5.13638796e-04 9.99776961e-01 -1.04642146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:250.40, Y:26.90, Z:-104.64 [[ 7.80430321e-01 -6.19559005e-01 -8.41139363e-02 2.50396706e+02] [ 6.24283269e-01 7.79599217e-01 4.99545827e-02 2.69034083e+01] [ 3.46253474e-02 -9.14969941e-02 9.95203188e-01 -1.04639058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.81864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:250.33, Y:27.04, Z:-104.63 [[ 7.84688048e-01 -6.15275447e-01 7.55035899e-02 2.50330576e+02] [ 6.19357473e-01 7.83227153e-01 -5.43281393e-02 2.70357309e+01] [-2.57096916e-02 8.93943543e-02 9.95664432e-01 -1.04630799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:250.40, Y:27.00, Z:-104.64 [[ 7.87019144e-01 -6.16589232e-01 2.04593925e-02 2.50400258e+02] [ 6.16356030e-01 7.87284675e-01 1.69730555e-02 2.70037082e+01] [-2.65727694e-02 -7.47849669e-04 9.99646602e-01 -1.04639071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.87864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:250.42, Y:27.03, Z:-104.64 [[ 7.88069485e-01 -6.15207946e-01 2.15793805e-02 2.50424139e+02] [ 6.14948538e-01 7.88364450e-01 1.78826543e-02 2.70270446e+01] [-2.80139675e-02 -8.22565669e-04 9.99607193e-01 -1.04639345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:250.45, Y:27.05, Z:-104.64 [[ 7.91558247e-01 -6.10750417e-01 2.04809418e-02 2.50445944e+02] [ 6.10515729e-01 7.91822636e-01 1.69545705e-02 2.70518515e+01] [-2.65722844e-02 -9.16593016e-04 9.99646474e-01 -1.04640220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.93864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:250.47, Y:27.07, Z:-104.64 [[ 7.93603607e-01 -6.08147010e-01 1.87224252e-02 2.50470468e+02] [ 6.07950559e-01 7.93823907e-01 1.54829631e-02 2.70739999e+01] [-2.42782265e-02 -9.05026507e-04 9.99704831e-01 -1.04641037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:250.50, Y:27.10, Z:-104.64 [[ 7.93821723e-01 -6.07862070e-01 1.87290090e-02 2.50496209e+02] [ 6.07665728e-01 7.94042120e-01 1.54749969e-02 2.70954929e+01] [-2.42782857e-02 -9.03411791e-04 9.99704831e-01 -1.04641375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.99864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:250.56, Y:27.07, Z:-104.64 [[ 7.92148531e-01 -6.06570054e-01 -6.76274622e-02 2.50557269e+02] [ 6.09760355e-01 7.91317263e-01 4.48252015e-02 2.70678496e+01] [ 2.63251535e-02 -7.67447629e-02 9.96703179e-01 -1.04640657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:250.54, Y:27.14, Z:-104.64 [[ 7.95308846e-01 -6.05945212e-01 -1.77267751e-02 2.50542245e+02] [ 6.05908337e-01 7.95494303e-01 -7.99378212e-03 2.71350309e+01] [ 1.89453426e-02 -4.38327518e-03 9.99810913e-01 -1.04637032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.05864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:250.52, Y:27.21, Z:-104.63 [[ 7.95801648e-01 -6.00835450e-01 7.54751568e-02 2.50522306e+02] [ 6.04566932e-01 7.95430440e-01 -4.22994005e-02 2.72099491e+01] [-3.46202579e-02 7.92917166e-02 9.96250100e-01 -1.04631003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:250.58, Y:27.19, Z:-104.64 [[ 7.97265458e-01 -6.03118965e-01 2.48053055e-02 2.50584959e+02] [ 6.02774115e-01 7.97650121e-01 2.04365171e-02 2.71855499e+01] [-3.21116059e-02 -1.34133307e-03 9.99483389e-01 -1.04640480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.11864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:250.61, Y:27.21, Z:-104.64 [[ 7.97252302e-01 -6.03172646e-01 2.39066176e-02 2.50609931e+02] [ 6.02852982e-01 7.97609638e-01 1.96760551e-02 2.72079109e+01] [-3.09362069e-02 -1.27460450e-03 9.99520548e-01 -1.04640193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:250.63, Y:27.23, Z:-104.64 [[ 7.97052497e-01 -6.03437163e-01 2.38936475e-02 2.50634536e+02] [ 6.03118597e-01 7.97409577e-01 1.96449427e-02 2.72307358e+01] [-3.09075119e-02 -1.24734745e-03 9.99521470e-01 -1.04640907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.17864000000003 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:250.69, Y:27.21, Z:-104.64 [[ 7.94030117e-01 -6.05566945e-01 -5.29608148e-02 2.50689135e+02] [ 6.07714773e-01 7.92819325e-01 4.60464154e-02 2.72106299e+01] [ 1.41041703e-02 -6.87473102e-02 9.97534400e-01 -1.04641966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:250.68, Y:27.27, Z:-104.64 [[ 7.94534399e-01 -6.07068273e-01 -1.35351693e-02 2.50680820e+02] [ 6.07112828e-01 7.94615010e-01 -1.00002799e-03 2.72689194e+01] [ 1.13623340e-02 -7.42281830e-03 9.99907895e-01 -1.04637886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23864 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:250.69, Y:27.31, Z:-104.64 [[ 7.95517820e-01 -6.05906939e-01 5.30851466e-03 2.50690177e+02] [ 6.05902866e-01 7.95368211e-01 -1.64658973e-02 2.73072778e+01] [ 5.75457762e-03 1.63153590e-02 9.99850336e-01 -1.04638167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:250.72, Y:27.32, Z:-104.64 [[ 7.96251870e-01 -6.04934631e-01 -6.08702665e-03 2.50720271e+02] [ 6.04932239e-01 7.96273228e-01 -2.43554100e-03 2.73188686e+01] [ 6.32027945e-03 -1.74293458e-03 9.99978508e-01 -1.04639727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:250.71, Y:27.38, Z:-104.63 [[ 7.97253808e-01 -5.99838965e-01 6.76726038e-02 2.50710647e+02] [ 6.02335864e-01 7.97888050e-01 -2.37942636e-02 2.73806414e+01] [-3.97224354e-02 5.97317035e-02 9.97423807e-01 -1.04634276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:250.76, Y:27.37, Z:-104.64 [[ 8.00367276e-01 -5.98892341e-01 2.72063890e-02 2.50762363e+02] [ 5.98478887e-01 8.00828008e-01 2.23052402e-02 2.73688725e+01] [-3.51460758e-02 -1.56993490e-03 9.99380953e-01 -1.04642867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35864 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:250.79, Y:27.39, Z:-104.64 [[ 8.00659458e-01 -5.98480618e-01 2.76655579e-02 2.50786553e+02] [ 5.98053692e-01 8.01135696e-01 2.26578240e-02 2.73914687e+01] [-3.57241345e-02 -1.59571204e-03 9.99360415e-01 -1.04643483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.38864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:250.81, Y:27.42, Z:-104.64 [[ 7.99821711e-01 -5.99498177e-01 2.97853424e-02 2.50808290e+02] [ 5.99005020e-01 8.00374425e-01 2.43673148e-02 2.74175352e+01] [-3.84475871e-02 -1.64793781e-03 9.99259259e-01 -1.04643466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:250.83, Y:27.44, Z:-104.64 [[ 7.99236079e-01 -6.00254625e-01 3.02667330e-02 2.50831429e+02] [ 5.99746955e-01 7.99807334e-01 2.47349502e-02 2.74410225e+01] [-3.90548233e-02 -1.61668362e-03 9.99235762e-01 -1.04643474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.44864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:250.86, Y:27.46, Z:-104.64 [[ 7.98475739e-01 -6.01256936e-01 3.04399585e-02 2.50855180e+02] [ 6.00745200e-01 7.99054239e-01 2.48501118e-02 2.74636418e+01] [-3.92644799e-02 -1.55555242e-03 9.99227642e-01 -1.04644304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47864 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:250.88, Y:27.49, Z:-104.64 [[ 7.96438624e-01 -6.03879603e-01 3.18581728e-02 2.50878672e+02] [ 6.03322004e-01 7.97074178e-01 2.59868080e-02 2.74872896e+01] [-4.10862302e-02 -1.47616095e-03 9.99154514e-01 -1.04644014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.50864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:250.90, Y:27.51, Z:-104.64 [[ 7.96364815e-01 -6.03958130e-01 3.22127062e-02 2.50902641e+02] [ 6.03388933e-01 7.97014685e-01 2.62561689e-02 2.75099426e+01] [-4.15316266e-02 -1.47269862e-03 9.99136104e-01 -1.04644428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:250.99, Y:27.45, Z:-104.65 [[ 7.92465441e-01 -6.04770518e-01 -7.90641846e-02 2.50987486e+02] [ 6.09916707e-01 7.85700574e-01 1.03325784e-01 2.74485297e+01] [-3.67612595e-04 -1.30104680e-01 9.91500195e-01 -1.04651179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.56864 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:250.89, Y:27.64, Z:-104.62 [[ 7.93918052e-01 -5.95700437e-01 1.21799493e-01 2.50894036e+02] [ 6.05725112e-01 7.92289899e-01 -7.33062366e-02 2.76434850e+01] [-5.28319510e-02 1.31976156e-01 9.89843967e-01 -1.04619961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59864 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:250.98, Y:27.58, Z:-104.65 [[ 7.95623707e-01 -6.04632606e-01 3.74476712e-02 2.50984275e+02] [ 6.03875962e-01 7.96503132e-01 3.02751322e-02 2.75837387e+01] [-4.81325195e-02 -1.47386442e-03 9.98839871e-01 -1.04646755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.62864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:251.01, Y:27.61, Z:-104.65 [[ 7.93346780e-01 -6.07663175e-01 3.66926849e-02 2.51008848e+02] [ 6.06941468e-01 7.94193887e-01 2.96331445e-02 2.76058617e+01] [-4.71480767e-02 -1.23904773e-03 9.98887143e-01 -1.04648577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:251.06, Y:27.59, Z:-104.65 [[ 7.91384563e-01 -6.10311422e-01 -3.50776572e-02 2.51063932e+02] [ 6.11307034e-01 7.89712168e-01 5.15596947e-02 2.75861779e+01] [-3.76621791e-03 -6.22467650e-02 9.98053684e-01 -1.04652873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.68864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:250.73, Y:28.23, Z:-103.72 [[ 7.62518671e-01 6.62291988e-02 6.43567377e-01 2.50728810e+02] [ 6.35649994e-01 1.08545032e-01 -7.64308224e-01 2.82343148e+01] [-1.20475563e-01 9.91882891e-01 4.06690240e-02 -1.03717098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:251.10, Y:27.68, Z:-104.60 [[ 7.86691127e-01 -6.10089387e-01 9.43822561e-02 2.51101250e+02] [ 6.05385221e-01 7.92329025e-01 7.56534938e-02 2.76821824e+01] [-1.20937195e-01 -2.37830937e-03 9.92657312e-01 -1.04604635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.74864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:251.13, Y:27.70, Z:-104.61 [[ 7.85969979e-01 -6.10904558e-01 9.51147398e-02 2.51127213e+02] [ 6.06143172e-01 7.91701186e-01 7.61556715e-02 2.77043872e+01] [-1.21826299e-01 -2.20292141e-03 9.92548991e-01 -1.04607651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:251.15, Y:27.72, Z:-104.61 [[ 7.85996728e-01 -6.10843088e-01 9.52883272e-02 2.51154207e+02] [ 6.06075255e-01 7.91748781e-01 7.62013909e-02 2.77243011e+01] [-1.21991510e-01 -2.14214667e-03 9.92528832e-01 -1.04613089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.80864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:251.18, Y:27.75, Z:-104.62 [[ 7.86911544e-01 -6.09878769e-01 9.39047858e-02 2.51181643e+02] [ 6.05253211e-01 7.92491713e-01 7.50028978e-02 2.77457081e+01] [-1.20161440e-01 -2.18447297e-03 9.92751961e-01 -1.04617410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:251.23, Y:27.73, Z:-104.62 [[ 7.90262050e-01 -6.12275319e-01 2.45932132e-02 2.51232473e+02] [ 6.07769115e-01 7.88298904e-01 9.59246607e-02 2.77290233e+01] [-7.81191052e-02 -6.08586236e-02 9.95084737e-01 -1.04623501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.86864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:250.96, Y:28.43, Z:-103.73 [[ 7.59157389e-01 9.86722920e-02 6.43384673e-01 2.50957706e+02] [ 6.21890734e-01 1.81880704e-01 -7.61689783e-01 2.84287642e+01] [-1.92176934e-01 9.78357393e-01 7.67126964e-02 -1.03729045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:251.31, Y:27.79, Z:-104.59 [[ 7.89662451e-01 -6.09401990e-01 7.11507438e-02 2.51312611e+02] [ 5.96184877e-01 7.89534845e-01 1.45596434e-01 2.77882193e+01] [-1.44902748e-01 -7.25530395e-02 9.86782271e-01 -1.04587230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.92864000000003 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:251.09, Y:28.54, Z:-103.71 [[ 7.49568119e-01 1.63629115e-01 6.41383775e-01 2.51093939e+02] [ 6.06845270e-01 2.17109992e-01 -7.64592748e-01 2.85373299e+01] [-2.64360461e-01 9.62335058e-01 6.34411743e-02 -1.03705557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95864 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:251.39, Y:27.86, Z:-104.56 [[ 7.83160372e-01 -6.07447061e-01 1.32920655e-01 2.51393450e+02] [ 5.82731346e-01 7.91559189e-01 1.84006053e-01 2.78626529e+01] [-2.16988502e-01 -6.66492166e-02 9.73896233e-01 -1.04558762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98864 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:251.23, Y:28.65, Z:-103.71 [[ 7.32920879e-01 2.13433044e-01 6.45966966e-01 2.51233729e+02] [ 5.92212944e-01 2.67160786e-01 -7.60203226e-01 2.86524389e+01] [-3.34829530e-01 9.39718815e-01 6.94099069e-02 -1.03709395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01864 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:251.46, Y:27.98, Z:-104.54 [[ 7.65372108e-01 -5.88356786e-01 2.60848289e-01 2.51456185e+02] [ 5.53083375e-01 8.08545914e-01 2.00878782e-01 2.79831472e+01] [-3.29096213e-01 -9.47616472e-03 9.44248847e-01 -1.04539530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04864 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:251.49, Y:28.01, Z:-104.55 [[ 7.68049637e-01 -5.85269566e-01 2.59921701e-01 2.51492561e+02] [ 5.50202139e-01 8.10771298e-01 1.99818687e-01 2.80142338e+01] [-3.27684851e-01 -1.04611945e-02 9.44729168e-01 -1.04554879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07864 meters Centerline goodness : 0.997164 Centerline is valid? [True, True] Translation: X:251.52, Y:28.04, Z:-104.57 [[ 7.69977923e-01 -5.82887043e-01 2.59570207e-01 2.51518736e+02] [ 5.48215858e-01 8.12486771e-01 1.98304361e-01 2.80414730e+01] [-3.26486402e-01 -1.03894763e-02 9.45144797e-01 -1.04568258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10864 meters Centerline goodness : 0.996135 Centerline is valid? [True, True] Translation: X:251.58, Y:28.02, Z:-104.58 [[ 7.79202866e-01 -5.98992312e-01 1.84529414e-01 2.51576229e+02] [ 5.58319710e-01 7.97127128e-01 2.29929216e-01 2.80181291e+01] [-2.84819234e-01 -7.61350954e-02 9.55552956e-01 -1.04583382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.13864 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:251.49, Y:28.85, Z:-103.73 [[ 7.19386208e-01 2.86961444e-01 6.32563525e-01 2.51487197e+02] [ 5.64916970e-01 2.88182071e-01 -7.73188147e-01 2.88545569e+01] [-4.04168654e-01 9.13566759e-01 4.52048181e-02 -1.03732500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16864 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:251.68, Y:28.10, Z:-104.58 [[ 7.62390816e-01 -6.02558515e-01 2.35973470e-01 2.51675829e+02] [ 5.41753130e-01 7.93748964e-01 2.76525095e-01 2.80987662e+01] [-3.53926248e-01 -8.29808271e-02 9.31584882e-01 -1.04578249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.19864 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:251.69, Y:28.24, Z:-104.60 [[ 7.65233078e-01 -5.59366636e-01 3.18633492e-01 2.51687702e+02] [ 5.26802015e-01 8.28604594e-01 1.89457286e-01 2.82373629e+01] [-3.69997260e-01 2.28777836e-02 9.28751115e-01 -1.04596469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22864 meters Centerline goodness : 0.996325 Centerline is valid? [True, True] Translation: X:251.67, Y:29.01, Z:-103.93 [[ 7.34563180e-01 2.29165363e-01 6.38670628e-01 2.51669573e+02] [ 4.94641071e-01 4.63465537e-01 -7.35207391e-01 2.90101871e+01] [-4.64485894e-01 8.55969002e-01 2.27090118e-01 -1.03931319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.25864 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:252.40, Y:28.85, Z:-103.27 [[ 6.62767567e-01 7.48701639e-01 -1.36017683e-02 2.52403199e+02] [ 5.57942824e-01 -5.05855419e-01 -6.57883044e-01 2.88538047e+01] [-4.99438641e-01 4.28434536e-01 -7.52997272e-01 -1.03265248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28864 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:253.00, Y:28.13, Z:-103.60 [[ 0.64638253 0.29345955 -0.70432316 252.9950456 ] [ 0.62890206 -0.72760007 0.27400791 28.12987775] [ -0.43205535 -0.62006421 -0.65486529 -103.60168256] [ 0. 0. 0. 1. ]] SLAMing on 326.31864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:252.17, Y:28.31, Z:-104.80 [[ 6.84517873e-01 -6.97828879e-01 2.10879437e-01 2.52168439e+02] [ 6.02145933e-01 7.04291823e-01 3.76023009e-01 2.83137253e+01] [-4.10920378e-01 -1.30414275e-01 9.02295162e-01 -1.04797264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:252.14, Y:28.45, Z:-104.82 [[ 6.89323719e-01 -6.54552250e-01 3.10474092e-01 2.52143000e+02] [ 5.93438852e-01 7.55991593e-01 2.76237290e-01 2.84469487e+01] [-4.15527543e-01 -6.16952777e-03 9.09559672e-01 -1.04815069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.37864 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:252.09, Y:29.29, Z:-104.10 [[ 6.35694805e-01 2.83635796e-01 7.17943487e-01 2.52090706e+02] [ 5.77853249e-01 4.41825251e-01 -6.86204102e-01 2.92931380e+01] [-5.11837608e-01 8.51082360e-01 1.16966151e-01 -1.04096453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:252.21, Y:29.41, Z:-104.13 [[ 6.14329716e-01 3.30216488e-01 7.16628265e-01 2.52214623e+02] [ 5.47994500e-01 4.74902642e-01 -6.88599672e-01 2.94094451e+01] [-5.67715622e-01 8.15735589e-01 1.10789986e-01 -1.04132238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.43864 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:253.30, Y:28.22, Z:-104.33 [[ 6.48019190e-01 -2.91621723e-01 -7.03582192e-01 2.53303864e+02] [ 5.84962487e-01 -4.01021203e-01 7.04982896e-01 2.82164705e+01] [-4.87739704e-01 -8.68411633e-01 -8.92816667e-02 -1.04329297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:252.47, Y:28.71, Z:-105.01 [[ 6.68094084e-01 -6.53920105e-01 3.55019424e-01 2.52473595e+02] [ 5.38541645e-01 7.54194873e-01 3.75716636e-01 2.87058093e+01] [-5.13442491e-01 -5.98213177e-02 8.56036342e-01 -1.05010868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.49864 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:252.48, Y:28.77, Z:-105.03 [[ 6.67271122e-01 -6.31958411e-01 3.94179930e-01 2.52477008e+02] [ 5.39851440e-01 7.74975358e-01 3.28593392e-01 2.87685573e+01] [-5.13137090e-01 -6.46227834e-03 8.58282335e-01 -1.05027324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52864 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:252.54, Y:28.75, Z:-105.05 [[ 6.82209465e-01 -6.58824073e-01 3.17082144e-01 2.52537495e+02] [ 5.59222984e-01 7.49542646e-01 3.54196945e-01 2.87476945e+01] [-4.71020063e-01 -6.43168854e-02 8.79774652e-01 -1.05050218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.55864 meters Centerline goodness : 0.996626 Centerline is valid? [True, True] Translation: X:252.54, Y:28.86, Z:-105.08 [[ 6.83935255e-01 -6.19899998e-01 3.84651217e-01 2.52544563e+02] [ 5.48824757e-01 7.84560136e-01 2.88542507e-01 2.88572660e+01] [-4.80649511e-01 1.37617181e-02 8.76804803e-01 -1.05076871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58864 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:252.55, Y:29.71, Z:-104.46 [[ 6.37493316e-01 2.92668119e-01 7.12704458e-01 2.52551696e+02] [ 5.21340307e-01 5.17239308e-01 -6.78725116e-01 2.97126295e+01] [-5.67279963e-01 8.04244285e-01 1.77156915e-01 -1.04464272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.61864 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:252.68, Y:29.82, Z:-104.51 [[ 6.15094667e-01 3.41888575e-01 7.10472204e-01 2.52677578e+02] [ 4.87978590e-01 5.42706668e-01 -6.83627361e-01 2.98238354e+01] [-6.19302387e-01 7.67190768e-01 1.66981672e-01 -1.04512802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64864 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:252.82, Y:29.94, Z:-104.54 [[ 6.21835835e-01 4.13084029e-01 6.65343354e-01 2.52822399e+02] [ 4.19456292e-01 5.41764770e-01 -7.28386816e-01 2.99369458e+01] [-6.61344550e-01 7.32019480e-01 1.63618053e-01 -1.04542070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.67864000000003 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:253.81, Y:29.74, Z:-104.03 [[ 5.52306130e-01 7.71410497e-01 -3.16043959e-01 2.53808684e+02] [ 5.03303416e-01 -6.10779184e-01 -6.11256460e-01 2.97437528e+01] [-6.64562721e-01 1.78534686e-01 -7.25590626e-01 -1.04032742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70864 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:252.97, Y:29.10, Z:-105.24 [[ 5.37383690e-01 -6.62651220e-01 5.21643681e-01 2.52974014e+02] [ 4.71966305e-01 7.48918661e-01 4.65154432e-01 2.90954933e+01] [-6.98903840e-01 -3.76816441e-03 7.15205721e-01 -1.05235716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73864 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:253.02, Y:29.15, Z:-105.30 [[ 5.45578562e-01 -6.54669798e-01 5.23212660e-01 2.53021388e+02] [ 4.63371088e-01 7.55849740e-01 4.62577998e-01 2.91468039e+01] [-6.98305998e-01 -9.93101956e-03 7.15730472e-01 -1.05298857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76864 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:253.04, Y:29.18, Z:-105.33 [[ 5.47395083e-01 -6.46218513e-01 5.31752063e-01 2.53043018e+02] [ 4.58350290e-01 7.63131525e-01 4.55571385e-01 2.91810702e+01] [-7.00195426e-01 -5.64882401e-03 7.13928888e-01 -1.05330244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79864 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:253.09, Y:29.18, Z:-105.36 [[ 5.69172827e-01 -6.67023741e-01 4.80751103e-01 2.53087032e+02] [ 4.74576948e-01 7.43984481e-01 4.70386875e-01 2.91764501e+01] [-6.71430573e-01 -3.95780361e-02 7.40009841e-01 -1.05363496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82864 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:253.14, Y:30.16, Z:-104.89 [[ 5.06912065e-01 4.14609171e-01 7.55737649e-01 2.53138661e+02] [ 4.39687598e-01 6.29731081e-01 -6.40401110e-01 3.01605833e+01] [-7.41427659e-01 6.56915521e-01 1.36919772e-01 -1.04887551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85864 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:254.27, Y:28.99, Z:-104.99 [[ 5.81508538e-01 -3.80968658e-01 -7.18825919e-01 2.54265436e+02] [ 4.56051499e-01 -5.79041429e-01 6.75816583e-01 2.89907452e+01] [-6.73694924e-01 -7.20814751e-01 -1.62976207e-01 -1.04989067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.88864 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:253.31, Y:30.31, Z:-105.11 [[ 5.07121529e-01 4.15962968e-01 7.54852677e-01 2.53312642e+02] [ 4.37207559e-01 6.30617903e-01 -6.41225865e-01 3.03062753e+01] [-7.42749827e-01 6.55206737e-01 1.37937762e-01 -1.05113948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91864 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:253.36, Y:29.44, Z:-105.67 [[ 5.53271727e-01 -6.49815882e-01 5.21181077e-01 2.53359713e+02] [ 4.25936324e-01 7.58379295e-01 4.93395473e-01 2.94376045e+01] [-7.15869152e-01 -5.09918131e-02 6.96370011e-01 -1.05667237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.94864 meters Centerline goodness : 0.995693 Centerline is valid? [True, True] Translation: X:253.37, Y:29.61, Z:-105.76 [[ 5.70275322e-01 -5.58942321e-01 6.01971377e-01 2.53369902e+02] [ 3.88191164e-01 8.29195228e-01 4.02172717e-01 2.96064743e+01] [-7.23943145e-01 4.33079394e-03 6.89846046e-01 -1.05757321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97864 meters Centerline goodness : 0.995062 Centerline is valid? [True, True] Translation: X:253.67, Y:30.60, Z:-105.24 [[ 4.85804501e-01 6.21634563e-01 6.14462739e-01 2.53665481e+02] [ 3.66670894e-01 4.93206882e-01 -7.88859574e-01 3.06003617e+01] [-7.93439628e-01 6.08537133e-01 1.16668221e-02 -1.05240240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.00864 meters Centerline goodness : 0.995602 Centerline is valid? [True, True] Translation: X:253.82, Y:30.69, Z:-105.32 [[ 4.65830481e-01 6.81996099e-01 5.63811390e-01 2.53816275e+02] [ 3.05763688e-01 4.73857443e-01 -8.25813351e-01 3.06899162e+01] [-8.30367708e-01 5.57082081e-01 1.22075984e-02 -1.05315371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03864 meters Centerline goodness : 0.994335 Centerline is valid? [True, True] Translation: X:254.65, Y:30.57, Z:-105.09 [[ 3.94227454e-01 8.66419568e-01 -3.06434083e-01 2.54650282e+02] [ 3.59205768e-01 -4.52183008e-01 -8.16395580e-01 3.05656773e+01] [-8.45905391e-01 2.11772661e-01 -4.89485863e-01 -1.05090626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.06864 meters Centerline goodness : 0.995115 Centerline is valid? [True, True] Translation: X:255.06, Y:29.71, Z:-105.47 [[ 3.89579449e-01 -6.45278116e-03 -9.20970257e-01 2.55062319e+02] [ 4.43213387e-01 -8.75256934e-01 1.93616099e-01 2.97139866e+01] [-8.07334966e-01 -4.83615200e-01 -3.38122155e-01 -1.05474213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09864 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:253.88, Y:29.62, Z:-106.22 [[ 4.02822260e-01 -7.84652507e-01 4.71226772e-01 2.53879403e+02] [ 4.22559003e-01 6.16124461e-01 6.64706355e-01 2.96172538e+01] [-8.11897848e-01 -6.86374006e-02 5.79750629e-01 -1.06224291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.12864 meters Centerline goodness : 0.996481 Centerline is valid? [True, True] Translation: X:253.84, Y:29.72, Z:-106.26 [[ 4.01795474e-01 -7.21691231e-01 5.63668488e-01 2.53836400e+02] [ 4.24558473e-01 6.92198373e-01 5.83619324e-01 2.97181979e+01] [-8.11363358e-01 4.81462968e-03 5.84522301e-01 -1.06260620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15864 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:253.86, Y:29.75, Z:-106.31 [[ 4.04095417e-01 -7.17961957e-01 5.66778195e-01 2.53855104e+02] [ 4.23395543e-01 6.96059391e-01 5.79859929e-01 2.97475956e+01] [-8.10828655e-01 5.65262128e-03 5.85256303e-01 -1.06306106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.18864 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:253.87, Y:29.77, Z:-106.35 [[ 4.06475111e-01 -7.14472923e-01 5.69479084e-01 2.53872204e+02] [ 4.24433746e-01 6.99616607e-01 5.74797876e-01 2.97741358e+01] [-8.09094543e-01 8.06511030e-03 5.87623157e-01 -1.06348767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21864 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:253.89, Y:29.80, Z:-106.39 [[ 4.08421763e-01 -7.11163019e-01 5.72222705e-01 2.53892368e+02] [ 4.23926737e-01 7.02965080e-01 5.71074618e-01 2.98005306e+01] [-8.08379729e-01 9.34120201e-03 5.88587255e-01 -1.06390319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.24864 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:253.91, Y:29.83, Z:-106.43 [[ 4.10069955e-01 -7.07200278e-01 5.75943051e-01 2.53911234e+02] [ 4.20949213e-01 7.06951054e-01 5.68350215e-01 2.98280162e+01] [-8.09100978e-01 9.37942696e-03 5.87594788e-01 -1.06432282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27864 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:253.95, Y:29.88, Z:-106.51 [[ 4.18198118e-01 -6.99257962e-01 5.79783267e-01 2.53945698e+02] [ 4.11308147e-01 7.14866693e-01 5.65500856e-01 2.98794533e+01] [-8.09898723e-01 1.97818730e-03 5.86566403e-01 -1.06510075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.30864 meters Centerline goodness : 0.997208 Centerline is valid? [True, True] Translation: X:254.01, Y:29.84, Z:-106.55 [[ 4.40018373e-01 -7.50375790e-01 4.93274776e-01 2.54014066e+02] [ 4.32896874e-01 6.58520310e-01 6.15590203e-01 2.98407464e+01] [-7.86755443e-01 -5.73338904e-02 6.14596369e-01 -1.06551605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33864 meters Centerline goodness : 0.996918 Centerline is valid? [True, True] Translation: X:254.10, Y:30.95, Z:-106.16 [[ 3.93504921e-01 4.97771783e-01 7.72901759e-01 2.54096798e+02] [ 3.87836537e-01 6.72365823e-01 -6.30481578e-01 3.09454243e+01] [-8.33508667e-01 5.47857146e-01 7.15251754e-02 -1.06158966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.36864 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:254.05, Y:30.03, Z:-106.65 [[ 3.79678097e-01 -6.70542324e-01 6.37351970e-01 2.54052567e+02] [ 3.57770406e-01 7.41763447e-01 5.67263013e-01 3.00265077e+01] [-8.53138253e-01 1.26483318e-02 5.21531534e-01 -1.06654412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39864 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:254.07, Y:30.05, Z:-106.70 [[ 3.79124081e-01 -6.66045098e-01 6.42377505e-01 2.54071683e+02] [ 3.61274507e-01 7.45648563e-01 5.59900840e-01 3.00487589e+01] [-8.51907073e-01 1.98027257e-02 5.23318441e-01 -1.06698952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.42864000000003 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:254.09, Y:30.07, Z:-106.75 [[ 3.82011597e-01 -6.61530916e-01 6.45324714e-01 2.54093555e+02] [ 3.59686752e-01 7.49654199e-01 5.55557397e-01 3.00717864e+01] [-8.51288776e-01 1.98853822e-02 5.24320504e-01 -1.06746110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45864 meters Centerline goodness : 0.997065 Centerline is valid? [True, True] Translation: X:254.12, Y:30.09, Z:-106.79 [[ 3.84293741e-01 -6.55889287e-01 6.49713448e-01 2.54118113e+02] [ 3.55950588e-01 7.54607069e-01 5.51241645e-01 3.00912831e+01] [-8.51831850e-01 1.94271696e-02 5.23454950e-01 -1.06789327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48864 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:254.14, Y:30.11, Z:-106.83 [[ 3.87169851e-01 -6.50990328e-01 6.52925034e-01 2.54139795e+02] [ 3.53122120e-01 7.58855712e-01 5.47213649e-01 3.01139307e+01] [-8.51706684e-01 1.86976455e-02 5.23685137e-01 -1.06832332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51864 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:254.18, Y:30.16, Z:-106.92 [[ 3.95693651e-01 -6.41794495e-01 6.56906661e-01 2.54178811e+02] [ 3.41600412e-01 7.66819367e-01 5.43412566e-01 3.01621241e+01] [-8.52487943e-01 9.37468397e-03 5.22662819e-01 -1.06923624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54864 meters Centerline goodness : 0.995648 Centerline is valid? [True, True] Translation: X:254.19, Y:30.19, Z:-106.97 [[ 4.01459280e-01 -6.24707152e-01 6.69754747e-01 2.54192381e+02] [ 3.37476684e-01 7.80717113e-01 5.25918509e-01 3.01934369e+01] [-8.51434046e-01 1.48917457e-02 5.24250228e-01 -1.06967693e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57864 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:254.22, Y:30.22, Z:-107.02 [[ 4.06549389e-01 -6.18589101e-01 6.72357880e-01 2.54217372e+02] [ 3.33313643e-01 7.85620067e-01 5.21251500e-01 3.02171439e+01] [-8.50658339e-01 1.21915752e-02 5.25577545e-01 -1.07020498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60864 meters Centerline goodness : 0.995552 Centerline is valid? [True, True] Translation: X:254.24, Y:30.24, Z:-107.07 [[ 4.12208560e-01 -6.10294159e-01 6.76479964e-01 2.54242834e+02] [ 3.28082487e-01 7.92114539e-01 5.14700339e-01 3.02402304e+01] [-8.49968226e-01 9.77734329e-03 5.26743219e-01 -1.07073048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.63864 meters Centerline goodness : 0.995792 Centerline is valid? [True, True] Translation: X:254.26, Y:30.26, Z:-107.12 [[ 4.14110962e-01 -6.03474131e-01 6.81418436e-01 2.54261892e+02] [ 3.24832107e-01 7.97310958e-01 5.08703585e-01 3.02647224e+01] [-8.50291840e-01 1.06868557e-02 5.26202981e-01 -1.07116660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66864 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:254.28, Y:30.29, Z:-107.16 [[ 4.15902366e-01 -5.98253102e-01 6.84922220e-01 2.54281292e+02] [ 3.21589960e-01 8.01239569e-01 5.04574129e-01 3.02873165e+01] [-8.50649822e-01 1.04105359e-02 5.25629624e-01 -1.07160444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.69864 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:254.30, Y:30.31, Z:-107.21 [[ 4.19910409e-01 -5.93071532e-01 6.86979917e-01 2.54301592e+02] [ 3.19952639e-01 8.05086794e-01 4.99465278e-01 3.03083747e+01] [-8.49297096e-01 1.00703683e-02 5.27819127e-01 -1.07205154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72864 meters Centerline goodness : 0.994954 Centerline is valid? [True, True] Translation: X:254.32, Y:30.33, Z:-107.25 [[ 4.22007742e-01 -5.87624965e-01 6.90366835e-01 2.54322792e+02] [ 3.16257031e-01 8.09080068e-01 4.95349305e-01 3.03293899e+01] [-8.49641664e-01 9.29212388e-03 5.27278579e-01 -1.07249215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.75864 meters Centerline goodness : 0.995789 Centerline is valid? [True, True] Translation: X:254.34, Y:30.35, Z:-107.29 [[ 4.24738232e-01 -5.82045759e-01 6.93411976e-01 2.54342873e+02] [ 3.12860819e-01 8.13112185e-01 4.90883573e-01 3.03526055e+01] [-8.49538429e-01 8.44441818e-03 5.27459145e-01 -1.07292761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78864 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:254.36, Y:30.37, Z:-107.34 [[ 4.27489231e-01 -5.76191711e-01 6.96603237e-01 2.54362406e+02] [ 3.08852299e-01 8.17282997e-01 4.86475857e-01 3.03747461e+01] [-8.49625338e-01 7.18432143e-03 5.27337815e-01 -1.07336881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.81864 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:254.38, Y:30.39, Z:-107.38 [[ 4.29862313e-01 -5.70728472e-01 6.99633764e-01 2.54383299e+02] [ 3.05770684e-01 8.21111081e-01 4.81955269e-01 3.03923729e+01] [-8.49542630e-01 6.75308812e-03 5.27476744e-01 -1.07380755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84864 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:254.41, Y:30.41, Z:-107.43 [[ 4.31670758e-01 -5.65704708e-01 7.02594150e-01 2.54406061e+02] [ 3.03443017e-01 8.24577503e-01 4.77487463e-01 3.04120520e+01] [-8.49460236e-01 7.07991299e-03 5.27605139e-01 -1.07426167e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.87864 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:254.43, Y:30.43, Z:-107.47 [[ 4.32589396e-01 -5.60719671e-01 7.06016901e-01 2.54428310e+02] [ 3.01304138e-01 8.27965797e-01 4.72957140e-01 3.04318334e+01] [-8.49754218e-01 8.12956997e-03 5.27116381e-01 -1.07470440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90864 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:254.48, Y:30.40, Z:-107.51 [[ 4.54015591e-01 -6.05559813e-01 6.53580260e-01 2.54477433e+02] [ 3.12703650e-01 7.95176212e-01 5.19529806e-01 3.04001432e+01] [-8.34317848e-01 -3.14976989e-02 5.50383161e-01 -1.07513937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.93864 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:254.76, Y:31.49, Z:-107.18 [[ 4.02962809e-01 6.77741519e-01 6.15050737e-01 2.54764613e+02] [ 2.74809742e-01 5.51415836e-01 -7.87667558e-01 3.14949587e+01] [-8.72983723e-01 4.86422666e-01 3.59501019e-02 -1.07181214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96864 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:255.61, Y:30.13, Z:-107.38 [[ 4.53975685e-01 -6.66105136e-01 -5.91785455e-01 2.55613585e+02] [ 2.74384860e-01 -5.27382358e-01 8.04102479e-01 3.01293403e+01] [-8.47714000e-01 -5.27419943e-01 -5.66496028e-02 -1.07384595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.99864 meters Centerline goodness : 0.995348 Centerline is valid? [True, True] Translation: X:255.68, Y:30.17, Z:-107.53 [[ 4.82040700e-01 -6.03649267e-01 -6.35015218e-01 2.55676678e+02] [ 3.32052685e-01 -5.44842450e-01 7.69992025e-01 3.01709592e+01] [-8.10788368e-01 -5.82026003e-01 -6.21928762e-02 -1.07527843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02864 meters Centerline goodness : 0.994315 Centerline is valid? [True, True] Translation: X:254.80, Y:30.43, Z:-108.05 [[ 5.06224735e-01 -6.99024236e-01 5.05075872e-01 2.54796008e+02] [ 3.27544641e-01 6.97619198e-01 6.37214220e-01 3.04313051e+01] [-7.97778808e-01 -1.57138704e-01 5.82113736e-01 -1.08053855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.05864 meters Centerline goodness : 0.995193 Centerline is valid? [True, True] Translation: X:254.70, Y:30.77, Z:-108.16 [[ 4.92672146e-01 -4.28905192e-01 7.57175338e-01 2.54703938e+02] [ 2.76052576e-01 9.02191096e-01 3.31430539e-01 3.07664768e+01] [-8.25269127e-01 4.57336070e-02 5.62884806e-01 -1.08155284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08864 meters Centerline goodness : 0.995144 Centerline is valid? [True, True] Translation: X:254.79, Y:30.65, Z:-108.20 [[ 5.19359690e-01 -5.54709822e-01 6.50048095e-01 2.54785892e+02] [ 2.86829123e-01 8.29712132e-01 4.78859929e-01 3.06481031e+01] [-8.04981097e-01 -6.22478193e-02 5.90025967e-01 -1.08199857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.11864 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:255.08, Y:31.72, Z:-107.87 [[ 4.51174253e-01 6.62258309e-01 5.98210436e-01 2.55077127e+02] [ 2.49689228e-01 5.49868039e-01 -7.97057356e-01 3.17151396e+01] [-8.56794656e-01 5.08978459e-01 8.27275364e-02 -1.07867385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14864 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:254.86, Y:30.82, Z:-108.31 [[ 4.50683160e-01 -4.49522389e-01 7.71242058e-01 2.54856002e+02] [ 2.21759461e-01 8.93253874e-01 3.91050199e-01 3.08233348e+01] [-8.64700775e-01 -5.20951617e-03 5.02260321e-01 -1.08310045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.17864000000003 meters Centerline goodness : 0.993622 Centerline is valid? [True, True] Translation: X:254.90, Y:30.77, Z:-108.35 [[ 4.81052840e-01 -5.10565060e-01 7.12679090e-01 2.54904226e+02] [ 2.35088964e-01 8.58271003e-01 4.56184245e-01 3.07747850e+01] [-8.44583533e-01 -5.19057380e-02 5.32901914e-01 -1.08351071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20864 meters Centerline goodness : 0.993484 Centerline is valid? [True, True] Translation: X:255.28, Y:31.83, Z:-108.07 [[ 3.98878676e-01 7.25303080e-01 5.61098248e-01 2.55275937e+02] [ 2.00126883e-01 5.28279746e-01 -8.25148314e-01 3.18307072e+01] [-8.94899454e-01 4.41424910e-01 6.55668806e-02 -1.08070094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23864 meters Centerline goodness : 0.994173 Centerline is valid? [True, True] Translation: X:256.02, Y:30.40, Z:-108.22 [[ 4.75204635e-01 -7.04577892e-01 -5.27020445e-01 2.56023092e+02] [ 2.04746492e-01 -4.93980141e-01 8.45022186e-01 3.04021299e+01] [-8.55721584e-01 -5.09464046e-01 -9.04818006e-02 -1.08215135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26864 meters Centerline goodness : 0.993975 Centerline is valid? [True, True] Translation: X:255.98, Y:31.87, Z:-108.06 [[ 3.97189951e-01 9.10911057e-01 -1.11719239e-01 2.55983279e+02] [ 2.57560180e-01 -2.27482356e-01 -9.39103046e-01 3.18709496e+01] [-8.80853504e-01 3.44227866e-01 -3.24968121e-01 -1.08058362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29864 meters Centerline goodness : 0.994559 Centerline is valid? [True, True] Translation: X:255.16, Y:30.90, Z:-108.77 [[ 3.91122859e-01 -5.04452740e-01 7.69772916e-01 2.55157988e+02] [ 2.17950327e-01 8.63378938e-01 4.55054353e-01 3.08989527e+01] [-8.94159138e-01 -1.02099006e-02 4.47632879e-01 -1.08772870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32864 meters Centerline goodness : 0.994512 Centerline is valid? [True, True] Translation: X:255.94, Y:31.98, Z:-108.33 [[ 3.36645719e-01 9.33731360e-01 1.21718559e-01 2.55940419e+02] [ 2.45169382e-01 3.78892312e-02 -9.68739583e-01 3.19824945e+01] [-9.09154351e-01 3.55963697e-01 -2.16167093e-01 -1.08326280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35864 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:255.29, Y:30.92, Z:-108.94 [[ 3.32721611e-01 -5.52132365e-01 7.64490799e-01 2.55294048e+02] [ 2.08406720e-01 8.33686128e-01 5.11404028e-01 3.09168513e+01] [-9.19708089e-01 -1.08301523e-02 3.92453486e-01 -1.08937086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.38864 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:255.30, Y:30.95, Z:-108.98 [[ 3.30432250e-01 -5.31826621e-01 7.79727500e-01 2.55303712e+02] [ 2.07241396e-01 8.46853224e-01 4.89786301e-01 3.09486381e+01] [-9.20796140e-01 -2.49374062e-04 3.90044108e-01 -1.08983963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41864 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:255.33, Y:30.98, Z:-109.06 [[ 3.34032727e-01 -5.23126472e-01 7.84066854e-01 2.55326181e+02] [ 2.00903072e-01 8.52246481e-01 4.83025767e-01 3.09753253e+01] [-9.20901783e-01 -3.82497432e-03 3.89775931e-01 -1.09056903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.44864 meters Centerline goodness : 0.994565 Centerline is valid? [True, True] Translation: X:255.34, Y:31.00, Z:-109.11 [[ 3.36929456e-01 -5.08012225e-01 7.92718185e-01 2.55337714e+02] [ 2.02331546e-01 8.61343207e-01 4.65993374e-01 3.09996392e+01] [-9.19532755e-01 3.38500160e-03 3.92998797e-01 -1.09106106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47864 meters Centerline goodness : 0.994754 Centerline is valid? [True, True] Translation: X:255.37, Y:31.08, Z:-109.26 [[ 3.70138231e-01 -4.77824451e-01 7.96668993e-01 2.55371990e+02] [ 1.46715614e-01 8.76881896e-01 4.57769232e-01 3.10839032e+01] [-9.17317948e-01 -5.25541137e-02 3.94671821e-01 -1.09261344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.50864 meters Centerline goodness : 0.995051 Centerline is valid? [True, True] Translation: X:255.36, Y:31.20, Z:-109.31 [[ 3.71508178e-01 -3.57716389e-01 8.56750056e-01 2.55357878e+02] [ 1.45182018e-01 9.33825703e-01 3.26943020e-01 3.12042550e+01] [-9.17008100e-01 2.92269623e-03 3.98857873e-01 -1.09310483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53864 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:255.39, Y:31.18, Z:-109.36 [[ 4.03958143e-01 -3.91225310e-01 8.26898165e-01 2.55389552e+02] [ 1.54249597e-01 9.20121474e-01 3.59977130e-01 3.11803034e+01] [-9.01678923e-01 -1.78669840e-02 4.32036908e-01 -1.09356205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.56864 meters Centerline goodness : 0.994125 Centerline is valid? [True, True] Translation: X:255.42, Y:31.23, Z:-109.45 [[ 3.93419008e-01 -3.53946304e-01 8.48494843e-01 2.55423885e+02] [ 1.29265655e-01 9.35047743e-01 3.30115297e-01 3.12329887e+01] [-9.10226277e-01 -2.01923911e-02 4.13618656e-01 -1.09453759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59864 meters Centerline goodness : 0.995732 Centerline is valid? [True, True] Translation: X:256.00, Y:32.21, Z:-109.27 [[ 3.17832352e-01 8.50610780e-01 4.18860237e-01 2.55996966e+02] [ 1.10905907e-01 4.05381821e-01 -9.07394875e-01 3.22066180e+01] [-9.41638187e-01 3.34853521e-01 3.45056978e-02 -1.09268806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.62864 meters Centerline goodness : 0.995347 Centerline is valid? [True, True] Translation: X:256.12, Y:32.25, Z:-109.41 [[ 2.58169291e-01 8.82749023e-01 3.92559269e-01 2.56118985e+02] [ 8.30659842e-02 3.84546898e-01 -9.19360498e-01 3.22493099e+01] [-9.62522031e-01 2.69958970e-01 2.59517836e-02 -1.09405735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65864 meters Centerline goodness : 0.994020 Centerline is valid? [True, True] Translation: X:256.22, Y:30.70, Z:-109.66 [[ 3.35026849e-01 -9.41732273e-01 2.99555691e-02 2.56223565e+02] [ 4.31099800e-02 4.70807610e-02 9.97960386e-01 3.07011819e+01] [-9.41221833e-01 -3.33052140e-01 5.63713785e-02 -1.09656836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.68864 meters Centerline goodness : 0.994856 Centerline is valid? [True, True] Translation: X:256.56, Y:32.29, Z:-109.62 [[ 2.57869349e-01 9.65834428e-01 -2.58313054e-02 2.56556589e+02] [ 8.24594530e-02 -4.86381744e-02 -9.95406835e-01 3.22856495e+01] [-9.62654578e-01 2.54554877e-01 -9.21844730e-02 -1.09616362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71864 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:256.61, Y:32.30, Z:-109.78 [[ 1.87876319e-01 9.81965113e-01 2.11424805e-02 2.56613640e+02] [ 8.13176642e-02 5.90085000e-03 -9.96670767e-01 3.23025755e+01] [-9.78820681e-01 1.88970093e-01 -7.87424794e-02 -1.09777474e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.74864 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:256.49, Y:30.72, Z:-110.08 [[ 2.80868111e-01 -9.55208079e-01 -9.32235451e-02 2.56492878e+02] [ 5.40405120e-02 -8.12393396e-02 9.95228513e-01 3.07150883e+01] [-9.58223735e-01 -2.84565801e-01 2.88023938e-02 -1.10081590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77864 meters Centerline goodness : 0.994804 Centerline is valid? [True, True] Translation: X:256.68, Y:32.32, Z:-110.09 [[ 1.84507757e-01 9.82353449e-01 3.06363871e-02 2.56683607e+02] [ 8.68707694e-02 1.47491649e-02 -9.96110401e-01 3.23210263e+01] [-9.78984350e-01 1.86451502e-01 -8.26164646e-02 -1.10088779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.80864 meters Centerline goodness : 0.994796 Centerline is valid? [True, True] Translation: X:256.59, Y:30.73, Z:-110.40 [[ 2.80434714e-01 -9.52357185e-01 -1.19883958e-01 2.56589903e+02] [ 5.99639951e-02 -1.07269893e-01 9.92420017e-01 3.07327614e+01] [-9.57998273e-01 -2.85497745e-01 2.70249397e-02 -1.10396139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83864 meters Centerline goodness : 0.993830 Centerline is valid? [True, True] Translation: X:256.53, Y:30.75, Z:-110.59 [[ 3.41403112e-01 -9.38873664e-01 -4.42736683e-02 2.56528241e+02] [ 5.87475193e-02 -2.56967171e-02 9.97942086e-01 3.07477945e+01] [-9.38079231e-01 -3.43301502e-01 4.63835595e-02 -1.10588949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.86864 meters Centerline goodness : 0.993031 Centerline is valid? [True, True] Translation: X:256.78, Y:32.34, Z:-110.55 [[ 2.55410450e-01 9.66788439e-01 9.25292872e-03 2.56779660e+02] [ 1.01475499e-01 -1.72882988e-02 -9.94687809e-01 3.23448166e+01] [-9.61492707e-01 2.54992606e-01 -1.02520951e-01 -1.10547702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89864 meters Centerline goodness : 0.994367 Centerline is valid? [True, True] Translation: X:256.63, Y:30.77, Z:-110.90 [[ 3.37085199e-01 -9.40233800e-01 -4.83111752e-02 2.56631149e+02] [ 6.15539325e-02 -2.91948807e-02 9.97676687e-01 3.07718044e+01] [-9.39459782e-01 -3.39275788e-01 4.80339257e-02 -1.10898284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.92864000000003 meters Centerline goodness : 0.994652 Centerline is valid? [True, True] Translation: X:256.85, Y:32.37, Z:-110.86 [[ 2.58571620e-01 9.65476146e-01 3.15678312e-02 2.56854967e+02] [ 1.03712563e-01 4.74389069e-03 -9.94595998e-01 3.23722572e+01] [-9.60408466e-01 2.60448279e-01 -9.89053697e-02 -1.10861019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95864 meters Centerline goodness : 0.993521 Centerline is valid? [True, True] Translation: X:256.72, Y:30.80, Z:-111.21 [[ 3.31261134e-01 -9.42784693e-01 -3.77237725e-02 2.56715394e+02] [ 9.70229258e-02 -5.73328129e-03 9.95265634e-01 3.08024925e+01] [-9.38537486e-01 -3.33352893e-01 8.95725161e-02 -1.11211039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98864 meters Centerline goodness : 0.994693 Centerline is valid? [True, True] Translation: X:256.06, Y:31.43, Z:-111.45 [[ 3.13317063e-01 -3.21930391e-01 8.93416612e-01 2.56063513e+02] [ 6.68511392e-02 9.45929630e-01 3.17408350e-01 3.14337179e+01] [-9.47292639e-01 -3.97235337e-02 3.17897306e-01 -1.11453175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01864 meters Centerline goodness : 0.993971 Centerline is valid? [True, True] Translation: X:256.07, Y:31.50, Z:-111.50 [[ 3.46268767e-01 -2.50845475e-01 9.03977040e-01 2.56067801e+02] [ 7.58803999e-02 9.67920844e-01 2.39523286e-01 3.14993175e+01] [-9.35061552e-01 -1.43452936e-02 3.54195012e-01 -1.11497941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04864 meters Centerline goodness : 0.994464 Centerline is valid? [True, True] Translation: X:256.64, Y:32.39, Z:-111.41 [[ 2.61202077e-01 8.61742646e-01 4.34940325e-01 2.56635956e+02] [ 5.58495052e-02 4.36336290e-01 -8.98048704e-01 3.23936253e+01] [-9.63667115e-01 2.58863388e-01 6.58440446e-02 -1.11407820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:257.12, Y:30.86, Z:-111.51 [[ 3.44373381e-01 -8.70910662e-01 -3.50601759e-01 2.57122532e+02] [ 4.72847064e-02 -3.56880679e-01 9.32952484e-01 3.08593177e+01] [-9.37641259e-01 -3.37862102e-01 -8.17194508e-02 -1.11509282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10864 meters Centerline goodness : 0.995779 Centerline is valid? [True, True] Translation: X:256.74, Y:32.42, Z:-111.72 [[ 2.58884412e-01 8.69475703e-01 4.20702821e-01 2.56738639e+02] [ 4.87600606e-02 4.23232168e-01 -9.04708234e-01 3.24150068e+01] [-9.64676794e-01 2.54728354e-01 6.71725229e-02 -1.11719278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.13864 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:257.16, Y:32.46, Z:-111.77 [[ 1.97646280e-01 9.80183505e-01 1.32757107e-02 2.57162146e+02] [ 5.33026501e-02 2.77674152e-03 -9.98574543e-01 3.24636272e+01] [-9.78823158e-01 1.98072174e-01 -5.16975658e-02 -1.11771095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16864 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:257.06, Y:30.87, Z:-112.02 [[ 2.85775311e-01 -9.56292041e-01 -6.19516329e-02 2.57063120e+02] [ 2.08116077e-02 -5.84391265e-02 9.98074018e-01 3.08704622e+01] [-9.58070639e-01 -2.86514226e-01 3.20151525e-03 -1.12022188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.19864 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:257.12, Y:32.48, Z:-112.11 [[ 2.03229988e-01 9.66459426e-01 1.57015125e-01 2.57116911e+02] [ 1.34851600e-02 1.57583722e-01 -9.87413551e-01 3.24787961e+01] [-9.79038162e-01 2.02789418e-01 1.89928780e-02 -1.12114972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22864 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:257.91, Y:32.04, Z:-112.13 [[ 1.48291100e-01 5.75066427e-01 -8.04554755e-01 2.57911719e+02] [ 8.56229037e-02 -8.17960450e-01 -5.68866787e-01 3.20369167e+01] [-9.85230160e-01 1.54695675e-02 -1.70535113e-01 -1.12127401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.25864 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:257.84, Y:31.11, Z:-112.39 [[ 1.99117223e-01 -5.38217875e-01 -8.18946793e-01 2.57839790e+02] [ 1.68302542e-01 -8.04482862e-01 5.69632845e-01 3.11076912e+01] [-9.65415240e-01 -2.51254538e-01 -6.96029570e-02 -1.12392177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:256.71, Y:31.08, Z:-112.72 [[ 2.43274692e-01 -7.65478090e-01 5.95701870e-01 2.56707106e+02] [ 1.58987631e-01 6.37315501e-01 7.54023796e-01 3.10784823e+01] [-9.56838731e-01 -8.87256778e-02 2.76744280e-01 -1.12715673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.31864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:256.56, Y:31.35, Z:-112.86 [[ 2.23097325e-01 -4.92610037e-01 8.41167602e-01 2.56561171e+02] [ 8.73603975e-02 8.69547910e-01 4.86060277e-01 3.13548019e+01] [-9.70873702e-01 -3.49540112e-02 2.37028421e-01 -1.12855750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34864 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:257.15, Y:32.47, Z:-112.76 [[ 1.67614078e-01 9.27816125e-01 3.33260798e-01 2.57149568e+02] [ 7.22985884e-02 3.25564416e-01 -9.42751677e-01 3.24742758e+01] [-9.83198065e-01 1.82112738e-01 -1.25106167e-02 -1.12755644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.37864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:258.15, Y:31.89, Z:-112.82 [[ 1.54014756e-01 3.86460919e-01 -9.09355493e-01 2.58151722e+02] [ 1.80076967e-01 -9.15901327e-01 -3.58743704e-01 3.18938947e+01] [-9.71520325e-01 -1.08502155e-01 -2.10655030e-01 -1.12816185e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:256.85, Y:31.13, Z:-113.20 [[ 1.35054191e-01 -7.66088458e-01 6.28385901e-01 2.56851591e+02] [ 1.38674164e-01 6.42568567e-01 7.53574889e-01 3.11340358e+01] [-9.81086052e-01 -1.46325575e-02 1.93018254e-01 -1.13200498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.43864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:256.84, Y:31.17, Z:-113.28 [[ 1.43431997e-01 -7.44867044e-01 6.51613651e-01 2.56844308e+02] [ 1.32731535e-01 6.66951597e-01 7.33183406e-01 3.11665375e+01] [-9.80718921e-01 -1.86722798e-02 1.94529546e-01 -1.13279072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:257.62, Y:32.50, Z:-113.12 [[ 7.36942857e-02 9.93626649e-01 -8.52949837e-02 2.57622290e+02] [ 1.83254479e-01 -9.75632109e-02 -9.78212255e-01 3.24959202e+01] [-9.80299418e-01 5.64579656e-02 -1.89276385e-01 -1.13121889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.49864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:257.76, Y:32.50, Z:-113.28 [[ 9.55652260e-03 9.83790378e-01 -1.79067490e-01 2.57755580e+02] [ 1.98600613e-01 -1.77375579e-01 -9.63896105e-01 3.24965140e+01] [-9.80033912e-01 -2.63514184e-02 -1.97076466e-01 -1.13281424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52864 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:257.47, Y:30.97, Z:-113.61 [[ 2.90606705e-02 -9.99435937e-01 1.68310553e-02 2.57468602e+02] [ 1.94296138e-01 2.21649677e-02 9.80692472e-01 3.09691450e+01] [-9.80512360e-01 -2.52293717e-02 1.94830672e-01 -1.13609803e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.55864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:256.76, Y:31.70, Z:-113.66 [[ 5.31960455e-02 -2.38831768e-01 9.69602788e-01 2.56757097e+02] [ 9.66827699e-02 9.67647710e-01 2.33045815e-01 3.16978345e+01] [-9.93892662e-01 8.13467675e-02 7.45659484e-02 -1.13657159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:257.46, Y:32.63, Z:-113.71 [[-6.00818056e-02 9.67969630e-01 2.43772378e-01 2.57461673e+02] [ 9.75333250e-02 2.48737817e-01 -9.63647627e-01 3.26340930e+01] [-9.93417046e-01 -3.41217588e-02 -1.09353914e-01 -1.13705289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.61864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:257.91, Y:31.12, Z:-113.89 [[-2.57576978e-02 -8.83720460e-01 -4.67305777e-01 2.57906837e+02] [ 9.59668557e-02 -4.67487791e-01 8.78775015e-01 3.11184134e+01] [-9.95051207e-01 -2.22106447e-02 9.68492832e-02 -1.13885188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:256.90, Y:31.44, Z:-113.90 [[ 1.15605285e-02 -5.99369769e-01 8.00388802e-01 2.56903895e+02] [ 1.77239711e-02 8.00439366e-01 5.99151635e-01 3.14435100e+01] [-9.99776082e-01 7.25955844e-03 1.98767146e-02 -1.13897865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.67864000000003 meters Centerline goodness : 0.999459 Centerline is valid? [True, True] Translation: X:257.04, Y:32.46, Z:-113.95 [[-5.20521667e-02 6.59886999e-01 7.49559684e-01 2.57037511e+02] [-3.29509470e-02 7.49033606e-01 -6.61712092e-01 3.24564384e+01] [-9.98100600e-01 -5.91422495e-02 -1.72449206e-02 -1.13948588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:257.97, Y:32.58, Z:-113.99 [[-5.03976269e-02 9.12212833e-01 -4.06605246e-01 2.57974629e+02] [ 7.38523771e-04 -4.07088454e-01 -9.13388442e-01 3.25791587e+01] [-9.98728959e-01 -4.63328975e-02 1.98426011e-02 -1.13992161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:257.54, Y:31.08, Z:-114.00 [[ 2.16563194e-02 -9.99385148e-01 -2.75740685e-02 2.57538105e+02] [-3.81480483e-02 -2.83864772e-02 9.98868827e-01 3.10769350e+01] [-9.99037402e-01 -2.05799255e-02 -3.87393396e-02 -1.14000066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:257.16, Y:31.19, Z:-114.18 [[ 7.51424657e-02 -9.12332885e-01 4.02495113e-01 2.57157406e+02] [-6.34995022e-02 3.98439126e-01 9.14994031e-01 3.11860973e+01] [-9.95148945e-01 -9.43131469e-02 -2.79929857e-02 -1.14177316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79864 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:256.86, Y:32.31, Z:-114.32 [[ 9.84209586e-02 4.51852695e-01 8.86646749e-01 2.56859448e+02] [-6.41341381e-02 8.92000375e-01 -4.47461890e-01 3.23057523e+01] [-9.93076093e-01 -1.28246968e-02 1.16770715e-01 -1.14324397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:257.87, Y:32.62, Z:-114.43 [[ 1.29343730e-03 9.62139144e-01 -2.72555672e-01 2.57873734e+02] [-5.14029396e-02 -2.72131610e-01 -9.60886114e-01 3.26211373e+01] [-9.98677157e-01 1.52530087e-02 4.91047952e-02 -1.14425249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85864 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:258.38, Y:31.69, Z:-114.56 [[-5.44425281e-03 -8.49072029e-02 -9.96373990e-01 2.58381887e+02] [ 5.06924429e-02 -9.95131106e-01 8.45243023e-02 3.16898082e+01] [-9.98699472e-01 -5.00484599e-02 9.72189886e-03 -1.14556774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.88864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:257.99, Y:31.13, Z:-114.64 [[ 2.09028955e-02 -8.27744463e-01 -5.60715768e-01 2.57985691e+02] [ 6.70562862e-02 -5.58414683e-01 8.26847324e-01 3.11272340e+01] [-9.97530212e-01 -5.48830202e-02 4.38329858e-02 -1.14643790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:257.66, Y:31.03, Z:-114.75 [[ 4.87327697e-02 -9.83330071e-01 -1.75177306e-01 2.57663868e+02] [ 6.22424752e-02 -1.72055032e-01 9.83118986e-01 3.10300414e+01] [-9.96870599e-01 -5.88135803e-02 5.28201793e-02 -1.14745223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.94864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:257.21, Y:31.13, Z:-114.83 [[ 7.07512628e-02 -9.14391226e-01 3.98601235e-01 2.57210070e+02] [ 4.96826681e-02 4.02337029e-01 9.14142521e-01 3.11264604e+01] [-9.96255937e-01 -4.48731649e-02 7.38952486e-02 -1.14826930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:257.00, Y:31.30, Z:-114.93 [[ 8.33435232e-02 -7.30023441e-01 6.78321187e-01 2.56998465e+02] [ 2.32264323e-02 6.81927519e-01 7.31050882e-01 3.12999276e+01] [-9.96250164e-01 -4.51733750e-02 7.37900820e-02 -1.14929670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.00864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:256.85, Y:31.55, Z:-115.05 [[ 8.89266345e-02 -4.53935548e-01 8.86585908e-01 2.56852051e+02] [-7.50585761e-03 8.89781696e-01 4.56324660e-01 3.15497993e+01] [-9.96009897e-01 -4.72340038e-02 7.57181161e-02 -1.15045838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:257.38, Y:32.63, Z:-115.18 [[-3.63269279e-02 9.13116744e-01 4.06076552e-01 2.57383906e+02] [-2.75792644e-02 4.05273953e-01 -9.13779189e-01 3.26284418e+01] [-9.98959328e-01 -4.43940833e-02 1.04607304e-02 -1.15183854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.06864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.96, Y:32.60, Z:-115.23 [[-3.96191854e-02 9.50238033e-01 -3.08995147e-01 2.57961069e+02] [-3.04681270e-02 -3.10243009e-01 -9.50168916e-01 3.26036703e+01] [-9.98750226e-01 -2.82304150e-02 4.12435483e-02 -1.15232106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:258.35, Y:31.48, Z:-115.29 [[ 1.05521005e-02 -3.73426367e-01 -9.27599807e-01 2.58346091e+02] [ 5.57405834e-02 -9.25989393e-01 3.73412146e-01 3.14820054e+01] [-9.98389523e-01 -5.56452369e-02 1.10438704e-02 -1.15289890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.12864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.71, Y:31.06, Z:-115.37 [[ 4.32351019e-02 -9.80639048e-01 -1.90991578e-01 2.57705340e+02] [ 5.18024631e-02 -1.88712745e-01 9.80665083e-01 3.10579319e+01] [-9.97721019e-01 -5.22929890e-02 4.26405034e-02 -1.15373685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:257.33, Y:31.12, Z:-115.46 [[ 6.03333465e-02 -9.59792937e-01 2.74148508e-01 2.57327720e+02] [ 3.29560161e-02 2.76414480e-01 9.60473288e-01 3.11184463e+01] [-9.97634095e-01 -4.89137250e-02 4.83079621e-02 -1.15464564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.18864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:257.05, Y:31.32, Z:-115.56 [[ 7.06359652e-02 -7.58684139e-01 6.47617895e-01 2.57046470e+02] [ 1.53728461e-02 6.49990454e-01 7.59786868e-01 3.13174317e+01] [-9.97383695e-01 -4.37125486e-02 5.75758376e-02 -1.15556392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:257.12, Y:32.49, Z:-115.71 [[-3.20002506e-02 6.50972481e-01 7.58426538e-01 2.57118852e+02] [-4.44797251e-02 7.57135858e-01 -6.51741396e-01 3.24900034e+01] [-9.98497640e-01 -5.45904919e-02 4.72653978e-03 -1.15707818e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.24864 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:257.86, Y:32.68, Z:-115.75 [[-2.44680568e-02 9.90740682e-01 -1.33544808e-01 2.57862410e+02] [-4.60731600e-02 -1.34560410e-01 -9.89833703e-01 3.26816085e+01] [-9.98638362e-01 -1.80664759e-02 4.89389857e-02 -1.15750742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:258.44, Y:31.68, Z:-115.78 [[ 2.04881017e-02 -1.47724318e-01 -9.88816345e-01 2.58441167e+02] [ 3.23937466e-02 -9.88406587e-01 1.48334295e-01 3.16816520e+01] [-9.99265171e-01 -3.50705542e-02 -1.54652306e-02 -1.15778471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.30864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:257.64, Y:31.08, Z:-115.79 [[ 9.92659820e-03 -9.97626873e-01 -6.81328520e-02 2.57636970e+02] [ 4.45117680e-03 -6.80914495e-02 9.97669154e-01 3.10843044e+01] [-9.99940823e-01 -1.02067322e-02 3.76469713e-03 -1.15793652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:257.56, Y:31.10, Z:-115.89 [[ 1.95662425e-02 -9.99463385e-01 2.62698299e-02 2.57558666e+02] [ 5.52296600e-02 2.73152113e-02 9.98099977e-01 3.10968843e+01] [-9.98281948e-01 -1.80781924e-02 5.57344790e-02 -1.15886963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.36864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:256.86, Y:32.03, Z:-116.04 [[-5.38357994e-03 4.14630835e-03 9.99976912e-01 2.56864424e+02] [-5.68133205e-02 9.98374921e-01 -4.44553196e-03 3.20251759e+01] [-9.98370304e-01 -5.68359417e-02 -5.13926565e-03 -1.16042629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:257.45, Y:32.71, Z:-116.12 [[ 1.03362297e-02 9.32623254e-01 3.60703519e-01 2.57450861e+02] [-6.59109241e-02 3.60573754e-01 -9.30399010e-01 3.27093533e+01] [-9.97771974e-01 -1.41574844e-02 6.51970336e-02 -1.16121623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.42864000000003 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:258.46, Y:32.08, Z:-116.25 [[ 2.81533187e-03 3.36474673e-01 -9.41688308e-01 2.58459959e+02] [ 3.12926626e-02 -9.41260499e-01 -3.36228258e-01 3.20826035e+01] [-9.99506300e-01 -2.85213403e-02 -1.31791491e-02 -1.16248454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:258.11, Y:31.21, Z:-116.28 [[ 7.99088703e-03 -7.99158635e-01 -6.01067070e-01 2.58106249e+02] [ 9.54244593e-03 -6.00997950e-01 7.99193597e-01 3.12066494e+01] [-9.99922541e-01 -1.21219158e-02 2.82342134e-03 -1.16277594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:257.95, Y:31.13, Z:-116.29 [[ 8.68806744e-03 -9.09016162e-01 -4.16670296e-01 2.57952114e+02] [ 8.97047006e-03 -4.16598405e-01 9.09046368e-01 3.11313566e+01] [-9.99922021e-01 -1.16355846e-02 4.53486722e-03 -1.16292316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.85, Y:31.10, Z:-116.32 [[ 2.93146346e-03 -9.56806555e-01 -2.90710549e-01 2.57848722e+02] [ 2.87235052e-02 -2.90511283e-01 9.56440356e-01 3.11018643e+01] [-9.99583096e-01 -1.11539959e-02 2.66312148e-02 -1.16321510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54864 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:256.89, Y:31.77, Z:-116.49 [[ 6.33428934e-03 -2.86744011e-01 9.57986299e-01 2.56886961e+02] [-7.45188839e-02 9.55206420e-01 2.86404664e-01 3.17654844e+01] [-9.97199485e-01 -7.32022398e-02 -1.53172898e-02 -1.16485155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:257.45, Y:32.69, Z:-116.60 [[ 5.77021746e-03 9.36051153e-01 3.51816633e-01 2.57454808e+02] [-4.88548048e-02 3.51666246e-01 -9.34849753e-01 3.26948121e+01] [-9.98789223e-01 -1.17936465e-02 4.77597871e-02 -1.16603017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:257.52, Y:32.70, Z:-116.69 [[ 7.73872503e-03 9.59231297e-01 2.82516249e-01 2.57518171e+02] [-8.46837837e-02 2.82138449e-01 -9.55628878e-01 3.27026600e+01] [-9.96377824e-01 -1.65291958e-02 8.34147275e-02 -1.16691606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.63864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:258.48, Y:32.02, Z:-116.80 [[ 4.62333072e-03 2.71504816e-01 -9.62425976e-01 2.58483253e+02] [ 8.52998500e-03 -9.62411955e-01 -2.71459884e-01 3.20212645e+01] [-9.99952931e-01 -6.95443032e-03 -6.76548076e-03 -1.16804771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:257.86, Y:31.08, Z:-116.87 [[ 6.10235342e-02 -9.55328369e-01 -2.89177861e-01 2.57857731e+02] [ 1.74003081e-03 -2.89615542e-01 9.57141479e-01 3.10787193e+01] [-9.98134811e-01 -5.89113342e-02 -1.60110631e-02 -1.16873812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.69864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:257.94, Y:31.10, Z:-117.04 [[ 1.25543862e-01 -8.91890437e-01 -4.34476911e-01 2.57942665e+02] [ 3.30283977e-02 -4.33941657e-01 9.00335361e-01 3.10963501e+01] [-9.91538130e-01 -1.27381655e-01 -2.50209995e-02 -1.17038512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:257.72, Y:32.65, Z:-117.16 [[ 3.87935523e-02 9.96969007e-01 6.74378204e-02 2.57723717e+02] [ 6.53931438e-02 6.48109954e-02 -9.95752616e-01 3.26539265e+01] [-9.97105209e-01 4.30387523e-02 -6.26806889e-02 -1.17155896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.75864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:257.11, Y:31.34, Z:-117.34 [[ 4.27389982e-02 -7.03248430e-01 7.09658385e-01 2.57108531e+02] [ 1.64406864e-02 7.10706282e-01 7.03296725e-01 3.13447103e+01] [-9.98950991e-01 -1.83909265e-02 4.19367615e-02 -1.17339588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.04, Y:31.46, Z:-117.44 [[ 7.81809558e-02 -5.79101020e-01 8.11498458e-01 2.57035208e+02] [ 2.83961995e-02 8.14953202e-01 5.78830661e-01 3.14616230e+01] [-9.96534693e-01 -2.22100622e-02 8.01580884e-02 -1.17442146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.81864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.39, Y:32.61, Z:-117.56 [[-1.53187028e-02 8.42566752e-01 5.38374039e-01 2.57389901e+02] [ 1.81985437e-04 5.38439559e-01 -8.42664113e-01 3.26096572e+01] [-9.99882645e-01 -1.28105448e-02 -8.40153044e-03 -1.17558996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:257.09, Y:31.47, Z:-117.71 [[ 3.21782302e-02 -6.43086496e-01 7.65117194e-01 2.57086482e+02] [-8.52593388e-02 7.60957197e-01 6.43175707e-01 3.14716164e+01] [-9.95839047e-01 -8.59296420e-02 -3.03428736e-02 -1.17711423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.87864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.31, Y:32.61, Z:-117.84 [[ 5.00303999e-02 7.97536933e-01 6.01191983e-01 2.57308733e+02] [-8.93643714e-02 6.03106045e-01 -7.92639330e-01 3.26064305e+01] [-9.94741659e-01 -1.40690809e-02 1.01445023e-01 -1.17844720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:258.43, Y:32.35, Z:-117.95 [[ 1.32214240e-02 6.38825332e-01 -7.69238188e-01 2.58431828e+02] [ 4.89327882e-03 -7.69337555e-01 -6.38823749e-01 3.23518094e+01] [-9.99900620e-01 4.68206274e-03 -1.32976885e-02 -1.17948750e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.93864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:258.13, Y:32.61, Z:-117.99 [[-1.06619761e-02 9.27796562e-01 -3.72934126e-01 2.58133784e+02] [ 1.70226880e-02 -3.72732869e-01 -9.27782537e-01 3.26059255e+01] [-9.99798255e-01 -1.62403365e-02 -1.18195224e-02 -1.17988784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.56, Y:32.66, Z:-118.08 [[-8.41904523e-02 9.32922787e-01 3.50095759e-01 2.57563980e+02] [-3.43447607e-02 3.48417578e-01 -9.36710002e-01 3.26586426e+01] [-9.95857623e-01 -9.08859938e-02 2.70757638e-03 -1.18075736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.99864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:258.51, Y:32.23, Z:-118.14 [[-6.70024463e-02 4.88945593e-01 -8.69737247e-01 2.58511404e+02] [-1.42417784e-02 -8.72075980e-01 -4.89163221e-01 3.22291691e+01] [-9.97651163e-01 -2.03885273e-02 6.53946788e-02 -1.18142843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:257.85, Y:31.09, Z:-118.15 [[-1.55260972e-02 -9.86184745e-01 -1.64919949e-01 2.57845303e+02] [-1.06782480e-02 -1.64766884e-01 9.86274733e-01 3.10874845e+01] [-9.99822442e-01 1.70740535e-02 -7.97253858e-03 -1.18150728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:256.98, Y:31.73, Z:-118.22 [[-1.68495823e-02 -2.86816842e-01 9.57837247e-01 2.56982715e+02] [-9.65301566e-02 9.53964932e-01 2.83959219e-01 3.17251398e+01] [-9.95187430e-01 -8.76755852e-02 -4.37603853e-02 -1.18215497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:257.82, Y:32.69, Z:-118.35 [[-1.19814005e-02 9.99821356e-01 1.46185470e-02 2.57819572e+02] [-6.38148579e-02 1.38252292e-02 -9.97865986e-01 3.26885106e+01] [-9.97889829e-01 -1.28887126e-02 6.36378122e-02 -1.18349372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.11864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.86, Y:32.68, Z:-118.37 [[-1.82172427e-02 9.99405848e-01 -2.92588877e-02 2.57858806e+02] [-6.26429350e-02 -3.03471331e-02 -9.97574516e-01 3.26841943e+01] [-9.97869728e-01 -1.63401945e-02 6.31585566e-02 -1.18370203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:257.88, Y:32.68, Z:-118.40 [[-2.35320643e-02 9.98326507e-01 -5.28244899e-02 2.57878859e+02] [-8.77595943e-02 -5.46979894e-02 -9.94638821e-01 3.26797649e+01] [-9.95863693e-01 -1.87700489e-02 8.88998859e-02 -1.18402028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.17864000000003 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:258.56, Y:32.03, Z:-118.44 [[-3.49893685e-02 2.85653229e-01 -9.57694094e-01 2.58557705e+02] [-1.39844498e-03 -9.58293920e-01 -2.85781048e-01 3.20286141e+01] [-9.99386706e-01 -8.66001590e-03 3.39295694e-02 -1.18436757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:258.14, Y:31.15, Z:-118.61 [[ 7.01201874e-02 -8.08830609e-01 -5.83846045e-01 2.58139935e+02] [ 6.80700934e-02 -5.80042740e-01 8.11736954e-01 3.11504747e+01] [-9.95213355e-01 -9.66616022e-02 1.43844695e-02 -1.18607676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:257.32, Y:31.17, Z:-118.73 [[ 1.03725889e-01 -8.94517413e-01 4.34832770e-01 2.57319135e+02] [ 5.35225828e-02 4.41577623e-01 8.95625221e-01 3.11668142e+01] [-9.93164776e-01 -6.96261489e-02 9.36799136e-02 -1.18730920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:257.05, Y:31.46, Z:-118.84 [[ 7.75603664e-02 -5.81045409e-01 8.10167034e-01 2.57045881e+02] [-8.32654974e-03 8.12209051e-01 5.83307059e-01 3.14608416e+01] [-9.96952887e-01 -5.19874054e-02 5.81571281e-02 -1.18844368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:257.77, Y:32.67, Z:-118.92 [[ 4.89358175e-03 9.88043862e-01 1.54095361e-01 2.57767424e+02] [-1.86303095e-02 1.54160542e-01 -9.87870153e-01 3.26650331e+01] [-9.99814465e-01 1.96337908e-03 1.91619602e-02 -1.18922249e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:258.62, Y:31.89, Z:-119.09 [[ 1.84672312e-02 2.01394390e-01 -9.79336133e-01 2.58620392e+02] [ 1.12546070e-01 -9.73696499e-01 -1.98112366e-01 3.18882826e+01] [-9.93474883e-01 -1.06561846e-01 -4.06476254e-02 -1.19089138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:257.70, Y:31.03, Z:-119.22 [[ 2.58638858e-02 -9.99504955e-01 1.79138157e-02 2.57699905e+02] [ 6.38998933e-02 1.95361504e-02 9.97765074e-01 3.10305643e+01] [-9.97621102e-01 -2.46613910e-02 6.43735407e-02 -1.19224569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.38864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:257.66, Y:31.04, Z:-119.28 [[ 2.73160049e-02 -9.97407386e-01 6.65758361e-02 2.57657119e+02] [ 6.23100917e-02 6.81700933e-02 9.95726012e-01 3.10418935e+01] [-9.97682960e-01 -2.30509102e-02 6.40106803e-02 -1.19281447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.61, Y:31.06, Z:-119.34 [[ 2.80148445e-02 -9.92923011e-01 1.15408244e-01 2.57612800e+02] [ 6.16827345e-02 1.16950690e-01 9.91220347e-01 3.10562640e+01] [-9.97702565e-01 -2.06501879e-02 6.45225618e-02 -1.19337089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.44864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:257.57, Y:31.07, Z:-119.40 [[ 2.78740525e-02 -9.86238580e-01 1.62961655e-01 2.57566380e+02] [ 6.01653840e-02 1.64384698e-01 9.84559697e-01 3.10742024e+01] [-9.97799160e-01 -1.76390182e-02 6.39194906e-02 -1.19398645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.58, Y:31.08, Z:-119.45 [[ 3.39440228e-02 -9.89023052e-01 1.43809618e-01 2.57577192e+02] [ 1.01830279e-01 1.46566219e-01 9.83945597e-01 3.10784182e+01] [-9.94222509e-01 -1.87548982e-02 1.05687540e-01 -1.19452836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.50864 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:257.57, Y:31.09, Z:-119.54 [[ 4.19702822e-02 -9.88544653e-01 1.44975737e-01 2.57571619e+02] [ 8.80556860e-02 1.48198783e-01 9.85029602e-01 3.10907542e+01] [-9.95230974e-01 -2.85760324e-02 9.32669223e-02 -1.19537297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:257.36, Y:31.21, Z:-119.68 [[ 8.30552650e-02 -9.13101000e-01 3.99184652e-01 2.57356660e+02] [ 6.32638531e-02 4.04591776e-01 9.12306517e-01 3.12084836e+01] [-9.94534820e-01 -5.05179003e-02 9.13697647e-02 -1.19683659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.56864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:257.13, Y:31.43, Z:-119.78 [[ 5.98162779e-02 -6.92922196e-01 7.18526856e-01 2.57128684e+02] [ 1.08365084e-02 7.20224104e-01 6.93656839e-01 3.14327325e+01] [-9.98150581e-01 -3.37056479e-02 5.05899823e-02 -1.19779091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:257.00, Y:31.75, Z:-119.93 [[ 6.33465019e-02 -3.65087121e-01 9.28815705e-01 2.57003995e+02] [-5.65862325e-03 9.30538544e-01 3.66150239e-01 3.17452834e+01] [-9.97975551e-01 -2.84501550e-02 5.68804712e-02 -1.19927237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.62864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.92, Y:32.73, Z:-120.02 [[ 1.63111042e-02 9.96400078e-01 8.31915370e-02 2.57918788e+02] [ 2.37511502e-02 8.27930127e-02 -9.96283694e-01 3.27323710e+01] [-9.99584829e-01 1.82263818e-02 -2.23152025e-02 -1.20018322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:257.92, Y:32.74, Z:-120.19 [[-5.21394789e-02 9.86795691e-01 1.53348424e-01 2.57917294e+02] [ 1.37682052e-02 1.54253015e-01 -9.87935445e-01 3.27423892e+01] [-9.98544897e-01 -4.93991067e-02 -2.16290774e-02 -1.20193787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.68864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:258.07, Y:32.73, Z:-120.28 [[-1.13809626e-01 9.93022508e-01 -3.08815109e-02 2.58073407e+02] [ 1.76423311e-02 -2.90585504e-02 -9.99422007e-01 3.27268619e+01] [-9.93345920e-01 -1.14288666e-01 -1.42120891e-02 -1.20284318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:257.92, Y:32.74, Z:-120.34 [[-1.86181712e-01 9.70148896e-01 1.55394624e-01 2.57923021e+02] [ 1.53952056e-02 1.61021178e-01 -9.86830871e-01 3.27449195e+01] [-9.82394706e-01 -1.81337529e-01 -4.49148402e-02 -1.20335687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.74864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:258.70, Y:32.11, Z:-120.50 [[-1.52707556e-01 3.65088606e-01 -9.18363061e-01 2.58699380e+02] [-3.53976859e-03 -9.29458083e-01 -3.68910750e-01 3.21095208e+01] [-9.88265082e-01 -5.30846664e-02 1.43227602e-01 -1.20498021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:258.08, Y:31.14, Z:-120.48 [[-1.19582130e-01 -9.16882089e-01 -3.80824565e-01 2.58079489e+02] [-9.43877813e-03 -3.82509752e-01 9.23903241e-01 3.11416029e+01] [-9.92779444e-01 1.14076836e-01 3.70870844e-02 -1.20476147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.80864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:257.74, Y:31.13, Z:-120.52 [[-6.52424428e-02 -9.97862895e-01 3.61488764e-03 2.57744774e+02] [-7.98407518e-03 4.14449917e-03 9.99959538e-01 3.11306402e+01] [-9.97837501e-01 6.52109415e-02 -8.23740962e-03 -1.20520680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:257.99, Y:32.73, Z:-120.60 [[-1.04554549e-01 9.94387822e-01 1.61618466e-02 2.57986302e+02] [ 4.03399311e-02 2.04779484e-02 -9.98976148e-01 3.27313772e+01] [-9.93700677e-01 -1.03795533e-01 -4.22545989e-02 -1.20603001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.86864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.73, Y:31.14, Z:-120.69 [[-7.31908787e-02 -9.97251502e-01 1.15124326e-02 2.57728356e+02] [-8.76364885e-03 1.21860481e-02 9.99887343e-01 3.11350770e+01] [-9.97279446e-01 7.30817423e-02 -9.63146955e-03 -1.20687520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:258.10, Y:32.70, Z:-120.78 [[-9.30530713e-02 9.82500202e-01 -1.61352034e-01 2.58104757e+02] [ 4.42115346e-02 -1.57817994e-01 -9.86477988e-01 3.27035852e+01] [-9.94679077e-01 -9.89284276e-02 -2.87523926e-02 -1.20782742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.92864000000003 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:258.61, Y:31.65, Z:-120.95 [[-9.54580538e-02 -2.11126869e-01 -9.72786310e-01 2.58608940e+02] [ 3.52460827e-02 -9.77353051e-01 2.08659358e-01 3.16548087e+01] [-9.94809265e-01 -1.43686905e-02 1.00737615e-01 -1.20948760e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.95, Y:32.74, Z:-120.89 [[-1.54911429e-01 9.87747735e-01 1.88907697e-02 2.57945059e+02] [ 8.56122905e-02 3.24715870e-02 -9.95799243e-01 3.27353108e+01] [-9.84211860e-01 -1.52643402e-01 -8.95935659e-02 -1.20888121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:257.97, Y:32.73, Z:-120.98 [[-2.20215035e-01 9.75195088e-01 -2.23579696e-02 2.57966523e+02] [ 8.50240642e-02 -3.64366364e-03 -9.96372236e-01 3.27347627e+01] [-9.71738775e-01 -2.21317112e-01 -8.21126602e-02 -1.20983336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:257.71, Y:31.15, Z:-121.11 [[-2.05210064e-01 -9.78478353e-01 2.16550845e-02 2.57707922e+02] [ 3.93304829e-02 1.38636030e-02 9.99130078e-01 3.11502868e+01] [-9.77927371e-01 2.05883252e-01 3.56390752e-02 -1.21106045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:258.03, Y:32.72, Z:-121.16 [[-2.13760126e-01 9.62993758e-01 -1.64163427e-01 2.58033332e+02] [ 8.79113417e-02 -1.48402800e-01 -9.85011779e-01 3.27224961e+01] [-9.72922507e-01 -2.24988069e-01 -5.29354721e-02 -1.21162349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:257.66, Y:31.16, Z:-121.27 [[-2.06888203e-01 -9.77052908e-01 5.06447171e-02 2.57662820e+02] [ 4.87991307e-02 4.13948454e-02 9.97950455e-01 3.11607744e+01] [-9.77146824e-01 2.08935594e-01 3.91152274e-02 -1.21270956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:258.47, Y:31.59, Z:-121.47 [[-1.44086589e-01 -3.65974775e-01 -9.19402806e-01 2.58474973e+02] [ 1.00354574e-01 -9.29711933e-01 3.54351069e-01 3.15917251e+01] [-9.84463313e-01 -4.12090401e-02 1.70686264e-01 -1.21469937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.13864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:258.31, Y:31.38, Z:-121.50 [[-1.47858794e-01 -6.46966139e-01 -7.48045848e-01 2.58311733e+02] [ 1.08296452e-01 -7.62402386e-01 6.37976865e-01 3.13834699e+01] [-9.83061369e-01 1.33197789e-02 1.82792035e-01 -1.21500135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:258.29, Y:31.36, Z:-121.51 [[-1.43840034e-01 -6.82601013e-01 -7.16495570e-01 2.58286618e+02] [ 1.15978664e-01 -7.30663210e-01 6.72815148e-01 3.13627897e+01] [-9.82781254e-01 1.36795553e-02 1.84265775e-01 -1.21507248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.19864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:258.27, Y:31.35, Z:-121.52 [[-1.40285933e-01 -7.01147354e-01 -6.99079570e-01 2.58271004e+02] [ 1.21929880e-01 -7.12921424e-01 6.90562196e-01 3.13546074e+01] [-9.82574660e-01 1.16374739e-02 1.85503659e-01 -1.21523213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:258.26, Y:31.35, Z:-121.53 [[-1.35819251e-01 -7.19447748e-01 -6.81137335e-01 2.58256592e+02] [ 1.27199844e-01 -6.94480998e-01 7.08178186e-01 3.13450495e+01] [-9.82534137e-01 9.54366862e-03 1.85837530e-01 -1.21533836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.25864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:258.28, Y:31.36, Z:-121.54 [[-1.18680996e-01 -7.01099192e-01 -7.03117874e-01 2.58276660e+02] [ 1.28715118e-01 -7.13010652e-01 6.89237426e-01 3.13625423e+01] [-9.84554336e-01 -8.70251571e-03 1.74862879e-01 -1.21538427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:257.23, Y:31.36, Z:-121.50 [[-7.93192111e-02 -8.17419790e-01 5.70555299e-01 2.57233869e+02] [ 1.15423410e-01 5.60977819e-01 8.19744669e-01 3.13576290e+01] [-9.90144383e-01 1.30876938e-01 4.98530612e-02 -1.21500350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.31864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:257.09, Y:32.45, Z:-121.42 [[-1.24347276e-01 5.07490269e-01 8.52637896e-01 2.57090925e+02] [ 6.28964559e-02 8.61610478e-01 -5.03658039e-01 3.24462776e+01] [-9.90243299e-01 -9.00060340e-03 -1.39058255e-01 -1.21420849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:258.42, Y:31.60, Z:-121.68 [[-7.75563771e-02 -4.34228432e-01 -8.97457897e-01 2.58422755e+02] [ 8.16462915e-02 -8.99911941e-01 4.28360106e-01 3.15988696e+01] [-9.93639216e-01 -4.00520511e-02 1.05247051e-01 -1.21678951e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.37864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:258.27, Y:31.41, Z:-121.71 [[-7.19491978e-02 -6.88263753e-01 -7.21883868e-01 2.58266608e+02] [ 8.55951632e-02 -7.25350323e-01 6.83037611e-01 3.14087621e+01] [-9.93728726e-01 -1.26457593e-02 1.11100422e-01 -1.21714046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:258.22, Y:31.37, Z:-121.73 [[-6.78008109e-02 -7.43887538e-01 -6.64856662e-01 2.58216868e+02] [ 8.82870534e-02 -6.68249288e-01 7.38680097e-01 3.13714599e+01] [-9.93784909e-01 -8.61512606e-03 1.10983482e-01 -1.21733753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.43864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:258.20, Y:31.37, Z:-121.76 [[-7.82118259e-02 -7.57490546e-01 -6.48144261e-01 2.58202452e+02] [ 1.06852662e-01 -6.52760109e-01 7.49991166e-01 3.13653996e+01] [-9.91193936e-01 -1.05977609e-02 1.31993441e-01 -1.21763859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:257.09, Y:31.52, Z:-121.72 [[-4.75067394e-02 -6.69461775e-01 7.41325867e-01 2.57087775e+02] [ 3.52656079e-02 7.40577020e-01 6.71045464e-01 3.15178572e+01] [-9.98248189e-01 5.80224893e-02 -1.15734230e-02 -1.21723205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.49864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:258.09, Y:31.31, Z:-121.80 [[-2.92159603e-02 -8.51223561e-01 -5.23989387e-01 2.58085182e+02] [ 5.44912659e-02 -5.24789962e-01 8.49485843e-01 3.13122118e+01] [-9.98086735e-01 -3.73430030e-03 6.17164921e-02 -1.21797930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:256.97, Y:31.71, Z:-121.81 [[-1.52811963e-02 -4.50666655e-01 8.92561511e-01 2.56972423e+02] [-1.68517146e-02 8.92655035e-01 4.50425364e-01 3.17147097e+01] [-9.99741219e-01 -8.15815341e-03 -2.12353427e-02 -1.21811851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.55864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:257.32, Y:32.72, Z:-121.90 [[-1.26586059e-02 8.40157015e-01 5.42195490e-01 2.57317582e+02] [ 5.24231420e-03 5.42287246e-01 -8.40176803e-01 3.27248379e+01] [-9.99906135e-01 -7.79310796e-03 -1.12689676e-02 -1.21903715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:257.93, Y:32.80, Z:-121.94 [[-9.02612132e-03 9.74551519e-01 -2.23981842e-01 2.57934488e+02] [ 9.30607069e-03 -2.23899400e-01 -9.74567830e-01 3.27952981e+01] [-9.99915960e-01 -1.08809583e-02 -7.04830219e-03 -1.21943417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.61864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:258.40, Y:32.43, Z:-121.99 [[-4.86238824e-03 5.57500688e-01 -8.30162237e-01 2.58396450e+02] [ 1.11295471e-02 -8.30090462e-01 -5.57517675e-01 3.24347024e+01] [-9.99926242e-01 -1.19501971e-02 -2.16850806e-03 -1.21985262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:257.66, Y:31.23, Z:-122.07 [[ 4.04053362e-02 -9.99166378e-01 -5.82734618e-03 2.57656991e+02] [ 2.48081102e-03 -5.73177266e-03 9.99980496e-01 3.12316304e+01] [-9.99180291e-01 -4.04190047e-02 2.24714876e-03 -1.22066408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.67864000000003 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:256.97, Y:31.71, Z:-122.17 [[ 2.86959716e-02 -4.44105772e-01 8.95514715e-01 2.56966010e+02] [-3.50769268e-02 8.94884495e-01 4.44917240e-01 3.17137088e+01] [-9.98972547e-01 -4.41792366e-02 1.01017144e-02 -1.22173353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:257.07, Y:31.55, Z:-122.33 [[ 1.12745704e-01 -6.81133498e-01 7.23426268e-01 2.57067303e+02] [-5.29863832e-02 7.22911107e-01 6.88906361e-01 3.15502972e+01] [-9.92210083e-01 -1.16002974e-01 4.54143211e-02 -1.22326127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:256.93, Y:32.32, Z:-122.48 [[ 6.83972043e-02 2.82306466e-01 9.56882899e-01 2.56934761e+02] [-8.34077433e-02 9.57389286e-01 -2.76493947e-01 3.23238939e+01] [-9.94165465e-01 -6.09000302e-02 8.90292959e-02 -1.22475931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:257.20, Y:32.68, Z:-122.57 [[ 6.86064128e-02 7.45590471e-01 6.62863493e-01 2.57201452e+02] [-8.22353887e-02 6.66394313e-01 -7.41050579e-01 3.26773451e+01] [-9.94248712e-01 -3.67001510e-03 1.07032845e-01 -1.22571812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:257.26, Y:32.71, Z:-122.63 [[ 6.66385517e-02 7.93023993e-01 6.05534681e-01 2.57257237e+02] [-8.47912017e-02 6.09189223e-01 -7.88478879e-01 3.27093518e+01] [-9.94167871e-01 1.19907727e-03 1.07836945e-01 -1.22628297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:257.26, Y:32.70, Z:-122.68 [[ 9.02511483e-02 7.87560334e-01 6.09592857e-01 2.57257154e+02] [-1.19041743e-01 6.16233241e-01 -7.78515033e-01 3.27006944e+01] [-9.88778941e-01 -2.30512055e-03 1.49368312e-01 -1.22678597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:258.34, Y:32.54, Z:-122.75 [[ 3.61150425e-02 7.23927452e-01 -6.88930147e-01 2.58338948e+02] [-4.56871763e-02 -6.87463041e-01 -7.24780828e-01 3.25439739e+01] [-9.98302752e-01 5.76507635e-02 8.24644417e-03 -1.22752804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.88864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:257.55, Y:32.77, Z:-122.84 [[ 1.44847205e-02 9.47012760e-01 3.20869170e-01 2.57547404e+02] [-3.83093672e-02 3.21192828e-01 -9.46238638e-01 3.27661297e+01] [-9.99160941e-01 1.41370731e-03 4.09318479e-02 -1.22837519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:257.57, Y:32.76, Z:-122.89 [[ 2.63667871e-02 9.54813305e-01 2.96034364e-01 2.57569239e+02] [-7.90483080e-02 2.97201451e-01 -9.51537000e-01 3.27647688e+01] [-9.96522031e-01 1.68795791e-03 8.33126236e-02 -1.22888105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.94864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:258.52, Y:32.24, Z:-123.01 [[ 3.60632422e-03 4.31443655e-01 -9.02132677e-01 2.58522412e+02] [ 1.02650660e-02 -9.02106984e-01 -4.31390332e-01 3.22419274e+01] [-9.99940810e-01 -7.70471809e-03 -7.68208787e-03 -1.23013730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:258.52, Y:31.63, Z:-123.09 [[ 1.40474546e-02 -3.35201241e-01 -9.42041823e-01 2.58515677e+02] [ 2.92657938e-02 -9.41593323e-01 3.35478057e-01 3.16258833e+01] [-9.99472952e-01 -3.22822146e-02 -3.41705905e-03 -1.23090023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.00864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:257.85, Y:31.14, Z:-123.11 [[-1.76086687e-04 -9.88791349e-01 -1.49303839e-01 2.57852388e+02] [ 2.15828377e-02 -1.49272821e-01 9.88560472e-01 3.11425939e+01] [-9.99767048e-01 -3.04832819e-03 2.13672082e-02 -1.23106694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:257.79, Y:31.14, Z:-123.15 [[ 4.27935483e-03 -9.97070801e-01 -7.63642911e-02 2.57793736e+02] [ 4.69267939e-02 -7.60806280e-02 9.95996794e-01 3.11397152e+01] [-9.98889165e-01 -7.84575504e-03 4.64637600e-02 -1.23145481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.06864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:257.01, Y:31.73, Z:-123.30 [[ 4.98448736e-02 -3.77649028e-01 9.24606240e-01 2.57014613e+02] [-3.96705110e-02 9.24277813e-01 3.79653494e-01 3.17281114e+01] [-9.97968807e-01 -5.56033825e-02 3.10889807e-02 -1.23296993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:257.05, Y:32.33, Z:-123.39 [[-2.30913110e-03 3.76489207e-01 9.26418126e-01 2.57054681e+02] [-4.77461166e-02 9.25322502e-01 -3.76162963e-01 3.23274981e+01] [-9.98856835e-01 -4.51014774e-02 1.58392066e-02 -1.23390118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.12864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:258.37, Y:32.50, Z:-123.53 [[-3.67879793e-02 7.45461229e-01 -6.65533020e-01 2.58372629e+02] [-5.67027898e-03 -6.66128821e-01 -7.45815153e-01 3.24957927e+01] [-9.99307006e-01 -2.36632745e-02 2.87325064e-02 -1.23527840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:258.46, Y:31.48, Z:-123.61 [[-1.19910620e-02 -4.99580873e-01 -8.66184256e-01 2.58462738e+02] [ 3.38533814e-02 -8.65952768e-01 4.98978709e-01 3.14844654e+01] [-9.99354873e-01 -2.33399813e-02 2.72961951e-02 -1.23606530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.18864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:258.33, Y:31.33, Z:-123.67 [[ 5.21657609e-03 -6.98944958e-01 -7.15156439e-01 2.58330810e+02] [ 3.29392573e-02 -7.14657975e-01 6.98698063e-01 3.13340712e+01] [-9.99443742e-01 -2.72015335e-02 1.92946601e-02 -1.23667856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:257.21, Y:31.38, Z:-123.86 [[ 6.70652947e-02 -7.64437807e-01 6.41199724e-01 2.57213174e+02] [-5.50704773e-02 6.38830872e-01 7.67373676e-01 3.13757207e+01] [-9.96227629e-01 -8.67753166e-02 7.45425839e-04 -1.23857019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.24864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:257.61, Y:31.17, Z:-123.99 [[ 1.47366313e-01 -9.85595091e-01 8.29788301e-02 2.57609201e+02] [-6.10780224e-02 7.46665651e-02 9.95336315e-01 3.11655949e+01] [-9.87194330e-01 -1.51747225e-01 -4.91948627e-02 -1.23987686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27864 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:256.99, Y:32.21, Z:-124.23 [[ 1.14995445e-01 2.67097121e-01 9.56783766e-01 2.56992963e+02] [-5.42197819e-02 9.63425312e-01 -2.62434532e-01 3.22138604e+01] [-9.91885207e-01 -2.16978314e-02 1.25271470e-01 -1.24233802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.30864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:257.05, Y:32.30, Z:-124.36 [[ 1.06378025e-01 3.73590157e-01 9.21473879e-01 2.57052092e+02] [-7.14604960e-02 9.27208446e-01 -3.67665465e-01 3.23023657e+01] [-9.91754563e-01 -2.67374542e-02 1.25331542e-01 -1.24364242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:257.13, Y:32.41, Z:-124.48 [[ 9.88016652e-02 5.06681237e-01 8.56453358e-01 2.57131315e+02] [-8.29131867e-02 8.61863368e-01 -5.00316838e-01 3.24089890e+01] [-9.91646930e-01 -2.15791404e-02 1.27164092e-01 -1.24475593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.36864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:257.60, Y:31.18, Z:-124.48 [[ 1.90629980e-01 -9.73245503e-01 1.28270813e-01 2.57598597e+02] [-1.23036359e-01 1.05948902e-01 9.86730401e-01 3.11760175e+01] [-9.73921077e-01 -2.03882370e-01 -9.95475462e-02 -1.24475084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39864 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:257.11, Y:32.36, Z:-124.79 [[ 1.59279086e-01 4.61869418e-01 8.72528975e-01 2.57108502e+02] [-1.01076936e-01 8.86796997e-01 -4.50970664e-01 3.23613921e+01] [-9.82045633e-01 -1.63623596e-02 1.87932561e-01 -1.24788384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.42864000000003 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:257.13, Y:32.36, Z:-124.86 [[ 1.97247616e-01 4.62924818e-01 8.64172431e-01 2.57127109e+02] [-1.25110743e-01 8.86169286e-01 -4.46151655e-01 3.23598570e+01] [-9.72337740e-01 -2.01149046e-02 2.32711647e-01 -1.24857500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45864 meters Centerline goodness : 0.996767 Centerline is valid? [True, True] Translation: X:257.20, Y:32.41, Z:-124.97 [[ 1.66329345e-01 5.36849019e-01 8.27120112e-01 2.57196701e+02] [-1.31272451e-01 8.43393574e-01 -5.21013266e-01 3.24123054e+01] [-9.77293248e-01 -2.19182889e-02 2.10754587e-01 -1.24973047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48864 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:258.38, Y:32.53, Z:-124.97 [[ 1.12301760e-01 8.35389784e-01 -5.38063401e-01 2.58375742e+02] [-6.94051729e-02 -5.33571844e-01 -8.42902135e-01 3.25292601e+01] [-9.91247314e-01 1.32003777e-01 -1.94068463e-03 -1.24973617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51864 meters Centerline goodness : 0.994751 Centerline is valid? [True, True] Translation: X:257.27, Y:31.41, Z:-125.14 [[ 1.49749365e-01 -6.93111691e-01 7.05103759e-01 2.57265100e+02] [-1.18155210e-01 6.95489695e-01 7.08754845e-01 3.14050389e+01] [-9.81638668e-01 -1.89447271e-01 2.22543828e-02 -1.25144779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54864 meters Centerline goodness : 0.994956 Centerline is valid? [True, True] Translation: X:257.21, Y:32.31, Z:-125.35 [[ 1.52833181e-01 4.42570556e-01 8.83613785e-01 2.57210677e+02] [-1.45158078e-01 8.94473314e-01 -4.22902616e-01 3.23132174e+01] [-9.77533197e-01 -6.36301264e-02 2.00947893e-01 -1.25348033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57864 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:257.39, Y:32.50, Z:-125.45 [[ 1.41735162e-01 6.97992546e-01 7.01938422e-01 2.57390798e+02] [-1.56975574e-01 7.15972588e-01 -6.80251367e-01 3.24979577e+01] [-9.77379053e-01 -1.37716492e-02 2.11046272e-01 -1.25445406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60864 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:258.57, Y:32.36, Z:-125.45 [[ 9.44827741e-02 7.00309304e-01 -7.07559103e-01 2.58574708e+02] [-9.18827556e-02 -7.01570529e-01 -7.06651507e-01 3.23568032e+01] [-9.91277239e-01 1.31778875e-01 -1.93998115e-03 -1.25454110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.63864 meters Centerline goodness : 0.995688 Centerline is valid? [True, True] Translation: X:257.28, Y:31.41, Z:-125.62 [[ 8.50412737e-02 -6.24270556e-01 7.76565679e-01 2.57279909e+02] [-1.55050006e-01 7.61603164e-01 6.29221834e-01 3.14144798e+01] [-9.84239543e-01 -1.73916339e-01 -3.20254502e-02 -1.25624975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66864 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:257.50, Y:32.50, Z:-125.82 [[ 1.33504696e-01 7.68537190e-01 6.25721251e-01 2.57498570e+02] [-1.62952749e-01 6.39802879e-01 -7.51065029e-01 3.25018784e+01] [-9.77559664e-01 -1.69228947e-03 2.10651937e-01 -1.25822551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.69864 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:258.65, Y:32.25, Z:-125.83 [[ 8.95056348e-02 6.30643444e-01 -7.70894018e-01 2.58653101e+02] [-9.33287284e-02 -7.65284436e-01 -6.36890478e-01 3.22500570e+01] [-9.91603998e-01 1.28951845e-01 -9.64011853e-03 -1.25828370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72864 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:257.56, Y:32.45, Z:-125.97 [[ 7.70842289e-02 7.88527027e-01 6.10150104e-01 2.57564267e+02] [-9.89713429e-02 6.15000098e-01 -7.82291220e-01 3.24542685e+01] [-9.92100144e-01 -8.50597096e-05 1.25448387e-01 -1.25968321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.75864 meters Centerline goodness : 0.994854 Centerline is valid? [True, True] Translation: X:258.72, Y:32.15, Z:-126.05 [[ 4.09800742e-02 5.85532327e-01 -8.09612578e-01 2.58722153e+02] [-4.03912444e-02 -8.08660069e-01 -5.86887928e-01 3.21511093e+01] [-9.98343218e-01 5.67519704e-02 -9.48857025e-03 -1.26047642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78864 meters Centerline goodness : 0.995002 Centerline is valid? [True, True] Translation: X:257.83, Y:32.50, Z:-126.13 [[ 2.22125892e-02 9.39620563e-01 3.41496412e-01 2.57825904e+02] [-1.25405893e-02 3.41815685e-01 -9.39683336e-01 3.24989591e+01] [-9.99674614e-01 1.65902337e-02 1.93760069e-02 -1.26129408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.81864 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:257.90, Y:32.51, Z:-126.19 [[ 2.17493956e-02 9.69401709e-01 2.44514397e-01 2.57904736e+02] [-1.63351899e-02 2.44884174e-01 -9.69414722e-01 3.25145971e+01] [-9.99629994e-01 1.70899951e-02 2.11614437e-02 -1.26185905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84864 meters Centerline goodness : 0.994371 Centerline is valid? [True, True] Translation: X:257.99, Y:32.52, Z:-126.24 [[ 2.09661983e-02 9.89377496e-01 1.43849190e-01 2.57985027e+02] [-1.80427289e-02 1.44231819e-01 -9.89379423e-01 3.25225551e+01] [-9.99617366e-01 1.81480932e-02 2.08750629e-02 -1.26243023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.87864 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:258.06, Y:32.52, Z:-126.31 [[ 1.86776684e-02 9.98950336e-01 4.18254824e-02 2.58064517e+02] [-1.86178523e-02 4.21730209e-02 -9.98936841e-01 3.25214787e+01] [-9.99652200e-01 1.78791104e-02 1.93860035e-02 -1.26305341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90864 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:258.12, Y:32.52, Z:-126.32 [[ 1.56491340e-02 9.99323042e-01 -3.32950735e-02 2.58120201e+02] [-2.13847106e-02 -3.29570269e-02 -9.99227966e-01 3.25197935e+01] [-9.99648838e-01 1.63490578e-02 2.08544851e-02 -1.26317225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.93864 meters Centerline goodness : 0.995346 Centerline is valid? [True, True] Translation: X:258.85, Y:31.66, Z:-126.37 [[ 1.42571794e-02 -1.57379605e-02 -9.99774499e-01 2.58848017e+02] [ 8.59453096e-03 -9.99837260e-01 1.58615099e-02 3.16593452e+01] [-9.99861424e-01 -8.81873328e-03 -1.41195988e-02 -1.26372840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96864 meters Centerline goodness : 0.994708 Centerline is valid? [True, True] Translation: X:258.20, Y:30.92, Z:-126.40 [[-1.55469720e-02 -9.74003254e-01 -2.25999897e-01 2.58199895e+02] [ 2.21751388e-03 -2.26060247e-01 9.74110798e-01 3.09233462e+01] [-9.99876680e-01 1.46433154e-02 5.67441807e-03 -1.26398658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.99864 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:257.27, Y:31.57, Z:-126.58 [[ 4.11629253e-03 -2.70750484e-01 9.62640759e-01 2.57265440e+02] [-6.03906840e-02 9.60824569e-01 2.70497899e-01 3.15678295e+01] [-9.98166330e-01 -5.92479824e-02 -1.23957719e-02 -1.26577795e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02864 meters Centerline goodness : 0.993833 Centerline is valid? [True, True] Translation: X:257.76, Y:32.49, Z:-126.73 [[ 3.66722552e-02 9.19288617e-01 3.91871897e-01 2.57761802e+02] [-9.24708318e-02 3.93574865e-01 -9.14629964e-01 3.24874295e+01] [-9.95039844e-01 -2.69517688e-03 9.94406610e-02 -1.26728585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.05864 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:258.80, Y:32.01, Z:-126.84 [[ 5.26542630e-03 4.22487424e-01 -9.06353492e-01 2.58804043e+02] [-8.59854275e-03 -9.06313420e-01 -4.22518698e-01 3.20055977e+01] [-9.99949169e-01 1.00180603e-02 -1.13935034e-03 -1.26840551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08864 meters Centerline goodness : 0.993587 Centerline is valid? [True, True] Translation: X:258.71, Y:32.17, Z:-126.91 [[-3.16514119e-02 6.29541101e-01 -7.76322221e-01 2.58707067e+02] [ 1.95863797e-03 -7.76670820e-01 -6.29903645e-01 3.21735511e+01] [-9.99497049e-01 -2.14578739e-02 2.33496849e-02 -1.26906050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.11864 meters Centerline goodness : 0.993581 Centerline is valid? [True, True] Translation: X:258.86, Y:31.84, Z:-126.93 [[-1.37504063e-02 2.14761395e-01 -9.76569746e-01 2.58855151e+02] [ 2.47562955e-02 -9.76289573e-01 -2.15048357e-01 3.18382382e+01] [-9.99598946e-01 -2.71332515e-02 8.10768175e-03 -1.26931679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14864 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:258.30, Y:32.45, Z:-127.01 [[-1.06605220e-01 9.63713738e-01 -2.44726701e-01 2.58296963e+02] [ 3.52688743e-02 -2.42309332e-01 -9.69557783e-01 3.24546983e+01] [-9.93675719e-01 -1.11991156e-01 -8.15765912e-03 -1.27010762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.17864000000003 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:258.87, Y:31.64, Z:-127.11 [[-7.63495984e-02 -3.98401369e-02 -9.96284850e-01 2.58870126e+02] [ 5.82497159e-02 -9.97673074e-01 3.54317236e-02 3.16386999e+01] [-9.95378174e-01 -5.53281116e-02 7.84926152e-02 -1.27108997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20864 meters Centerline goodness : 0.993672 Centerline is valid? [True, True] Translation: X:258.78, Y:31.33, Z:-127.18 [[-6.17584085e-02 -4.26609821e-01 -9.02324753e-01 2.58779339e+02] [ 7.31605039e-02 -9.03553410e-01 4.22183345e-01 3.13346891e+01] [-9.95406168e-01 -3.99411621e-02 8.70130101e-02 -1.27181683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23864 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:258.70, Y:31.21, Z:-127.21 [[-5.40281454e-02 -5.83100988e-01 -8.10601133e-01 2.58699048e+02] [ 7.71930777e-02 -8.11796477e-01 5.78815782e-01 3.12130076e+01] [-9.95551198e-01 -3.13004530e-02 8.88712179e-02 -1.27214470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26864 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:258.66, Y:31.17, Z:-127.25 [[-4.62319469e-02 -6.40421255e-01 -7.66631087e-01 2.58658503e+02] [ 8.44488827e-02 -7.67210046e-01 6.35812182e-01 3.11689621e+01] [-9.95354707e-01 -3.53463037e-02 8.95524735e-02 -1.27249817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29864 meters Centerline goodness : 0.994406 Centerline is valid? [True, True] Translation: X:258.61, Y:31.12, Z:-127.29 [[-3.68592937e-02 -7.00253668e-01 -7.12941928e-01 2.58606870e+02] [ 9.32102705e-02 -7.12725660e-01 6.95222252e-01 3.11217828e+01] [-9.94963938e-01 -4.08281088e-02 9.15413982e-02 -1.27289376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32864 meters Centerline goodness : 0.993026 Centerline is valid? [True, True] Translation: X:258.56, Y:31.09, Z:-127.31 [[-2.94038509e-02 -7.45575209e-01 -6.65772499e-01 2.58562529e+02] [ 9.49260120e-02 -6.65133021e-01 7.40666671e-01 3.10876635e+01] [-9.95049982e-01 -4.14206759e-02 9.03319534e-02 -1.27314942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35864 meters Centerline goodness : 0.992992 Centerline is valid? [True, True] Translation: X:258.53, Y:31.06, Z:-127.35 [[-2.19073552e-02 -7.75819044e-01 -6.30575038e-01 2.58526121e+02] [ 9.93728280e-02 -6.29292747e-01 7.70788998e-01 3.10633713e+01] [-9.94809082e-01 -4.57760764e-02 9.08814722e-02 -1.27345351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.38864 meters Centerline goodness : 0.992943 Centerline is valid? [True, True] Translation: X:258.47, Y:31.03, Z:-127.36 [[-1.98871185e-02 -8.22210921e-01 -5.68835393e-01 2.58473078e+02] [ 9.92950117e-02 -5.67759335e-01 8.17184091e-01 3.10278258e+01] [-9.94859288e-01 -4.02310802e-02 9.29325402e-02 -1.27360981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41864 meters Centerline goodness : 0.992507 Centerline is valid? [True, True] Translation: X:258.45, Y:31.01, Z:-127.37 [[-1.90230034e-02 -8.42409441e-01 -5.38502052e-01 2.58446434e+02] [ 9.88655834e-02 -5.37544757e-01 8.37419387e-01 3.10125698e+01] [-9.94918952e-01 -3.73090876e-02 9.35110166e-02 -1.27370478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.44864 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:258.42, Y:31.00, Z:-127.37 [[-1.99760328e-02 -8.61467665e-01 -5.07419373e-01 2.58417250e+02] [ 9.38100870e-02 -5.06896634e-01 8.56887081e-01 3.09963208e+01] [-9.95389685e-01 -3.04838511e-02 9.09401404e-02 -1.27368748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47864 meters Centerline goodness : 0.993193 Centerline is valid? [True, True] Translation: X:258.39, Y:30.99, Z:-127.38 [[-1.65089441e-02 -8.79270229e-01 -4.76037098e-01 2.58390547e+02] [ 9.45812786e-02 -4.75340401e-01 8.74703313e-01 3.09851072e+01] [-9.95380247e-01 -3.05837693e-02 9.10098707e-02 -1.27383945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.50864 meters Centerline goodness : 0.993722 Centerline is valid? [True, True] Translation: X:258.36, Y:30.97, Z:-127.40 [[-1.47049479e-02 -8.96280685e-01 -4.43243385e-01 2.58361581e+02] [ 9.29696629e-02 -4.42596561e-01 8.91888404e-01 3.09738199e+01] [-9.95560348e-01 -2.80930156e-02 8.98352725e-02 -1.27395056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53864 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:258.32, Y:30.96, Z:-127.41 [[-1.33241298e-02 -9.16524884e-01 -3.99755682e-01 2.58324607e+02] [ 9.15869725e-02 -3.99229232e-01 9.12265228e-01 3.09611864e+01] [-9.95707936e-01 -2.44572723e-02 8.92611214e-02 -1.27405623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.56864 meters Centerline goodness : 0.994161 Centerline is valid? [True, True] Translation: X:258.30, Y:30.95, Z:-127.43 [[-1.84290620e-02 -9.31152601e-01 -3.64163704e-01 2.58295377e+02] [ 1.11571768e-01 -3.63865951e-01 9.24744997e-01 3.09527490e+01] [-9.93585482e-01 -2.35882055e-02 1.10596050e-01 -1.27433620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59864 meters Centerline goodness : 0.995444 Centerline is valid? [True, True] Translation: X:257.32, Y:31.41, Z:-127.41 [[-1.10346905e-02 -4.56794686e-01 8.89503710e-01 2.57315652e+02] [ 2.36513967e-02 8.89189769e-01 4.56926871e-01 3.14081018e+01] [-9.99659366e-01 2.60800517e-02 9.91898391e-04 -1.27411462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.62864 meters Centerline goodness : 0.996130 Centerline is valid? [True, True] Translation: X:258.84, Y:31.67, Z:-127.56 [[-2.13593335e-02 4.50671232e-02 -9.98755592e-01 2.58840094e+02] [ 1.15544242e-01 -9.92178302e-01 -4.72413573e-02 3.16664677e+01] [-9.93072659e-01 -1.16409502e-01 1.59850206e-02 -1.27563788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65864 meters Centerline goodness : 0.996861 Centerline is valid? [True, True] Translation: X:258.27, Y:30.93, Z:-127.71 [[ 2.11416347e-02 -9.40490928e-01 -3.39160501e-01 2.58267086e+02] [ 9.48777033e-02 -3.35817975e-01 9.37136334e-01 3.09283089e+01] [-9.95264413e-01 -5.19913634e-02 8.21318783e-02 -1.27709513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.68864 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:257.94, Y:30.91, Z:-127.77 [[ 1.43750259e-02 -9.97142819e-01 7.41590027e-02 2.57938475e+02] [ 9.12852961e-02 7.51656895e-02 9.92983944e-01 3.09090975e+01] [-9.95721022e-01 -7.50454339e-03 9.21049862e-02 -1.27771968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:257.91, Y:30.92, Z:-127.83 [[ 1.47781537e-02 -9.93523480e-01 1.12661891e-01 2.57909186e+02] [ 9.40567358e-02 1.13555867e-01 9.89069459e-01 3.09193285e+01] [-9.95457150e-01 -4.02001085e-03 9.51257215e-02 -1.27828524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.74864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:257.88, Y:30.93, Z:-127.90 [[ 1.85656836e-02 -9.88284613e-01 1.51488742e-01 2.57879629e+02] [ 9.29450671e-02 1.52564719e-01 9.83913218e-01 3.09317792e+01] [-9.95498132e-01 -4.18689013e-03 9.46886480e-02 -1.27899082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:257.83, Y:30.95, Z:-127.96 [[ 1.88711436e-02 -9.76756560e-01 2.13519328e-01 2.57834919e+02] [ 9.39285192e-02 2.14344826e-01 9.72231314e-01 3.09484902e+01] [-9.95400077e-01 1.70843749e-03 9.57902293e-02 -1.27955106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.80864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:257.85, Y:30.96, Z:-128.01 [[ 2.70079851e-02 -9.78676283e-01 2.03625394e-01 2.57849220e+02] [ 1.35787984e-01 2.05403411e-01 9.69211567e-01 3.09550627e+01] [-9.90369725e-01 1.47343025e-03 1.38440012e-01 -1.28005839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:257.24, Y:31.79, Z:-128.10 [[ 1.31421970e-02 -3.27244596e-02 9.99378003e-01 2.57243420e+02] [ 4.50848377e-02 9.98467243e-01 3.21017543e-02 3.17858785e+01] [-9.98896711e-01 4.46349074e-02 1.45974302e-02 -1.28101805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.86864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:257.58, Y:31.15, Z:-128.18 [[ 5.24058136e-02 -8.25171229e-01 5.62446508e-01 2.57578420e+02] [ 6.71409570e-02 5.64857458e-01 8.22452518e-01 3.11521181e+01] [-9.96366259e-01 -5.33809657e-03 8.50046006e-02 -1.28184253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:257.39, Y:32.26, Z:-128.32 [[-1.48604672e-02 5.14917142e-01 8.57111138e-01 2.57392999e+02] [-2.60068773e-02 8.56716745e-01 -5.15131111e-01 3.22618067e+01] [-9.99551304e-01 -2.99458732e-02 6.60175888e-04 -1.28324886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.92864000000003 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:258.14, Y:32.63, Z:-128.35 [[-8.07529791e-04 9.97363355e-01 -7.25650490e-02 2.58135962e+02] [-2.42448090e-02 -7.25632691e-02 -9.97069085e-01 3.26333648e+01] [-9.99705725e-01 9.54162766e-04 2.42394811e-02 -1.28353127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:258.19, Y:32.62, Z:-128.39 [[-1.64183147e-02 9.89447929e-01 -1.43955673e-01 2.58189912e+02] [-4.70628614e-02 -1.44580247e-01 -9.88373229e-01 3.26240833e+01] [-9.98756990e-01 -9.45245680e-03 4.89400148e-02 -1.28386950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:258.86, Y:31.80, Z:-128.42 [[ 7.33589669e-03 -3.12485198e-02 -9.99484725e-01 2.58861762e+02] [ 3.28315304e-02 -9.98965227e-01 3.14732507e-02 3.17963647e+01] [-9.99433977e-01 -3.30454976e-02 -6.30236898e-03 -1.28420283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01864 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:258.39, Y:31.10, Z:-128.47 [[-3.27614952e-03 -9.11753960e-01 -4.10723732e-01 2.58393985e+02] [ 3.55890301e-02 -4.10572049e-01 9.11133367e-01 3.11014438e+01] [-9.99361140e-01 -1.16322501e-02 3.37935345e-02 -1.28466707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04864 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:257.42, Y:31.37, Z:-128.64 [[ 8.44969385e-02 -6.06525101e-01 7.90561553e-01 2.57420107e+02] [-6.55947292e-02 7.88292076e-01 6.11794847e-01 3.13742388e+01] [-9.94262339e-01 -1.03551462e-01 2.68234173e-02 -1.28642429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:257.36, Y:32.23, Z:-128.78 [[ 3.27883773e-02 4.82457940e-01 8.75305237e-01 2.57358512e+02] [-8.41268156e-02 8.74000438e-01 -4.78587414e-01 3.22320208e+01] [-9.95915459e-01 -5.79445376e-02 6.92447063e-02 -1.28782643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:257.62, Y:32.51, Z:-128.84 [[ 6.51322436e-02 8.37486663e-01 5.42562329e-01 2.57621966e+02] [-1.18266844e-01 5.46363264e-01 -8.29156280e-01 3.25071611e+01] [-9.90843451e-01 -1.01623257e-02 1.34632770e-01 -1.28843270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.13864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:258.72, Y:32.28, Z:-128.93 [[ 1.84763112e-02 5.98475543e-01 -8.00927993e-01 2.58723717e+02] [-2.20128366e-02 -8.00627070e-01 -5.98758490e-01 3.22802616e+01] [-9.99586945e-01 2.86935453e-02 -1.61849057e-03 -1.28927510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16864 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:257.97, Y:32.58, Z:-129.00 [[-2.64611164e-03 9.89560492e-01 1.44093824e-01 2.57971252e+02] [-1.78487115e-02 1.44024637e-01 -9.89413123e-01 3.25793089e+01] [-9.99837198e-01 -5.18998667e-03 1.72812745e-02 -1.29001724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.19864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:258.09, Y:32.59, Z:-129.02 [[-5.64691365e-03 9.99940349e-01 -9.34936903e-03 2.58092160e+02] [-1.75096968e-02 -9.44695771e-03 -9.99802063e-01 3.25889244e+01] [-9.99830747e-01 -5.48209130e-03 1.75619985e-02 -1.29017930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22864 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:258.16, Y:32.58, Z:-129.06 [[-1.56873538e-02 9.95286101e-01 -9.57051955e-02 2.58160436e+02] [-3.64551838e-02 -9.62226637e-02 -9.94692022e-01 3.25846089e+01] [-9.99212153e-01 -1.21151352e-02 3.77928167e-02 -1.29059771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.25864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:258.88, Y:31.69, Z:-129.11 [[ 1.40847093e-02 -1.27712861e-01 -9.91711171e-01 2.58881028e+02] [ 4.33922086e-02 -9.90797127e-01 1.28211425e-01 3.16942524e+01] [-9.98958827e-01 -4.48383587e-02 -8.41334642e-03 -1.29106298e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28864 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:258.34, Y:32.53, Z:-129.15 [[-7.10342943e-02 9.44907841e-01 -3.19536072e-01 2.58344900e+02] [ 7.71273885e-02 -3.14183117e-01 -9.46224252e-01 3.25339201e+01] [-9.94487554e-01 -9.18593547e-02 -5.05604981e-02 -1.29151667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.31864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:258.69, Y:31.27, Z:-129.32 [[-3.03644089e-02 -6.70349903e-01 -7.41423637e-01 2.58690990e+02] [ 7.40937094e-02 -7.41234434e-01 6.67144389e-01 3.12674744e+01] [-9.96788907e-01 -3.46773825e-02 7.21758564e-02 -1.29315317e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:258.56, Y:31.15, Z:-129.33 [[-2.70366668e-02 -8.21671831e-01 -5.69319261e-01 2.58555856e+02] [ 7.31946406e-02 -5.69625907e-01 8.18638425e-01 3.11472051e+01] [-9.96951134e-01 -1.95378644e-02 7.55427602e-02 -1.29334880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.37864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:258.52, Y:31.13, Z:-129.36 [[-2.10617561e-02 -8.46895058e-01 -5.31342793e-01 2.58524170e+02] [ 7.51029392e-02 -5.31299271e-01 8.43848703e-01 3.11291330e+01] [-9.96953334e-01 -2.21324699e-02 7.47944037e-02 -1.29358398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:258.47, Y:31.10, Z:-129.37 [[-1.78295078e-02 -8.82515038e-01 -4.69946078e-01 2.58474346e+02] [ 7.54073557e-02 -4.69869026e-01 8.79509425e-01 3.11012911e+01] [-9.96993400e-01 -1.97561710e-02 7.49256588e-02 -1.29373586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.43864 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:258.44, Y:31.08, Z:-129.39 [[-1.41037856e-02 -9.01923160e-01 -4.31666187e-01 2.58440500e+02] [ 7.55454996e-02 -4.31436379e-01 8.98974710e-01 3.10849671e+01] [-9.97042607e-01 -1.99314911e-02 7.42211219e-02 -1.29385996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:258.41, Y:31.07, Z:-129.40 [[-1.14725131e-02 -9.19842598e-01 -3.92119850e-01 2.58408576e+02] [ 7.53368108e-02 -3.91826217e-01 9.16949607e-01 3.10720230e+01] [-9.97092145e-01 -1.90213426e-02 7.37932391e-02 -1.29398962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.49864 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:258.40, Y:31.07, Z:-129.42 [[-2.00286399e-02 -9.23143529e-01 -3.83933431e-01 2.58402869e+02] [ 9.58266873e-02 -3.84015027e-01 9.18340735e-01 3.10711441e+01] [-9.95196513e-01 -1.83979529e-02 9.61530850e-02 -1.29424209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:257.33, Y:31.60, Z:-129.40 [[-2.67232314e-02 -2.53843342e-01 9.66876117e-01 2.57331642e+02] [ 5.72789434e-03 9.67166779e-01 2.54077964e-01 3.16017606e+01] [-9.99626460e-01 1.23279485e-02 -2.43918338e-02 -1.29404776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.55864 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:258.46, Y:31.12, Z:-129.47 [[ 2.31567878e-02 -8.85091702e-01 -4.64840233e-01 2.58459441e+02] [ 1.54178079e-02 -4.64593449e-01 8.85389868e-01 3.11184504e+01] [-9.99612952e-01 -2.76696027e-02 2.88768195e-03 -1.29473752e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58864 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:257.91, Y:31.05, Z:-129.55 [[ 1.34486579e-02 -9.71334472e-01 2.37336210e-01 2.57909281e+02] [ 7.11455324e-03 2.37444623e-01 9.71375022e-01 3.10464442e+01] [-9.99884252e-01 -1.13751492e-02 1.01039223e-02 -1.29553148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.61864 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:257.73, Y:31.11, Z:-129.61 [[ 1.21210539e-02 -8.84891588e-01 4.65639300e-01 2.57729728e+02] [ 7.58827895e-03 4.65741503e-01 8.84888281e-01 3.11137983e+01] [-9.99897744e-01 -7.19237766e-03 1.23600821e-02 -1.29609264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64864 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:257.64, Y:31.17, Z:-129.73 [[ 2.85458114e-02 -8.19728571e-01 5.72040389e-01 2.57637409e+02] [-4.38419905e-03 5.72165422e-01 8.20126520e-01 3.11745337e+01] [-9.99582871e-01 -2.59191159e-02 1.27390730e-02 -1.29729696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.67864000000003 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:257.98, Y:32.60, Z:-129.86 [[-4.58762658e-02 9.83521694e-01 1.74872655e-01 2.57980780e+02] [ 2.11452789e-02 1.75973838e-01 -9.84167712e-01 3.26048220e+01] [-9.98723308e-01 -4.14522085e-02 -2.88698631e-02 -1.29856927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70864 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:257.75, Y:31.15, Z:-129.94 [[ 2.70616063e-02 -8.76252672e-01 4.81091389e-01 2.57749829e+02] [-5.39581592e-02 4.79285582e-01 8.75998772e-01 3.11497627e+01] [-9.98176431e-01 -4.96647396e-02 -3.43107435e-02 -1.29936324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73864 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:257.84, Y:31.11, Z:-130.10 [[ 9.92055455e-02 -9.42193697e-01 3.20045773e-01 2.57836392e+02] [-7.61309816e-02 3.13502916e-01 9.46530504e-01 3.11072283e+01] [-9.92150358e-01 -1.18266474e-01 -4.06289033e-02 -1.30095411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76864 meters Centerline goodness : 0.997986 Centerline is valid? [True, True] Translation: X:258.01, Y:31.06, Z:-130.24 [[ 1.74762393e-01 -9.83057874e-01 5.52749657e-02 2.58008141e+02] [-7.65227223e-02 4.24082081e-02 9.96165557e-01 3.10639494e+01] [-9.81632507e-01 -1.78322067e-01 -6.78149048e-02 -1.30241119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79864 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:258.02, Y:31.05, Z:-130.41 [[ 2.44924764e-01 -9.69539429e-01 2.27036370e-03 2.58020124e+02] [-7.42643542e-02 -1.64257294e-02 9.97103305e-01 3.10539486e+01] [-9.66693677e-01 -2.44383899e-01 -7.60252875e-02 -1.30405742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:258.06, Y:32.61, Z:-130.65 [[ 1.36258516e-01 9.89165421e-01 5.46386968e-02 2.58063583e+02] [-3.77790892e-02 6.03012510e-02 -9.97465037e-01 3.26103857e+01] [-9.89952705e-01 1.33848905e-01 4.55863276e-02 -1.30649775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85864 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:257.41, Y:32.11, Z:-130.86 [[ 1.23469385e-01 3.47990262e-01 9.29332066e-01 2.57405782e+02] [-9.40361679e-02 9.36386495e-01 -3.38138331e-01 3.21054617e+01] [-9.87882842e-01 -4.56410943e-02 1.48338736e-01 -1.30859520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.88864 meters Centerline goodness : 0.997254 Centerline is valid? [True, True] Translation: X:257.96, Y:31.06, Z:-130.86 [[ 2.37287820e-01 -9.55843989e-01 1.73368854e-01 2.57959530e+02] [-1.12248668e-01 1.50292395e-01 9.82248661e-01 3.10626957e+01] [-9.64932499e-01 -2.52536067e-01 -7.16296601e-02 -1.30860630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91864 meters Centerline goodness : 0.996766 Centerline is valid? [True, True] Translation: X:258.04, Y:31.04, Z:-131.01 [[ 3.07722171e-01 -9.50462924e-01 4.39009721e-02 2.58037617e+02] [-1.09221909e-01 1.05484067e-02 9.93961421e-01 3.10359027e+01] [-9.45186564e-01 -3.10658914e-01 -1.00565397e-01 -1.31012401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.94864 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:258.04, Y:31.02, Z:-131.18 [[ 3.71183642e-01 -9.27802871e-01 3.74771356e-02 2.58040031e+02] [-1.08897459e-01 -3.41335067e-03 9.94047128e-01 3.10209039e+01] [-9.22151857e-01 -3.73055198e-01 -1.02302355e-01 -1.31184052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97864 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:258.20, Y:32.57, Z:-131.45 [[ 2.57625372e-01 9.65701697e-01 3.23944406e-02 2.58202303e+02] [-7.73183714e-02 5.40220590e-02 -9.95541806e-01 3.25710824e+01] [-9.63146426e-01 2.53972142e-01 8.85839355e-02 -1.31452220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.00864 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:258.30, Y:32.56, Z:-131.60 [[ 1.94423405e-01 9.80081971e-01 4.04829669e-02 2.58296635e+02] [-8.04287357e-02 5.70593857e-02 -9.95125844e-01 3.25569747e+01] [-9.77614831e-01 1.90219761e-01 8.99204338e-02 -1.31595846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03864 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:258.17, Y:30.99, Z:-131.64 [[ 3.00057094e-01 -9.49964983e-01 8.67886632e-02 2.58169133e+02] [-1.24087566e-01 5.13378981e-02 9.90942327e-01 3.09913352e+01] [-9.45816058e-01 -3.08108669e-01 -1.02474542e-01 -1.31635665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.06864 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:257.61, Y:32.00, Z:-132.02 [[ 2.97745947e-01 2.75220842e-01 9.14112050e-01 2.57605107e+02] [-1.40881238e-01 9.59724685e-01 -2.43065846e-01 3.20001525e+01] [-9.44192686e-01 -5.64093672e-02 3.24527588e-01 -1.32023237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09864 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:258.75, Y:32.42, Z:-131.91 [[ 2.03794350e-01 8.97875505e-01 -3.90240234e-01 2.58747878e+02] [-6.45386444e-02 -3.85417292e-01 -9.20482631e-01 3.24235137e+01] [-9.76884142e-01 2.12774735e-01 -2.05981984e-02 -1.31914423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.12864 meters Centerline goodness : 0.996915 Centerline is valid? [True, True] Translation: X:257.74, Y:32.07, Z:-132.21 [[ 1.80089859e-01 3.95304500e-01 9.00723040e-01 2.57740723e+02] [-1.06290347e-01 9.18153306e-01 -3.81702592e-01 3.20730800e+01] [-9.77890589e-01 -2.69973985e-02 2.07367152e-01 -1.32212835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15864 meters Centerline goodness : 0.997548 Centerline is valid? [True, True] Translation: X:258.50, Y:30.94, Z:-132.10 [[ 2.70571365e-01 -9.40613534e-01 -2.05030040e-01 2.58497542e+02] [-7.41743256e-02 -2.32709662e-01 9.69713557e-01 3.09365599e+01] [-9.59838167e-01 -2.47168755e-01 -1.32733945e-01 -1.32095855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.18864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:257.68, Y:31.60, Z:-132.48 [[ 3.01741448e-01 -1.75503720e-01 9.37096870e-01 2.57675958e+02] [-1.10712129e-01 9.69810553e-01 2.17279349e-01 3.16016882e+01] [-9.46939767e-01 -1.69310175e-01 2.73201650e-01 -1.32484376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21864 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:257.79, Y:32.05, Z:-132.61 [[ 2.41160195e-01 3.86422237e-01 8.90235708e-01 2.57793671e+02] [-1.22388988e-01 9.22095787e-01 -3.67097120e-01 3.20468380e+01] [-9.62737085e-01 -2.04258346e-02 2.69666627e-01 -1.32608846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.24864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:258.32, Y:30.92, Z:-132.48 [[ 3.27561922e-01 -9.41836825e-01 7.51437475e-02 2.58320902e+02] [-1.23510210e-01 3.61650930e-02 9.91684080e-01 3.09189505e+01] [-9.36722165e-01 -3.34118963e-01 -1.04480156e-01 -1.32482799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:257.76, Y:31.85, Z:-132.90 [[ 3.03805695e-01 1.55964574e-01 9.39881456e-01 2.57759160e+02] [-1.52401153e-01 9.81762201e-01 -1.13652402e-01 3.18455677e+01] [-9.40465836e-01 -1.08710770e-01 3.22034128e-01 -1.32900653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.30864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:257.84, Y:31.99, Z:-132.96 [[ 3.34818629e-01 3.46340430e-01 8.76324593e-01 2.57836958e+02] [-1.65105260e-01 9.37177486e-01 -3.07308660e-01 3.19919526e+01] [-9.27705093e-01 -4.17931355e-02 3.70967108e-01 -1.32961000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:258.98, Y:32.32, Z:-132.81 [[ 2.61799186e-01 8.79934420e-01 -3.96455045e-01 2.58977775e+02] [-1.10287686e-01 -3.80815255e-01 -9.18050308e-01 3.23184692e+01] [-9.58800194e-01 2.84068933e-01 -2.65119284e-03 -1.32807612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.36864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:259.08, Y:32.27, Z:-132.95 [[ 2.03076459e-01 8.88606318e-01 -4.11264834e-01 2.59076874e+02] [-8.31543712e-02 -4.02848360e-01 -9.11481513e-01 3.22701989e+01] [-9.75625595e-01 2.19298907e-01 -7.91751873e-03 -1.32952176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:258.55, Y:30.80, Z:-133.08 [[ 2.56429449e-01 -9.65393920e-01 4.75238551e-02 2.58552107e+02] [-1.23760436e-01 1.59692017e-02 9.92183622e-01 3.07981159e+01] [-9.58606954e-01 -2.60306672e-01 -1.15382599e-01 -1.33076584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.42864000000003 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:258.02, Y:31.92, Z:-133.45 [[ 2.35317798e-01 3.72209758e-01 8.97822605e-01 2.58022191e+02] [-1.05800376e-01 9.28083742e-01 -3.57024997e-01 3.19229529e+01] [-9.66142750e-01 -1.09756334e-02 2.57774555e-01 -1.33449679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:258.58, Y:30.78, Z:-133.34 [[ 3.11307329e-01 -9.49232325e-01 4.52298584e-02 2.58581464e+02] [-1.38170121e-01 1.87792277e-03 9.90406730e-01 3.07754434e+01] [-9.40211021e-01 -3.14570288e-01 -1.30570934e-01 -1.33339601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:258.06, Y:31.87, Z:-133.78 [[ 2.95868550e-01 3.46174730e-01 8.90294815e-01 2.58059496e+02] [-1.17839078e-01 9.38130890e-01 -3.25613859e-01 3.18741701e+01] [-9.47932357e-01 -8.57261970e-03 3.18356337e-01 -1.33784371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51864 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:258.14, Y:31.91, Z:-133.93 [[ 2.84533225e-01 4.01779008e-01 8.70410519e-01 2.58135864e+02] [-1.47959449e-01 9.15464834e-01 -3.74208683e-01 3.19097796e+01] [-9.47179415e-01 -2.23106575e-02 3.19927163e-01 -1.33932301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:258.17, Y:31.93, Z:-133.99 [[ 3.16076796e-01 4.45769346e-01 8.37487403e-01 2.58174216e+02] [-1.66311215e-01 8.95107200e-01 -4.13670980e-01 3.19327212e+01] [-9.34042846e-01 -8.53174955e-03 3.57059057e-01 -1.33986852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:259.33, Y:32.15, Z:-133.85 [[ 2.61176833e-01 8.36380905e-01 -4.81927012e-01 2.59330285e+02] [-1.31987248e-01 -4.63624225e-01 -8.76146075e-01 3.21537074e+01] [-9.56224884e-01 2.92437277e-01 -1.06962931e-02 -1.33847856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:259.42, Y:32.10, Z:-134.00 [[ 2.04141388e-01 8.47977485e-01 -4.89142595e-01 2.59417714e+02] [-1.00149677e-01 -4.78952636e-01 -8.72109176e-01 3.21030520e+01] [-9.73805081e-01 2.27021051e-01 -1.28493848e-02 -1.33999183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.63864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:259.20, Y:32.20, Z:-134.23 [[ 1.32696174e-01 9.85205984e-01 -1.08447660e-01 2.59204997e+02] [-8.41674029e-02 -9.78193405e-02 -9.91638656e-01 3.21955907e+01] [-9.87576617e-01 1.40714413e-01 6.99419767e-02 -1.34226629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:258.71, Y:30.71, Z:-134.31 [[ 1.48023986e-01 -9.22863695e-01 3.55543949e-01 2.58711483e+02] [-1.35740737e-01 3.37143610e-01 9.31616143e-01 3.07060242e+01] [-9.79624087e-01 -1.86163332e-01 -7.53648573e-02 -1.34306193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.69864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:258.82, Y:30.65, Z:-134.46 [[ 2.17716371e-01 -9.57159414e-01 1.90906881e-01 2.58818477e+02] [-1.51722393e-01 1.60030537e-01 9.75382255e-01 3.06503450e+01] [-9.64147238e-01 -2.41321533e-01 -1.10381249e-01 -1.34457283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:258.37, Y:31.78, Z:-134.80 [[ 2.57620085e-01 4.46516048e-01 8.56886988e-01 2.58374279e+02] [-1.36512980e-01 8.94744728e-01 -4.25201221e-01 3.17830697e+01] [-9.56554284e-01 -7.43582107e-03 2.91459449e-01 -1.34795466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.75864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:259.27, Y:32.14, Z:-134.80 [[ 1.73192595e-01 9.74328892e-01 -1.43831622e-01 2.59271365e+02] [-1.45609122e-01 -1.19102860e-01 -9.82146879e-01 3.21416383e+01] [-9.74064838e-01 1.91043763e-01 1.21243441e-01 -1.34799457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:259.91, Y:31.22, Z:-134.74 [[ 1.88684788e-01 -5.27039150e-02 -9.80622429e-01 2.59911705e+02] [-6.46862634e-02 -9.97057235e-01 4.11407130e-02 3.12228003e+01] [-9.79904964e-01 5.56701741e-02 -1.91538752e-01 -1.34743228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.81864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:258.94, Y:30.53, Z:-135.04 [[ 2.25683998e-01 -9.58840453e-01 1.72312854e-01 2.58936189e+02] [-8.50324448e-02 1.56813011e-01 9.83960956e-01 3.05329642e+01] [-9.70482466e-01 -2.36716425e-01 -4.61423606e-02 -1.35044919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:259.10, Y:30.51, Z:-135.17 [[ 2.93453240e-01 -9.53809792e-01 -6.42812242e-02 2.59098423e+02] [-3.98566534e-02 -7.93902028e-02 9.96046506e-01 3.05050782e+01] [-9.55142211e-01 -2.89731040e-01 -6.13129786e-02 -1.35172926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.87864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:258.37, Y:31.36, Z:-135.53 [[ 2.82440161e-01 4.36685507e-02 9.58290464e-01 2.58374531e+02] [-6.76625452e-02 9.97382147e-01 -2.55075195e-02 3.13625765e+01] [-9.56895676e-01 -5.76360239e-02 2.84655499e-01 -1.35532099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:259.32, Y:32.06, Z:-135.47 [[ 2.43754375e-01 9.68684661e-01 -4.72634455e-02 2.59316681e+02] [-5.29114698e-02 -3.53780853e-02 -9.97972328e-01 3.20627748e+01] [-9.68392576e-01 2.45760899e-01 4.26309661e-02 -1.35465585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.93864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:259.07, Y:30.49, Z:-135.58 [[ 2.88904532e-01 -9.49914241e-01 1.19151612e-01 2.59071842e+02] [-9.67855716e-02 9.48409895e-02 9.90776332e-01 3.04903558e+01] [-9.52453004e-01 -2.97771929e-01 -6.45380011e-02 -1.35583016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:259.33, Y:30.48, Z:-135.67 [[ 3.49629538e-01 -9.10183860e-01 -2.22091258e-01 2.59333757e+02] [-5.70597952e-02 -2.57298771e-01 9.64645801e-01 3.04763200e+01] [-9.35148847e-01 -3.24596184e-01 -1.41894155e-01 -1.35669663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.99864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:258.50, Y:31.23, Z:-136.14 [[ 3.49132150e-01 -6.76933627e-02 9.34625246e-01 2.58503022e+02] [-6.46026202e-02 9.93275553e-01 9.60738161e-02 3.12260523e+01] [-9.34843967e-01 -9.39216978e-02 3.42411261e-01 -1.36138052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:259.18, Y:30.45, Z:-135.99 [[ 4.11082352e-01 -9.10696136e-01 4.05443960e-02 2.59180164e+02] [-9.84130657e-02 -1.18914978e-04 9.95145645e-01 3.04504200e+01] [-9.06270472e-01 -4.13076910e-01 -8.96732825e-02 -1.35986083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.05864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:259.43, Y:32.02, Z:-136.20 [[ 3.87318784e-01 9.21943853e-01 -1.92125379e-03 2.59425847e+02] [-6.40157514e-02 2.48147245e-02 -9.97640322e-01 3.20150678e+01] [-9.19720687e-01 3.86527827e-01 6.86301374e-02 -1.36200150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:259.56, Y:32.00, Z:-136.33 [[ 3.24238231e-01 9.45152461e-01 -3.94511710e-02 2.59562735e+02] [-6.47501157e-02 -1.94322672e-02 -9.97712288e-01 3.19976177e+01] [-9.43756850e-01 3.26050935e-01 5.48980473e-02 -1.36328938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.11864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:259.69, Y:31.98, Z:-136.47 [[ 2.60114194e-01 9.62661713e-01 -7.49868820e-02 2.59689407e+02] [-6.11057413e-02 -6.10930609e-02 -9.96259869e-01 3.19776342e+01] [-9.63642410e-01 2.63723462e-01 4.29329853e-02 -1.36466788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:259.58, Y:30.39, Z:-136.54 [[ 2.86774430e-01 -9.56271633e-01 -5.74890410e-02 2.59584011e+02] [-9.17624798e-02 -8.71530018e-02 9.91959677e-01 3.03898953e+01] [-9.53593243e-01 -2.79193334e-01 -1.12743109e-01 -1.36544271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.17864000000003 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:258.90, Y:31.40, Z:-136.99 [[ 2.83332507e-01 2.32680276e-01 9.30366906e-01 2.58902843e+02] [-7.65156181e-02 9.72512766e-01 -2.19918803e-01 3.13958565e+01] [-9.55964461e-01 -8.87745291e-03 2.93348155e-01 -1.36993382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:258.94, Y:31.45, Z:-137.04 [[ 2.85064825e-01 3.10152510e-01 9.06941821e-01 2.58937615e+02] [-7.91472252e-02 9.50586726e-01 -3.00200921e-01 3.14502516e+01] [-9.55234925e-01 1.37947942e-02 2.95526549e-01 -1.37043952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:258.99, Y:31.46, Z:-137.19 [[ 2.73199829e-01 3.30058775e-01 9.03561320e-01 2.58993736e+02] [-1.12373900e-01 9.43813880e-01 -3.10785241e-01 3.14630713e+01] [-9.55371111e-01 -1.66302348e-02 2.94939782e-01 -1.37191352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26864 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:259.71, Y:30.38, Z:-137.00 [[ 3.30688165e-01 -9.42156960e-01 -5.46406522e-02 2.59711944e+02] [-1.49788131e-01 -1.09562051e-01 9.82628960e-01 3.03806549e+01] [-9.31777255e-01 -3.16759246e-01 -1.77354804e-01 -1.36998683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:259.64, Y:30.36, Z:-137.20 [[ 3.90005797e-01 -9.19375492e-01 5.14216239e-02 2.59643063e+02] [-1.47386726e-01 -7.20378274e-03 9.89052708e-01 3.03570581e+01] [-9.08940389e-01 -3.93315154e-01 -1.38313261e-01 -1.37201491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:259.71, Y:30.33, Z:-137.36 [[ 4.53251557e-01 -8.91382224e-01 -8.70165389e-04 2.59707315e+02] [-1.43882217e-01 -7.41248024e-02 9.86814786e-01 3.03322598e+01] [-8.79693659e-01 -4.47150137e-01 -1.61851233e-01 -1.37356295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:259.09, Y:31.22, Z:-137.93 [[ 4.89940513e-01 1.47583818e-01 8.59172457e-01 2.59093836e+02] [-1.21301010e-01 9.87519146e-01 -1.00458955e-01 3.12152021e+01] [-8.63275367e-01 -5.49995743e-02 5.01727703e-01 -1.37932204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.38864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:259.99, Y:31.87, Z:-137.75 [[ 4.12859558e-01 9.06538714e-01 -8.79462667e-02 2.59990928e+02] [-1.18495724e-01 -4.22765919e-02 -9.92054158e-01 3.18656844e+01] [-9.03053569e-01 4.20000298e-01 8.99666664e-02 -1.37746245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:259.78, Y:30.29, Z:-137.79 [[ 4.43136850e-01 -8.85010691e-01 1.42778879e-01 2.59783621e+02] [-1.56832935e-01 8.02780671e-02 9.84357081e-01 3.02915258e+01] [-8.82628553e-01 -4.58597327e-01 -1.03224655e-01 -1.37785338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.44864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:259.84, Y:30.27, Z:-137.94 [[ 5.03654154e-01 -8.56536640e-01 1.12594300e-01 2.59837837e+02] [-1.60055352e-01 3.55595482e-02 9.86467335e-01 3.02679599e+01] [-8.48949219e-01 -5.14859692e-01 -1.19183559e-01 -1.37941599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47864 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:260.15, Y:31.80, Z:-138.21 [[ 4.69400395e-01 8.80212608e-01 -6.99216308e-02 2.60150230e+02] [-1.24915434e-01 -1.21940635e-02 -9.92092455e-01 3.18028479e+01] [-8.74104916e-01 4.74422881e-01 1.04228241e-01 -1.38206165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.50864 meters Centerline goodness : 0.998083 Centerline is valid? [True, True] Translation: X:260.00, Y:30.23, Z:-138.22 [[ 5.01465234e-01 -8.57937124e-01 1.11698296e-01 2.59997296e+02] [-1.63047952e-01 3.30778698e-02 9.86063497e-01 3.02252591e+01] [-8.49675223e-01 -5.12688741e-01 -1.23297490e-01 -1.38217072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:260.09, Y:30.21, Z:-138.34 [[ 5.60132219e-01 -8.28271500e-01 1.47722739e-02 2.60088920e+02] [-1.21183276e-01 -6.42857278e-02 9.90546293e-01 3.02101246e+01] [-8.19491617e-01 -5.56627046e-01 -1.36381161e-01 -1.38339265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.56864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:259.55, Y:31.02, Z:-138.98 [[ 5.58920186e-01 9.64794440e-02 8.23589669e-01 2.59545492e+02] [-1.47793368e-01 9.88896074e-01 -1.55459047e-02 3.10166059e+01] [-8.15944450e-01 -1.13032171e-01 5.66972999e-01 -1.38980447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:260.35, Y:31.73, Z:-138.76 [[ 5.37970653e-01 8.42963394e-01 -5.41245444e-04 2.60349192e+02] [-1.53944548e-01 9.76145253e-02 -9.83245890e-01 3.17328368e+01] [-8.28787459e-01 5.29040756e-01 1.82283368e-01 -1.38764472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.62864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:260.31, Y:30.15, Z:-138.66 [[ 5.47627078e-01 -8.34906393e-01 5.50989766e-02 2.60307812e+02] [-1.88183279e-01 -5.87329719e-02 9.80376199e-01 3.01500951e+01] [-8.15286230e-01 -5.47249260e-01 -1.89279188e-01 -1.38662992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:260.53, Y:31.68, Z:-139.03 [[ 5.41746356e-01 8.40504400e-01 -7.95225072e-03 2.60533594e+02] [-1.57136220e-01 9.19788775e-02 -9.83284341e-01 3.16771262e+01] [-8.25723376e-01 5.33940295e-01 1.81902906e-01 -1.39034937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.68864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:259.93, Y:31.12, Z:-139.40 [[ 5.07604979e-01 3.13176912e-01 8.02656469e-01 2.59933985e+02] [-1.51619658e-01 9.49530055e-01 -2.74598169e-01 3.11242737e+01] [-8.48144247e-01 1.76888986e-02 5.29469960e-01 -1.39402780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:259.95, Y:31.08, Z:-139.45 [[ 5.38867969e-01 2.81469545e-01 7.93974941e-01 2.59954891e+02] [-1.65337801e-01 9.59533036e-01 -2.27946845e-01 3.10833836e+01] [-8.26005280e-01 -8.44081707e-03 5.63599174e-01 -1.39448198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.74864 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:260.00, Y:31.09, Z:-139.51 [[ 5.41674608e-01 3.09591961e-01 7.81499480e-01 2.60004359e+02] [-1.76848091e-01 9.50869341e-01 -2.54110704e-01 3.10943835e+01] [-8.21774526e-01 -5.61375147e-04 5.69812525e-01 -1.39507773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:260.93, Y:31.60, Z:-139.27 [[ 4.68752760e-01 8.60046375e-01 -2.01472289e-01 2.60931383e+02] [-1.74762429e-01 -1.33278425e-01 -9.75548540e-01 3.15987923e+01] [-8.65868895e-01 4.92500858e-01 8.78291642e-02 -1.39269616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.80864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:260.75, Y:30.02, Z:-139.22 [[ 4.72250214e-01 -8.80998595e-01 2.86567829e-02 2.60750559e+02] [-2.03088175e-01 -7.71124905e-02 9.76119284e-01 3.00235172e+01] [-8.57749922e-01 -4.66792395e-01 -2.15336787e-01 -1.39216595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:260.22, Y:31.03, Z:-139.90 [[ 4.88161091e-01 3.39709919e-01 8.03925320e-01 2.60224469e+02] [-1.68818719e-01 9.40494119e-01 -2.94908550e-01 3.10271368e+01] [-8.56270395e-01 8.24523724e-03 5.16462028e-01 -1.39900694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.86864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:260.29, Y:31.04, Z:-140.00 [[ 4.85598935e-01 3.73485380e-01 7.90381139e-01 2.60293945e+02] [-1.81770696e-01 9.27515862e-01 -3.26609461e-01 3.10352643e+01] [-8.55074902e-01 1.49330761e-02 5.18289412e-01 -1.39996244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89864 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:260.33, Y:31.04, Z:-140.04 [[ 4.86634962e-01 3.93917875e-01 7.79753244e-01 2.60326709e+02] [-1.83510135e-01 9.18747834e-01 -3.49608993e-01 3.10435559e+01] [-8.54113836e-01 2.70393359e-02 5.19382739e-01 -1.40039465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:260.37, Y:31.03, Z:-140.11 [[ 4.84553607e-01 4.00802119e-01 7.77538078e-01 2.60368907e+02] [-1.89805631e-01 9.15853857e-01 -3.53815679e-01 3.10302211e+01] [-8.53921322e-01 2.38615582e-02 5.19854789e-01 -1.40111303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:260.37, Y:30.96, Z:-140.15 [[ 5.17082834e-01 3.36532999e-01 7.87001197e-01 2.60371774e+02] [-2.05919528e-01 9.41369098e-01 -2.67247767e-01 3.09559211e+01] [-8.30796299e-01 -2.38696827e-02 5.56064518e-01 -1.40149386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:261.36, Y:31.44, Z:-139.92 [[ 4.51458924e-01 8.40707786e-01 -2.98990400e-01 2.61360531e+02] [-2.09291582e-01 -2.25963282e-01 -9.51387213e-01 3.14412252e+01] [-8.67399489e-01 4.92088421e-01 7.39399224e-02 -1.39918118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01864 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:261.49, Y:31.39, Z:-140.04 [[ 3.94176163e-01 8.61827056e-01 -3.19185336e-01 2.61487138e+02] [-1.92161665e-01 -2.62339965e-01 -9.45648792e-01 3.13860343e+01] [-8.98720784e-01 4.34087398e-01 6.22019614e-02 -1.40038495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:261.61, Y:31.33, Z:-140.16 [[ 3.34400945e-01 8.77274540e-01 -3.44333253e-01 2.61610154e+02] [-1.72970722e-01 -3.02028934e-01 -9.37475147e-01 3.13305610e+01] [-9.26421684e-01 3.73052147e-01 5.07440494e-02 -1.40164159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:260.73, Y:30.94, Z:-140.46 [[ 2.96432824e-01 5.03482884e-01 8.11561807e-01 2.60726849e+02] [-1.49075082e-01 8.63732193e-01 -4.81397257e-01 3.09443942e+01] [-9.43347338e-01 2.17183060e-02 3.31095325e-01 -1.40455688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10864 meters Centerline goodness : 0.998431 Centerline is valid? [True, True] Translation: X:260.72, Y:30.87, Z:-140.52 [[ 3.30656748e-01 4.38210767e-01 8.35845344e-01 2.60722787e+02] [-1.78119016e-01 8.98722964e-01 -4.00712677e-01 3.08729494e+01] [-9.26790015e-01 -1.63815995e-02 3.75222484e-01 -1.40517214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.13864 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:260.77, Y:30.90, Z:-140.58 [[ 3.12446822e-01 4.94119219e-01 8.11309547e-01 2.60766979e+02] [-1.85675151e-01 8.69361380e-01 -4.57968918e-01 3.09035955e+01] [-9.31612431e-01 -7.54908925e-03 3.63374861e-01 -1.40577956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:261.88, Y:31.19, Z:-140.48 [[ 2.35293490e-01 8.34003252e-01 -4.99074693e-01 2.61881340e+02] [-1.47630492e-01 -4.76864822e-01 -8.66490150e-01 3.11938316e+01] [-9.60646767e-01 2.77558133e-01 1.09211222e-02 -1.40481673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.19864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:260.87, Y:30.88, Z:-140.75 [[ 2.32914852e-01 5.34402192e-01 8.12505365e-01 2.60874976e+02] [-1.62952658e-01 8.45117434e-01 -5.09139425e-01 3.08795516e+01] [-9.58747674e-01 -1.38137749e-02 2.83922660e-01 -1.40745518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:261.99, Y:31.13, Z:-140.72 [[ 1.56832920e-01 8.41621170e-01 -5.16795164e-01 2.61987450e+02] [-1.16904873e-01 -5.03771911e-01 -8.55889661e-01 3.11306899e+01] [-9.80681745e-01 1.94647548e-01 1.93815961e-02 -1.40718978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.25864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:260.96, Y:30.84, Z:-140.88 [[ 1.71320140e-01 5.58560056e-01 8.11578754e-01 2.60955379e+02] [-1.45930158e-01 8.29057811e-01 -5.39784711e-01 3.08436530e+01] [-9.74347884e-01 -2.59578236e-02 2.23545057e-01 -1.40879071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:261.03, Y:30.92, Z:-140.95 [[ 1.52749090e-01 6.64109262e-01 7.31865154e-01 2.61031969e+02] [-1.49909844e-01 7.47556420e-01 -6.47059841e-01 3.09209192e+01] [-9.76828928e-01 -1.08759894e-02 2.13745078e-01 -1.40949139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.31864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:262.20, Y:30.97, Z:-140.97 [[ 7.35159905e-02 7.27551139e-01 -6.82103173e-01 2.62195893e+02] [-6.17884593e-02 -6.79317149e-01 -7.31238947e-01 3.09714057e+01] [-9.95378112e-01 9.59038596e-02 -4.98640915e-03 -1.40970157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34864 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:261.07, Y:30.87, Z:-141.08 [[ 8.29064582e-02 6.53171623e-01 7.52657525e-01 2.61074275e+02] [-9.53743880e-02 7.56991353e-01 -6.46426962e-01 3.08660569e+01] [-9.91982986e-01 -1.81912809e-02 1.25055316e-01 -1.41080194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.37864 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:262.21, Y:30.96, Z:-141.18 [[ 5.23248147e-03 7.65035385e-01 -6.43966988e-01 2.62213786e+02] [-7.21205449e-03 -6.43930184e-01 -7.65050263e-01 3.09562307e+01] [-9.99960303e-01 8.64743632e-03 2.14812413e-03 -1.41177449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:261.72, Y:31.12, Z:-141.20 [[-1.09669495e-02 9.99424048e-01 -3.21138206e-02 2.61724103e+02] [-7.56466590e-03 -3.21977565e-02 -9.99452890e-01 3.11224560e+01] [-9.99911247e-01 -1.07180190e-02 7.91342018e-03 -1.41199860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.43864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:261.87, Y:31.11, Z:-141.22 [[-1.34789377e-02 9.76010910e-01 -2.17303985e-01 2.61871390e+02] [-4.11893897e-03 -2.17376080e-01 -9.76079236e-01 3.11077228e+01] [-9.99900671e-01 -1.22614493e-02 6.95012801e-03 -1.41219434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:262.01, Y:31.07, Z:-141.24 [[-1.51482159e-02 9.20532142e-01 -3.90373035e-01 2.62009700e+02] [-6.04401621e-04 -3.90426191e-01 -9.20634034e-01 3.10684375e+01] [-9.99885077e-01 -1.37100210e-02 6.47063136e-03 -1.41235885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.49864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:262.26, Y:29.75, Z:-141.30 [[ 5.05618985e-02 -7.48351052e-01 -6.61372964e-01 2.62258789e+02] [ 2.91662246e-02 -6.60831122e-01 7.49967706e-01 2.97524004e+01] [-9.98294959e-01 -5.72095434e-02 -1.15863012e-02 -1.41302677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:261.52, Y:29.56, Z:-141.42 [[ 8.09413965e-02 -9.51370662e-01 2.97224415e-01 2.61515271e+02] [-3.06840103e-02 2.95683108e-01 9.54793167e-01 2.95648917e+01] [-9.96246446e-01 -8.64023293e-02 -5.25886353e-03 -1.41417817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.55864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:261.85, Y:29.54, Z:-141.56 [[ 1.61225577e-01 -9.70740170e-01 -1.77960206e-01 2.61850484e+02] [-1.01286560e-02 -1.81937243e-01 9.83257977e-01 2.95444923e+01] [-9.86865606e-01 -1.56723837e-01 -3.91652302e-02 -1.41555323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58864 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:261.93, Y:29.57, Z:-141.70 [[ 2.15584746e-01 -9.21180849e-01 -3.23958425e-01 2.61930089e+02] [ 5.25862546e-02 -3.20326029e-01 9.45846669e-01 2.95684530e+01] [-9.75068153e-01 -2.20945874e-01 -2.06159549e-02 -1.41699637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.61864 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:260.98, Y:29.97, Z:-141.96 [[ 2.04579081e-01 -4.04252976e-01 8.91474582e-01 2.60982286e+02] [-2.37750198e-02 9.08415824e-01 4.17391229e-01 2.99709717e+01] [-9.78561264e-01 -1.06584340e-01 1.76231752e-01 -1.41960884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64864 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:261.84, Y:29.54, Z:-141.94 [[ 2.96763888e-01 -9.29339749e-01 -2.19678917e-01 2.61838513e+02] [ 3.87953345e-02 -2.18119362e-01 9.75150689e-01 2.95433375e+01] [-9.54162521e-01 -2.97912027e-01 -2.86759033e-02 -1.41938830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:260.98, Y:30.03, Z:-142.25 [[ 2.74760921e-01 -3.35194082e-01 9.01194409e-01 2.60978094e+02] [-3.01747426e-02 9.33799790e-01 3.56521301e-01 3.00282065e+01] [-9.61038980e-01 -1.25151430e-01 2.46457296e-01 -1.42252043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70864 meters Centerline goodness : 0.998087 Centerline is valid? [True, True] Translation: X:261.66, Y:29.54, Z:-142.21 [[ 3.69673322e-01 -9.28996380e-01 1.75316945e-02 2.61659014e+02] [ 1.54963883e-02 2.50299118e-02 9.99566589e-01 2.95381981e+01] [-9.29032560e-01 -3.69241424e-01 2.36489793e-02 -1.42214476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:260.99, Y:30.15, Z:-142.55 [[ 3.36081284e-01 -2.09615822e-01 9.18210530e-01 2.60988679e+02] [-5.03792935e-02 9.69521856e-01 2.39769259e-01 3.01482190e+01] [-9.40484608e-01 -1.26840758e-01 3.15277853e-01 -1.42547016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76864 meters Centerline goodness : 0.998233 Centerline is valid? [True, True] Translation: X:261.53, Y:29.58, Z:-142.51 [[ 4.19943716e-01 -8.75622304e-01 2.38606069e-01 2.61527262e+02] [-5.95358218e-02 2.35766557e-01 9.69984338e-01 2.95753438e+01] [-9.05595253e-01 -4.21544436e-01 4.68777904e-02 -1.42508570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:262.05, Y:31.07, Z:-142.52 [[ 3.35031169e-01 9.04270574e-01 -2.64667424e-01 2.62051787e+02] [ 5.49556710e-04 -2.81089051e-01 -9.59681532e-01 3.10656905e+01] [-9.42206885e-01 3.21377776e-01 -9.46705414e-02 -1.42516341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82864 meters Centerline goodness : 0.998332 Centerline is valid? [True, True] Translation: X:262.00, Y:29.55, Z:-142.66 [[ 4.07349820e-01 -8.79513546e-01 -2.46012290e-01 2.62004867e+02] [ 2.26154710e-02 -2.59577563e-01 9.65457420e-01 2.95453224e+01] [-9.12992149e-01 -3.98842590e-01 -8.58482604e-02 -1.42658031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:261.17, Y:30.14, Z:-143.13 [[ 4.04200552e-01 -2.08954725e-01 8.90482923e-01 2.61165344e+02] [-3.93269667e-02 9.68685616e-01 2.45156210e-01 3.01363606e+01] [-9.13824547e-01 -1.34112268e-01 3.83325706e-01 -1.43131824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.88864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:262.01, Y:31.09, Z:-142.95 [[ 3.44740973e-01 9.38159089e-01 -3.17991451e-02 2.62007839e+02] [-5.74097620e-02 -1.27405005e-02 -9.98269402e-01 3.10887755e+01] [-9.36940649e-01 3.45969946e-01 4.94673175e-02 -1.42947790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91864 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:262.66, Y:30.69, Z:-142.85 [[ 2.99452876e-01 5.46690335e-01 -7.81957577e-01 2.62663069e+02] [ 3.60729116e-02 -8.25467764e-01 -5.63295407e-01 3.06851728e+01] [-9.53428928e-01 1.40472943e-01 -2.66909408e-01 -1.42846204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.94864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:262.72, Y:29.83, Z:-143.02 [[ 3.57252019e-01 -4.18682957e-01 -8.34910520e-01 2.62715888e+02] [ 1.18614690e-01 -8.66325675e-01 4.85191075e-01 2.98349916e+01] [-9.26445654e-01 -2.72368143e-01 -2.59834647e-01 -1.43019965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:261.53, Y:29.78, Z:-143.59 [[ 3.99814850e-01 -5.95228831e-01 6.97029931e-01 2.61533480e+02] [ 1.05457849e-01 7.85277107e-01 6.10097129e-01 2.97759293e+01] [-9.10509049e-01 -1.70418615e-01 3.76737001e-01 -1.43585503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.00864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:261.43, Y:30.04, Z:-143.67 [[ 3.98040255e-01 -2.96758049e-01 8.68042980e-01 2.61430600e+02] [ 8.52235683e-02 9.54101988e-01 2.87099878e-01 3.00412114e+01] [-9.13400733e-01 -4.02995885e-02 4.05061779e-01 -1.43670829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:261.98, Y:31.03, Z:-143.53 [[ 2.94233872e-01 8.99040485e-01 3.24272470e-01 2.61984081e+02] [ 7.58472270e-02 3.16256273e-01 -9.45636911e-01 3.10328572e+01] [-9.52719070e-01 3.02833577e-01 2.48635800e-02 -1.43525152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.06864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:262.11, Y:31.07, Z:-143.65 [[ 2.29435607e-01 9.28292231e-01 2.92630887e-01 2.62107383e+02] [ 5.43902239e-02 2.87953424e-01 -9.56098598e-01 3.10655517e+01] [-9.71802967e-01 2.35279322e-01 1.55767464e-02 -1.43654158e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:262.46, Y:29.54, Z:-143.79 [[ 3.18848110e-01 -9.20768464e-01 -2.24769481e-01 2.62461367e+02] [ 7.83139782e-02 -2.10742472e-01 9.74399575e-01 2.95352733e+01] [-9.44564875e-01 -3.28288055e-01 4.91420245e-03 -1.43789560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.12864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:261.63, Y:30.05, Z:-144.11 [[ 3.07514244e-01 -3.51977326e-01 8.84051442e-01 2.61629743e+02] [ 1.96619300e-02 9.31223066e-01 3.63918960e-01 3.00508488e+01] [-9.51340317e-01 -9.45281063e-02 2.93284911e-01 -1.44109187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:262.41, Y:29.54, Z:-144.03 [[ 3.91141695e-01 -9.10471645e-01 -1.34348644e-01 2.62411805e+02] [ 7.10307360e-02 -1.15678499e-01 9.90743720e-01 2.95367179e+01] [-9.17585314e-01 -3.97064061e-01 1.94247870e-02 -1.44034142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.18864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:261.67, Y:30.08, Z:-144.38 [[ 4.07979970e-01 -3.25090015e-01 8.53152288e-01 2.61672898e+02] [ 2.47299402e-02 9.38050746e-01 3.45614276e-01 3.00794007e+01] [-9.12655890e-01 -1.19905297e-01 3.90745372e-01 -1.44382742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:261.67, Y:30.29, Z:-144.47 [[ 3.99738859e-01 -9.09920569e-02 9.12101579e-01 2.61668003e+02] [ 4.35819135e-03 9.95238142e-01 9.73758069e-02 3.02903031e+01] [-9.16618705e-01 -3.49497807e-02 3.98231920e-01 -1.44466488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.24864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:262.47, Y:31.13, Z:-144.30 [[ 2.84976742e-01 9.54737559e-01 8.52317408e-02 2.62465397e+02] [ 2.92227009e-02 8.02238471e-02 -9.96348417e-01 3.11312917e+01] [-9.58088874e-01 2.86426827e-01 -5.03807953e-03 -1.44297627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27864 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:262.52, Y:29.55, Z:-144.48 [[ 3.85507536e-01 -9.20384025e-01 -6.54002010e-02 2.62521131e+02] [ 5.60688070e-03 -6.85408191e-02 9.97632557e-01 2.95512973e+01] [-9.22687652e-01 -3.84961560e-01 -2.12625188e-02 -1.44475964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.30864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:262.54, Y:29.55, Z:-144.64 [[ 4.45612630e-01 -8.92497704e-01 -6.98371858e-02 2.62539376e+02] [ 1.04506277e-02 -7.28192609e-02 9.97290399e-01 2.95505239e+01] [-8.95164883e-01 -4.45135040e-01 -2.31220211e-02 -1.44643526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33864 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:262.63, Y:29.56, Z:-144.77 [[ 4.97283938e-01 -8.48564739e-01 -1.80683616e-01 2.62632882e+02] [ 6.52917787e-02 -1.71065787e-01 9.83093831e-01 2.95614608e+01] [-8.65127545e-01 -5.00673926e-01 -2.96639672e-02 -1.44765669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.36864 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:261.92, Y:30.11, Z:-145.22 [[ 5.26200980e-01 -3.04487438e-01 7.93977285e-01 2.61921099e+02] [ 1.82323239e-02 9.37520357e-01 3.47452389e-01 3.01130203e+01] [-8.50164755e-01 -1.68353736e-01 4.98875644e-01 -1.45224685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:261.96, Y:30.47, Z:-145.34 [[ 4.64600972e-01 8.59606606e-02 8.81338018e-01 2.61956265e+02] [-3.05632953e-02 9.96240835e-01 -8.10560558e-02 3.04731248e+01] [-8.84992555e-01 1.07221282e-02 4.65481701e-01 -1.45344027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:262.69, Y:31.16, Z:-145.14 [[ 3.99728747e-01 9.05397914e-01 1.43078815e-01 2.62694261e+02] [-1.17005368e-02 1.61118783e-01 -9.86865662e-01 3.11577398e+01] [-9.16558796e-01 3.92804475e-01 7.49974508e-02 -1.45136679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:262.82, Y:29.57, Z:-145.21 [[ 5.00627494e-01 -8.60561834e-01 -9.38373200e-02 2.62823007e+02] [-3.16441170e-02 -1.26519434e-01 9.91459269e-01 2.95724260e+01] [-8.65084251e-01 -4.93382371e-01 -9.05708263e-02 -1.45212572e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:262.84, Y:31.15, Z:-145.42 [[ 3.96967540e-01 9.06711663e-01 1.42445540e-01 2.62842036e+02] [-1.64139027e-02 1.62185991e-01 -9.86623681e-01 3.11548159e+01] [-9.17685870e-01 3.89319488e-01 7.92652509e-02 -1.45418268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:262.96, Y:29.57, Z:-145.50 [[ 5.03609164e-01 -8.58948564e-01 -9.26562192e-02 2.62957730e+02] [-3.11936666e-02 -1.25258306e-01 9.91633658e-01 2.95663545e+01] [-8.63368267e-01 -4.96505510e-01 -8.98749858e-02 -1.45496868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:263.00, Y:31.15, Z:-145.70 [[ 3.92986206e-01 9.09626725e-01 1.34688767e-01 2.62996238e+02] [-1.83618778e-02 1.54206860e-01 -9.87867950e-01 3.11510178e+01] [-9.19361019e-01 3.85745339e-01 7.73036236e-02 -1.45697275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:263.14, Y:31.15, Z:-145.81 [[ 3.29602861e-01 9.38740356e-01 1.00640443e-01 2.63136930e+02] [-2.49746450e-02 1.15229076e-01 -9.93024938e-01 3.11534377e+01] [-9.43789289e-01 3.24790401e-01 6.14245403e-02 -1.45814582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:263.27, Y:31.15, Z:-145.94 [[ 2.63164832e-01 9.62609239e-01 6.42473607e-02 2.63274894e+02] [-2.99457637e-02 7.47131530e-02 -9.96755334e-01 3.11518667e+01] [-9.64286017e-01 2.60387014e-01 4.84879431e-02 -1.45941480e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.63864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:263.20, Y:29.56, Z:-146.07 [[ 3.87599187e-01 -9.21826053e-01 -1.89704671e-03 2.63200076e+02] [-5.70915347e-02 -2.60590809e-02 9.98028798e-01 2.95601065e+01] [-9.20058382e-01 -3.86726845e-01 -6.27289427e-02 -1.46069292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:263.24, Y:29.55, Z:-146.24 [[ 4.50514169e-01 -8.92145715e-01 -3.33617712e-02 2.63238230e+02] [-5.07239148e-02 -6.28872013e-02 9.96730798e-01 2.95489224e+01] [-8.91327139e-01 -4.47349107e-01 -7.35846984e-02 -1.46235102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.69864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:263.41, Y:31.13, Z:-146.41 [[ 3.27667800e-01 9.42338023e-01 6.80651334e-02 2.63409912e+02] [-3.06114892e-02 8.25934713e-02 -9.96113074e-01 3.11314933e+01] [-9.44296960e-01 3.24310604e-01 5.59095913e-02 -1.46405874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72864 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:263.35, Y:29.54, Z:-146.54 [[ 4.49241652e-01 -8.93115548e-01 -2.29468147e-02 2.63345751e+02] [-5.43500922e-02 -5.29572866e-02 9.97116640e-01 2.95387632e+01] [-8.91755575e-01 -4.46699165e-01 -7.23315313e-02 -1.46535813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.75864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:263.54, Y:31.12, Z:-146.70 [[ 3.30511882e-01 9.41830962e-01 6.09617503e-02 2.63544473e+02] [-3.14576696e-02 7.55490169e-02 -9.96645755e-01 3.11211361e+01] [-9.43277431e-01 3.27485549e-01 5.45976549e-02 -1.46696093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:263.68, Y:31.11, Z:-146.82 [[ 2.67744033e-01 9.63262194e-01 2.09542201e-02 2.63680045e+02] [-3.39920185e-02 3.11785077e-02 -9.98935655e-01 3.11141413e+01] [-9.62890272e-01 2.66746785e-01 4.10910857e-02 -1.46824052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.81864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:263.52, Y:29.52, Z:-146.97 [[ 3.80221424e-01 -9.24624158e-01 2.24016706e-02 2.63517913e+02] [-6.02732221e-02 -6.01576205e-04 9.98181735e-01 2.95244110e+01] [-9.22929470e-01 -3.80880302e-01 -5.59588094e-02 -1.46969997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:263.78, Y:31.10, Z:-147.13 [[ 2.73832047e-01 9.61491169e-01 2.34678758e-02 2.63783387e+02] [-3.81878236e-02 3.52506741e-02 -9.98648627e-01 3.11013578e+01] [-9.61019095e-01 2.72565811e-01 4.63700194e-02 -1.47126687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.87864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:263.62, Y:29.51, Z:-147.27 [[ 3.75569881e-01 -9.26399784e-01 2.70315430e-02 2.63617935e+02] [-6.56801528e-02 2.48877800e-03 9.97837624e-01 2.95129147e+01] [-9.24463835e-01 -3.76533194e-01 -5.99113693e-02 -1.47269641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90864 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:263.66, Y:29.50, Z:-147.43 [[ 4.36943134e-01 -8.99483864e-01 -3.07817508e-03 2.63657309e+02] [-6.31789798e-02 -3.41038390e-02 9.97419342e-01 2.95017809e+01] [-8.97267582e-01 -4.35621058e-01 -7.17299112e-02 -1.47432230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.93864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:263.70, Y:29.49, Z:-147.59 [[ 4.98889182e-01 -8.66254105e-01 -2.67097119e-02 2.63702825e+02] [-5.89485318e-02 -6.46646857e-02 9.96164419e-01 2.94881774e+01] [-8.64658692e-01 -4.95401154e-01 -8.33249198e-02 -1.47594097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:263.91, Y:31.07, Z:-147.75 [[ 4.02196709e-01 9.13189099e-01 6.57531500e-02 2.63905126e+02] [-3.65330150e-02 8.77680201e-02 -9.95470800e-01 3.10708455e+01] [-9.14824107e-01 3.97972919e-01 6.86615599e-02 -1.47752235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.99864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:264.04, Y:31.06, Z:-147.87 [[ 3.39209909e-01 9.39948661e-01 3.78569896e-02 2.64041936e+02] [-3.89464146e-02 5.42407338e-02 -9.97768069e-01 3.10640882e+01] [-9.39904152e-01 3.36978422e-01 5.50066246e-02 -1.47873737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:264.22, Y:31.04, Z:-147.98 [[ 2.74767567e-01 9.59197968e-01 -6.66486479e-02 2.64216756e+02] [-6.92451211e-02 -4.93962675e-02 -9.96375994e-01 3.10381934e+01] [-9.59014024e-01 2.78386901e-01 5.28472872e-02 -1.47975955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.05864 meters Centerline goodness : 0.998036 Centerline is valid? [True, True] Translation: X:264.88, Y:30.11, Z:-147.90 [[ 3.12366256e-01 4.49503746e-03 -9.49951113e-01 2.64882115e+02] [ 4.88981264e-02 -9.98739247e-01 1.13529573e-02 3.01060148e+01] [-9.48702427e-01 -4.99971104e-02 -3.12192239e-01 -1.47897741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:264.28, Y:31.00, Z:-148.23 [[ 2.09139025e-01 9.76926769e-01 4.33007621e-02 2.64283830e+02] [ 4.37613771e-02 3.48856106e-02 -9.98432740e-01 3.10020970e+01] [-9.76906244e-01 2.10706151e-01 -3.54557181e-02 -1.48232964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.11864 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:264.38, Y:31.00, Z:-148.38 [[ 1.43543322e-01 9.89208663e-01 2.93519375e-02 2.64378109e+02] [ 2.43034587e-02 2.61265869e-02 -9.99363169e-01 3.09995734e+01] [-9.89345570e-01 1.44165263e-01 -2.02908948e-02 -1.48376733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:265.13, Y:30.21, Z:-148.46 [[ 1.65155564e-01 1.88047351e-01 -9.68174485e-01 2.65126686e+02] [ 1.33080796e-01 -9.76926422e-01 -1.67045707e-01 3.02070993e+01] [-9.77247738e-01 -1.01256904e-01 -1.86370325e-01 -1.48457504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:263.67, Y:29.81, Z:-148.80 [[ 1.49117384e-01 -5.81941130e-01 7.99442635e-01 2.63668566e+02] [ 7.11075374e-02 8.12699583e-01 5.78327854e-01 2.98054619e+01] [-9.86259461e-01 -2.93923396e-02 1.62568037e-01 -1.48797607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20864 meters Centerline goodness : 0.998285 Centerline is valid? [True, True] Translation: X:263.66, Y:29.85, Z:-148.87 [[ 1.53817902e-01 -5.48336046e-01 8.21990045e-01 2.63660355e+02] [ 6.46426978e-02 8.35692406e-01 5.45380164e-01 2.98489969e+01] [-9.85982441e-01 -3.07535786e-02 1.63990374e-01 -1.48873734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23864 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:263.65, Y:29.91, Z:-148.98 [[ 1.61891616e-01 -5.08824167e-01 8.45511130e-01 2.63654341e+02] [ 5.27377842e-02 8.60050453e-01 5.07476052e-01 2.99065114e+01] [-9.85398311e-01 -3.75657344e-02 1.66069216e-01 -1.48981132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26864 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:264.48, Y:31.02, Z:-148.92 [[ 7.44569021e-02 9.92038529e-01 1.01566371e-01 2.64484552e+02] [ 9.24728545e-02 9.45417362e-02 -9.91216743e-01 3.10187784e+01] [-9.92927460e-01 8.31950602e-02 -8.46973497e-02 -1.48922545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29864 meters Centerline goodness : 0.996919 Centerline is valid? [True, True] Translation: X:264.59, Y:31.03, Z:-149.09 [[ 8.03715310e-03 9.98359315e-01 5.66928784e-02 2.64588350e+02] [ 8.96669431e-02 5.57467864e-02 -9.94410446e-01 3.10315686e+01] [-9.95939377e-01 1.30757061e-02 -8.90717824e-02 -1.49085675e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32864 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:264.08, Y:29.58, Z:-149.31 [[ 5.52965550e-02 -9.17536127e-01 3.93788961e-01 2.64084350e+02] [ 4.28716030e-02 3.96210500e-01 9.17158255e-01 2.95799197e+01] [-9.97549155e-01 -3.38333279e-02 6.12453203e-02 -1.49311192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35864 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:263.97, Y:29.67, Z:-149.37 [[ 5.39745729e-02 -8.31642582e-01 5.52681971e-01 2.63966490e+02] [ 4.06573885e-02 5.54860137e-01 8.30949580e-01 2.96742562e+01] [-9.97714249e-01 -2.23795431e-02 6.37607545e-02 -1.49370740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.38864 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:263.93, Y:29.72, Z:-149.43 [[ 5.24639895e-02 -7.95164297e-01 6.04120246e-01 2.63927278e+02] [ 4.06413787e-02 6.06152319e-01 7.94309539e-01 2.97185673e+01] [-9.97795474e-01 -1.71203677e-02 6.41177423e-02 -1.49432149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41864 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:263.89, Y:29.77, Z:-149.51 [[ 5.51835163e-02 -7.54411808e-01 6.54077673e-01 2.63892774e+02] [ 3.85760089e-02 6.56197643e-01 7.53602379e-01 2.97664466e+01] [-9.97730761e-01 -1.63547230e-02 6.53134899e-02 -1.49505459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.44864 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:263.84, Y:29.84, Z:-149.60 [[ 5.83496083e-02 -6.86681950e-01 7.24612464e-01 2.63842377e+02] [ 3.44983241e-02 7.26802612e-01 6.85979466e-01 2.98440092e+01] [-9.97699949e-01 -1.50287175e-02 6.60980242e-02 -1.49600845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47864 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:263.79, Y:29.96, Z:-149.68 [[ 5.94279125e-02 -5.68879235e-01 8.20271138e-01 2.63785310e+02] [ 3.00855613e-02 8.22370878e-01 5.68155787e-01 2.99601669e+01] [-9.97779125e-01 -9.08599484e-03 6.59868357e-02 -1.49678779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.50864 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:264.82, Y:31.05, Z:-149.74 [[ 1.16759957e-02 9.92896326e-01 -1.18408436e-01 2.64816672e+02] [ 6.32351255e-02 -1.18912672e-01 -9.90889043e-01 3.10525708e+01] [-9.97930353e-01 4.08204395e-03 -6.41743476e-02 -1.49739117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53864 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:264.36, Y:29.52, Z:-149.91 [[ 3.92539870e-03 -9.96447027e-01 8.41303378e-02 2.64359324e+02] [ 2.96732007e-02 8.42100057e-02 9.96006112e-01 2.95226771e+01] [-9.99551946e-01 -1.41330470e-03 2.98983304e-02 -1.49905954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.56864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:264.19, Y:29.59, Z:-149.97 [[ 1.45018125e-03 -9.51195309e-01 3.08586100e-01 2.64187202e+02] [ 3.12503608e-02 3.08478814e-01 9.50717748e-01 2.95945874e+01] [-9.99510536e-01 8.26471393e-03 3.01725468e-02 -1.49965793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59864 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:265.13, Y:30.90, Z:-150.07 [[-1.47547912e-02 8.72018895e-01 -4.89249776e-01 2.65132759e+02] [ 8.11829987e-02 -4.86642838e-01 -8.69820711e-01 3.08973316e+01] [-9.96589994e-01 -5.25527869e-02 -6.36127953e-02 -1.50069784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.62864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:264.85, Y:29.51, Z:-150.19 [[-4.92618498e-02 -8.90017994e-01 -4.53256264e-01 2.64850228e+02] [ 5.45244861e-02 -4.55526904e-01 8.88550685e-01 2.95140334e+01] [-9.97296521e-01 1.90580856e-02 7.09678717e-02 -1.50186898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:264.81, Y:29.51, Z:-150.22 [[-5.23463922e-02 -9.10077295e-01 -4.11119414e-01 2.64813630e+02] [ 5.39491557e-02 -4.13659807e-01 9.08831697e-01 2.95101573e+01] [-9.97170669e-01 2.53945152e-02 7.07515002e-02 -1.50215947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.68864 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:264.78, Y:29.50, Z:-150.24 [[-5.15655290e-02 -9.27869678e-01 -3.69322159e-01 2.64780022e+02] [ 5.36090586e-02 -3.71852766e-01 9.26742461e-01 2.95041347e+01] [-9.97229695e-01 2.79889520e-02 6.89170045e-02 -1.50235390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:264.75, Y:29.50, Z:-150.26 [[-5.23628709e-02 -9.43002770e-01 -3.28639477e-01 2.64754021e+02] [ 5.39819321e-02 -3.31282652e-01 9.41986070e-01 2.95019801e+01] [-9.97168030e-01 3.15845011e-02 6.82520222e-02 -1.50260026e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.74864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:264.72, Y:29.50, Z:-150.28 [[-5.19620947e-02 -9.56595446e-01 -2.86749183e-01 2.64723101e+02] [ 5.72170486e-02 -2.89517187e-01 9.55461149e-01 2.94993511e+01] [-9.97008601e-01 3.32408208e-02 6.97774876e-02 -1.50277059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:264.70, Y:29.50, Z:-150.29 [[-5.16306966e-02 -9.67913104e-01 -2.45923756e-01 2.64695098e+02] [ 6.13561857e-02 -2.48861410e-01 9.66593719e-01 2.94973499e+01] [-9.96779660e-01 3.48169633e-02 7.22363441e-02 -1.50294535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.80864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:264.67, Y:29.50, Z:-150.31 [[-4.91521751e-02 -9.77536248e-01 -2.04955965e-01 2.64665261e+02] [ 6.37024251e-02 -2.07854391e-01 9.76083272e-01 2.94963928e+01] [-9.96757776e-01 3.49204239e-02 7.24879250e-02 -1.50309182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:264.64, Y:29.50, Z:-150.32 [[-4.62210094e-02 -9.85415330e-01 -1.63768878e-01 2.64636502e+02] [ 6.54914554e-02 -1.66580693e-01 9.83850467e-01 2.94966714e+01] [-9.96782066e-01 3.47490995e-02 7.22358119e-02 -1.50323117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.86864 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:264.61, Y:29.50, Z:-150.37 [[-2.84561534e-02 -9.92108022e-01 -1.22114376e-01 2.64608466e+02] [ 6.89642322e-02 -1.23821302e-01 9.89905157e-01 2.95023039e+01] [-9.97213208e-01 1.97473689e-02 7.19434459e-02 -1.50372547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:264.46, Y:29.52, Z:-150.43 [[-2.55079341e-02 -9.97429189e-01 6.69653486e-02 2.64458651e+02] [ 7.55572378e-02 6.48719292e-02 9.95029013e-01 2.95227442e+01] [-9.96815153e-01 3.04408513e-02 7.37082455e-02 -1.50433706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:264.42, Y:29.54, Z:-150.50 [[-1.71643431e-02 -9.92719656e-01 1.19218584e-01 2.64420905e+02] [ 7.84705903e-02 1.17530884e-01 9.89964069e-01 2.95359044e+01] [-9.96768655e-01 2.63472356e-02 7.58819570e-02 -1.50496814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:264.38, Y:29.55, Z:-150.55 [[-1.14796171e-02 -9.84907768e-01 1.72698890e-01 2.64379292e+02] [ 7.88651021e-02 1.71280463e-01 9.82060741e-01 2.95519019e+01] [-9.96819198e-01 2.48935969e-02 7.57086176e-02 -1.50552780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:265.40, Y:30.49, Z:-150.63 [[ 1.77310220e-02 3.75467931e-01 -9.26665767e-01 2.65397788e+02] [ 1.32333824e-01 -9.19539057e-01 -3.70048216e-01 3.04856675e+01] [-9.91046603e-01 -1.16067891e-01 -6.59914742e-02 -1.50629810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:264.57, Y:29.50, Z:-150.78 [[-2.12900999e-02 -9.98980311e-01 -3.98129336e-02 2.64566409e+02] [ 1.34077294e-01 -4.23151399e-02 9.90067022e-01 2.94954587e+01] [-9.90742152e-01 1.57406154e-02 1.34841471e-01 -1.50778182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:264.54, Y:29.50, Z:-150.78 [[-9.73565909e-03 -9.99853914e-01 -1.40487477e-02 2.64544575e+02] [ 1.34856042e-01 -1.52339079e-02 9.90748089e-01 2.94977472e+01] [-9.90817372e-01 7.75102713e-03 1.34984653e-01 -1.50783922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:264.50, Y:29.52, Z:-150.92 [[ 1.58264349e-02 -9.99567721e-01 2.47768868e-02 2.64498185e+02] [ 1.34728810e-01 2.66858912e-02 9.90523100e-01 2.95214536e+01] [-9.90756111e-01 -1.23382888e-02 1.35092912e-01 -1.50920136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:264.38, Y:29.56, Z:-151.00 [[ 2.52955177e-02 -9.84603887e-01 1.72960466e-01 2.64377550e+02] [ 1.35686151e-01 1.74796298e-01 9.75210502e-01 2.95606763e+01] [-9.90428900e-01 -1.20011469e-03 1.38018674e-01 -1.51001200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.13864 meters Centerline goodness : 0.998037 Centerline is valid? [True, True] Translation: X:264.33, Y:29.59, Z:-151.06 [[ 3.13720655e-02 -9.72353029e-01 2.31398746e-01 2.64328611e+02] [ 1.34394057e-01 2.33514025e-01 9.63020995e-01 2.95858254e+01] [-9.90431235e-01 8.86658501e-04 1.38004285e-01 -1.51057325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:264.88, Y:31.10, Z:-150.99 [[-1.96706802e-02 9.90221560e-01 -1.38109832e-01 2.64883637e+02] [ 1.70875444e-01 -1.32774486e-01 -9.76305546e-01 3.10976542e+01] [-9.85096263e-01 -4.28041730e-02 -1.66592784e-01 -1.50985089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.19864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:264.70, Y:29.56, Z:-151.24 [[-2.74741566e-02 -9.84882514e-01 -1.71031007e-01 2.64698527e+02] [ 1.39919206e-01 -1.73200143e-01 9.74897085e-01 2.95552085e+01] [-9.89781686e-01 2.85395258e-03 1.42562507e-01 -1.51243223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22864 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:264.67, Y:29.56, Z:-151.26 [[-2.59316039e-02 -9.89788747e-01 -1.40163431e-01 2.64672885e+02] [ 1.39239725e-01 -1.42420069e-01 9.79963685e-01 2.95568018e+01] [-9.89919113e-01 5.89571264e-03 1.41511093e-01 -1.51260918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.25864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:264.65, Y:29.56, Z:-151.28 [[-2.36904304e-02 -9.93015047e-01 -1.15584951e-01 2.64652997e+02] [ 1.38300929e-01 -1.17761069e-01 9.83364217e-01 2.95594347e+01] [-9.90106871e-01 7.31081556e-03 1.40124714e-01 -1.51277632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:264.63, Y:29.57, Z:-151.33 [[-1.07685482e-02 -9.95802025e-01 -9.08975563e-02 2.64631625e+02] [ 1.38688681e-01 -9.15116210e-02 9.86098916e-01 2.95678410e+01] [-9.90277480e-01 -1.98760853e-03 1.39091917e-01 -1.51325493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.31864 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:264.56, Y:29.58, Z:-151.38 [[-1.24911618e-02 -9.99921143e-01 1.29582775e-03 2.64557409e+02] [ 1.41843947e-01 -4.89108747e-04 9.89888911e-01 2.95827091e+01] [-9.89810217e-01 1.25486679e-02 1.41838872e-01 -1.51381047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34864 meters Centerline goodness : 0.998235 Centerline is valid? [True, True] Translation: X:264.53, Y:29.61, Z:-151.51 [[ 4.37253596e-03 -9.99622084e-01 2.71398412e-02 2.64526974e+02] [ 1.42959455e-01 2.74861981e-02 9.89346806e-01 2.96068813e+01] [-9.89718887e-01 -4.46057575e-04 1.43025613e-01 -1.51507138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.37864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:264.44, Y:29.64, Z:-151.57 [[ 5.75029546e-03 -9.89461555e-01 1.44681597e-01 2.64435516e+02] [ 1.44732125e-01 1.43984052e-01 9.78938816e-01 2.96364258e+01] [-9.89454166e-01 1.53108875e-02 1.44034824e-01 -1.51566124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40864 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:264.41, Y:29.65, Z:-151.62 [[ 9.59965822e-03 -9.84752362e-01 1.73696957e-01 2.64412912e+02] [ 1.45543426e-01 1.73231146e-01 9.74067801e-01 2.96537598e+01] [-9.89305291e-01 1.59297321e-02 1.44987192e-01 -1.51621706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.43864 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:265.30, Y:30.90, Z:-151.57 [[ 6.66497919e-03 7.41098853e-01 -6.71362844e-01 2.65303072e+02] [ 2.02536601e-01 -6.58463077e-01 -7.24848468e-01 3.09012209e+01] [-9.79252012e-01 -1.31144448e-01 -1.54488285e-01 -1.51573094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:264.66, Y:29.62, Z:-151.84 [[-2.84971172e-02 -9.95794026e-01 -8.70756712e-02 2.64660271e+02] [ 1.85100632e-01 -9.08614164e-02 9.78510071e-01 2.96158179e+01] [-9.82306302e-01 1.17669545e-02 1.86911392e-01 -1.51839469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.49864 meters Centerline goodness : 0.997507 Centerline is valid? [True, True] Translation: X:264.64, Y:29.62, Z:-151.85 [[-2.33018141e-02 -9.97427399e-01 -6.77909215e-02 2.64643751e+02] [ 1.88066822e-01 -7.09720952e-02 9.79588604e-01 2.96189094e+01] [-9.81879777e-01 1.00769684e-02 1.89236779e-01 -1.51851043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:264.63, Y:29.62, Z:-151.86 [[-1.80788020e-02 -9.98654406e-01 -4.86059138e-02 2.64625974e+02] [ 1.89123898e-01 -5.11518956e-02 9.80620026e-01 2.96219000e+01] [-9.81786794e-01 8.53589538e-03 1.89794178e-01 -1.51861114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.55864 meters Centerline goodness : 0.996869 Centerline is valid? [True, True] Translation: X:264.61, Y:29.63, Z:-151.88 [[-1.40283109e-02 -9.99478649e-01 -2.90798287e-02 2.64609682e+02] [ 1.88256748e-01 -3.12026511e-02 9.81624058e-01 2.96262653e+01] [-9.82019655e-01 8.29605347e-03 1.88596321e-01 -1.51875198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58864 meters Centerline goodness : 0.997649 Centerline is valid? [True, True] Translation: X:264.59, Y:29.63, Z:-151.89 [[-1.10853362e-02 -9.99893787e-01 -9.46206265e-03 2.64593727e+02] [ 1.87581202e-01 -1.13740882e-02 9.82183243e-01 2.96328410e+01] [-9.82186544e-01 9.11292641e-03 1.87687364e-01 -1.51890373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.61864 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:264.57, Y:29.66, Z:-152.00 [[ 2.54366384e-03 -9.99945273e-01 1.01479186e-02 2.64568834e+02] [ 1.85615217e-01 1.04437243e-02 9.82567005e-01 2.96576637e+01] [-9.82619215e-01 -6.15712054e-04 1.85631624e-01 -1.51998029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64864 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:264.50, Y:29.70, Z:-152.12 [[ 1.94486271e-02 -9.96443952e-01 8.19829381e-02 2.64501849e+02] [ 1.85744218e-01 8.41719625e-02 9.78986295e-01 2.96956601e+01] [-9.82405637e-01 -3.81208264e-03 1.86720732e-01 -1.52123248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67864 meters Centerline goodness : 0.997105 Centerline is valid? [True, True] Translation: X:264.43, Y:29.73, Z:-152.18 [[ 2.03476969e-02 -9.84367983e-01 1.74944694e-01 2.64428764e+02] [ 1.86977096e-01 1.75640348e-01 9.66535066e-01 2.97268745e+01] [-9.82153520e-01 1.30438885e-02 1.87628144e-01 -1.52180105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70864 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:264.41, Y:29.74, Z:-152.24 [[ 2.36646421e-02 -9.80481024e-01 1.95184388e-01 2.64413981e+02] [ 1.86458604e-01 1.96141959e-01 9.62684539e-01 2.97440344e+01] [-9.82177771e-01 1.36122235e-02 1.87460752e-01 -1.52237575e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73864 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:264.70, Y:31.31, Z:-152.09 [[-6.82445945e-03 9.82806651e-01 1.84511553e-01 2.64695173e+02] [ 2.10794818e-01 1.81783537e-01 -9.60479198e-01 3.13064112e+01] [-9.77506507e-01 3.23393278e-02 -2.08411123e-01 -1.52086463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76864 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:264.72, Y:29.74, Z:-152.41 [[-3.35493605e-02 -9.92995667e-01 -1.13287447e-01 2.64718417e+02] [ 1.67603278e-01 -1.17335919e-01 9.78846987e-01 2.97446277e+01] [-9.85283503e-01 1.38523428e-02 1.70365874e-01 -1.52407234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:264.70, Y:29.75, Z:-152.42 [[-2.87217445e-02 -9.95824741e-01 -8.66495617e-02 2.64699322e+02] [ 1.69314372e-01 -9.02794268e-02 9.81418498e-01 2.97475465e+01] [-9.85143495e-01 1.35170352e-02 1.71200423e-01 -1.52417790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82864 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:264.68, Y:29.75, Z:-152.43 [[-2.23448930e-02 -9.97568884e-01 -6.60077834e-02 2.64682626e+02] [ 1.70345216e-01 -6.88577901e-02 9.82975642e-01 2.97512595e+01] [-9.85131064e-01 1.07203754e-02 1.71469707e-01 -1.52432727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85864 meters Centerline goodness : 0.996768 Centerline is valid? [True, True] Translation: X:264.66, Y:29.76, Z:-152.45 [[-1.86166452e-02 -9.99191190e-01 -3.56424841e-02 2.64657797e+02] [ 1.69618315e-01 -3.82881906e-02 9.84765780e-01 2.97563123e+01] [-9.85333978e-01 1.22874170e-02 1.70193924e-01 -1.52447564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.88864 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:264.64, Y:29.76, Z:-152.46 [[-1.26759615e-02 -9.99810216e-01 -1.47936660e-02 2.64640328e+02] [ 1.68244285e-01 -1.67165208e-02 9.85603581e-01 2.97597701e+01] [-9.85663827e-01 1.00045232e-02 1.68424253e-01 -1.52456015e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91864 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:264.62, Y:29.77, Z:-152.51 [[-7.46749071e-03 -9.99953122e-01 6.16368751e-03 2.64622598e+02] [ 1.68319849e-01 4.81897307e-03 9.85720653e-01 2.97730428e+01] [-9.85704147e-01 8.39833076e-03 1.68275972e-01 -1.52511425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.94864 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:264.60, Y:29.79, Z:-152.57 [[-2.16366530e-03 -9.99612132e-01 2.77651628e-02 2.64604108e+02] [ 1.71932618e-01 2.69799038e-02 9.84739184e-01 2.97863347e+01] [-9.85106336e-01 6.90438313e-03 1.71807555e-01 -1.52567535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97864 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:264.59, Y:29.80, Z:-152.62 [[ 1.39262188e-03 -9.98764878e-01 4.96666789e-02 2.64585282e+02] [ 1.72314226e-01 4.91634850e-02 9.83814393e-01 2.97990223e+01] [-9.85041049e-01 7.18819387e-03 1.72169863e-01 -1.52622676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.00864 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:264.57, Y:29.81, Z:-152.68 [[ 4.10467062e-03 -9.97468454e-01 7.09917965e-02 2.64571249e+02] [ 1.72275578e-01 7.06363108e-02 9.82512919e-01 2.98120710e+01] [-9.85040241e-01 8.19726084e-03 1.72129393e-01 -1.52678744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03864 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:264.56, Y:29.83, Z:-152.73 [[ 6.51697704e-03 -9.95692416e-01 9.24885983e-02 2.64556140e+02] [ 1.72423258e-01 9.22241533e-02 9.80696143e-01 2.98262861e+01] [-9.85001395e-01 9.55601124e-03 1.72281554e-01 -1.52733586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.06864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:264.54, Y:29.84, Z:-152.79 [[ 1.01441167e-02 -9.93464374e-01 1.13690961e-01 2.64540510e+02] [ 1.71794665e-01 1.13737773e-01 9.78544997e-01 2.98422451e+01] [-9.85080550e-01 9.60502585e-03 1.71825648e-01 -1.52788692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:264.52, Y:29.86, Z:-152.84 [[ 1.35449932e-02 -9.90785058e-01 1.34764619e-01 2.64523540e+02] [ 1.71620220e-01 1.35080548e-01 9.75858466e-01 2.98572732e+01] [-9.85070065e-01 9.91033726e-03 1.71868415e-01 -1.52844017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.12864 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:265.31, Y:31.19, Z:-152.75 [[-4.63233973e-03 8.13026802e-01 -5.82207833e-01 2.65307730e+02] [ 2.34353269e-01 -5.65117296e-01 -7.91025276e-01 3.11882441e+01] [-9.72140467e-01 -1.40106607e-01 -1.87917674e-01 -1.52745405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15864 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:264.76, Y:29.84, Z:-153.05 [[-3.01228272e-02 -9.93521169e-01 -1.09582395e-01 2.64763567e+02] [ 2.07434448e-01 -1.13459005e-01 9.71647057e-01 2.98411831e+01] [-9.77785030e-01 6.53759282e-03 2.09508221e-01 -1.53054695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.18864 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:264.75, Y:29.84, Z:-153.05 [[-1.90279110e-02 -9.95510011e-01 -9.27240838e-02 2.64750565e+02] [ 2.08367017e-01 -9.46529489e-02 9.73459812e-01 2.98395389e+01] [-9.77865596e-01 -7.97734069e-04 2.09232500e-01 -1.53052277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21864 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:264.74, Y:29.84, Z:-153.06 [[-1.10910166e-02 -9.97137491e-01 -7.47917942e-02 2.64735708e+02] [ 2.09863046e-01 -7.54517484e-02 9.74815129e-01 2.98423846e+01] [-9.77667884e-01 -4.88434294e-03 2.10099148e-01 -1.53064722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.24864 meters Centerline goodness : 0.996078 Centerline is valid? [True, True] Translation: X:264.72, Y:29.85, Z:-153.09 [[-2.52766868e-03 -9.98348873e-01 -5.73858738e-02 2.64720092e+02] [ 2.11603482e-01 -5.66205596e-02 9.75714138e-01 2.98484880e+01] [-9.77352330e-01 -9.67676866e-03 2.11397216e-01 -1.53087720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27864 meters Centerline goodness : 0.995487 Centerline is valid? [True, True] Translation: X:264.70, Y:29.86, Z:-153.11 [[ 7.09609381e-03 -9.99378645e-01 -3.45249123e-02 2.64697895e+02] [ 2.11332176e-01 -3.22471762e-02 9.76882199e-01 2.98565997e+01] [-9.77388539e-01 -1.42282726e-02 2.10972035e-01 -1.53113432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.30864 meters Centerline goodness : 0.994768 Centerline is valid? [True, True] Translation: X:264.68, Y:29.86, Z:-153.13 [[ 1.01931139e-02 -9.99794077e-01 -1.75471831e-02 2.64683545e+02] [ 2.10069452e-01 -1.50154502e-02 9.77571154e-01 2.98618113e+01] [-9.77633329e-01 -1.36506213e-02 2.09873140e-01 -1.53126394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33864 meters Centerline goodness : 0.995547 Centerline is valid? [True, True] Translation: X:265.01, Y:31.42, Z:-152.94 [[-7.34138317e-02 9.90585529e-01 -1.15545313e-01 2.65008665e+02] [ 2.54784302e-01 -9.33843197e-02 -9.62478222e-01 3.14181932e+01] [-9.64207119e-01 -1.00098346e-01 -2.45529942e-01 -1.52935878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.36864 meters Centerline goodness : 0.995647 Centerline is valid? [True, True] Translation: X:264.93, Y:29.90, Z:-153.31 [[-5.08296538e-02 -9.61942319e-01 -2.68483374e-01 2.64931574e+02] [ 2.19247110e-01 -2.73020799e-01 9.36691170e-01 2.99041114e+01] [-9.74344421e-01 -1.12525157e-02 2.24780626e-01 -1.53313377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39864 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:264.91, Y:29.90, Z:-153.32 [[-4.96666060e-02 -9.67713452e-01 -2.47111116e-01 2.64914639e+02] [ 2.19242182e-01 -2.51945371e-01 9.42579650e-01 2.99032563e+01] [-9.74405508e-01 -7.36244824e-03 2.24676880e-01 -1.53320492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42864 meters Centerline goodness : 0.996232 Centerline is valid? [True, True] Translation: X:264.90, Y:29.91, Z:-153.33 [[-4.49935634e-02 -9.71943652e-01 -2.30870348e-01 2.64902305e+02] [ 2.19528986e-01 -2.35074990e-01 9.46861539e-01 2.99055166e+01] [-9.74567906e-01 -8.08005882e-03 2.23946666e-01 -1.53334879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45864 meters Centerline goodness : 0.996818 Centerline is valid? [True, True] Translation: X:264.89, Y:29.91, Z:-153.35 [[-4.10252007e-02 -9.76757266e-01 -2.10385782e-01 2.64888279e+02] [ 2.19992289e-01 -2.14226109e-01 9.51688272e-01 2.99085872e+01] [-9.74638562e-01 -7.24004725e-03 2.23667736e-01 -1.53348233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48864 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:264.87, Y:29.92, Z:-153.38 [[-3.24718997e-02 -9.80531367e-01 -1.93659014e-01 2.64873376e+02] [ 2.22946750e-01 -1.95985186e-01 9.54926465e-01 2.99150377e+01] [-9.74289650e-01 -1.21673712e-02 2.24970292e-01 -1.53379236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51864 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:264.85, Y:29.92, Z:-153.40 [[-2.53060847e-02 -9.86422777e-01 -1.62264312e-01 2.64849162e+02] [ 2.24409851e-01 -1.63779125e-01 9.60633446e-01 2.99177689e+01] [-9.74166218e-01 -1.21038385e-02 2.25507596e-01 -1.53396767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54864 meters Centerline goodness : 0.995892 Centerline is valid? [True, True] Translation: X:264.84, Y:29.92, Z:-153.42 [[-1.88311695e-02 -9.89009434e-01 -1.46648310e-01 2.64836757e+02] [ 2.24607391e-01 -1.47109964e-01 9.63280945e-01 2.99241419e+01] [-9.74267369e-01 -1.47985874e-02 2.24909081e-01 -1.53420404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57864 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:264.82, Y:29.93, Z:-153.44 [[-1.30497585e-02 -9.91288575e-01 -1.31059773e-01 2.64824466e+02] [ 2.24852479e-01 -1.30623202e-01 9.65597712e-01 2.99293789e+01] [-9.74305428e-01 -1.68682980e-02 2.24598295e-01 -1.53437628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60864 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:264.81, Y:29.93, Z:-153.46 [[-6.25854875e-03 -9.93338029e-01 -1.15066896e-01 2.64810944e+02] [ 2.24270503e-01 -1.13532181e-01 9.67891102e-01 2.99337675e+01] [-9.74506835e-01 -1.97485170e-02 2.23486966e-01 -1.53456455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.63864 meters Centerline goodness : 0.995793 Centerline is valid? [True, True] Translation: X:264.80, Y:29.94, Z:-153.47 [[-4.40409200e-03 -9.95050327e-01 -9.92746231e-02 2.64800348e+02] [ 2.25550188e-01 -9.77058039e-02 9.69319704e-01 2.99366176e+01] [-9.74221595e-01 -1.81224368e-02 2.24864094e-01 -1.53469601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66864 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:264.81, Y:29.94, Z:-153.49 [[-5.76717966e-03 -9.93904228e-01 -1.10095979e-01 2.64810482e+02] [ 2.45325209e-01 -1.08139456e-01 9.63390575e-01 2.99416312e+01] [-9.69423685e-01 -2.14532725e-02 2.44453422e-01 -1.53490612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.69864 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:264.02, Y:30.78, Z:-153.33 [[-3.32557156e-02 -5.32929466e-02 9.98025009e-01 2.64015397e+02] [ 1.65760444e-01 9.84453572e-01 5.80916444e-02 3.07771602e+01] [-9.85605161e-01 1.67364948e-01 -2.39048455e-02 -1.53334751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:264.79, Y:29.96, Z:-153.49 [[-3.79770047e-03 -9.97194244e-01 -7.47610692e-02 2.64787918e+02] [ 1.56817630e-01 -7.44304967e-02 9.84818934e-01 2.99572834e+01] [-9.87620275e-01 -7.98380635e-03 1.56660303e-01 -1.53492642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.75864 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:264.78, Y:29.96, Z:-153.50 [[-1.90541264e-03 -9.98662859e-01 -5.16610362e-02 2.64775378e+02] [ 1.58206213e-01 -5.13115583e-02 9.86071964e-01 2.99593876e+01] [-9.87404255e-01 -6.29422289e-03 1.58092438e-01 -1.53502653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78864 meters Centerline goodness : 0.995298 Centerline is valid? [True, True] Translation: X:264.76, Y:29.96, Z:-153.52 [[ 3.60611527e-03 -9.99599517e-01 -2.80678139e-02 2.64757745e+02] [ 1.59465329e-01 -2.71339929e-02 9.86830561e-01 2.99636738e+01] [-9.87196943e-01 -8.03446793e-03 1.59303617e-01 -1.53521242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.81864 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:264.73, Y:29.98, Z:-153.58 [[ 6.48511816e-03 -9.99942543e-01 8.53540411e-03 2.64728291e+02] [ 1.59673761e-01 9.46155331e-03 9.87124495e-01 2.99765278e+01] [-9.87148537e-01 -5.03873892e-03 1.59725946e-01 -1.53577211e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84864 meters Centerline goodness : 0.995840 Centerline is valid? [True, True] Translation: X:264.71, Y:29.99, Z:-153.63 [[ 9.44084566e-03 -9.99421612e-01 3.26697345e-02 2.64714223e+02] [ 1.58520839e-01 3.37538853e-02 9.86778505e-01 2.99885430e+01] [-9.87310495e-01 -4.13718985e-03 1.58747818e-01 -1.53630315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.87864 meters Centerline goodness : 0.995784 Centerline is valid? [True, True] Translation: X:264.69, Y:30.01, Z:-153.74 [[ 2.58816193e-02 -9.98208780e-01 5.39386007e-02 2.64692875e+02] [ 1.56878013e-01 5.73438334e-02 9.85951811e-01 3.00110572e+01] [-9.87278801e-01 -1.70562489e-02 1.58081161e-01 -1.53742401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90864 meters Centerline goodness : 0.995290 Centerline is valid? [True, True] Translation: X:264.63, Y:30.03, Z:-153.79 [[ 3.05860463e-02 -9.88773181e-01 1.46260349e-01 2.64625126e+02] [ 1.57685739e-01 1.49269719e-01 9.76142284e-01 3.00333029e+01] [-9.87015553e-01 -6.79316193e-03 1.60481000e-01 -1.53794109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.93864 meters Centerline goodness : 0.996276 Centerline is valid? [True, True] Translation: X:264.61, Y:30.05, Z:-153.85 [[ 3.62423489e-02 -9.85406303e-01 1.66315695e-01 2.64610422e+02] [ 1.55615618e-01 1.69959784e-01 9.73086559e-01 3.00468866e+01] [-9.87152608e-01 -9.38562288e-03 1.59504353e-01 -1.53847215e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96864 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:264.65, Y:30.05, Z:-153.90 [[ 5.27153358e-02 -9.92222846e-01 1.12760445e-01 2.64652102e+02] [ 1.97495716e-01 1.21046009e-01 9.72801782e-01 3.00506999e+01] [-9.78885354e-01 -2.90118677e-02 2.02340742e-01 -1.53897088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.99864 meters Centerline goodness : 0.994563 Centerline is valid? [True, True] Translation: X:264.03, Y:31.02, Z:-153.91 [[ 6.61869301e-03 1.09595979e-01 9.93954181e-01 2.64026199e+02] [ 8.79561274e-02 9.90059676e-01 -1.09752257e-01 3.10241135e+01] [-9.96102360e-01 8.81507770e-02 -3.08673687e-03 -1.53914586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02864 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:264.58, Y:30.15, Z:-154.11 [[ 7.45402308e-02 -9.75349435e-01 2.07695049e-01 2.64579451e+02] [ 1.13895457e-01 2.15238355e-01 9.69897044e-01 3.01500948e+01] [-9.90692474e-01 -4.86408269e-02 1.27131786e-01 -1.54114791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.05864 meters Centerline goodness : 0.994111 Centerline is valid? [True, True] Translation: X:264.45, Y:30.21, Z:-154.20 [[ 9.13835176e-02 -9.24321850e-01 3.70510688e-01 2.64453090e+02] [ 1.01781105e-01 3.78788599e-01 9.19869450e-01 3.02118775e+01] [-9.90600656e-01 -4.63499188e-02 1.28693534e-01 -1.54200084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08864 meters Centerline goodness : 0.994516 Centerline is valid? [True, True] Translation: X:264.10, Y:31.29, Z:-154.30 [[ 6.31793573e-03 3.45029420e-01 9.38570606e-01 2.64099120e+02] [-4.76887114e-03 9.38589062e-01 -3.45004103e-01 3.12933528e+01] [-9.99968670e-01 -2.29620853e-03 7.57534622e-03 -1.54296018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.11864 meters Centerline goodness : 0.994853 Centerline is valid? [True, True] Translation: X:265.08, Y:30.22, Z:-154.44 [[ 1.24004806e-01 -8.88476648e-01 -4.41850714e-01 2.65080707e+02] [ 3.31975957e-02 -4.41323662e-01 8.96733709e-01 3.02208417e+01] [-9.91726135e-01 -1.25867671e-01 -2.52309664e-02 -1.54443496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14864 meters Centerline goodness : 0.994413 Centerline is valid? [True, True] Translation: X:264.82, Y:31.74, Z:-154.57 [[ 7.62861811e-03 9.95351590e-01 9.60052981e-02 2.64823812e+02] [ 1.78936823e-02 9.58568421e-02 -9.95234285e-01 3.17422390e+01] [-9.99810792e-01 9.31015059e-03 -1.70792499e-02 -1.54565314e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17864 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:265.64, Y:30.99, Z:-154.74 [[ 3.24735437e-02 1.59154751e-01 -9.86719430e-01 2.65639923e+02] [ 1.36802750e-01 -9.78656320e-01 -1.53351934e-01 3.09857023e+01] [-9.90065895e-01 -1.30006051e-01 -5.35532465e-02 -1.54738741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20864 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:264.70, Y:30.16, Z:-154.91 [[ 3.88719937e-02 -9.91552128e-01 1.23747101e-01 2.64695971e+02] [ 8.99816509e-02 1.26811035e-01 9.87837165e-01 3.01596324e+01] [-9.95184541e-01 -2.72642315e-02 9.41508952e-02 -1.54911525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23864 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:264.65, Y:30.17, Z:-154.97 [[ 4.36818341e-02 -9.83800300e-01 1.73864505e-01 2.64649073e+02] [ 9.00000954e-02 1.77198083e-01 9.80051439e-01 3.01744096e+01] [-9.94983357e-01 -2.71626223e-02 9.62824582e-02 -1.54965793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26864 meters Centerline goodness : 0.995785 Centerline is valid? [True, True] Translation: X:264.62, Y:30.19, Z:-155.02 [[ 4.81480393e-02 -9.77312014e-01 2.06259532e-01 2.64621021e+02] [ 8.83139331e-02 2.09855620e-01 9.73735728e-01 3.01888104e+01] [-9.94928347e-01 -2.86678756e-02 9.64144044e-02 -1.55020961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29864 meters Centerline goodness : 0.995199 Centerline is valid? [True, True] Translation: X:264.59, Y:30.20, Z:-155.07 [[ 4.97854667e-02 -9.69721602e-01 2.39084551e-01 2.64593443e+02] [ 8.60927738e-02 2.42657112e-01 9.66284410e-01 3.02043680e+01] [-9.95042432e-01 -2.75234681e-02 9.55668200e-02 -1.55074299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32864 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:265.09, Y:31.72, Z:-155.06 [[-5.61716211e-02 9.88214619e-01 -1.42395979e-01 2.65087700e+02] [ 1.41025860e-01 -1.33338187e-01 -9.80985542e-01 3.17211526e+01] [-9.88411076e-01 -7.51850637e-02 -1.31873995e-01 -1.55060756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35864 meters Centerline goodness : 0.995548 Centerline is valid? [True, True] Translation: X:265.06, Y:30.19, Z:-155.26 [[-6.27909057e-03 -9.57901615e-01 -2.87027992e-01 2.65055810e+02] [ 1.08428907e-01 -2.85993491e-01 9.52077148e-01 3.01904298e+01] [-9.94084375e-01 -2.51439527e-02 1.05660004e-01 -1.55255939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.38864 meters Centerline goodness : 0.995594 Centerline is valid? [True, True] Translation: X:265.03, Y:30.18, Z:-155.26 [[-6.63673428e-03 -9.66343565e-01 -2.57169338e-01 2.65030124e+02] [ 1.08478001e-01 -2.56353046e-01 9.60476777e-01 3.01841897e+01] [-9.94076696e-01 -2.15227866e-02 1.06528366e-01 -1.55259943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41864 meters Centerline goodness : 0.994419 Centerline is valid? [True, True] Translation: X:265.00, Y:30.18, Z:-155.27 [[-5.49542317e-03 -9.73953243e-01 -2.26682336e-01 2.65004088e+02] [ 1.09097169e-01 -2.25916588e-01 9.68018338e-01 3.01818372e+01] [-9.94015899e-01 -1.94107308e-02 1.07497049e-01 -1.55272478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.44864 meters Centerline goodness : 0.995097 Centerline is valid? [True, True] Translation: X:264.98, Y:30.18, Z:-155.27 [[-7.63400973e-03 -9.80637031e-01 -1.95685297e-01 2.64975180e+02] [ 1.06712329e-01 -1.95372441e-01 9.74906195e-01 3.01787898e+01] [-9.94260630e-01 -1.34395903e-02 1.06137536e-01 -1.55272272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47864 meters Centerline goodness : 0.994762 Centerline is valid? [True, True] Translation: X:264.98, Y:30.18, Z:-155.30 [[-8.29619452e-03 -9.79501342e-01 -2.01266722e-01 2.64978607e+02] [ 1.29342208e-01 -2.00633961e-01 9.71090422e-01 3.01816880e+01] [-9.91565311e-01 -1.79759271e-02 1.28355365e-01 -1.55300445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.50864 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:264.13, Y:30.76, Z:-155.27 [[-6.30421976e-03 -3.79408809e-01 9.25207659e-01 2.64134522e+02] [ 4.84587168e-02 9.24023121e-01 3.79253245e-01 3.07598747e+01] [-9.98805291e-01 4.72252717e-02 1.25604192e-02 -1.55268121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53864 meters Centerline goodness : 0.996520 Centerline is valid? [True, True] Translation: X:264.69, Y:30.22, Z:-155.36 [[ 1.10556083e-02 -9.88117362e-01 1.53303137e-01 2.64693925e+02] [ 4.03420478e-02 1.53628444e-01 9.87304826e-01 3.02202048e+01] [-9.99124763e-01 -4.73069297e-03 4.15611337e-02 -1.55363150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.56864 meters Centerline goodness : 0.996468 Centerline is valid? [True, True] Translation: X:264.62, Y:30.25, Z:-155.42 [[ 9.86734080e-03 -9.67581083e-01 2.52367756e-01 2.64617057e+02] [ 3.95795032e-02 2.52560185e-01 9.66771336e-01 3.02475336e+01] [-9.99167703e-01 4.49128161e-04 4.07884760e-02 -1.55419792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59864 meters Centerline goodness : 0.996420 Centerline is valid? [True, True] Translation: X:264.57, Y:30.27, Z:-155.48 [[ 8.37190918e-03 -9.47021640e-01 3.21060624e-01 2.64566528e+02] [ 4.05740082e-02 3.21129174e-01 9.46165843e-01 3.02719295e+01] [-9.99141462e-01 5.10550185e-03 4.11129281e-02 -1.55478735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.62864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:264.52, Y:30.30, Z:-155.54 [[ 9.78013683e-03 -9.20201621e-01 3.91322534e-01 2.64515101e+02] [ 4.16444537e-02 3.91376550e-01 9.19287842e-01 3.03011039e+01] [-9.99084625e-01 7.30565226e-03 4.21490100e-02 -1.55535721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65864 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:265.34, Y:31.67, Z:-155.61 [[-1.23081103e-02 9.05255277e-01 -4.24689763e-01 2.65336773e+02] [ 9.39255904e-02 -4.21797371e-01 -9.01812043e-01 3.16720511e+01] [-9.95503136e-01 -5.09888388e-02 -7.98351077e-02 -1.55611842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.68864 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:265.18, Y:30.23, Z:-155.74 [[-3.68521753e-02 -9.25841339e-01 -3.76111331e-01 2.65178693e+02] [ 6.10585159e-02 -3.77749905e-01 9.23892238e-01 3.02343686e+01] [-9.97453645e-01 1.10826390e-02 7.04514038e-02 -1.55743303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71864 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:265.15, Y:30.23, Z:-155.76 [[-3.33551542e-02 -9.42439236e-01 -3.32709664e-01 2.65145258e+02] [ 6.36957458e-02 -3.34222677e-01 9.40339329e-01 3.02263738e+01] [-9.97411793e-01 1.01729731e-02 7.11774189e-02 -1.55755304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.74864 meters Centerline goodness : 0.996324 Centerline is valid? [True, True] Translation: X:265.11, Y:30.22, Z:-155.77 [[-2.98631391e-02 -9.56856934e-01 -2.89020761e-01 2.65111097e+02] [ 6.64934717e-02 -2.90410952e-01 9.54588968e-01 3.02183309e+01] [-9.97339867e-01 9.28902938e-03 7.22973222e-02 -1.55766774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77864 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:265.08, Y:30.21, Z:-155.78 [[-2.31030193e-02 -9.69059436e-01 -2.45743892e-01 2.65077120e+02] [ 6.52039075e-02 -2.46746707e-01 9.66883919e-01 3.02135076e+01] [-9.97604481e-01 6.31447584e-03 6.88870558e-02 -1.55776117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.80864 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:265.04, Y:30.21, Z:-155.79 [[-1.80719493e-02 -9.79199847e-01 -2.02091721e-01 2.65040836e+02] [ 6.59084199e-02 -2.02851801e-01 9.76988857e-01 3.02096355e+01] [-9.97662009e-01 4.33654708e-03 6.82034422e-02 -1.55786106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83864 meters Centerline goodness : 0.996668 Centerline is valid? [True, True] Translation: X:265.00, Y:30.21, Z:-155.80 [[-1.24851586e-02 -9.87412315e-01 -1.57673844e-01 2.65004341e+02] [ 6.80877483e-02 -1.58159657e-01 9.85063237e-01 3.02063113e+01] [-9.97601213e-01 1.56301378e-03 6.92053296e-02 -1.55796558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.86864 meters Centerline goodness : 0.995939 Centerline is valid? [True, True] Translation: X:265.02, Y:30.20, Z:-155.79 [[-2.59249679e-03 -9.83376946e-01 -1.81557323e-01 2.65022987e+02] [ 5.85762094e-02 -1.81395520e-01 9.81664145e-01 3.02039038e+01] [-9.98279573e-01 -8.08997863e-03 5.80727612e-02 -1.55791543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89864 meters Centerline goodness : 0.994838 Centerline is valid? [True, True] Translation: X:264.21, Y:30.70, Z:-155.94 [[ 5.97051587e-02 -4.98035255e-01 8.65098942e-01 2.64205970e+02] [-1.78001730e-02 8.65976003e-01 4.99768663e-01 3.07001887e+01] [-9.98057337e-01 -4.52376781e-02 4.28381209e-02 -1.55937903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92864 meters Centerline goodness : 0.995398 Centerline is valid? [True, True] Translation: X:264.14, Y:31.01, Z:-156.01 [[ 5.87775796e-02 -1.17238602e-01 9.91362853e-01 2.64135138e+02] [-3.83356391e-02 9.92082173e-01 1.19596576e-01 3.10111819e+01] [-9.97534749e-01 -4.50341259e-02 5.38177722e-02 -1.56005488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95864 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:264.17, Y:31.24, Z:-156.09 [[ 5.87518077e-02 1.71529453e-01 9.83425580e-01 2.64167509e+02] [-6.03640680e-02 9.83935025e-01 -1.68012041e-01 3.12408786e+01] [-9.96445886e-01 -4.94925574e-02 6.81621769e-02 -1.56089225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98864 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:264.27, Y:31.46, Z:-156.16 [[ 4.21750796e-02 4.64663024e-01 8.84482638e-01 2.64270539e+02] [-7.58971631e-02 8.84202357e-01 -4.60896748e-01 3.14634520e+01] [-9.96223310e-01 -4.76913660e-02 7.25579101e-02 -1.56163699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01864 meters Centerline goodness : 0.994270 Centerline is valid? [True, True] Translation: X:264.62, Y:31.76, Z:-156.32 [[-6.68430455e-02 8.57678238e-01 5.09823545e-01 2.64624948e+02] [-5.91149284e-02 5.06664461e-01 -8.60114265e-01 3.17606207e+01] [-9.96010759e-01 -8.76308393e-02 1.68345920e-02 -1.56324666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04864 meters Centerline goodness : 0.993628 Centerline is valid? [True, True] Translation: X:265.45, Y:31.66, Z:-156.38 [[-5.31838142e-02 8.41533702e-01 -5.37580236e-01 2.65452026e+02] [-4.10673519e-02 -5.39729909e-01 -8.40835952e-01 3.16645866e+01] [-9.97739923e-01 -2.26418663e-02 6.32644559e-02 -1.56379310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07864 meters Centerline goodness : 0.991576 Centerline is valid? [True, True] Translation: X:265.49, Y:31.63, Z:-156.41 [[-6.11781610e-02 8.07559510e-01 -5.86604526e-01 2.65491710e+02] [-3.43322231e-02 -5.89060167e-01 -8.07359535e-01 3.16290467e+01] [-9.97536230e-01 -2.92533341e-02 6.37629310e-02 -1.56409970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10864 meters Centerline goodness : 0.992108 Centerline is valid? [True, True] Translation: X:265.51, Y:31.61, Z:-156.45 [[-7.67365047e-02 7.90133859e-01 -6.08111827e-01 2.65508495e+02] [-4.44601830e-02 -6.12015207e-01 -7.89595263e-01 3.16102132e+01] [-9.96059637e-01 -3.35540175e-02 8.20934037e-02 -1.56449523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.13864 meters Centerline goodness : 0.991087 Centerline is valid? [True, True] Translation: X:265.50, Y:30.46, Z:-156.47 [[ 2.00903089e-02 -6.27241589e-01 -7.78565584e-01 2.65504757e+02] [ 8.86637608e-03 -7.78580358e-01 6.27482282e-01 3.04586722e+01] [-9.99758854e-01 -1.95093681e-02 -1.00805601e-02 -1.56468368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16864 meters Centerline goodness : 0.991466 Centerline is valid? [True, True] Translation: X:264.83, Y:31.81, Z:-156.55 [[-1.10640455e-01 9.52247329e-01 2.84576377e-01 2.64825192e+02] [-1.35141767e-02 2.84866395e-01 -9.58471963e-01 3.18102853e+01] [-9.93768613e-01 -1.09891590e-01 -1.86489089e-02 -1.56551588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.19864 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:265.06, Y:31.81, Z:-156.65 [[-1.73418483e-01 9.84825716e-01 6.65880636e-03 2.65058632e+02] [-3.28154691e-03 6.18339085e-03 -9.99975498e-01 3.18139790e+01] [-9.84842760e-01 -1.73436085e-01 2.15943753e-03 -1.56654964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22864 meters Centerline goodness : 0.991431 Centerline is valid? [True, True] Translation: X:264.96, Y:30.23, Z:-156.70 [[-5.23240722e-02 -9.86976283e-01 -1.52118399e-01 2.64957645e+02] [-1.44453073e-02 -1.51563085e-01 9.88342028e-01 3.02286502e+01] [-9.98525675e-01 5.39114767e-02 -6.32677791e-03 -1.56696858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.25864 meters Centerline goodness : 0.991280 Centerline is valid? [True, True] Translation: X:264.14, Y:31.01, Z:-156.72 [[-8.08639146e-02 -1.73744090e-01 9.81465241e-01 2.64142228e+02] [-1.13097965e-01 9.79929748e-01 1.64154013e-01 3.10084875e+01] [-9.90287775e-01 -9.77275852e-02 -9.88910584e-02 -1.56721182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28864 meters Centerline goodness : 0.991040 Centerline is valid? [True, True] Translation: X:264.86, Y:30.24, Z:-156.78 [[ 2.39465752e-02 -9.97471289e-01 -6.69147937e-02 2.64855581e+02] [-9.95481954e-02 -6.89804927e-02 9.92638831e-01 3.02393475e+01] [-9.94744549e-01 -1.71090535e-02 -1.00948313e-01 -1.56778585e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.31864 meters Centerline goodness : 0.990751 Centerline is valid? [True, True] Translation: X:265.01, Y:31.81, Z:-156.96 [[-1.76863721e-02 9.99460017e-01 2.76923755e-02 2.65014513e+02] [-6.17698752e-02 2.65515653e-02 -9.97737188e-01 3.18088247e+01] [-9.97933703e-01 -1.93569057e-02 6.12669197e-02 -1.56960038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34864 meters Centerline goodness : 0.990267 Centerline is valid? [True, True] Translation: X:265.02, Y:31.81, Z:-156.98 [[-1.80298515e-02 9.99629913e-01 2.03706090e-02 2.65022628e+02] [-8.19256862e-02 1.88283689e-02 -9.96460573e-01 3.18077781e+01] [-9.96475342e-01 -1.96349123e-02 8.15558939e-02 -1.56981516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.37864 meters Centerline goodness : 0.990791 Centerline is valid? [True, True] Translation: X:265.70, Y:30.90, Z:-156.98 [[ 1.19770936e-02 2.14236481e-02 -9.99698743e-01 2.65704103e+02] [ 1.93846598e-03 -9.99769073e-01 -2.14019311e-02 3.08974508e+01] [-9.99926393e-01 -1.68154907e-03 -1.20158568e-02 -1.56982996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40864 meters Centerline goodness : 0.990998 Centerline is valid? [True, True] Translation: X:265.44, Y:31.60, Z:-157.00 [[-8.75707863e-03 8.50303685e-01 -5.26219496e-01 2.65439602e+02] [ 1.37767324e-02 -5.26087136e-01 -8.50319074e-01 3.16038199e+01] [-9.99866749e-01 -1.46958961e-02 -7.10741988e-03 -1.56999809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.43864 meters Centerline goodness : 0.991263 Centerline is valid? [True, True] Translation: X:265.60, Y:31.41, Z:-157.01 [[-3.54013098e-03 6.46169533e-01 -7.63185693e-01 2.65601926e+02] [ 1.54291480e-02 -7.63064332e-01 -6.46138349e-01 3.14103211e+01] [-9.99874697e-01 -1.40627194e-02 -7.26849766e-03 -1.57014086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46864 meters Centerline goodness : 0.991687 Centerline is valid? [True, True] Translation: X:264.75, Y:30.22, Z:-157.08 [[ 5.77585846e-02 -9.97995341e-01 2.58697886e-02 2.64752821e+02] [-2.61504284e-02 2.43917275e-02 9.99360395e-01 3.02241829e+01] [-9.97988026e-01 -5.83981479e-02 -2.46891740e-02 -1.57078050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.49864 meters Centerline goodness : 0.991338 Centerline is valid? [True, True] Translation: X:265.26, Y:31.73, Z:-157.23 [[-1.29682753e-02 9.77427493e-01 -2.10872756e-01 2.65264277e+02] [ 3.16872712e-02 -2.10382849e-01 -9.77105406e-01 3.17287101e+01] [-9.99413698e-01 -1.93533541e-02 -2.82437074e-02 -1.57234694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52864 meters Centerline goodness : 0.990648 Centerline is valid? [True, True] Translation: X:265.61, Y:31.47, Z:-157.33 [[-5.80711641e-02 7.32322254e-01 -6.78477602e-01 2.65606954e+02] [ 6.13572473e-02 -6.75721510e-01 -7.34599026e-01 3.14658839e+01] [-9.96425124e-01 -8.42885386e-02 -5.69334298e-03 -1.57328612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.55864 meters Centerline goodness : 0.990549 Centerline is valid? [True, True] Translation: X:265.66, Y:30.58, Z:-157.39 [[-3.90681050e-02 -3.49832973e-01 -9.35997102e-01 2.65656211e+02] [ 5.54024412e-02 -9.36029702e-01 3.47532684e-01 3.05823633e+01] [-9.97699480e-01 -3.82790810e-02 5.59505074e-02 -1.57390586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58864 meters Centerline goodness : 0.991580 Centerline is valid? [True, True] Translation: X:265.40, Y:30.32, Z:-157.41 [[-4.23840854e-02 -7.32265714e-01 -6.79698840e-01 2.65400969e+02] [ 5.10703497e-02 -6.81008702e-01 7.30492277e-01 3.03186436e+01] [-9.97795274e-01 -3.75121047e-03 6.62609971e-02 -1.57413113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.61864 meters Centerline goodness : 0.992059 Centerline is valid? [True, True] Translation: X:265.16, Y:31.76, Z:-157.39 [[-1.20070189e-01 9.91431911e-01 -5.14384730e-02 2.65156183e+02] [ 8.95555084e-02 -4.07853170e-02 -9.95146406e-01 3.17636641e+01] [-9.88717837e-01 -1.24094016e-01 -8.38910880e-02 -1.57385728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64864 meters Centerline goodness : 0.991784 Centerline is valid? [True, True] Translation: X:265.58, Y:30.49, Z:-157.57 [[-9.96130008e-02 -4.96591393e-01 -8.62249522e-01 2.65576721e+02] [ 6.98487713e-02 -8.67911672e-01 4.91782958e-01 3.04853674e+01] [-9.92571609e-01 -1.12390934e-02 1.21141585e-01 -1.57566164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67864 meters Centerline goodness : 0.990948 Centerline is valid? [True, True] Translation: X:265.54, Y:30.45, Z:-157.61 [[-1.02840922e-01 -5.45227836e-01 -8.31955739e-01 2.65541399e+02] [ 8.64886306e-02 -8.38124185e-01 5.38579211e-01 3.04542892e+01] [-9.90930604e-01 -1.65667296e-02 1.33349473e-01 -1.57611609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70864 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:264.38, Y:30.45, Z:-157.56 [[-6.49413905e-02 -8.12316900e-01 5.79589397e-01 2.64382036e+02] [ 3.19070816e-02 5.78828149e-01 8.14825081e-01 3.04532306e+01] [-9.97378842e-01 7.14088800e-02 -1.16712433e-02 -1.57561345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73864 meters Centerline goodness : 0.991487 Centerline is valid? [True, True] Translation: X:265.40, Y:30.36, Z:-157.64 [[-3.07678193e-02 -7.01099621e-01 -7.12399230e-01 2.65404218e+02] [ 4.06250434e-02 -7.13024886e-01 6.99960798e-01 3.03591573e+01] [-9.98700629e-01 -7.40498237e-03 5.04204234e-02 -1.57640753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76864 meters Centerline goodness : 0.992023 Centerline is valid? [True, True] Translation: X:265.35, Y:30.33, Z:-157.66 [[-2.68330802e-02 -7.51167780e-01 -6.59565730e-01 2.65353395e+02] [ 4.45940021e-02 -6.60045947e-01 7.49900475e-01 3.03276636e+01] [-9.98644762e-01 -9.29053600e-03 5.12086434e-02 -1.57657619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79864 meters Centerline goodness : 0.991822 Centerline is valid? [True, True] Translation: X:265.29, Y:30.29, Z:-157.69 [[-2.05608077e-02 -8.06134295e-01 -5.91375305e-01 2.65288515e+02] [ 4.90610358e-02 -5.91601269e-01 8.04736574e-01 3.02946478e+01] [-9.98584132e-01 -1.24674510e-02 5.17135834e-02 -1.57685490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82864 meters Centerline goodness : 0.991085 Centerline is valid? [True, True] Translation: X:265.21, Y:30.26, Z:-157.71 [[-1.48131716e-02 -8.63565732e-01 -5.04018647e-01 2.65209367e+02] [ 5.15388965e-02 -5.04063325e-01 8.62127547e-01 3.02630663e+01] [-9.98561121e-01 -1.32057216e-02 5.19740014e-02 -1.57711659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85864 meters Centerline goodness : 0.991537 Centerline is valid? [True, True] Translation: X:265.18, Y:30.25, Z:-157.73 [[-6.95949391e-03 -8.79720381e-01 -4.75440446e-01 2.65180559e+02] [ 5.04597994e-02 -4.75155200e-01 8.78453951e-01 3.02507131e+01] [-9.98701844e-01 -1.78770346e-02 4.76973536e-02 -1.57732041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.88864 meters Centerline goodness : 0.991024 Centerline is valid? [True, True] Translation: X:264.18, Y:30.77, Z:-157.76 [[-3.21719829e-03 -5.03351710e-01 8.64075637e-01 2.64181360e+02] [-1.40248902e-02 8.64017834e-01 5.03265819e-01 3.07717255e+01] [-9.99896471e-01 -1.04994600e-02 -9.83916916e-03 -1.57764763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91864 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:264.22, Y:30.68, Z:-157.82 [[ 3.20832444e-02 -6.13564033e-01 7.88992929e-01 2.64220773e+02] [ 2.68380036e-03 7.89449351e-01 6.13809839e-01 3.06814450e+01] [-9.99481597e-01 -1.75755116e-02 2.69747798e-02 -1.57823611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.94864 meters Centerline goodness : 0.991244 Centerline is valid? [True, True] Translation: X:264.67, Y:31.80, Z:-157.99 [[-7.14269444e-02 8.21699796e-01 5.65426951e-01 2.64674544e+02] [-2.65248968e-02 5.65109598e-01 -8.24589335e-01 3.17959716e+01] [-9.97093086e-01 -7.38957881e-02 -1.85685496e-02 -1.57992362e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97864 meters Centerline goodness : 0.991623 Centerline is valid? [True, True] Translation: X:265.69, Y:31.41, Z:-158.04 [[-4.10139801e-02 6.25797554e-01 -7.78906461e-01 2.65691188e+02] [-8.70331457e-03 -7.79756590e-01 -6.26022294e-01 3.14130447e+01] [-9.99120666e-01 -1.88965979e-02 3.74274342e-02 -1.58044489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.00864 meters Centerline goodness : 0.991551 Centerline is valid? [True, True] Translation: X:265.73, Y:31.32, Z:-158.07 [[-4.06474435e-02 5.25734391e-01 -8.49677077e-01 2.65731010e+02] [-1.88198943e-03 -8.50418648e-01 -5.26103203e-01 3.13191374e+01] [-9.99171779e-01 -1.97856670e-02 3.55567705e-02 -1.58074282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03864 meters Centerline goodness : 0.991934 Centerline is valid? [True, True] Translation: X:265.16, Y:31.83, Z:-158.14 [[-1.35205726e-01 9.90762999e-01 -1.03967142e-02 2.65164311e+02] [ 3.11561052e-03 -1.00678855e-02 -9.99944464e-01 3.18331642e+01] [-9.90812649e-01 -1.35230609e-01 -1.72559586e-03 -1.58142902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.06864 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:264.80, Y:30.27, Z:-158.15 [[-5.04154830e-02 -9.98282961e-01 -2.98229456e-02 2.64802005e+02] [-2.88910744e-02 -2.83906604e-02 9.99179301e-01 3.02668594e+01] [-9.98310365e-01 5.12357240e-02 -2.74101384e-02 -1.58152113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09864 meters Centerline goodness : 0.992178 Centerline is valid? [True, True] Translation: X:264.16, Y:31.18, Z:-158.23 [[-5.78522307e-02 -8.71283921e-02 9.94515843e-01 2.64163279e+02] [-1.00656782e-01 9.91616922e-01 8.10190900e-02 3.11843664e+01] [-9.93237802e-01 -9.54176292e-02 -6.61373145e-02 -1.58229386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.12864 meters Centerline goodness : 0.992618 Centerline is valid? [True, True] Translation: X:265.36, Y:31.75, Z:-158.34 [[-5.37587115e-02 9.54797435e-01 -2.92355707e-01 2.65364313e+02] [-6.76094861e-02 -2.95587580e-01 -9.52920217e-01 3.17504452e+01] [-9.96262495e-01 -3.14617439e-02 8.04437713e-02 -1.58342813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15864 meters Centerline goodness : 0.993252 Centerline is valid? [True, True] Translation: X:265.52, Y:31.63, Z:-158.37 [[-6.20887499e-02 8.56377868e-01 -5.12603096e-01 2.65518712e+02] [-8.46282023e-02 -5.16261613e-01 -8.52239411e-01 3.16291464e+01] [-9.94476271e-01 -9.53380117e-03 1.04527758e-01 -1.58370329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.18864 meters Centerline goodness : 0.993502 Centerline is valid? [True, True] Translation: X:265.52, Y:30.48, Z:-158.35 [[-7.88060265e-03 -5.06268883e-01 -8.62339674e-01 2.65521779e+02] [-4.42094479e-02 -8.61346858e-01 5.06090027e-01 3.04836298e+01] [-9.98991202e-01 4.21118553e-02 -1.55939355e-02 -1.58347439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21864 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:265.64, Y:31.46, Z:-158.42 [[-1.48580920e-02 7.08969935e-01 -7.05082171e-01 2.65635748e+02] [-6.03759329e-03 -7.05210771e-01 -7.08972014e-01 3.14587156e+01] [-9.99871384e-01 -6.27697199e-03 1.47585586e-02 -1.58419204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.24864 meters Centerline goodness : 0.994912 Centerline is valid? [True, True] Translation: X:265.72, Y:31.25, Z:-158.44 [[-1.35074087e-02 4.79770076e-01 -8.77290274e-01 2.65724986e+02] [-8.89004166e-03 -8.77393260e-01 -4.79689519e-01 3.12451982e+01] [-9.99869250e-01 1.31978471e-03 1.61164853e-02 -1.58442876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27864 meters Centerline goodness : 0.994229 Centerline is valid? [True, True] Translation: X:265.75, Y:31.13, Z:-158.47 [[-1.47448673e-02 3.46315606e-01 -9.38002180e-01 2.65745078e+02] [-7.44483662e-03 -9.38116184e-01 -3.46240668e-01 3.11276584e+01] [-9.99863572e-01 1.87800027e-03 1.64106618e-02 -1.58467009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.30864 meters Centerline goodness : 0.993351 Centerline is valid? [True, True] Translation: X:264.83, Y:30.24, Z:-158.52 [[ 1.47668440e-02 -9.92915158e-01 -1.17904320e-01 2.64826136e+02] [-2.89116896e-02 -1.18291876e-01 9.92557881e-01 3.02407147e+01] [-9.99472888e-01 -1.12481343e-02 -3.04536525e-02 -1.58520331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33864 meters Centerline goodness : 0.994226 Centerline is valid? [True, True] Translation: X:264.65, Y:30.27, Z:-158.71 [[ 7.54588732e-02 -9.96002723e-01 4.77968016e-02 2.64646768e+02] [-2.93462632e-02 4.56944862e-02 9.98524317e-01 3.02711738e+01] [-9.96716989e-01 -7.67501773e-02 -2.57809037e-02 -1.58712551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.36864 meters Centerline goodness : 0.994426 Centerline is valid? [True, True] Translation: X:264.43, Y:30.36, Z:-158.92 [[ 1.31415787e-01 -9.48768263e-01 2.87347653e-01 2.64434410e+02] [-4.32428157e-02 2.84099218e-01 9.57819238e-01 3.03643039e+01] [-9.90383739e-01 -1.38298291e-01 -3.69228886e-03 -1.58921875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39864 meters Centerline goodness : 0.993494 Centerline is valid? [True, True] Translation: X:265.43, Y:31.64, Z:-158.98 [[ 1.31429925e-01 8.89956109e-01 -4.36697032e-01 2.65428302e+02] [ 2.02883500e-02 -4.42840836e-01 -8.96370669e-01 3.16443791e+01] [-9.91117832e-01 1.08950068e-01 -7.62582789e-02 -1.58984066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42864 meters Centerline goodness : 0.992801 Centerline is valid? [True, True] Translation: X:264.50, Y:30.34, Z:-159.27 [[ 1.22608521e-01 -9.56719471e-01 2.63922344e-01 2.64502942e+02] [-2.73429196e-02 2.62571471e-01 9.64525058e-01 3.03406507e+01] [-9.92078382e-01 -1.25475398e-01 6.03399624e-03 -1.59274022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45864 meters Centerline goodness : 0.994114 Centerline is valid? [True, True] Translation: X:264.38, Y:30.43, Z:-159.49 [[ 1.78024150e-01 -8.91514896e-01 4.16543626e-01 2.64379382e+02] [-4.74195599e-02 4.15041329e-01 9.08565947e-01 3.04302580e+01] [-9.82882896e-01 -1.81498996e-01 3.16121360e-02 -1.59487606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48864 meters Centerline goodness : 0.992454 Centerline is valid? [True, True] Translation: X:264.62, Y:30.30, Z:-159.62 [[ 2.45385790e-01 -9.66093193e-01 8.03103767e-02 2.64620089e+02] [-6.65958745e-02 6.58484275e-02 9.95604828e-01 3.02961751e+01] [-9.67135360e-01 -2.49655617e-01 -4.81795526e-02 -1.59623894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51864 meters Centerline goodness : 0.992739 Centerline is valid? [True, True] Translation: X:264.64, Y:30.29, Z:-159.82 [[ 3.05261904e-01 -9.50146224e-01 6.35399324e-02 2.64643306e+02] [-7.08858990e-02 4.38669424e-02 9.96519383e-01 3.02868203e+01] [-9.49626431e-01 -3.08703490e-01 -5.39610629e-02 -1.59816522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54864 meters Centerline goodness : 0.993761 Centerline is valid? [True, True] Translation: X:264.74, Y:30.27, Z:-159.97 [[ 3.65766023e-01 -9.28874031e-01 -5.83802311e-02 2.64741242e+02] [-3.76052083e-02 -7.74252158e-02 9.96288705e-01 3.02711229e+01] [-9.29946808e-01 -3.62213156e-01 -6.32500147e-02 -1.59967845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57864 meters Centerline goodness : 0.992261 Centerline is valid? [True, True] Translation: X:264.16, Y:31.08, Z:-160.38 [[ 3.90466277e-01 -1.40382346e-01 9.09851023e-01 2.64160504e+02] [-2.52506208e-02 9.86300540e-01 1.63014269e-01 3.10754473e+01] [-9.20270880e-01 -8.66258778e-02 3.81572358e-01 -1.60377463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60864 meters Centerline goodness : 0.991228 Centerline is valid? [True, True] Translation: X:265.12, Y:31.83, Z:-160.20 [[ 3.95331772e-01 9.17971596e-01 3.22635781e-02 2.65123126e+02] [-4.38142008e-02 5.39305817e-02 -9.97582983e-01 3.18332105e+01] [-9.17492837e-01 3.92962645e-01 6.15406643e-02 -1.60195819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.63864 meters Centerline goodness : 0.991189 Centerline is valid? [True, True] Translation: X:264.84, Y:30.28, Z:-160.37 [[ 3.87064176e-01 -9.20298532e-01 5.68501185e-02 2.64842627e+02] [-6.02980021e-02 3.62600005e-02 9.97521610e-01 3.02811062e+01] [-9.20079059e-01 -3.89532828e-01 -4.14572156e-02 -1.60366856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66864 meters Centerline goodness : 0.991275 Centerline is valid? [True, True] Translation: X:264.34, Y:30.99, Z:-160.75 [[ 4.34865320e-01 -1.97148654e-01 8.78649282e-01 2.64336213e+02] [-5.91280591e-02 9.67382648e-01 2.46322320e-01 3.09885255e+01] [-8.98552183e-01 -1.59069861e-01 4.09024148e-01 -1.60754315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.69864 meters Centerline goodness : 0.988717 Centerline is valid? [True, True] Translation: X:264.45, Y:31.36, Z:-160.85 [[ 3.92330666e-01 2.58506693e-01 8.82751912e-01 2.64453425e+02] [-8.19726518e-02 9.65703895e-01 -2.46366540e-01 3.13577617e+01] [-9.16164359e-01 2.42956339e-02 4.00065731e-01 -1.60848623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72864 meters Centerline goodness : 0.989803 Centerline is valid? [True, True] Translation: X:264.97, Y:30.25, Z:-160.68 [[ 4.46472411e-01 -8.92621795e-01 6.23595785e-02 2.64969810e+02] [-1.36054765e-01 1.15947816e-03 9.90700639e-01 3.02528195e+01] [-8.84393288e-01 -4.50804821e-01 -1.20927773e-01 -1.60678441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.75864 meters Centerline goodness : 0.990296 Centerline is valid? [True, True] Translation: X:265.37, Y:31.79, Z:-160.86 [[ 4.24409381e-01 9.05431312e-01 -8.41523096e-03 2.65371419e+02] [-8.93659976e-02 3.26371620e-02 -9.95463979e-01 3.17909303e+01] [-9.01049608e-01 4.23236287e-01 9.47662902e-02 -1.60862065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78864 meters Centerline goodness : 0.990060 Centerline is valid? [True, True] Translation: X:265.52, Y:31.76, Z:-160.99 [[ 3.61433884e-01 9.31016330e-01 -5.07359861e-02 2.65523908e+02] [-8.71299601e-02 -2.04514810e-02 -9.95987001e-01 3.17645481e+01] [-9.28317789e-01 3.64404075e-01 7.37275575e-02 -1.60986358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.81864 meters Centerline goodness : 0.988155 Centerline is valid? [True, True] Translation: X:265.18, Y:30.21, Z:-161.12 [[ 3.91043029e-01 -9.11931018e-01 1.24367072e-01 2.65178053e+02] [-1.45178311e-01 7.23183655e-02 9.86758994e-01 3.02126553e+01] [-9.08850157e-01 -4.03920627e-01 -1.04113013e-01 -1.61115819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84864 meters Centerline goodness : 0.988694 Centerline is valid? [True, True] Translation: X:265.66, Y:31.72, Z:-161.30 [[ 3.57927692e-01 9.31922232e-01 -5.83842455e-02 2.65655757e+02] [-8.95831718e-02 -2.79661497e-02 -9.95586636e-01 3.17238871e+01] [-9.29442103e-01 3.61578273e-01 7.34746900e-02 -1.61295226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.87864 meters Centerline goodness : 0.987863 Centerline is valid? [True, True] Translation: X:265.30, Y:30.18, Z:-161.42 [[ 3.91820906e-01 -9.10406196e-01 1.32804127e-01 2.65295839e+02] [-1.48144310e-01 8.00323282e-02 9.85722116e-01 3.01787557e+01] [-9.08036145e-01 -4.05900709e-01 -1.03513158e-01 -1.61423699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90864 meters Centerline goodness : 0.987863 Centerline is valid? [True, True] Translation: X:265.79, Y:31.68, Z:-161.60 [[ 3.57418203e-01 9.30830337e-01 -7.62044052e-02 2.65792853e+02] [-9.31624071e-02 -4.56530512e-02 -9.94603723e-01 3.16842359e+01] [-9.29286282e-01 3.62588861e-01 7.04011633e-02 -1.61596398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.93864 meters Centerline goodness : 0.988302 Centerline is valid? [True, True] Translation: X:265.40, Y:30.16, Z:-161.73 [[ 3.95657076e-01 -9.05386556e-01 1.54047600e-01 2.65395448e+02] [-1.23007281e-01 1.13981528e-01 9.85838435e-01 3.01568045e+01] [-9.10123446e-01 -4.09002929e-01 -6.62715404e-02 -1.61726559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96864 meters Centerline goodness : 0.989239 Centerline is valid? [True, True] Translation: X:264.97, Y:31.10, Z:-162.15 [[ 3.81507700e-01 1.48192270e-01 9.12409407e-01 2.64967992e+02] [-1.29761145e-01 9.85877332e-01 -1.05867522e-01 3.10989369e+01] [-9.15212500e-01 -7.80060144e-02 3.95349392e-01 -1.62146648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.99864 meters Centerline goodness : 0.988795 Centerline is valid? [True, True] Translation: X:265.11, Y:31.26, Z:-162.29 [[ 3.74377322e-01 3.54642277e-01 8.56779129e-01 2.65107699e+02] [-1.58399105e-01 9.34851897e-01 -3.17744637e-01 3.12605485e+01] [-9.13647276e-01 -1.67566613e-02 4.06162369e-01 -1.62289935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02864 meters Centerline goodness : 0.988317 Centerline is valid? [True, True] Translation: X:265.16, Y:31.25, Z:-162.38 [[ 4.02311748e-01 3.67013932e-01 8.38716896e-01 2.65155986e+02] [-1.80874971e-01 9.29933638e-01 -3.20168196e-01 3.12533211e+01] [-8.97457243e-01 -2.28954681e-02 4.40506862e-01 -1.62379697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.05864 meters Centerline goodness : 0.991384 Centerline is valid? [True, True] Translation: X:266.27, Y:31.54, Z:-162.17 [[ 3.52478496e-01 8.61408890e-01 -3.65696096e-01 2.66265156e+02] [-1.57233922e-01 -3.30707439e-01 -9.30542897e-01 3.15385541e+01] [-9.22516343e-01 3.85496192e-01 1.88754377e-02 -1.62167512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08864 meters Centerline goodness : 0.991773 Centerline is valid? [True, True] Translation: X:266.03, Y:31.60, Z:-162.45 [[ 2.80246873e-01 9.56917804e-01 7.59605516e-02 2.66032340e+02] [-1.51262649e-01 1.22164904e-01 -9.80915566e-01 3.16027598e+01] [-9.47935283e-01 2.63408526e-01 1.78982254e-01 -1.62451309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.11864 meters Centerline goodness : 0.991675 Centerline is valid? [True, True] Translation: X:265.46, Y:31.33, Z:-162.63 [[ 2.45113507e-01 5.72684724e-01 7.82273338e-01 2.65456471e+02] [-1.44856057e-01 8.19464012e-01 -5.54522728e-01 3.13253090e+01] [-9.58611544e-01 2.26039795e-02 2.83818549e-01 -1.62625306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14864 meters Centerline goodness : 0.991234 Centerline is valid? [True, True] Translation: X:265.48, Y:31.32, Z:-162.69 [[ 2.43056960e-01 5.88473813e-01 7.71117297e-01 2.65484910e+02] [-1.51673523e-01 8.08234620e-01 -5.68992039e-01 3.13225363e+01] [-9.58080611e-01 2.13393985e-02 2.85702946e-01 -1.62693981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17864 meters Centerline goodness : 0.991094 Centerline is valid? [True, True] Translation: X:265.52, Y:31.31, Z:-162.78 [[ 2.38410258e-01 6.06483324e-01 7.58510729e-01 2.65515679e+02] [-1.60647891e-01 7.94900562e-01 -5.85085765e-01 3.13147625e+01] [-9.57785364e-01 1.76372990e-02 2.86942715e-01 -1.62775888e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20864 meters Centerline goodness : 0.991975 Centerline is valid? [True, True] Translation: X:265.55, Y:31.32, Z:-162.86 [[ 2.34354635e-01 6.29986996e-01 7.40401438e-01 2.65552263e+02] [-1.66937285e-01 7.76377358e-01 -6.07758291e-01 3.13150938e+01] [-9.57710733e-01 1.88303671e-02 2.87115951e-01 -1.62855787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23864 meters Centerline goodness : 0.990709 Centerline is valid? [True, True] Translation: X:265.59, Y:31.31, Z:-162.94 [[ 2.29437884e-01 6.52098537e-01 7.22582698e-01 2.65589467e+02] [-1.74237408e-01 7.57912434e-01 -6.28657354e-01 3.13127845e+01] [-9.57600952e-01 1.83368767e-02 2.87513784e-01 -1.62937394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26864 meters Centerline goodness : 0.992903 Centerline is valid? [True, True] Translation: X:265.62, Y:31.31, Z:-163.00 [[ 2.26942309e-01 6.73761386e-01 7.03237359e-01 2.65615300e+02] [-1.78777588e-01 7.38627824e-01 -6.49975008e-01 3.13095410e+01] [-9.57358743e-01 2.17837499e-02 2.88079339e-01 -1.63002598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29864 meters Centerline goodness : 0.993925 Centerline is valid? [True, True] Translation: X:265.64, Y:31.30, Z:-163.06 [[ 2.25288162e-01 6.87431476e-01 6.90422486e-01 2.65636669e+02] [-1.82613655e-01 7.25874821e-01 -6.63142516e-01 3.13049382e+01] [-9.57025338e-01 2.33175849e-02 2.89065379e-01 -1.63058756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32864 meters Centerline goodness : 0.992692 Centerline is valid? [True, True] Translation: X:265.61, Y:31.25, Z:-163.11 [[ 2.45745645e-01 6.47241089e-01 7.21587175e-01 2.65613160e+02] [-2.08983610e-01 7.62285317e-01 -6.12574034e-01 3.12537346e+01] [-9.46538392e-01 -2.62491836e-04 3.22591077e-01 -1.63107290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35864 meters Centerline goodness : 0.993134 Centerline is valid? [True, True] Translation: X:266.76, Y:31.24, Z:-163.02 [[ 1.99588615e-01 7.43103607e-01 -6.38718572e-01 2.66761370e+02] [-1.73809618e-01 -6.14649202e-01 -7.69413136e-01 3.12385093e+01] [-9.64341538e-01 2.64581533e-01 6.48157115e-03 -1.63021047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.38864 meters Centerline goodness : 0.991579 Centerline is valid? [True, True] Translation: X:265.70, Y:31.19, Z:-163.25 [[ 1.83485041e-01 6.67503502e-01 7.21645560e-01 2.65697728e+02] [-1.72799409e-01 7.44579219e-01 -6.44780700e-01 3.11888017e+01] [-9.67715663e-01 -6.39231286e-03 2.51963359e-01 -1.63251704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41864 meters Centerline goodness : 0.990931 Centerline is valid? [True, True] Translation: X:266.85, Y:31.15, Z:-163.23 [[ 1.35730689e-01 7.28144716e-01 -6.71850023e-01 2.66852061e+02] [-1.21523513e-01 -6.60769195e-01 -7.40686241e-01 3.11460071e+01] [-9.83264571e-01 1.82179429e-01 -1.19995433e-03 -1.63226703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.44864 meters Centerline goodness : 0.989091 Centerline is valid? [True, True] Translation: X:265.81, Y:31.18, Z:-163.40 [[ 1.19265427e-01 7.40125064e-01 6.61808619e-01 2.65812771e+02] [-1.34759118e-01 6.72465007e-01 -7.27757373e-01 3.11790668e+01] [-9.83674610e-01 -2.38845223e-03 1.79940427e-01 -1.63396128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47864 meters Centerline goodness : 0.989979 Centerline is valid? [True, True] Translation: X:265.89, Y:31.21, Z:-163.54 [[ 8.29849125e-02 7.88800267e-01 6.09021874e-01 2.65891002e+02] [-1.57367871e-01 6.13834496e-01 -7.73590696e-01 3.12057030e+01] [-9.84047183e-01 -3.16441197e-02 1.75070821e-01 -1.63535309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.50864 meters Centerline goodness : 0.989268 Centerline is valid? [True, True] Translation: X:266.02, Y:31.26, Z:-163.63 [[ 6.01260893e-02 8.76378407e-01 4.77855355e-01 2.66015208e+02] [-1.66507732e-01 4.80819823e-01 -8.60864375e-01 3.12566117e+01] [-9.84205278e-01 -2.78062031e-02 1.74833596e-01 -1.63632523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53864 meters Centerline goodness : 0.988640 Centerline is valid? [True, True] Translation: X:266.12, Y:31.28, Z:-163.75 [[ 3.26798414e-02 9.29713777e-01 3.66830098e-01 2.66124856e+02] [-1.68601221e-01 3.66894330e-01 -9.14856371e-01 3.12776507e+01] [-9.85142455e-01 -3.19506411e-02 1.68740926e-01 -1.63751220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.56864 meters Centerline goodness : 0.990010 Centerline is valid? [True, True] Translation: X:267.09, Y:30.86, Z:-163.82 [[ 1.12687737e-02 5.26593868e-01 -8.50042301e-01 2.67086991e+02] [-6.96325599e-02 -8.47619326e-01 -5.26015955e-01 3.08648759e+01] [-9.97509058e-01 6.51181762e-02 2.71164487e-02 -1.63824297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59864 meters Centerline goodness : 0.989654 Centerline is valid? [True, True] Translation: X:266.49, Y:31.26, Z:-163.89 [[-2.15711998e-02 9.97841904e-01 -6.20178847e-02 2.66488472e+02] [-7.72079810e-02 -6.35097147e-02 -9.94990173e-01 3.12558605e+01] [-9.96781627e-01 -1.66748562e-02 7.84113395e-02 -1.63891227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.62864 meters Centerline goodness : 0.988449 Centerline is valid? [True, True] Translation: X:267.17, Y:30.61, Z:-163.92 [[-1.88153063e-02 2.36277130e-01 -9.71503526e-01 2.67173561e+02] [-1.12791913e-02 -9.71663865e-01 -2.36097679e-01 3.06122904e+01] [-9.99759353e-01 6.51552396e-03 2.09471682e-02 -1.63915900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65864 meters Centerline goodness : 0.989272 Centerline is valid? [True, True] Translation: X:266.74, Y:29.76, Z:-163.97 [[ 4.45551860e-02 -8.69049078e-01 -4.92715470e-01 2.66745000e+02] [ 6.18621961e-03 -4.92955793e-01 8.70032365e-01 2.97597678e+01] [-9.98987771e-01 -4.18125000e-02 -1.65876086e-02 -1.63965323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.68864 meters Centerline goodness : 0.990459 Centerline is valid? [True, True] Translation: X:266.13, Y:29.72, Z:-164.06 [[ 6.40972000e-02 -9.54079288e-01 2.92616236e-01 2.66130771e+02] [ 1.12138452e-03 2.93287869e-01 9.56023519e-01 2.97245509e+01] [-9.97943030e-01 -6.09502953e-02 1.98688209e-02 -1.64058017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71864 meters Centerline goodness : 0.990746 Centerline is valid? [True, True] Translation: X:265.75, Y:30.03, Z:-164.15 [[ 7.44733989e-02 -5.90210179e-01 8.03806977e-01 2.65748898e+02] [-1.33996232e-02 8.05380331e-01 5.92606930e-01 3.00289031e+01] [-9.97132972e-01 -5.49041629e-02 5.20708166e-02 -1.64147644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.74864 meters Centerline goodness : 0.992136 Centerline is valid? [True, True] Translation: X:265.62, Y:30.43, Z:-164.25 [[ 2.90299182e-02 -9.72215318e-02 9.94839302e-01 2.65624539e+02] [-4.07096995e-02 9.94318019e-01 9.83585186e-02 3.04257762e+01] [-9.98749210e-01 -4.33549488e-02 2.49071114e-02 -1.64247232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77864 meters Centerline goodness : 0.991874 Centerline is valid? [True, True] Translation: X:265.76, Y:30.89, Z:-164.38 [[ 6.08253066e-02 4.98628620e-01 8.64679005e-01 2.65764173e+02] [-6.42991106e-02 8.66441088e-01 -4.95121668e-01 3.08913115e+01] [-9.96075251e-01 -2.54821637e-02 8.47629216e-02 -1.64382020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.80864 meters Centerline goodness : 0.991828 Centerline is valid? [True, True] Translation: X:265.85, Y:30.99, Z:-164.47 [[ 4.86076548e-02 6.35008353e-01 7.70974505e-01 2.65851144e+02] [-7.18323034e-02 7.72110635e-01 -6.31415305e-01 3.09915584e+01] [-9.96231608e-01 -2.46892574e-02 8.31445999e-02 -1.64467531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83864 meters Centerline goodness : 0.991279 Centerline is valid? [True, True] Translation: X:265.97, Y:31.09, Z:-164.56 [[ 3.34253754e-02 7.67459918e-01 6.40224975e-01 2.65966033e+02] [-7.41180183e-02 6.40722460e-01 -7.64186659e-01 3.10859848e+01] [-9.96689151e-01 -2.19089804e-02 7.82989970e-02 -1.64559054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.86864 meters Centerline goodness : 0.991477 Centerline is valid? [True, True] Translation: X:266.10, Y:31.16, Z:-164.65 [[ 1.84946014e-02 8.79987038e-01 4.74637507e-01 2.66104626e+02] [-7.23158863e-02 4.74652703e-01 -8.77197369e-01 3.11610139e+01] [-9.97210290e-01 -1.81004163e-02 7.24155551e-02 -1.64647638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89864 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:266.25, Y:31.21, Z:-164.70 [[ 4.69466019e-03 9.55904578e-01 2.93639912e-01 2.66247534e+02] [-7.26134158e-02 2.93193831e-01 -9.53291492e-01 3.12101942e+01] [-9.97349112e-01 -1.68468174e-02 7.07879420e-02 -1.64697247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92864 meters Centerline goodness : 0.989469 Centerline is valid? [True, True] Translation: X:266.38, Y:31.23, Z:-164.74 [[-5.35602855e-03 9.91912928e-01 1.26807165e-01 2.66377526e+02] [-7.75307367e-02 1.26015363e-01 -9.88993990e-01 3.12298773e+01] [-9.96975575e-01 -1.51285330e-02 7.62287981e-02 -1.64737846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95864 meters Centerline goodness : 0.992226 Centerline is valid? [True, True] Translation: X:267.21, Y:30.63, Z:-164.77 [[-5.19936973e-03 2.81137027e-01 -9.59653551e-01 2.67211944e+02] [-1.94511726e-02 -9.59513390e-01 -2.80990580e-01 3.06333764e+01] [-9.99797289e-01 1.72054129e-02 1.04573097e-02 -1.64770727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98864 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:267.19, Y:30.72, Z:-164.79 [[-9.47282406e-03 3.83855828e-01 -9.23344447e-01 2.67185863e+02] [-1.15086068e-02 -9.23366572e-01 -3.83746956e-01 3.07174186e+01] [-9.99888903e-01 6.99124078e-03 1.31645349e-02 -1.64788109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01864 meters Centerline goodness : 0.993047 Centerline is valid? [True, True] Translation: X:267.22, Y:30.59, Z:-164.85 [[-1.67621267e-02 2.30603611e-01 -9.72903390e-01 2.67219406e+02] [ 1.11817012e-02 -9.72936013e-01 -2.30803993e-01 3.05948316e+01] [-9.99796980e-01 -1.47474808e-02 1.37299360e-02 -1.64853674e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04864 meters Centerline goodness : 0.990938 Centerline is valid? [True, True] Translation: X:267.17, Y:30.12, Z:-164.91 [[-3.88810563e-02 -3.71384454e-01 -9.27664730e-01 2.67170762e+02] [ 1.76360867e-02 -9.28477160e-01 3.70970527e-01 3.01245356e+01] [-9.99088200e-01 -1.93664963e-03 4.26499411e-02 -1.64905151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07864 meters Centerline goodness : 0.992216 Centerline is valid? [True, True] Translation: X:266.23, Y:29.68, Z:-164.95 [[ 1.10614748e-02 -9.70677131e-01 2.40132362e-01 2.66231210e+02] [-8.16788725e-03 2.40051332e-01 9.70725833e-01 2.96815160e+01] [-9.99905460e-01 -1.26990334e-02 -5.27305960e-03 -1.64951610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10864 meters Centerline goodness : 0.991127 Centerline is valid? [True, True] Translation: X:265.71, Y:30.16, Z:-165.03 [[ 4.29228268e-03 -3.72883497e-01 9.27868242e-01 2.65705354e+02] [ 9.21972410e-03 9.27852108e-01 3.72834364e-01 3.01649567e+01] [-9.99948285e-01 6.95437870e-03 7.42048650e-03 -1.65032186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.13864 meters Centerline goodness : 0.990844 Centerline is valid? [True, True] Translation: X:266.33, Y:29.67, Z:-165.18 [[ 8.38730333e-02 -9.93886991e-01 7.17911101e-02 2.66325356e+02] [-2.40352944e-02 7.00062195e-02 9.97256955e-01 2.96661978e+01] [-9.96186538e-01 -8.53684863e-02 -1.80167324e-02 -1.65182088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16864 meters Centerline goodness : 0.991685 Centerline is valid? [True, True] Translation: X:266.52, Y:31.22, Z:-165.33 [[ 4.84347800e-02 9.96999511e-01 -6.03825106e-02 2.66516396e+02] [ 3.06280851e-02 -6.19075248e-02 -9.97611838e-01 3.12232197e+01] [-9.98356646e-01 4.64697092e-02 -3.35346632e-02 -1.65330787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.19864 meters Centerline goodness : 0.991878 Centerline is valid? [True, True] Translation: X:266.54, Y:31.23, Z:-165.50 [[-2.24464521e-02 9.99631458e-01 -1.52677763e-02 2.66537374e+02] [ 3.05701646e-02 -1.45781982e-02 -9.99426306e-01 3.12257110e+01] [-9.99280552e-01 -2.29003132e-02 -3.02316694e-02 -1.65498426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22864 meters Centerline goodness : 0.989673 Centerline is valid? [True, True] Translation: X:266.62, Y:31.22, Z:-165.59 [[-9.22456716e-02 9.89631393e-01 -1.10092878e-01 2.66620329e+02] [ 1.98795872e-02 -1.08711889e-01 -9.93874503e-01 3.12205379e+01] [-9.95537813e-01 -9.38692219e-02 -9.64526231e-03 -1.65586020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.25864 meters Centerline goodness : 0.992063 Centerline is valid? [True, True] Translation: X:267.29, Y:30.61, Z:-165.66 [[-7.98161064e-02 2.27180685e-01 -9.70576285e-01 2.67287629e+02] [ 2.32899918e-02 -9.72991896e-01 -2.29661373e-01 3.06135404e+01] [-9.96537488e-01 -4.09353903e-02 7.23693884e-02 -1.65662401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28864 meters Centerline goodness : 0.989378 Centerline is valid? [True, True] Translation: X:266.54, Y:29.66, Z:-165.69 [[-3.76190117e-02 -9.97683773e-01 -5.66736172e-02 2.66543503e+02] [ 2.47910781e-02 -5.76280806e-02 9.98030263e-01 2.96594608e+01] [-9.98984591e-01 3.61399121e-02 2.69015678e-02 -1.65688429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.31864 meters Centerline goodness : 0.990435 Centerline is valid? [True, True] Translation: X:265.72, Y:30.43, Z:-165.71 [[-5.59857884e-02 -5.36379394e-02 9.96989751e-01 2.65724339e+02] [-5.04815279e-02 9.97430821e-01 5.08268874e-02 3.04268541e+01] [-9.97154555e-01 -4.74839826e-02 -5.85496761e-02 -1.65706333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34864 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:266.98, Y:31.08, Z:-165.81 [[-3.02917268e-02 8.06882815e-01 -5.89934348e-01 2.66975453e+02] [-1.42604240e-02 -5.90493994e-01 -8.06916032e-01 3.10752027e+01] [-9.99439369e-01 -1.60301660e-02 2.93935738e-02 -1.65807970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.37864 meters Centerline goodness : 0.988447 Centerline is valid? [True, True] Translation: X:266.39, Y:29.68, Z:-165.82 [[ 4.15422457e-02 -9.93960641e-01 1.01570108e-01 2.66390604e+02] [-7.28372724e-02 9.83746277e-02 9.92480309e-01 2.96770536e+01] [-9.96478286e-01 -4.86279505e-02 -6.83106789e-02 -1.65822074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40864 meters Centerline goodness : 0.988501 Centerline is valid? [True, True] Translation: X:266.10, Y:31.12, Z:-165.95 [[-1.23156685e-03 8.43547821e-01 5.37052657e-01 2.66096354e+02] [-3.66820977e-02 5.36653511e-01 -8.43005002e-01 3.11202895e+01] [-9.99326226e-01 -2.07384350e-02 3.02821789e-02 -1.65953226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.43864 meters Centerline goodness : 0.988887 Centerline is valid? [True, True] Translation: X:266.11, Y:31.13, Z:-166.00 [[ 1.45119551e-02 8.49513256e-01 5.27367644e-01 2.66114253e+02] [-7.38915320e-02 5.26892188e-01 -8.46714039e-01 3.11267142e+01] [-9.97160691e-01 -2.66805270e-02 7.04180717e-02 -1.66003411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46864 meters Centerline goodness : 0.988801 Centerline is valid? [True, True] Translation: X:267.23, Y:30.74, Z:-166.12 [[-1.21463393e-03 4.72941158e-01 -8.81093177e-01 2.67228708e+02] [ 4.28569163e-02 -8.80259675e-01 -4.72552843e-01 3.07351553e+01] [-9.99080482e-01 -3.83349153e-02 -1.91996063e-02 -1.66122695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.49864 meters Centerline goodness : 0.989826 Centerline is valid? [True, True] Translation: X:266.97, Y:29.76, Z:-166.16 [[ 2.21459499e-02 -7.82862903e-01 -6.21799994e-01 2.66971437e+02] [ 1.30776352e-02 -6.21672474e-01 7.83168124e-01 2.97598143e+01] [-9.99669211e-01 -2.54756755e-02 -3.52953198e-03 -1.66156655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52864 meters Centerline goodness : 0.988979 Centerline is valid? [True, True] Translation: X:266.67, Y:29.63, Z:-166.17 [[ 1.20207557e-02 -9.67138227e-01 -2.53966831e-01 2.66672970e+02] [ 1.92766289e-02 -2.53713844e-01 9.67087223e-01 2.96314270e+01] [-9.99741923e-01 -1.65207436e-02 1.55933326e-02 -1.66172737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.55864 meters Centerline goodness : 0.988889 Centerline is valid? [True, True] Translation: X:265.74, Y:30.36, Z:-166.34 [[-1.05169595e-02 -1.66143119e-01 9.86045566e-01 2.65736661e+02] [-7.83974535e-02 9.83201731e-01 1.64827778e-01 3.03621332e+01] [-9.96866708e-01 -7.55699743e-02 -2.33654903e-02 -1.66335980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58864 meters Centerline goodness : 0.988680 Centerline is valid? [True, True] Translation: X:266.38, Y:31.20, Z:-166.47 [[ 6.46335530e-03 9.69773706e-01 2.43920447e-01 2.66377018e+02] [-8.01482167e-02 2.43643179e-01 -9.66547601e-01 3.12046082e+01] [-9.96762002e-01 -1.33026483e-02 7.93003856e-02 -1.66467638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.61864 meters Centerline goodness : 0.990896 Centerline is valid? [True, True] Translation: X:267.30, Y:30.50, Z:-166.58 [[ 1.89180236e-02 2.15381427e-01 -9.76346736e-01 2.67304581e+02] [ 2.34086440e-03 -9.76528361e-01 -2.15376136e-01 3.04983233e+01] [-9.99818298e-01 1.78899552e-03 -1.89781653e-02 -1.66579749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64864 meters Centerline goodness : 0.991775 Centerline is valid? [True, True] Translation: X:266.37, Y:29.61, Z:-166.67 [[ 4.55326534e-02 -9.92015299e-01 1.17611326e-01 2.66374658e+02] [-1.96015973e-02 1.16823540e-01 9.92959233e-01 2.96104758e+01] [-9.98770522e-01 -4.75174385e-02 -1.41257986e-02 -1.66670106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67864 meters Centerline goodness : 0.992571 Centerline is valid? [True, True] Translation: X:265.75, Y:30.28, Z:-166.79 [[ 2.37471684e-02 -1.89728530e-01 9.81549365e-01 2.65747707e+02] [-2.70123282e-02 9.81346001e-01 1.90342745e-01 3.02790748e+01] [-9.99352994e-01 -3.10340348e-02 1.81791794e-02 -1.66788590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70864 meters Centerline goodness : 0.991982 Centerline is valid? [True, True] Translation: X:266.76, Y:31.12, Z:-166.93 [[ 4.92350538e-03 9.86295668e-01 -1.64913963e-01 2.66758043e+02] [-3.60697522e-02 -1.64633484e-01 -9.85695079e-01 3.11225199e+01] [-9.99337146e-01 1.08014808e-02 3.47648665e-02 -1.66934459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73864 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:267.34, Y:30.16, Z:-166.99 [[ 1.97858718e-02 -1.79278840e-01 -9.83599317e-01 2.67340228e+02] [-6.74698830e-03 -9.83793445e-01 1.79178502e-01 3.01605760e+01] [-9.99781475e-01 3.09113022e-03 -2.06748032e-02 -1.66991731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76864 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:266.65, Y:29.57, Z:-167.03 [[-2.61837098e-02 -9.89023164e-01 -1.45422127e-01 2.66649912e+02] [-7.60111832e-03 -1.45270821e-01 9.89362730e-01 2.95663144e+01] [-9.99628249e-01 2.70105574e-02 -3.71395309e-03 -1.67025426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79864 meters Centerline goodness : 0.993771 Centerline is valid? [True, True] Translation: X:266.53, Y:29.57, Z:-167.08 [[-2.72376666e-02 -9.99628401e-01 1.08128430e-03 2.66533003e+02] [-3.40191429e-03 1.17437390e-03 9.99993524e-01 2.95657729e+01] [-9.99623197e-01 2.72338118e-02 -3.43263735e-03 -1.67081109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82864 meters Centerline goodness : 0.993923 Centerline is valid? [True, True] Translation: X:266.43, Y:29.58, Z:-167.15 [[-2.92385399e-02 -9.90025910e-01 1.37818016e-01 2.66429091e+02] [-6.56604434e-04 1.37895957e-01 9.90446502e-01 2.95823342e+01] [-9.99572247e-01 2.88687176e-02 -4.68193183e-03 -1.67154186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85864 meters Centerline goodness : 0.995145 Centerline is valid? [True, True] Translation: X:266.24, Y:29.65, Z:-167.21 [[-3.21861696e-02 -9.23624514e-01 3.81944770e-01 2.66241084e+02] [ 8.20554008e-03 3.81885696e-01 9.24173136e-01 2.96454144e+01] [-9.99448208e-01 3.28796564e-02 -4.71259980e-03 -1.67211800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.88864 meters Centerline goodness : 0.995588 Centerline is valid? [True, True] Translation: X:266.14, Y:29.71, Z:-167.31 [[-2.55647999e-02 -8.56701065e-01 5.15179315e-01 2.66136590e+02] [ 9.60436492e-03 5.15113476e-01 8.57068179e-01 2.97075171e+01] [-9.99627029e-01 2.68587466e-02 -4.94070327e-03 -1.67307877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91864 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:266.90, Y:31.07, Z:-167.44 [[ 8.38010557e-03 9.45328074e-01 -3.26013199e-01 2.66901895e+02] [ 5.73055211e-02 -3.25942853e-01 -9.43651066e-01 3.10715446e+01] [-9.98321517e-01 -1.07744607e-02 -5.69039534e-02 -1.67443447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.94864 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:266.43, Y:31.10, Z:-167.51 [[-7.49860662e-02 9.55064803e-01 2.86754794e-01 2.66425079e+02] [ 5.25650215e-02 2.90950415e-01 -9.55293031e-01 3.11031914e+01] [-9.95798177e-01 -5.65603945e-02 -7.20202289e-02 -1.67514769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97864 meters Centerline goodness : 0.995983 Centerline is valid? [True, True] Translation: X:267.39, Y:30.51, Z:-167.66 [[-8.38774184e-02 2.17878355e-01 -9.72364953e-01 2.67392970e+02] [-4.55749142e-03 -9.75877279e-01 -2.18272229e-01 3.05051439e+01] [-9.96465658e-01 -1.38765661e-02 8.28470456e-02 -1.67655716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.00864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:267.38, Y:30.19, Z:-167.72 [[-7.85316677e-02 -1.87208499e-01 -9.79176059e-01 2.67384953e+02] [ 1.07148261e-02 -9.82311267e-01 1.86948571e-01 3.01892796e+01] [-9.96854036e-01 4.18968184e-03 7.91484485e-02 -1.67721576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03864 meters Centerline goodness : 0.995739 Centerline is valid? [True, True] Translation: X:267.30, Y:29.97, Z:-167.75 [[-8.53552960e-02 -4.77685702e-01 -8.74374544e-01 2.67297582e+02] [ 2.03225292e-02 -8.78229315e-01 4.77807770e-01 2.99703734e+01] [-9.96143297e-01 2.30139214e-02 8.46693048e-02 -1.67751931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.06864 meters Centerline goodness : 0.995936 Centerline is valid? [True, True] Translation: X:267.26, Y:29.91, Z:-167.77 [[-8.13580422e-02 -5.62723921e-01 -8.22631544e-01 2.67255555e+02] [ 3.25501479e-02 -8.26427558e-01 5.62101396e-01 2.99091849e+01] [-9.96153280e-01 1.89546907e-02 8.55532750e-02 -1.67771738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09864 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:267.21, Y:29.86, Z:-167.79 [[-7.91217115e-02 -6.30336347e-01 -7.72279641e-01 2.67214904e+02] [ 4.13891136e-02 -7.76117567e-01 6.29228467e-01 2.98580286e+01] [-9.96005369e-01 1.78216634e-02 8.74968129e-02 -1.67791589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.12864 meters Centerline goodness : 0.995545 Centerline is valid? [True, True] Translation: X:267.18, Y:29.82, Z:-167.80 [[-7.48100244e-02 -6.81016314e-01 -7.28436848e-01 2.67183522e+02] [ 4.93417898e-02 -7.32116988e-01 6.79389508e-01 2.98210657e+01] [-9.95976329e-01 1.48827678e-02 8.83722535e-02 -1.67796341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15864 meters Centerline goodness : 0.995888 Centerline is valid? [True, True] Translation: X:267.16, Y:29.80, Z:-167.81 [[-7.14665274e-02 -7.12502920e-01 -6.98020146e-01 2.67160171e+02] [ 5.34634247e-02 -7.01539896e-01 7.10621866e-01 2.97989474e+01] [-9.96009135e-01 1.34671295e-02 8.82294664e-02 -1.67808349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.18864 meters Centerline goodness : 0.994758 Centerline is valid? [True, True] Translation: X:267.17, Y:29.81, Z:-167.83 [[-7.71297704e-02 -6.99569935e-01 -7.10389263e-01 2.67170277e+02] [ 7.15853355e-02 -7.14558567e-01 6.95903437e-01 2.98115418e+01] [-9.94447856e-01 2.82141863e-03 1.05192687e-01 -1.67831284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21864 meters Centerline goodness : 0.996080 Centerline is valid? [True, True] Translation: X:266.05, Y:29.81, Z:-167.81 [[-5.15279430e-02 -7.07690468e-01 7.04641095e-01 2.66047046e+02] [ 2.88254575e-02 7.04230499e-01 7.09386000e-01 2.98103483e+01] [-9.98255460e-01 5.68648033e-02 -1.58880475e-02 -1.67805456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.24864 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:266.68, Y:31.15, Z:-167.84 [[-7.95870139e-02 9.92258251e-01 -9.53387115e-02 2.66675186e+02] [ 6.84058109e-02 -8.99801300e-02 -9.93591577e-01 3.11511673e+01] [-9.94478030e-01 -8.55987085e-02 -6.07149804e-02 -1.67843679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27864 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:266.41, Y:31.13, Z:-167.88 [[-1.58210401e-01 9.56832736e-01 2.43804397e-01 2.66410707e+02] [ 7.27798491e-02 2.57542865e-01 -9.63522063e-01 3.11342701e+01] [-9.84719535e-01 -1.34695165e-01 -1.10384102e-01 -1.67882425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.30864 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:267.36, Y:30.59, Z:-168.09 [[-1.33932920e-01 2.53464799e-01 -9.58027958e-01 2.67355875e+02] [ 3.80752780e-02 -9.64707902e-01 -2.60555056e-01 3.05918884e+01] [-9.90258676e-01 -7.13740802e-02 1.19555403e-01 -1.68087535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33864 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:266.48, Y:31.15, Z:-167.97 [[-2.24474298e-01 9.63682363e-01 1.44663724e-01 2.66481064e+02] [ 7.87475346e-02 1.65905444e-01 -9.82992477e-01 3.11523892e+01] [-9.71293012e-01 -2.09264634e-01 -1.13129118e-01 -1.67971406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.36864 meters Centerline goodness : 0.995148 Centerline is valid? [True, True] Translation: X:267.35, Y:30.55, Z:-168.26 [[-2.18743016e-01 1.88448235e-01 -9.57412532e-01 2.67346013e+02] [ 3.93380699e-02 -9.78673389e-01 -2.01620717e-01 3.05548451e+01] [-9.74989235e-01 -8.17658848e-02 2.06664779e-01 -1.68259503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39864 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:266.68, Y:29.61, Z:-168.21 [[-1.70121307e-01 -9.77791564e-01 -1.22402610e-01 2.66682271e+02] [ 2.94665220e-02 -1.29205345e-01 9.91179955e-01 2.96097803e+01] [-9.84982469e-01 1.65014051e-01 5.07926988e-02 -1.68205434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42864 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:266.64, Y:31.17, Z:-168.19 [[-2.20844772e-01 9.70161353e-01 -1.00072658e-01 2.66638193e+02] [ 7.61172412e-02 -8.51484568e-02 -9.93456545e-01 3.11661689e+01] [-9.72334177e-01 -2.27016939e-01 -5.50414141e-02 -1.68185853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45864 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:267.33, Y:30.30, Z:-168.41 [[-2.02786541e-01 -1.36349691e-01 -9.69683650e-01 2.67330091e+02] [ 6.72701111e-02 -9.89858613e-01 1.25118581e-01 3.02993979e+01] [-9.76909592e-01 -3.98583626e-02 2.09902263e-01 -1.68405964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48864 meters Centerline goodness : 0.997209 Centerline is valid? [True, True] Translation: X:266.66, Y:31.17, Z:-168.25 [[-2.91704485e-01 9.47479226e-01 -1.31116782e-01 2.66656299e+02] [ 1.04476710e-01 -1.04697086e-01 -9.89001081e-01 3.11666586e+01] [-9.50785523e-01 -3.02194701e-01 -6.84489027e-02 -1.68254967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51864 meters Centerline goodness : 0.997151 Centerline is valid? [True, True] Translation: X:266.56, Y:31.18, Z:-168.31 [[-3.59493343e-01 9.32731844e-01 -2.78539534e-02 2.66563648e+02] [ 9.35568996e-02 6.32749762e-03 -9.95593827e-01 3.11775589e+01] [-9.28445821e-01 -3.60515283e-01 -8.95381928e-02 -1.68313941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54864 meters Centerline goodness : 0.996816 Centerline is valid? [True, True] Translation: X:267.28, Y:30.37, Z:-168.68 [[-3.48250081e-01 -7.18215668e-02 -9.34646213e-01 2.67277853e+02] [ 9.17426990e-02 -9.94885303e-01 4.22671363e-02 3.03740035e+01] [-9.32901473e-01 -7.10274326e-02 3.53057992e-01 -1.68683444e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57864 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:266.38, Y:29.63, Z:-168.48 [[-2.93463847e-01 -9.40022640e-01 1.73886189e-01 2.66378487e+02] [ 5.41838429e-02 1.65246700e-01 9.84762732e-01 2.96335437e+01] [-9.54433383e-01 2.98414082e-01 2.44010666e-03 -1.68478393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60864 meters Centerline goodness : 0.997453 Centerline is valid? [True, True] Translation: X:266.54, Y:31.19, Z:-168.47 [[-3.57587044e-01 9.31966967e-01 -5.97417592e-02 2.66536042e+02] [ 1.05879656e-01 -2.31003066e-02 -9.94110595e-01 3.11910025e+01] [-9.27858289e-01 -3.61806506e-01 -9.04159713e-02 -1.68470021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.63864 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:266.50, Y:29.64, Z:-168.67 [[-2.91620969e-01 -9.55403003e-01 -4.65006709e-02 2.66503521e+02] [ 6.23397026e-02 -6.74935590e-02 9.95770245e-01 2.96352418e+01] [-9.54500378e-01 2.87488646e-01 7.92420762e-02 -1.68668163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66864 meters Centerline goodness : 0.997842 Centerline is valid? [True, True] Translation: X:265.69, Y:30.39, Z:-168.43 [[-3.13691820e-01 -3.54469131e-02 9.48862982e-01 2.65692579e+02] [ 8.83910643e-03 9.99150635e-01 4.02477089e-02 3.03926579e+01] [-9.49483708e-01 2.10124779e-02 -3.13112062e-01 -1.68427946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.69864 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:266.41, Y:31.22, Z:-168.71 [[-3.57786497e-01 9.33753218e-01 9.68250008e-03 2.66410875e+02] [ 3.86763367e-02 2.51780174e-02 -9.98934537e-01 3.12211178e+01] [-9.33002124e-01 -3.57030805e-01 -4.51225085e-02 -1.68707964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72864 meters Centerline goodness : 0.997748 Centerline is valid? [True, True] Translation: X:267.16, Y:30.54, Z:-169.03 [[-3.38659994e-01 1.01945115e-01 -9.35369768e-01 2.67155564e+02] [ 2.27328341e-02 -9.92936372e-01 -1.16449898e-01 3.05371101e+01] [-9.40634162e-01 -6.07005275e-02 3.33950324e-01 -1.69027894e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.75864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:266.60, Y:29.67, Z:-168.90 [[-2.84243859e-01 -9.24891221e-01 -2.52550309e-01 2.66596086e+02] [ 1.78612267e-03 -2.63926052e-01 9.64541263e-01 2.96743109e+01] [-9.58750353e-01 2.73713845e-01 7.66713285e-02 -1.68897755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78864 meters Centerline goodness : 0.998429 Centerline is valid? [True, True] Translation: X:265.69, Y:30.08, Z:-168.71 [[-2.67413447e-01 -4.38929362e-01 8.57805959e-01 2.65686027e+02] [-3.61605128e-02 8.94170507e-01 4.46263959e-01 3.00776539e+01] [-9.62903145e-01 8.83182802e-02 -2.54985128e-01 -1.68709358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.81864 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:265.86, Y:31.06, Z:-168.87 [[-3.20033938e-01 7.38239923e-01 5.93784553e-01 2.65864166e+02] [-7.17293299e-02 6.06068072e-01 -7.92171948e-01 3.10636330e+01] [-9.44686817e-01 -2.96113676e-01 -1.41008897e-01 -1.68867413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:267.03, Y:30.73, Z:-169.24 [[-3.03775024e-01 3.35845476e-01 -8.91587658e-01 2.67034605e+02] [-6.40864216e-02 -9.40893897e-01 -3.32583231e-01 3.07270080e+01] [-9.50585959e-01 -4.38918165e-02 3.07343200e-01 -1.69242175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.87864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:266.13, Y:31.21, Z:-169.05 [[-3.87998219e-01 8.93808313e-01 2.24864586e-01 2.66130063e+02] [-6.73785886e-02 2.15817229e-01 -9.74106282e-01 3.12061578e+01] [-9.19193945e-01 -3.93102561e-01 -2.35131578e-02 -1.69045229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90864 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:266.49, Y:29.68, Z:-169.14 [[-3.09867939e-01 -9.20514617e-01 -2.37980463e-01 2.66492088e+02] [-9.09699325e-02 -2.20447817e-01 9.71147379e-01 2.96781939e+01] [-9.46417631e-01 3.22576504e-01 -1.54294419e-02 -1.69136218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.93864 meters Centerline goodness : 0.997601 Centerline is valid? [True, True] Translation: X:266.31, Y:29.65, Z:-169.15 [[-2.46987947e-01 -9.67908739e-01 -4.63640643e-02 2.66306201e+02] [-9.16421150e-02 -2.43005529e-02 9.95495457e-01 2.96489956e+01] [-9.64675426e-01 2.50124280e-01 -8.26992603e-02 -1.69153295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:266.28, Y:31.21, Z:-169.34 [[-3.27277289e-01 9.42769497e-01 -6.38376932e-02 2.66276272e+02] [-4.32692749e-02 -8.24395078e-02 -9.95656315e-01 3.12082495e+01] [-9.43937151e-01 -3.23093489e-01 6.77735311e-02 -1.69337841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.99864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:266.16, Y:31.20, Z:-169.39 [[-3.96517883e-01 9.16030224e-01 6.05160929e-02 2.66163180e+02] [-5.01037574e-02 4.42275357e-02 -9.97764270e-01 3.12037751e+01] [-9.16658705e-01 -3.98663460e-01 2.83595472e-02 -1.69387700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:266.29, Y:29.63, Z:-169.42 [[-3.05063973e-01 -9.44164859e-01 -1.24453568e-01 2.66290514e+02] [-6.90142685e-02 -1.08421372e-01 9.91706528e-01 2.96339306e+01] [-9.49827881e-01 3.11123006e-01 -3.20853926e-02 -1.69421089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.05864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:265.42, Y:30.32, Z:-169.25 [[-3.25743532e-01 -1.61685671e-01 9.31530405e-01 2.65423786e+02] [-1.52544063e-01 9.81347885e-01 1.16989900e-01 3.03192749e+01] [-9.33070983e-01 -1.03990730e-01 -3.44331916e-01 -1.69249290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08864 meters Centerline goodness : 0.997783 Centerline is valid? [True, True] Translation: X:266.81, Y:30.71, Z:-169.86 [[-3.33616825e-01 3.94982502e-01 -8.55972335e-01 2.66805664e+02] [-5.79689067e-02 -9.14869434e-01 -3.99566670e-01 3.07129279e+01] [-9.40924769e-01 -8.36823833e-02 3.28112540e-01 -1.69855104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.11864 meters Centerline goodness : 0.997992 Centerline is valid? [True, True] Translation: X:266.38, Y:29.65, Z:-169.69 [[-2.44592664e-01 -9.01394529e-01 -3.57298659e-01 2.66376135e+02] [-6.39408104e-02 -3.52694796e-01 9.33551259e-01 2.96542098e+01] [-9.67515375e-01 2.51185756e-01 2.86306633e-02 -1.69690392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14864 meters Centerline goodness : 0.998236 Centerline is valid? [True, True] Translation: X:265.85, Y:31.14, Z:-169.70 [[-3.53487070e-01 8.83208414e-01 3.08204134e-01 2.65849747e+02] [-6.03765068e-02 3.07246887e-01 -9.49712603e-01 3.11357092e+01] [-9.33488923e-01 -3.54319414e-01 -5.52827631e-02 -1.69700535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:266.02, Y:29.60, Z:-169.73 [[-2.49405121e-01 -9.68225590e-01 1.83382752e-02 2.66024791e+02] [-9.38434208e-02 4.30120126e-02 9.94657418e-01 2.96014115e+01] [-9.63841531e-01 2.46351728e-01 -1.01589018e-01 -1.69725606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:265.97, Y:29.60, Z:-169.78 [[-1.87498767e-01 -9.81028255e-01 4.92724611e-02 2.65969632e+02] [-9.86156540e-02 6.87091171e-02 9.92750729e-01 2.95993563e+01] [-9.77301983e-01 1.81280502e-01 -1.09627618e-01 -1.69778700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:265.94, Y:29.59, Z:-169.85 [[-1.22562664e-01 -9.91105404e-01 5.18504814e-02 2.65940941e+02] [-1.03627339e-01 6.47386361e-02 9.92507070e-01 2.95943118e+01] [-9.87035849e-01 1.16271183e-01 -1.10640155e-01 -1.69849153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:266.66, Y:30.78, Z:-170.06 [[-1.26642619e-01 5.41488845e-01 -8.31114600e-01 2.66664252e+02] [-6.44898967e-02 -8.40582643e-01 -5.37830710e-01 3.07750031e+01] [-9.89849837e-01 -1.45137948e-02 1.41374147e-01 -1.70062532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29864 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:266.68, Y:30.74, Z:-170.10 [[-1.32631563e-01 5.06407666e-01 -8.52032948e-01 2.66677501e+02] [-5.55375422e-02 -8.62073888e-01 -5.03730278e-01 3.07426342e+01] [-9.89608231e-01 -1.94907183e-02 1.42462844e-01 -1.70096683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:265.93, Y:31.15, Z:-170.08 [[-2.14831770e-01 9.70001846e-01 1.13770509e-01 2.65928942e+02] [-5.91463417e-02 1.03354909e-01 -9.92884421e-01 3.11503866e+01] [-9.74858462e-01 -2.20032227e-01 3.51681425e-02 -1.70084237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:266.71, Y:30.62, Z:-170.29 [[-2.18064468e-01 3.62976411e-01 -9.05922741e-01 2.66706038e+02] [-3.77012059e-02 -9.30702173e-01 -3.63829746e-01 3.06203836e+01] [-9.75205879e-01 -4.51839603e-02 2.16637723e-01 -1.70286734e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.38864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:266.18, Y:29.60, Z:-170.19 [[-1.49995964e-01 -9.36212951e-01 -3.17815232e-01 2.66183779e+02] [-3.53027045e-02 -3.16175359e-01 9.48043702e-01 2.95953934e+01] [-9.88056137e-01 1.53422466e-01 1.43741786e-02 -1.70192627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41864 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:265.82, Y:31.13, Z:-170.26 [[-2.18810149e-01 9.55977452e-01 1.95522965e-01 2.65823795e+02] [-2.73459384e-02 1.94292149e-01 -9.80562472e-01 3.11284285e+01] [-9.75384190e-01 -2.19903780e-01 -1.63709935e-02 -1.70259333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.44864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:266.70, Y:30.51, Z:-170.45 [[-2.04494867e-01 2.33333712e-01 -9.50650950e-01 2.66703523e+02] [-2.45091649e-02 -9.72090193e-01 -2.33323719e-01 3.05118742e+01] [-9.78560754e-01 -2.44138420e-02 2.04506269e-01 -1.70450449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:265.82, Y:29.57, Z:-170.30 [[-1.69430658e-01 -9.79727779e-01 1.06895893e-01 2.65817109e+02] [-6.19475413e-02 1.18836533e-01 9.90979506e-01 2.95681923e+01] [-9.83593287e-01 1.61280372e-01 -8.08262789e-02 -1.70295082e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.50864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:265.13, Y:30.32, Z:-170.28 [[-1.85365086e-01 -9.47319466e-02 9.78092860e-01 2.65134799e+02] [-1.00996043e-01 9.91908082e-01 7.69295497e-02 3.03152046e+01] [-9.77465899e-01 -8.45234557e-02 -1.93432678e-01 -1.70281577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:266.36, Y:30.98, Z:-170.61 [[-1.60705981e-01 8.10968569e-01 -5.62586497e-01 2.66361459e+02] [-1.10199811e-01 -5.81174022e-01 -8.06283298e-01 3.09798177e+01] [-9.80831071e-01 -6.75776225e-02 1.82766725e-01 -1.70611940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.56864 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:266.55, Y:30.76, Z:-170.67 [[-1.74365236e-01 5.40708134e-01 -8.22940750e-01 2.66552788e+02] [-8.65753374e-02 -8.40925245e-01 -5.34181095e-01 3.07554106e+01] [-9.80867715e-01 -2.18962398e-02 1.93440118e-01 -1.70674229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59864 meters Centerline goodness : 0.998873 Centerline is valid? [True, True] Translation: X:266.22, Y:29.63, Z:-170.58 [[-1.13092608e-01 -8.86185228e-01 -4.49317042e-01 2.66217138e+02] [-6.71931423e-02 -4.44361586e-01 8.93324052e-01 2.96254400e+01] [-9.91309812e-01 1.31219371e-01 -9.29155936e-03 -1.70578289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.62864 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:265.86, Y:31.12, Z:-170.68 [[-1.85647052e-01 9.81805247e-01 3.99202754e-02 2.65857931e+02] [-3.20712007e-02 3.45506091e-02 -9.98888229e-01 3.11189873e+01] [-9.82092974e-01 -1.86720946e-01 2.50734544e-02 -1.70681151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:265.63, Y:31.08, Z:-170.70 [[-2.56772238e-01 9.12821211e-01 3.17530242e-01 2.65634244e+02] [-4.39349539e-02 3.17181425e-01 -9.47346644e-01 3.10843420e+01] [-9.65472805e-01 -2.57202994e-01 -4.13386263e-02 -1.70704416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.68864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:266.55, Y:30.68, Z:-170.95 [[-2.38557574e-01 4.55743404e-01 -8.57547802e-01 2.66548366e+02] [-4.78016229e-02 -8.87482946e-01 -4.58354694e-01 3.06787745e+01] [-9.69951179e-01 -6.83518069e-02 2.33501053e-01 -1.70948152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:265.96, Y:31.10, Z:-170.90 [[-3.19084325e-01 9.39983883e-01 -1.20894551e-01 2.65964141e+02] [-3.22552998e-02 -1.38259946e-01 -9.89870589e-01 3.11019869e+01] [-9.47177274e-01 -3.11952699e-01 7.44360436e-02 -1.70899063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.74864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:266.58, Y:30.42, Z:-171.15 [[-3.07166502e-01 1.44022782e-01 -9.40694519e-01 2.66576957e+02] [-1.30833187e-03 -9.88544872e-01 -1.50921584e-01 3.04214861e+01] [-9.51654889e-01 -4.51273146e-02 3.03836300e-01 -1.71148771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77864 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:265.86, Y:29.53, Z:-170.98 [[-2.50387378e-01 -9.63993158e-01 -8.95731689e-02 2.65855303e+02] [-1.27706516e-02 -8.92236344e-02 9.95929743e-01 2.95255513e+01] [-9.68061502e-01 2.50512145e-01 1.00296511e-02 -1.70982533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.80864 meters Centerline goodness : 0.998330 Centerline is valid? [True, True] Translation: X:265.02, Y:30.24, Z:-170.86 [[-2.55405606e-01 -1.47392386e-01 9.55533077e-01 2.65016686e+02] [-9.60611504e-02 9.87289725e-01 1.26614593e-01 3.02411842e+01] [-9.62050015e-01 -5.94515297e-02 -2.66318013e-01 -1.70855161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:266.45, Y:30.64, Z:-171.34 [[-2.65025047e-01 4.24322368e-01 -8.65859257e-01 2.66446645e+02] [-2.38604321e-02 -9.00580252e-01 -4.34034434e-01 3.06378722e+01] [-9.63946266e-01 -9.43702202e-02 2.48800838e-01 -1.71341567e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.86864 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:265.81, Y:29.52, Z:-171.19 [[-1.80773036e-01 -9.73924774e-01 -1.37082615e-01 2.65806051e+02] [-5.67510418e-02 -1.28817587e-01 9.90043104e-01 2.95212637e+01] [-9.81886159e-01 1.86752679e-01 -3.19844993e-02 -1.71194365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89864 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:265.69, Y:29.51, Z:-171.25 [[-1.14459623e-01 -9.93029554e-01 -2.81300641e-02 2.65691237e+02] [-5.90957854e-02 -2.14599162e-02 9.98021623e-01 2.95139719e+01] [-9.91668636e-01 1.15895547e-01 -5.62275674e-02 -1.71252285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:265.69, Y:31.09, Z:-171.40 [[-2.30943885e-01 9.72493466e-01 3.03542448e-02 2.65693188e+02] [-2.28230291e-02 2.57743761e-02 -9.99407220e-01 3.10914523e+01] [-9.72699353e-01 -2.31499761e-01 1.62428122e-02 -1.71400391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:265.73, Y:31.08, Z:-171.48 [[-2.92489631e-01 9.55956845e-01 -2.44197927e-02 2.65734894e+02] [-1.82188157e-02 -3.11025943e-02 -9.99350141e-01 3.10844893e+01] [-9.56095126e-01 -2.91854654e-01 2.65135879e-02 -1.71483630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98864 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:265.76, Y:31.08, Z:-171.57 [[-3.55469143e-01 9.31955656e-01 -7.14166857e-02 2.65762798e+02] [-1.20438630e-02 -8.09676189e-02 -9.96643964e-01 3.10773804e+01] [-9.34610418e-01 -3.53416043e-01 4.00058364e-02 -1.71573885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:265.50, Y:29.52, Z:-171.51 [[-2.54933280e-01 -9.57561989e-01 1.34476989e-01 2.65504465e+02] [-6.99119021e-02 1.56960919e-01 9.85127198e-01 2.95189533e+01] [-9.64427990e-01 2.41740166e-01 -1.06959542e-01 -1.71508657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:265.59, Y:29.50, Z:-171.63 [[-1.87442447e-01 -9.81937760e-01 -2.57597454e-02 2.65594960e+02] [-4.99649293e-02 -1.66593480e-02 9.98612023e-01 2.94991411e+01] [-9.81003993e-01 1.88469365e-01 -4.59397817e-02 -1.71629615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:264.83, Y:30.42, Z:-171.59 [[-2.33137287e-01 7.62035480e-02 9.69453467e-01 2.64828801e+02] [-1.41712799e-01 9.83619982e-01 -1.11396652e-01 3.04229585e+01] [-9.62062622e-01 -1.63354678e-01 -2.18519476e-01 -1.71593814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:266.27, Y:30.63, Z:-171.97 [[-2.14126319e-01 4.78636039e-01 -8.51503061e-01 2.66274742e+02] [-7.74802978e-02 -8.77297604e-01 -4.73651473e-01 3.06301853e+01] [-9.73728259e-01 -3.54465355e-02 2.24937369e-01 -1.71972942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.13864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:265.60, Y:29.50, Z:-171.78 [[-1.24135061e-01 -9.86008809e-01 -1.11252486e-01 2.65603745e+02] [-1.21206183e-01 -9.62124791e-02 9.87953552e-01 2.94994249e+01] [-9.84834782e-01 1.36124164e-01 -1.07567022e-01 -1.71778102e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:266.22, Y:30.68, Z:-172.03 [[-1.56853765e-01 5.60309230e-01 -8.13296049e-01 2.66215597e+02] [-6.24461469e-02 -8.27468190e-01 -5.58029455e-01 3.06826229e+01] [-9.85645664e-01 -3.67418164e-02 1.64780653e-01 -1.72034604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.19864 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:266.22, Y:30.68, Z:-172.06 [[-1.51765595e-01 5.62653488e-01 -8.12642761e-01 2.66216139e+02] [-4.84609808e-02 -8.25413256e-01 -5.62445099e-01 3.06816111e+01] [-9.87227804e-01 -4.59783502e-02 1.52536074e-01 -1.72056247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:265.92, Y:29.58, Z:-172.01 [[-7.93000641e-02 -8.29876319e-01 -5.52283257e-01 2.65922972e+02] [-4.77997975e-02 -5.50225132e-01 8.33647098e-01 2.95784085e+01] [-9.95704112e-01 9.25072961e-02 3.96496827e-03 -1.72005730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.25864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:265.87, Y:29.55, Z:-172.07 [[-2.20608770e-02 -8.58719148e-01 -5.11971428e-01 2.65872818e+02] [-1.81429825e-02 -5.11667857e-01 8.58991756e-01 2.95535501e+01] [-9.99591992e-01 2.82388002e-02 -4.29188484e-03 -1.72071574e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:265.23, Y:30.99, Z:-172.13 [[-1.30798635e-01 9.00010751e-01 4.15779226e-01 2.65227693e+02] [-2.42029264e-02 4.16358401e-01 -9.08878375e-01 3.09902045e+01] [-9.91113483e-01 -1.28943124e-01 -3.26762164e-02 -1.72130846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.31864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:265.42, Y:31.04, Z:-172.23 [[-1.92839136e-01 9.65792202e-01 1.73373843e-01 2.65423535e+02] [-2.98224904e-02 1.70839887e-01 -9.84847375e-01 3.10378870e+01] [-9.80777083e-01 -1.95087557e-01 -4.14228752e-03 -1.72234823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34864 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:265.38, Y:29.48, Z:-172.23 [[-9.49570225e-02 -9.91663489e-01 8.71015969e-02 2.65378865e+02] [-7.65954198e-02 9.45158433e-02 9.92572364e-01 2.94752396e+01] [-9.92530254e-01 8.75801329e-02 -8.49318243e-02 -1.72231177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.37864 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:266.21, Y:30.56, Z:-172.45 [[-1.14355752e-01 4.47754309e-01 -8.86813870e-01 2.66205178e+02] [ 2.85443951e-03 -8.92518129e-01 -4.51002486e-01 3.05588264e+01] [-9.93435762e-01 -5.41060851e-02 1.00786494e-01 -1.72453629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40864 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:265.46, Y:31.03, Z:-172.45 [[-2.09506676e-01 9.72931561e-01 9.75250241e-02 2.65456582e+02] [-9.00177310e-03 9.78151541e-02 -9.95163888e-01 3.10330730e+01] [-9.77765780e-01 -2.09371376e-01 -1.17348187e-02 -1.72448642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.43864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:265.47, Y:31.03, Z:-172.54 [[-2.75105291e-01 9.58961145e-01 6.86338141e-02 2.65474576e+02] [-1.38450389e-02 6.74293952e-02 -9.97627983e-01 3.10338956e+01] [-9.61314409e-01 -2.75402974e-01 -5.27332905e-03 -1.72536308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46864 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:265.44, Y:29.45, Z:-172.56 [[-1.75859548e-01 -9.83328525e-01 -4.62431653e-02 2.65442846e+02] [-4.74483946e-02 -3.84536665e-02 9.98133240e-01 2.94510633e+01] [-9.83271107e-01 1.77725425e-01 -3.98949154e-02 -1.72556583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.49864 meters Centerline goodness : 0.997013 Centerline is valid? [True, True] Translation: X:265.45, Y:29.45, Z:-172.64 [[-1.08389367e-01 -9.89842530e-01 -9.19973415e-02 2.65451760e+02] [-4.08298149e-02 -8.80318252e-02 9.95280525e-01 2.94494222e+01] [-9.93269687e-01 1.11634061e-01 -3.08733735e-02 -1.72639905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52864 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:265.46, Y:29.45, Z:-172.72 [[-4.06160998e-02 -9.90269846e-01 -1.33101331e-01 2.65463373e+02] [-3.16840766e-02 -1.31867794e-01 9.90760821e-01 2.94482057e+01] [-9.98672345e-01 4.44580332e-02 -2.60198302e-02 -1.72720110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.55864 meters Centerline goodness : 0.996907 Centerline is valid? [True, True] Translation: X:265.49, Y:31.02, Z:-172.82 [[-1.38937064e-01 9.89810459e-01 -3.11728734e-02 2.65489137e+02] [ 7.94516294e-03 -3.03630241e-02 -9.99507359e-01 3.10176790e+01] [-9.90269340e-01 -1.39116291e-01 -3.64565595e-03 -1.72818956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58864 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:265.39, Y:29.44, Z:-172.86 [[-4.53223018e-02 -9.97599816e-01 -5.23497446e-02 2.65387579e+02] [-2.94689999e-02 -5.10456479e-02 9.98261449e-01 2.94430123e+01] [-9.98537664e-01 4.67862013e-02 -2.70847626e-02 -1.72864668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.61864 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:265.55, Y:31.00, Z:-172.96 [[-1.31825033e-01 9.83531352e-01 -1.23645623e-01 2.65546922e+02] [ 2.23081459e-02 -1.21759095e-01 -9.92308959e-01 3.10041208e+01] [-9.91021951e-01 -1.33569466e-01 -5.88986417e-03 -1.72958911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64864 meters Centerline goodness : 0.996565 Centerline is valid? [True, True] Translation: X:265.43, Y:29.44, Z:-173.04 [[-4.65859232e-02 -9.91614112e-01 -1.20545448e-01 2.65425717e+02] [ 5.07068085e-03 -1.20909664e-01 9.92650564e-01 2.94409045e+01] [-9.98901417e-01 4.56322955e-02 1.06608470e-02 -1.73038650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67864 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:264.60, Y:30.07, Z:-173.05 [[-5.61443116e-02 -2.76450634e-01 9.59386712e-01 2.64604746e+02] [-7.63045659e-02 9.59280128e-01 2.71954498e-01 3.00737357e+01] [-9.95502601e-01 -5.79368885e-02 -7.49525680e-02 -1.73052140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70864 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:265.82, Y:30.88, Z:-173.16 [[-3.80012332e-02 8.52195433e-01 -5.21841786e-01 2.65822541e+02] [-3.83723772e-02 -5.23078290e-01 -8.51420380e-01 3.08820415e+01] [-9.98540669e-01 -1.23307146e-02 5.25783847e-02 -1.73164068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73864 meters Centerline goodness : 0.996234 Centerline is valid? [True, True] Translation: X:265.86, Y:30.85, Z:-173.18 [[-4.03795854e-02 8.21206877e-01 -5.69200101e-01 2.65856475e+02] [-3.55250815e-02 -5.70484480e-01 -8.20539717e-01 3.08541140e+01] [-9.98552681e-01 -1.29121736e-02 5.22093680e-02 -1.73181423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76864 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:265.89, Y:30.82, Z:-173.20 [[-4.35302356e-02 7.85347781e-01 -6.17522454e-01 2.65893385e+02] [-3.18009421e-02 -6.18884357e-01 -7.84838106e-01 3.08230763e+01] [-9.98545852e-01 -1.45263919e-02 5.19149811e-02 -1.73200088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79864 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:265.93, Y:30.79, Z:-173.22 [[-4.80228162e-02 7.46824751e-01 -6.63284706e-01 2.65926446e+02] [-2.92014479e-02 -6.64816740e-01 -7.46435514e-01 3.07899679e+01] [-9.98419293e-01 -1.64770618e-02 5.37347362e-02 -1.73219527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82864 meters Centerline goodness : 0.996618 Centerline is valid? [True, True] Translation: X:265.96, Y:30.75, Z:-173.25 [[-5.71447555e-02 6.97994773e-01 -7.13819147e-01 2.65961518e+02] [-2.40499091e-02 -7.15742439e-01 -6.97950114e-01 3.07505011e+01] [-9.98076189e-01 -2.27169030e-02 5.76876375e-02 -1.73252555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85864 meters Centerline goodness : 0.995881 Centerline is valid? [True, True] Translation: X:266.00, Y:30.69, Z:-173.34 [[-9.10205957e-02 6.33970770e-01 -7.67981975e-01 2.66000255e+02] [-2.81309344e-03 -7.71343756e-01 -6.36412521e-01 3.06930295e+01] [-9.95845037e-01 -5.57662417e-02 7.19915872e-02 -1.73341513e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.88864 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:266.15, Y:30.27, Z:-173.41 [[-7.00295343e-02 1.25215724e-01 -9.89654933e-01 2.66146732e+02] [ 6.83454961e-02 -9.89157096e-01 -1.29988970e-01 3.02728229e+01] [-9.95200863e-01 -7.67415244e-02 6.07122800e-02 -1.73412617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91864 meters Centerline goodness : 0.995736 Centerline is valid? [True, True] Translation: X:266.02, Y:29.79, Z:-173.48 [[-5.18596511e-02 -5.01421669e-01 -8.63647432e-01 2.66015132e+02] [ 7.01314192e-02 -8.64504599e-01 4.97708129e-01 2.97859239e+01] [-9.96188818e-01 -3.47578502e-02 7.99983201e-02 -1.73476313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.94864 meters Centerline goodness : 0.994816 Centerline is valid? [True, True] Translation: X:265.93, Y:29.68, Z:-173.51 [[-4.65452440e-02 -6.39296500e-01 -7.67550341e-01 2.65930627e+02] [ 7.44357296e-02 -7.68466589e-01 6.35545769e-01 2.96842432e+01] [-9.96138977e-01 -2.75515367e-02 8.33549663e-02 -1.73506326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97864 meters Centerline goodness : 0.994703 Centerline is valid? [True, True] Translation: X:265.88, Y:29.64, Z:-173.52 [[-4.31584909e-02 -7.03997144e-01 -7.08890235e-01 2.65880751e+02] [ 7.60366850e-02 -7.09807961e-01 7.00279288e-01 2.96386467e+01] [-9.96170551e-01 -2.36786662e-02 8.41638496e-02 -1.73521901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.00864 meters Centerline goodness : 0.993777 Centerline is valid? [True, True] Translation: X:265.84, Y:29.61, Z:-173.59 [[-2.34138281e-02 -7.41791116e-01 -6.70222152e-01 2.65842944e+02] [ 9.08153530e-02 -6.69212291e-01 7.37500835e-01 2.96148619e+01] [-9.95592469e-01 -4.35987436e-02 8.30348436e-02 -1.73586180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03864 meters Centerline goodness : 0.993346 Centerline is valid? [True, True] Translation: X:265.67, Y:29.51, Z:-173.60 [[-2.16180339e-02 -8.87981119e-01 -4.59371520e-01 2.65670766e+02] [ 8.44848560e-02 -4.59457948e-01 8.84172327e-01 2.95099528e+01] [-9.96190228e-01 -1.96958695e-02 8.49535344e-02 -1.73595739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.06864 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:265.64, Y:29.50, Z:-173.61 [[-1.88388124e-02 -9.05175923e-01 -4.24619415e-01 2.65641808e+02] [ 8.63212282e-02 -4.24581496e-01 9.01265332e-01 2.94985700e+01] [-9.96089225e-01 -1.96749008e-02 8.61345086e-02 -1.73609025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09864 meters Centerline goodness : 0.994470 Centerline is valid? [True, True] Translation: X:265.61, Y:29.49, Z:-173.63 [[-1.64238214e-02 -9.24217758e-01 -3.81512509e-01 2.65607259e+02] [ 8.97843665e-02 -3.81385729e-01 9.20045484e-01 2.94862805e+01] [-9.95825801e-01 -1.91431963e-02 8.92441170e-02 -1.73627912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.12864 meters Centerline goodness : 0.993785 Centerline is valid? [True, True] Translation: X:265.58, Y:29.48, Z:-173.64 [[-1.35786579e-02 -9.39316486e-01 -3.42782963e-01 2.65575433e+02] [ 8.95464082e-02 -3.42579452e-01 9.35211612e-01 2.94770832e+01] [-9.95890085e-01 -1.79960645e-02 8.87641867e-02 -1.73638800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15864 meters Centerline goodness : 0.994217 Centerline is valid? [True, True] Translation: X:265.54, Y:29.47, Z:-173.66 [[-7.84883723e-03 -9.52017502e-01 -3.05942922e-01 2.65542144e+02] [ 8.87873257e-02 -3.05407426e-01 9.48073370e-01 2.94718364e+01] [-9.96019682e-01 -1.97225803e-02 8.69241812e-02 -1.73659820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.18864 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:265.49, Y:29.46, Z:-173.67 [[-6.06030202e-03 -9.69154796e-01 -2.46378273e-01 2.65494184e+02] [ 8.73823355e-02 -2.45953559e-01 9.65334747e-01 2.94627274e+01] [-9.96156414e-01 -1.56788888e-02 8.61775624e-02 -1.73669893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21864 meters Centerline goodness : 0.994514 Centerline is valid? [True, True] Translation: X:265.46, Y:29.46, Z:-173.68 [[-4.93367714e-03 -9.77977502e-01 -2.08652018e-01 2.65464816e+02] [ 8.63219050e-02 -2.08292209e-01 9.74249909e-01 2.94595778e+01] [-9.96255082e-01 -1.32046052e-02 8.54485275e-02 -1.73678884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.24864 meters Centerline goodness : 0.994268 Centerline is valid? [True, True] Translation: X:265.46, Y:29.46, Z:-173.71 [[-6.74402686e-03 -9.77811644e-01 -2.09377429e-01 2.65464636e+02] [ 1.04021792e-01 -2.08932236e-01 9.72382017e-01 2.94609642e+01] [-9.94552153e-01 -1.52220450e-02 1.03122764e-01 -1.73706214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27864 meters Centerline goodness : 0.994031 Centerline is valid? [True, True] Translation: X:264.56, Y:30.17, Z:-173.68 [[-1.92404430e-02 -1.57706859e-01 9.87298512e-01 2.64561628e+02] [ 2.46910342e-02 9.87105195e-01 1.58157158e-01 3.01686412e+01] [-9.99509959e-01 2.74204351e-02 -1.50983958e-02 -1.73682974e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.30864 meters Centerline goodness : 0.994473 Centerline is valid? [True, True] Translation: X:265.36, Y:29.47, Z:-173.72 [[ 8.60835379e-03 -9.96708177e-01 -8.06145547e-02 2.65362349e+02] [ 1.70752506e-02 -8.04592707e-02 9.96611630e-01 2.94680806e+01] [-9.99817149e-01 -9.95569922e-03 1.63264200e-02 -1.73719620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33864 meters Centerline goodness : 0.994767 Centerline is valid? [True, True] Translation: X:265.24, Y:29.48, Z:-173.77 [[ 8.69416260e-03 -9.97230421e-01 7.38640535e-02 2.65241264e+02] [ 1.59769639e-02 7.39959483e-02 9.97130551e-01 2.94767952e+01] [-9.99834560e-01 -7.48909183e-03 1.65760472e-02 -1.73773487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.36864 meters Centerline goodness : 0.994571 Centerline is valid? [True, True] Translation: X:265.20, Y:29.49, Z:-173.85 [[ 2.13483124e-02 -9.92015211e-01 1.24298311e-01 2.65197386e+02] [ 5.62704756e-02 1.25321798e-01 9.90519096e-01 2.94894252e+01] [-9.98187299e-01 -1.41515861e-02 5.84965767e-02 -1.73849725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39864 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:264.59, Y:30.52, Z:-173.99 [[-1.99088033e-02 2.21556454e-01 9.74944294e-01 2.64594657e+02] [-3.87845528e-02 9.74232435e-01 -2.22186682e-01 3.05195266e+01] [-9.99049247e-01 -4.22362494e-02 -1.08028339e-02 -1.73987724e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42864 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:265.41, Y:31.09, Z:-174.03 [[-7.58919230e-03 9.99401354e-01 -3.37540646e-02 2.65413325e+02] [-2.28119299e-02 -3.39192827e-02 -9.99164200e-01 3.10860832e+01] [-9.99710968e-01 -6.81285389e-03 2.30556936e-02 -1.74025497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45864 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:265.49, Y:31.07, Z:-174.04 [[-1.05654980e-02 9.90382117e-01 -1.37955182e-01 2.65494611e+02] [-2.25836447e-02 -1.38164031e-01 -9.90151847e-01 3.10743820e+01] [-9.99689126e-01 -7.34591658e-03 2.38262097e-02 -1.74039596e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48864 meters Centerline goodness : 0.995449 Centerline is valid? [True, True] Translation: X:265.57, Y:31.05, Z:-174.06 [[-1.36551142e-02 9.71600764e-01 -2.36231862e-01 2.65573368e+02] [-2.27801820e-02 -2.36494858e-01 -9.71365660e-01 3.10542046e+01] [-9.99647238e-01 -7.88270420e-03 2.53626065e-02 -1.74057126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51864 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:265.65, Y:31.03, Z:-174.07 [[-1.75473480e-02 9.41642013e-01 -3.36158312e-01 2.65650607e+02] [-2.27893486e-02 -3.36499404e-01 -9.41407880e-01 3.10253089e+01] [-9.99586283e-01 -8.85838274e-03 2.73640802e-02 -1.74071269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54864 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:265.72, Y:30.99, Z:-174.09 [[-2.07771980e-02 9.03553099e-01 -4.27972084e-01 2.65721586e+02] [-2.13466758e-02 -4.28367828e-01 -9.03352270e-01 3.09913999e+01] [-9.99556215e-01 -9.63334763e-03 2.81881383e-02 -1.74088865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57864 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:265.79, Y:30.95, Z:-174.11 [[-2.47542912e-02 8.54828743e-01 -5.18319444e-01 2.65791403e+02] [-1.69482366e-02 -5.18762664e-01 -8.54750289e-01 3.09485648e+01] [-9.99549890e-01 -1.23741370e-02 2.73294418e-02 -1.74109187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60864 meters Centerline goodness : 0.996528 Centerline is valid? [True, True] Translation: X:265.88, Y:30.87, Z:-174.13 [[-2.59409093e-02 7.66217615e-01 -6.42057346e-01 2.65883958e+02] [-1.45437546e-02 -6.42494781e-01 -7.66152032e-01 3.08730226e+01] [-9.99557676e-01 -1.05367559e-02 2.78105798e-02 -1.74125547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.63864 meters Centerline goodness : 0.997060 Centerline is valid? [True, True] Translation: X:265.25, Y:29.52, Z:-174.14 [[ 4.21542408e-02 -9.98110433e-01 4.47055284e-02 2.65252698e+02] [-4.61727003e-02 4.27513392e-02 9.98018239e-01 2.95215726e+01] [-9.98043637e-01 -4.41348761e-02 -4.42833036e-02 -1.74140868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66864 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:265.02, Y:29.58, Z:-174.32 [[ 1.02966848e-01 -9.51090764e-01 2.91245922e-01 2.65021329e+02] [-6.70278301e-02 2.85502253e-01 9.56031241e-01 2.95751062e+01] [-9.92423850e-01 -1.17961106e-01 -3.43522831e-02 -1.74318067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.69864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:264.61, Y:30.66, Z:-174.50 [[ 1.20912335e-01 4.03569730e-01 9.06924297e-01 2.64612816e+02] [-7.60887199e-02 9.14707450e-01 -3.96888886e-01 3.06645441e+01] [-9.89742751e-01 -2.10179468e-02 1.41306518e-01 -1.74504864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72864 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:265.73, Y:30.97, Z:-174.58 [[ 3.33006607e-02 9.13264012e-01 -4.06004815e-01 2.65727113e+02] [-1.51175185e-02 -4.05723376e-01 -9.13870890e-01 3.09742649e+01] [-9.99331040e-01 3.65702897e-02 2.95429131e-04 -1.74580497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.75864 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:264.90, Y:30.90, Z:-174.77 [[-3.10060569e-02 7.14148696e-01 6.99306989e-01 2.64895032e+02] [-7.14443349e-02 6.96270271e-01 -7.14215245e-01 3.09030969e+01] [-9.96962553e-01 -7.21065212e-02 2.94332829e-02 -1.74771047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78864 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:265.62, Y:31.06, Z:-174.80 [[-2.09790946e-02 9.78842987e-01 -2.03534478e-01 2.65615144e+02] [-6.24481871e-02 -2.04464716e-01 -9.76879933e-01 3.10615280e+01] [-9.97827691e-01 -7.78369737e-03 6.54164546e-02 -1.74803777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.81864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:265.65, Y:31.05, Z:-174.82 [[-2.21163729e-02 9.67308911e-01 -2.52634790e-01 2.65653598e+02] [-6.05054835e-02 -2.53528447e-01 -9.65433795e-01 3.10492054e+01] [-9.97922819e-01 -6.06610369e-03 6.41346230e-02 -1.74815164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84864 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:265.67, Y:31.04, Z:-174.84 [[-2.99857264e-02 9.60513490e-01 -2.76612893e-01 2.65671379e+02] [-7.87924101e-02 -2.78147592e-01 -9.57301245e-01 3.10411760e+01] [-9.96439969e-01 -6.91037670e-03 8.40216304e-02 -1.74841962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.87864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:266.17, Y:30.15, Z:-174.86 [[-1.14099931e-03 -1.19153128e-01 -9.92875234e-01 2.66169607e+02] [-1.13286297e-02 -9.92810626e-01 1.19158393e-01 3.01458551e+01] [-9.99935178e-01 1.13838755e-02 -2.17045427e-04 -1.74856460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:266.16, Y:30.48, Z:-174.94 [[-1.13791188e-02 3.05284634e-01 -9.52193157e-01 2.66158443e+02] [ 2.94790271e-02 -9.51738486e-01 -3.05491148e-01 3.04767747e+01] [-9.99500627e-01 -3.15459479e-02 1.83045128e-03 -1.74935168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.93864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:265.92, Y:29.71, Z:-174.98 [[-2.01279105e-02 -6.97477942e-01 -7.16323522e-01 2.65922908e+02] [ 1.57666993e-02 -7.16601009e-01 6.97305102e-01 2.97074230e+01] [-9.99673086e-01 2.74123705e-03 2.54206060e-02 -1.74975646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:265.83, Y:29.64, Z:-175.00 [[-1.95583511e-02 -7.93523396e-01 -6.08225363e-01 2.65833537e+02] [ 1.61246075e-02 -6.08512957e-01 7.93380097e-01 2.96384763e+01] [-9.99678682e-01 5.70981131e-03 2.46967633e-02 -1.74995138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.99864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:265.76, Y:29.59, Z:-175.03 [[-1.27040159e-02 -8.58843964e-01 -5.12079733e-01 2.65755001e+02] [ 2.21307833e-02 -5.12237117e-01 8.58558888e-01 2.95937375e+01] [-9.99674365e-01 -4.25579859e-04 2.55143581e-02 -1.75027726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02864 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:265.59, Y:29.53, Z:-175.05 [[-1.24784494e-02 -9.52759252e-01 -3.03470092e-01 2.65588659e+02] [ 2.59837952e-02 -3.03700203e-01 9.52413266e-01 2.95323374e+01] [-9.99584479e-01 3.99933608e-03 2.85460089e-02 -1.75045512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.05864 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:265.53, Y:29.52, Z:-175.07 [[-1.16839519e-02 -9.74929303e-01 -2.22207874e-01 2.65525341e+02] [ 4.97439731e-02 -2.22514606e-01 9.73659482e-01 2.95193045e+01] [-9.98693658e-01 3.22688024e-04 5.10967070e-02 -1.75071322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:264.65, Y:30.07, Z:-175.23 [[ 1.56847324e-02 -3.92023576e-01 9.19821453e-01 2.64645224e+02] [-4.25758032e-02 9.18838397e-01 3.92330602e-01 3.00717921e+01] [-9.98970115e-01 -4.53157377e-02 -2.27898420e-03 -1.75230126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.11864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:264.95, Y:30.98, Z:-175.31 [[ 2.86238645e-02 7.94989658e-01 6.05947290e-01 2.64946234e+02] [-2.61366393e-02 6.06583663e-01 -7.94589917e-01 3.09789781e+01] [-9.99248493e-01 6.90680837e-03 3.81411265e-02 -1.75314933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:264.99, Y:31.00, Z:-175.37 [[ 2.62907774e-02 8.32958000e-01 5.52711285e-01 2.64989403e+02] [-2.77973717e-02 5.53297760e-01 -8.32519606e-01 3.10032177e+01] [-9.99267783e-01 6.52366663e-03 3.77006714e-02 -1.75374324e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:265.04, Y:31.03, Z:-175.43 [[ 2.58917936e-02 8.74644544e-01 4.84072864e-01 2.65044529e+02] [-3.06131130e-02 4.84701827e-01 -8.74143567e-01 3.10303461e+01] [-9.99195903e-01 7.81416755e-03 3.93253919e-02 -1.75430556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:265.10, Y:31.05, Z:-175.51 [[ 2.09127650e-02 9.08121597e-01 4.18183957e-01 2.65099461e+02] [-3.52976481e-02 4.18685310e-01 -9.07445143e-01 3.10509184e+01] [-9.99158012e-01 4.21627693e-03 4.08104240e-02 -1.75509801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:265.14, Y:31.06, Z:-175.61 [[ 2.12124110e-02 9.28389373e-01 3.71002973e-01 2.65143430e+02] [-7.34479003e-02 3.71530823e-01 -9.25510807e-01 3.10563991e+01] [-9.97073437e-01 -7.61707368e-03 7.60693146e-02 -1.75611156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26864 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:266.16, Y:30.53, Z:-175.75 [[-1.06957384e-02 3.72402004e-01 -9.28009886e-01 2.66159615e+02] [ 8.63877381e-03 -9.27993924e-01 -3.72495165e-01 3.05343080e+01] [-9.99905482e-01 -1.20009783e-02 6.70848357e-03 -1.75748746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:266.11, Y:29.90, Z:-175.78 [[-1.18272699e-02 -4.49664040e-01 -8.93119458e-01 2.66110028e+02] [ 1.27663679e-02 -8.93177038e-01 4.49523970e-01 2.98963114e+01] [-9.99848556e-01 -6.08525025e-03 1.63044225e-02 -1.75779587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:265.93, Y:29.68, Z:-175.79 [[-1.03340866e-02 -7.39589544e-01 -6.72978835e-01 2.65931722e+02] [ 1.54542225e-02 -6.73052520e-01 7.39433211e-01 2.96769975e+01] [-9.99827172e-01 -2.75899784e-03 1.83851644e-02 -1.75786636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:265.85, Y:29.62, Z:-175.81 [[-2.78936469e-03 -8.20505798e-01 -5.71631398e-01 2.65850061e+02] [ 2.25893111e-02 -5.71539457e-01 8.20263599e-01 2.96152256e+01] [-9.99740938e-01 -1.06247452e-02 2.01288927e-02 -1.75810880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.38864 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:265.76, Y:29.57, Z:-175.83 [[ 3.26694404e-03 -8.87004537e-01 -4.61749152e-01 2.65761310e+02] [ 2.49361056e-02 -4.61535771e-01 8.86771066e-01 2.95650291e+01] [-9.99683709e-01 -1.44112570e-02 2.06106272e-02 -1.75834041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:265.72, Y:29.55, Z:-175.85 [[ 1.42722232e-02 -9.08886564e-01 -4.16799133e-01 2.65724888e+02] [ 1.50410715e-02 -4.16599276e-01 9.08965791e-01 2.95462285e+01] [-9.99785012e-01 -1.92420682e-02 7.72482998e-03 -1.75845034e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.44864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:264.69, Y:29.99, Z:-176.03 [[ 4.25089297e-02 -4.34429551e-01 8.99702148e-01 2.64694814e+02] [-1.06901117e-01 8.93368771e-01 4.36422261e-01 2.99942796e+01] [-9.93360530e-01 -1.14731008e-01 -8.46485392e-03 -1.76033384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47864 meters Centerline goodness : 0.998774 Centerline is valid? [True, True] Translation: X:265.06, Y:30.99, Z:-176.16 [[ 2.03986391e-02 8.68533707e-01 4.95210152e-01 2.65064615e+02] [-8.13393449e-02 4.95112974e-01 -8.65012748e-01 3.09903407e+01] [-9.96477700e-01 -2.26349866e-02 8.07455936e-02 -1.76157452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.50864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:265.11, Y:31.00, Z:-176.27 [[ 5.61448602e-03 8.90235624e-01 4.55465708e-01 2.65112127e+02] [-8.88489446e-02 4.54115585e-01 -8.86501495e-01 3.10015044e+01] [-9.96029288e-01 -3.54903972e-02 8.16461212e-02 -1.76271251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:265.25, Y:31.04, Z:-176.32 [[ 4.46584165e-03 9.56326738e-01 2.92265677e-01 2.65247337e+02] [-8.57582255e-02 2.91558110e-01 -9.52701105e-01 3.10432864e+01] [-9.96305969e-01 -2.08095736e-02 8.33149364e-02 -1.76324576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.56864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:265.29, Y:31.04, Z:-176.43 [[-8.17901912e-03 9.66370197e-01 2.57024798e-01 2.65291432e+02] [-8.71096194e-02 2.55367720e-01 -9.62911856e-01 3.10419242e+01] [-9.96165156e-01 -3.02650068e-02 8.20914826e-02 -1.76428941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:265.41, Y:31.05, Z:-176.49 [[-8.87312652e-03 9.93720166e-01 1.11541466e-01 2.65410361e+02] [-8.43189589e-02 1.10405057e-01 -9.90303507e-01 3.10493442e+01] [-9.96399308e-01 -1.81921486e-02 8.28098118e-02 -1.76485229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.62864 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:265.45, Y:31.04, Z:-176.55 [[-8.59797457e-03 9.97648312e-01 6.79994097e-02 2.65448585e+02] [-8.48792361e-02 6.70283758e-02 -9.94134152e-01 3.10434664e+01] [-9.96354149e-01 -1.43192781e-02 8.41033184e-02 -1.76547655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65864 meters Centerline goodness : 0.998627 Centerline is valid? [True, True] Translation: X:265.49, Y:31.04, Z:-176.61 [[-9.55129872e-03 9.99858525e-01 1.38456889e-02 2.65493559e+02] [-8.39808138e-02 1.29953166e-02 -9.96382630e-01 3.10369553e+01] [-9.96421595e-01 -1.06795204e-02 8.38448104e-02 -1.76608069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.68864 meters Centerline goodness : 0.997989 Centerline is valid? [True, True] Translation: X:265.53, Y:31.03, Z:-176.61 [[-7.26008483e-03 9.99309065e-01 -3.64511243e-02 2.65534352e+02] [-8.37968664e-02 -3.69318551e-02 -9.95798234e-01 3.10325344e+01] [-9.96456410e-01 -4.17508966e-03 8.40070966e-02 -1.76610379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71864 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:265.57, Y:31.03, Z:-176.63 [[-8.63506097e-03 9.96897020e-01 -7.82417219e-02 2.65566525e+02] [-8.36690187e-02 -7.86905605e-02 -9.93381745e-01 3.10269188e+01] [-9.96456186e-01 -2.03150385e-03 8.40888932e-02 -1.76628787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.74864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:265.60, Y:31.02, Z:-176.65 [[-9.91315945e-03 9.92951901e-01 -1.18102714e-01 2.65595729e+02] [-8.41211489e-02 -1.18517955e-01 -9.89382194e-01 3.10207273e+01] [-9.96406223e-01 1.27032562e-04 8.47031421e-02 -1.76645600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:265.62, Y:31.01, Z:-176.66 [[-1.06015767e-02 9.87143972e-01 -1.59481611e-01 2.65624278e+02] [-8.41549764e-02 -1.59805551e-01 -9.83554841e-01 3.10121128e+01] [-9.96396280e-01 2.99393915e-03 8.47672685e-02 -1.76664271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.80864 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:265.65, Y:31.00, Z:-176.68 [[-1.31448336e-02 9.80063232e-01 -1.98250537e-01 2.65654131e+02] [-8.36582420e-02 -1.98650456e-01 -9.76493366e-01 3.10023468e+01] [-9.96407804e-01 3.74944856e-03 8.46015942e-02 -1.76679019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83864 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:265.68, Y:30.99, Z:-176.70 [[-1.62841888e-02 9.71524159e-01 -2.36380275e-01 2.65684973e+02] [-8.44230112e-02 -2.36903377e-01 -9.67858226e-01 3.09923332e+01] [-9.96296934e-01 4.19514854e-03 8.58767743e-02 -1.76696126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.86864 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:265.71, Y:30.98, Z:-176.71 [[-2.02037693e-02 9.61521994e-01 -2.73984057e-01 2.65712526e+02] [-8.46619131e-02 -2.74701059e-01 -9.57795223e-01 3.09817740e+01] [-9.96204883e-01 3.84494069e-03 8.69542883e-02 -1.76713208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:265.75, Y:30.97, Z:-176.73 [[-2.35301004e-02 9.46335214e-01 -3.22329021e-01 2.65745938e+02] [-8.40652683e-02 -3.23149325e-01 -9.42606781e-01 3.09684036e+01] [-9.96182395e-01 4.91704343e-03 8.71576597e-02 -1.76727619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92864 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:265.77, Y:30.95, Z:-176.74 [[-2.71088002e-02 9.32345061e-01 -3.60552077e-01 2.65774057e+02] [-8.23878072e-02 -3.61541390e-01 -9.28708820e-01 3.09545422e+01] [-9.96231581e-01 4.52891320e-03 8.66148184e-02 -1.76738937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:265.76, Y:30.96, Z:-176.76 [[-3.34518817e-02 9.40426329e-01 -3.38347884e-01 2.65758094e+02] [-7.04975218e-02 -3.39914380e-01 -9.37810382e-01 3.09620676e+01] [-9.96950887e-01 -7.51883468e-03 7.76685013e-02 -1.76757060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:266.17, Y:29.96, Z:-176.78 [[-1.73123280e-02 -2.85614336e-01 -9.58188256e-01 2.66170881e+02] [-3.21709101e-02 -9.57676561e-01 2.86043068e-01 2.99619334e+01] [-9.99332435e-01 3.57778597e-02 7.39113763e-03 -1.76775067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:266.08, Y:30.67, Z:-176.81 [[-1.70011690e-02 6.13180828e-01 -7.89759604e-01 2.66081087e+02] [-1.33437990e-02 -7.89942566e-01 -6.13035631e-01 3.06695377e+01] [-9.99766424e-01 1.16071072e-04 2.16121088e-02 -1.76807149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:266.15, Y:30.53, Z:-176.88 [[-3.38563674e-02 4.45280664e-01 -8.94750734e-01 2.66154632e+02] [ 1.88812898e-02 -8.94819229e-01 -4.46029197e-01 3.05297963e+01] [-9.99248339e-01 -3.19949763e-02 2.18878553e-02 -1.76876959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:266.14, Y:29.89, Z:-176.92 [[-3.45042143e-02 -3.73355761e-01 -9.27046350e-01 2.66139167e+02] [ 2.00420475e-02 -9.27670641e-01 3.72861231e-01 2.98910272e+01] [-9.99203571e-01 -5.71462319e-03 3.94913605e-02 -1.76920125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:266.05, Y:29.75, Z:-176.95 [[-3.21011011e-02 -5.65854603e-01 -8.23879899e-01 2.66048110e+02] [ 2.53145593e-02 -8.24500592e-01 5.65294566e-01 2.97471685e+01] [-9.99163997e-01 -2.70957857e-03 4.07917368e-02 -1.76947476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.13864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:265.96, Y:29.66, Z:-176.97 [[-2.93951760e-02 -6.89389636e-01 -7.23794069e-01 2.65961560e+02] [ 2.85348943e-02 -7.24390617e-01 6.88798951e-01 2.96557087e+01] [-9.99160489e-01 -4.06020871e-04 4.09652501e-02 -1.76965271e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:265.90, Y:29.60, Z:-176.98 [[-2.67104238e-02 -7.60607143e-01 -6.48662722e-01 2.65897024e+02] [ 3.06455396e-02 -6.49212289e-01 7.59989641e-01 2.96040226e+01] [-9.99173360e-01 4.21026239e-04 4.06499517e-02 -1.76979632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.19864 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:265.84, Y:29.57, Z:-176.99 [[-2.42595342e-02 -8.08420626e-01 -5.88105064e-01 2.65844555e+02] [ 3.31301302e-02 -5.88605198e-01 8.07741490e-01 2.95700494e+01] [-9.99156579e-01 1.11434909e-04 4.10623685e-02 -1.76991188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22864 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:265.79, Y:29.54, Z:-177.02 [[-1.67396721e-02 -8.51576574e-01 -5.23962901e-01 2.65785807e+02] [ 3.84933345e-02 -5.24196714e-01 8.50726788e-01 2.95398790e+01] [-9.99118635e-01 -5.92819174e-03 4.15549030e-02 -1.77024599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.25864 meters Centerline goodness : 0.997308 Centerline is valid? [True, True] Translation: X:265.65, Y:29.49, Z:-177.04 [[-1.60436751e-02 -9.35191903e-01 -3.53777761e-01 2.65646623e+02] [ 3.90027212e-02 -3.54139353e-01 9.34378995e-01 2.94867858e+01] [-9.99110298e-01 1.19257767e-03 4.21567258e-02 -1.77044296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28864 meters Centerline goodness : 0.996911 Centerline is valid? [True, True] Translation: X:265.59, Y:29.47, Z:-177.07 [[-1.57194339e-02 -9.59080028e-01 -2.82698423e-01 2.65585840e+02] [ 3.93008714e-02 -2.83107524e-01 9.58282616e-01 2.94744769e+01] [-9.99103769e-01 3.95336585e-03 4.21429708e-02 -1.77066637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.31864 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:265.52, Y:29.46, Z:-177.09 [[-1.35912366e-02 -9.78414620e-01 -2.06204050e-01 2.65522969e+02] [ 4.10037185e-02 -2.06594994e-01 9.77566982e-01 2.94648456e+01] [-9.99066551e-01 4.83121132e-03 4.29265190e-02 -1.77085787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34864 meters Centerline goodness : 0.995930 Centerline is valid? [True, True] Translation: X:265.45, Y:29.46, Z:-177.11 [[-1.31875311e-02 -9.92768788e-01 -1.19315647e-01 2.65451533e+02] [ 4.35872047e-02 -1.19783350e-01 9.91842782e-01 2.94601250e+01] [-9.98962584e-01 7.87932205e-03 4.48516630e-02 -1.77110932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.37864 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:265.38, Y:29.46, Z:-177.13 [[-1.35495312e-02 -9.99643123e-01 -2.30225092e-02 2.65376437e+02] [ 4.52410126e-02 -2.36139319e-02 9.98696968e-01 2.94632415e+01] [-9.98884208e-01 1.24903141e-02 4.55448248e-02 -1.77132681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40864 meters Centerline goodness : 0.995445 Centerline is valid? [True, True] Translation: X:265.32, Y:29.48, Z:-177.23 [[-7.79123418e-03 -9.98852445e-01 4.72555823e-02 2.65315586e+02] [ 4.38272441e-02 4.68705086e-02 9.97939040e-01 2.94771794e+01] [-9.99008743e-01 9.84625870e-03 4.34117708e-02 -1.77232072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.43864 meters Centerline goodness : 0.995539 Centerline is valid? [True, True] Translation: X:265.11, Y:29.54, Z:-177.41 [[ 4.90155187e-02 -9.63588860e-01 2.62857353e-01 2.65107821e+02] [ 3.20769334e-02 2.64556596e-01 9.63836541e-01 2.95424853e+01] [-9.98282800e-01 -3.88112902e-02 4.38763545e-02 -1.77405235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46864 meters Centerline goodness : 0.996228 Centerline is valid? [True, True] Translation: X:264.67, Y:30.00, Z:-177.54 [[ 5.98868295e-02 -4.50630348e-01 8.90699645e-01 2.64667927e+02] [ 4.65337839e-02 8.92591394e-01 4.48458705e-01 2.99969921e+01] [-9.97119940e-01 1.45908548e-02 7.44240039e-02 -1.77540529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.49864 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:264.64, Y:30.15, Z:-177.67 [[ 7.06967202e-02 -2.76969381e-01 9.58274457e-01 2.64635812e+02] [ 3.47648556e-02 9.60778727e-01 2.75128410e-01 3.01476327e+01] [-9.96891859e-01 1.38635969e-02 7.75527054e-02 -1.77668405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52864 meters Centerline goodness : 0.996229 Centerline is valid? [True, True] Translation: X:265.48, Y:31.07, Z:-177.76 [[ 5.47005034e-02 9.96527859e-01 6.27700693e-02 2.65483434e+02] [ 1.48639305e-02 6.20445504e-02 -9.97962693e-01 3.10669110e+01] [-9.98392167e-01 5.55220717e-02 -1.14184527e-02 -1.77764358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.55864 meters Centerline goodness : 0.996866 Centerline is valid? [True, True] Translation: X:265.39, Y:29.52, Z:-177.95 [[ 5.70310710e-02 -9.96071225e-01 -6.77463727e-02 2.65394497e+02] [-3.02904768e-03 -6.80291365e-02 9.97678737e-01 2.95198979e+01] [-9.98367809e-01 -5.66934799e-02 -6.89692175e-03 -1.77948359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58864 meters Centerline goodness : 0.996619 Centerline is valid? [True, True] Translation: X:264.65, Y:30.31, Z:-178.07 [[ 8.00545764e-02 -7.43780171e-02 9.94011658e-01 2.64647476e+02] [ 3.54001921e-02 9.96795303e-01 7.17352861e-02 3.03084515e+01] [-9.96161679e-01 2.94454656e-02 8.24310218e-02 -1.78066260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.61864 meters Centerline goodness : 0.997107 Centerline is valid? [True, True] Translation: X:265.69, Y:31.03, Z:-178.15 [[ 5.52482307e-02 9.82696409e-01 -1.76791969e-01 2.65686749e+02] [ 1.88308899e-02 -1.78056414e-01 -9.83840084e-01 3.10283158e+01] [-9.98295062e-01 5.10262739e-02 -2.83423497e-02 -1.78147206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64864 meters Centerline goodness : 0.997063 Centerline is valid? [True, True] Translation: X:264.80, Y:29.94, Z:-178.31 [[ 1.01355436e-02 -5.35480655e-01 8.44486672e-01 2.64795850e+02] [ 1.84626056e-02 8.44486302e-01 5.35258832e-01 2.99428508e+01] [-9.99778177e-01 1.01662851e-02 1.84456959e-02 -1.78311107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67864 meters Centerline goodness : 0.996323 Centerline is valid? [True, True] Translation: X:265.35, Y:29.53, Z:-178.47 [[ 7.42962549e-02 -9.96906465e-01 2.56430718e-02 2.65348825e+02] [-1.28836919e-02 2.47524486e-02 9.99610588e-01 2.95320317e+01] [-9.97152986e-01 -7.45977004e-02 -1.10048215e-02 -1.78467421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70864 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:265.37, Y:29.53, Z:-178.64 [[ 1.42756968e-01 -9.88977203e-01 -3.93006368e-02 2.65365465e+02] [-1.11205275e-02 -4.13075179e-02 9.99084592e-01 2.95256954e+01] [-9.89695298e-01 -1.42189244e-01 -1.68948842e-02 -1.78641507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:265.46, Y:31.07, Z:-178.80 [[ 1.29578723e-01 9.85546054e-01 1.09125293e-01 2.65457626e+02] [ 4.77301008e-03 1.09431910e-01 -9.93982835e-01 3.10706116e+01] [-9.91557650e-01 1.29319883e-01 9.47602594e-03 -1.78803879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:265.57, Y:31.07, Z:-178.97 [[ 6.34648842e-02 9.96635599e-01 5.18622308e-02 2.65569991e+02] [ 8.05104638e-05 5.19618794e-02 -9.98649066e-01 3.10727465e+01] [-9.97984069e-01 6.33833228e-02 3.21751507e-03 -1.78969369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:264.84, Y:30.59, Z:-179.06 [[ 3.28417268e-02 3.00421492e-01 9.53240971e-01 2.64838790e+02] [ 1.61063642e-02 9.53472526e-01 -3.01049376e-01 3.05893855e+01] [-9.99330779e-01 2.52402276e-02 2.64749863e-02 -1.79061745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82864 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:265.26, Y:29.59, Z:-179.21 [[ 6.40070705e-02 -9.62349263e-01 2.64172275e-01 2.65255771e+02] [-3.50558644e-02 2.62383487e-01 9.64326704e-01 2.95906645e+01] [-9.97333536e-01 -7.09845147e-02 -1.69415869e-02 -1.79207289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85864 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:265.47, Y:29.54, Z:-179.36 [[ 1.31262411e-01 -9.89698449e-01 -5.71590635e-02 2.65472238e+02] [-4.12735097e-02 -6.30638003e-02 9.97155682e-01 2.95414486e+01] [-9.90488100e-01 -1.28529904e-01 -4.91262350e-02 -1.79361209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.88864 meters Centerline goodness : 0.998234 Centerline is valid? [True, True] Translation: X:265.59, Y:31.07, Z:-179.57 [[ 1.34102496e-01 9.90953000e-01 5.35469815e-03 2.65590387e+02] [-2.36068597e-02 8.59651950e-03 -9.99684358e-01 3.10681434e+01] [-9.90686245e-01 1.33933760e-01 2.45461031e-02 -1.79566740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:265.76, Y:31.04, Z:-179.72 [[ 6.80453705e-02 9.89184638e-01 -1.29936831e-01 2.65756910e+02] [-1.98408843e-02 -1.28871247e-01 -9.91462829e-01 3.10448195e+01] [-9.97484921e-01 7.00425171e-02 1.08572062e-02 -1.79724725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.94864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:265.03, Y:30.77, Z:-179.83 [[ 4.00079705e-02 5.97195059e-01 8.01097637e-01 2.65028155e+02] [ 5.15731637e-03 8.01605442e-01 -5.97831177e-01 3.07709346e+01] [-9.99186051e-01 2.80495260e-02 2.89906830e-02 -1.79825930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:266.14, Y:30.86, Z:-179.98 [[ 4.30110942e-03 8.08047723e-01 -5.89101330e-01 2.66141149e+02] [-3.98841260e-03 -5.89088232e-01 -8.08058876e-01 3.08624338e+01] [-9.99982796e-01 5.82512881e-03 6.89094783e-04 -1.79976511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.00864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:266.40, Y:30.01, Z:-180.01 [[-2.84980109e-02 -3.09023402e-01 -9.50627372e-01 2.66397022e+02] [-1.62017547e-02 -9.50745901e-01 3.09547630e-01 3.00073316e+01] [-9.99462539e-01 2.42233232e-02 2.20876457e-02 -1.80007199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:266.32, Y:29.85, Z:-180.05 [[-2.52065018e-02 -5.17564506e-01 -8.55272831e-01 2.66321630e+02] [ 1.90893081e-03 -8.55568026e-01 5.17686882e-01 2.98521986e+01] [-9.99680443e-01 1.14164187e-02 2.25538718e-02 -1.80048653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.06864 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:266.08, Y:29.61, Z:-180.06 [[-2.91726853e-02 -8.47622962e-01 -5.29796441e-01 2.66077033e+02] [ 1.24451455e-02 -5.30288943e-01 8.47725637e-01 2.96064858e+01] [-9.99496910e-01 1.81370394e-02 2.60187435e-02 -1.80055088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:266.00, Y:29.57, Z:-180.07 [[-2.57637779e-02 -9.02008996e-01 -4.30947792e-01 2.66004989e+02] [ 1.62883009e-02 -4.31412439e-01 9.02007760e-01 2.95661491e+01] [-9.99535352e-01 1.62197203e-02 2.58070082e-02 -1.80066869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.12864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:265.93, Y:29.54, Z:-180.09 [[-1.72209911e-02 -9.45319415e-01 -3.25691022e-01 2.65928882e+02] [ 2.04670282e-02 -3.26004361e-01 9.45146686e-01 2.95351217e+01] [-9.99642205e-01 9.61043534e-03 2.49619973e-02 -1.80085860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15864 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:265.78, Y:29.50, Z:-180.10 [[-1.59921934e-02 -9.92206071e-01 -1.23577357e-01 2.65776781e+02] [ 2.38238915e-02 -1.23936197e-01 9.92004154e-01 2.94985452e+01] [-9.99588251e-01 1.29202288e-02 2.56202214e-02 -1.80099548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.18864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:265.70, Y:29.49, Z:-180.11 [[-1.37361115e-02 -9.99720022e-01 -1.92664770e-02 2.65704071e+02] [ 2.50466949e-02 -1.96062617e-02 9.99494001e-01 2.94920865e+01] [-9.99591908e-01 1.32465994e-02 2.53089961e-02 -1.80113851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:265.63, Y:29.50, Z:-180.17 [[-1.01372050e-02 -9.96680498e-01 8.07788446e-02 2.65627586e+02] [ 2.59414879e-02 8.04936781e-02 9.96417486e-01 2.94954697e+01] [-9.99612063e-01 1.21964118e-02 2.50393942e-02 -1.80171908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.24864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:265.54, Y:29.51, Z:-180.23 [[-3.48284480e-03 -9.80549505e-01 1.96241019e-01 2.65536550e+02] [ 2.53720280e-02 1.96092385e-01 9.80257128e-01 2.95069055e+01] [-9.99672011e-01 8.39311608e-03 2.41955702e-02 -1.80232642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:265.44, Y:29.53, Z:-180.30 [[ 2.26891363e-03 -9.45766103e-01 3.24840468e-01 2.65435333e+02] [ 2.41294800e-02 3.24798503e-01 9.45475384e-01 2.95328585e+01] [-9.99706267e-01 5.69302959e-03 2.35577840e-02 -1.80298736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.30864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:265.32, Y:29.58, Z:-180.36 [[ 7.09972075e-03 -8.83953292e-01 4.67521307e-01 2.65324917e+02] [ 2.34476530e-02 4.67551704e-01 8.83654690e-01 2.95801132e+01] [-9.99699856e-01 4.68857582e-03 2.40461166e-02 -1.80361686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:265.24, Y:29.63, Z:-180.42 [[ 1.26896931e-02 -8.12463634e-01 5.82873756e-01 2.65238349e+02] [ 2.12840579e-02 5.83008092e-01 8.12187511e-01 2.96322431e+01] [-9.99692933e-01 2.09950846e-03 2.46907168e-02 -1.80422756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.36864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:264.95, Y:30.55, Z:-180.56 [[-8.85825404e-03 3.38522994e-01 9.40916422e-01 2.64950478e+02] [-2.42115788e-02 9.40604875e-01 -3.38638846e-01 3.05525483e+01] [-9.99667610e-01 -2.57808211e-02 -1.35940780e-04 -1.80563366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:265.56, Y:31.08, Z:-180.64 [[ 3.29651063e-03 9.92815434e-01 1.19610398e-01 2.65559777e+02] [-1.74109253e-02 1.19649901e-01 -9.92663468e-01 3.10787948e+01] [-9.99842984e-01 1.18979796e-03 1.76802626e-02 -1.80635769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:265.65, Y:31.09, Z:-180.65 [[ 1.12724083e-03 9.99983829e-01 -5.57409070e-03 2.65652743e+02] [-1.83539386e-02 -5.55246629e-03 -9.99816135e-01 3.10889980e+01] [-9.99830917e-01 1.22934009e-03 1.83473828e-02 -1.80651255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45864 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:265.74, Y:31.09, Z:-180.67 [[-6.00519197e-03 9.92514879e-01 -1.21976031e-01 2.65738212e+02] [-1.78907388e-02 -1.22065344e-01 -9.92360808e-01 3.10873546e+01] [-9.99821914e-01 -3.77707584e-03 1.84898503e-02 -1.80671334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:265.90, Y:31.06, Z:-180.68 [[-8.79552611e-03 9.46195429e-01 -3.23476194e-01 2.65895479e+02] [-1.76562417e-02 -3.23585228e-01 -9.46034279e-01 3.10595109e+01] [-9.99805429e-01 -2.60949533e-03 1.95523575e-02 -1.80682077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:265.98, Y:31.03, Z:-180.70 [[-1.70723705e-02 9.02437556e-01 -4.30482278e-01 2.65980364e+02] [-1.53234876e-02 -4.30730615e-01 -9.02350446e-01 3.10303952e+01] [-9.99736828e-01 -8.80877128e-03 2.11820833e-02 -1.80703029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:266.06, Y:30.99, Z:-180.72 [[-2.15483456e-02 8.47142083e-01 -5.30929336e-01 2.66059175e+02] [-1.11620315e-02 -5.31223396e-01 -8.47158257e-01 3.09917063e+01] [-9.99705496e-01 -1.23286089e-02 2.09028119e-02 -1.80724971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:266.14, Y:30.94, Z:-180.75 [[-2.64570156e-02 7.79281460e-01 -6.26115350e-01 2.66136307e+02] [-3.36399910e-03 -6.26400457e-01 -7.79494164e-01 3.09411849e+01] [-9.99644292e-01 -1.85168378e-02 1.91941888e-02 -1.80754080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:266.22, Y:30.87, Z:-180.78 [[-2.66421746e-02 6.79305663e-01 -7.33371673e-01 2.66223470e+02] [ 1.70362073e-03 -7.33600167e-01 -6.79579202e-01 3.08671274e+01] [-9.99643583e-01 -1.93548549e-02 1.83874245e-02 -1.80776455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.63864 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:266.28, Y:30.80, Z:-180.79 [[-2.82989943e-02 5.91258599e-01 -8.05985382e-01 2.66282778e+02] [ 5.30610607e-03 -8.06208093e-01 -5.91608280e-01 3.08023026e+01] [-9.99585420e-01 -2.10185633e-02 1.96775974e-02 -1.80794870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:266.33, Y:30.73, Z:-180.86 [[-3.91914823e-02 4.98393219e-01 -8.66064794e-01 2.66332463e+02] [ 2.93452435e-02 -8.65782767e-01 -4.99558863e-01 3.07302029e+01] [-9.98800723e-01 -4.49933346e-02 1.93058396e-02 -1.80860053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.69864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:265.80, Y:29.55, Z:-180.92 [[ 4.40275784e-02 -9.90023570e-01 -1.33846566e-01 2.65803989e+02] [-1.02832319e-03 -1.34021320e-01 9.90977915e-01 2.95509378e+01] [-9.99029787e-01 -4.34927204e-02 -6.91869837e-03 -1.80922055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72864 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:265.04, Y:29.87, Z:-180.99 [[ 1.97246913e-02 -5.40266096e-01 8.41263028e-01 2.65035037e+02] [-1.79218555e-02 8.41100474e-01 5.40581908e-01 2.98688865e+01] [-9.99644809e-01 -2.57398056e-02 6.90787631e-03 -1.80986843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.75864 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:264.97, Y:29.99, Z:-181.13 [[ 2.89951735e-02 -4.10282678e-01 9.11497342e-01 2.64970952e+02] [-4.87511240e-02 9.10215121e-01 4.11256322e-01 2.99866537e+01] [-9.98390008e-01 -5.63609683e-02 6.39010363e-03 -1.81133780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:265.57, Y:29.56, Z:-181.27 [[ 1.27921493e-01 -9.86128911e-01 1.05763235e-01 2.65569944e+02] [-4.67461958e-02 1.00525836e-01 9.93835675e-01 2.95640515e+01] [-9.90682030e-01 -1.32076972e-01 -3.32383602e-02 -1.81268437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.81864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:265.62, Y:29.56, Z:-181.43 [[ 1.98925748e-01 -9.80012770e-01 -1.87560360e-03 2.65620287e+02] [-4.51780131e-02 -1.10821446e-02 9.98917481e-01 2.95587961e+01] [-9.78972673e-01 -1.98625671e-01 -4.64795536e-02 -1.81427628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:264.87, Y:30.47, Z:-181.75 [[ 1.36763019e-01 1.65316056e-01 9.76712075e-01 2.64865027e+02] [-1.20890564e-01 9.81392180e-01 -1.49180634e-01 3.04668923e+01] [-9.83199547e-01 -9.76728795e-02 1.54203308e-01 -1.81749911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.87864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:264.98, Y:30.74, Z:-181.86 [[ 1.18397023e-01 5.06317849e-01 8.54180532e-01 2.64975120e+02] [-1.25665735e-01 8.60954727e-01 -4.92914883e-01 3.07379378e+01] [-9.84982369e-01 -4.89815700e-02 1.65561281e-01 -1.81864337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:265.02, Y:30.79, Z:-181.92 [[ 1.12406118e-01 5.70173028e-01 8.13798244e-01 2.65017104e+02] [-1.26645717e-01 8.20530200e-01 -5.57396675e-01 3.07868608e+01] [-9.85558586e-01 -4.04092652e-02 1.64442587e-01 -1.81924799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.93864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:265.06, Y:30.80, Z:-182.06 [[ 9.89555407e-02 5.93730699e-01 7.98555983e-01 2.65058453e+02] [-1.42270623e-01 8.02691938e-01 -5.79175899e-01 3.08015721e+01] [-9.84868961e-01 -5.62983930e-02 1.63901251e-01 -1.82055396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:265.13, Y:30.87, Z:-182.12 [[ 9.37044425e-02 6.80216716e-01 7.26997041e-01 2.65128055e+02] [-1.39047910e-01 7.31994593e-01 -6.66970460e-01 3.08670444e+01] [-9.85842359e-01 -3.85893240e-02 1.63173858e-01 -1.82121832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.99864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:265.12, Y:30.84, Z:-182.17 [[ 1.22174249e-01 6.52196738e-01 7.48139605e-01 2.65121508e+02] [-1.69582977e-01 7.56419295e-01 -6.31721033e-01 3.08372639e+01] [-9.77913630e-01 -4.96916992e-02 2.03016424e-01 -1.82174885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:266.22, Y:30.92, Z:-182.20 [[ 4.42878256e-02 7.94638363e-01 -6.05465491e-01 2.66224492e+02] [-7.80753966e-02 -6.01453391e-01 -7.95083675e-01 3.09167674e+01] [-9.95963263e-01 8.24844855e-02 3.54046424e-02 -1.82200808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.05864 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:266.28, Y:29.71, Z:-182.26 [[ 1.65338676e-01 -6.95566524e-01 -6.99178327e-01 2.66280778e+02] [-2.80607051e-02 -7.11966295e-01 7.01652757e-01 2.97070406e+01] [-9.85837572e-01 -9.63909009e-02 -1.37233652e-01 -1.82259417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:264.99, Y:30.39, Z:-182.50 [[ 1.43344270e-01 1.80448005e-01 9.73083212e-01 2.64991938e+02] [-6.95033583e-02 9.82645029e-01 -1.71982647e-01 3.03890259e+01] [-9.87229306e-01 -4.29798242e-02 1.53398277e-01 -1.82502871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.11864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:266.06, Y:30.97, Z:-182.55 [[ 3.73028692e-02 9.50599106e-01 -3.08171762e-01 2.66055305e+02] [ 1.32652909e-02 -3.08830269e-01 -9.51024656e-01 3.09677076e+01] [-9.99215957e-01 3.13879603e-02 -2.41302288e-02 -1.82554275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:266.09, Y:30.96, Z:-182.72 [[-2.68101262e-02 9.59894988e-01 -2.79074951e-01 2.66089942e+02] [ 3.12102325e-02 -2.78235432e-01 -9.60005711e-01 3.09574327e+01] [-9.99153211e-01 -3.44478684e-02 -2.24990187e-02 -1.82719202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17864 meters Centerline goodness : 0.998971 Centerline is valid? [True, True] Translation: X:265.83, Y:30.99, Z:-182.79 [[-9.86622851e-02 9.92443516e-01 7.29494411e-02 2.65828132e+02] [ 1.21098685e-02 7.44990949e-02 -9.97147550e-01 3.09912579e+01] [-9.95047288e-01 -9.74974477e-02 -1.93686115e-02 -1.82790841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:266.56, Y:30.58, Z:-182.87 [[-7.31554270e-02 4.72812081e-01 -8.78121301e-01 2.66561453e+02] [ 3.99002199e-02 -8.78388050e-01 -4.76279756e-01 3.05825532e+01] [-9.96522080e-01 -6.98796820e-02 4.53935469e-02 -1.82868838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:265.91, Y:30.99, Z:-182.89 [[-1.68744818e-01 9.85094380e-01 -3.33803708e-02 2.65914824e+02] [ 3.16569077e-02 -2.84319963e-02 -9.99094321e-01 3.09908796e+01] [-9.85151271e-01 -1.69648709e-01 -2.63872898e-02 -1.82891549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:265.84, Y:30.99, Z:-182.96 [[-2.37962228e-01 9.69164899e-01 6.39795001e-02 2.65841939e+02] [ 2.48225025e-02 7.19184931e-02 -9.97101586e-01 3.09914970e+01] [-9.70957168e-01 -2.35684384e-01 -4.11709829e-02 -1.82962461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:265.91, Y:30.99, Z:-183.06 [[-3.02854025e-01 9.52581504e-01 -2.94604365e-02 2.65907750e+02] [ 2.84762818e-02 -2.18535571e-02 -9.99355554e-01 3.09926795e+01] [-9.52611432e-01 -3.03497776e-01 -2.05075416e-02 -1.83062335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:265.86, Y:29.44, Z:-183.16 [[-1.87055867e-01 -9.81574705e-01 -3.90025933e-02 2.65860953e+02] [ 9.32766348e-03 -4.14763408e-02 9.99095945e-01 2.94436909e+01] [-9.82304992e-01 1.86522955e-01 1.69141914e-02 -1.83161901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35864 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:265.09, Y:30.39, Z:-183.07 [[-2.48121101e-01 1.58402892e-01 9.55690558e-01 2.65085513e+02] [-8.74778075e-02 9.78846398e-01 -1.84952324e-01 3.03879276e+01] [-9.64771243e-01 -1.29492289e-01 -2.29015709e-01 -1.83068003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.38864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:265.84, Y:31.00, Z:-183.37 [[-3.24227683e-01 9.45979069e-01 -1.00099854e-04 2.65836112e+02] [-4.01756277e-02 -1.38756348e-02 -9.99096285e-01 3.09998812e+01] [-9.45125562e-01 -3.23930652e-01 4.25041678e-02 -1.83369487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:265.82, Y:31.00, Z:-183.45 [[-3.87974068e-01 9.21639744e-01 7.50368772e-03 2.65817058e+02] [-3.99905797e-02 -8.69961057e-03 -9.99162184e-01 3.09952765e+01] [-9.20802300e-01 -3.87949094e-01 4.02321309e-02 -1.83450279e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.44864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:265.75, Y:29.45, Z:-183.41 [[-2.57584619e-01 -9.66197687e-01 -1.05921734e-02 2.65747875e+02] [-7.73424477e-02 9.68981642e-03 9.96957498e-01 2.94451207e+01] [-9.63155392e-01 2.57620142e-01 -7.72240417e-02 -1.83414943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47864 meters Centerline goodness : 0.998038 Centerline is valid? [True, True] Translation: X:265.75, Y:29.44, Z:-183.50 [[-1.92189875e-01 -9.79508199e-01 -6.02224222e-02 2.65747530e+02] [-7.40420543e-02 -4.67183916e-02 9.96160211e-01 2.94389865e+01] [-9.78560589e-01 1.95910898e-01 -6.35459974e-02 -1.83499545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.50864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:265.83, Y:30.97, Z:-183.69 [[-3.19586958e-01 9.42139126e-01 -1.01183217e-01 2.65830526e+02] [-2.63609264e-02 -1.15581964e-01 -9.92948091e-01 3.09722103e+01] [-9.47190202e-01 -3.14665976e-01 6.17741484e-02 -1.83689526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53864 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:265.65, Y:30.98, Z:-183.72 [[-3.85093779e-01 9.15109802e-01 1.19485701e-01 2.65648740e+02] [-4.17189990e-02 1.12076687e-01 -9.92823419e-01 3.09776366e+01] [-9.21934004e-01 -3.87314946e-01 -4.98257015e-03 -1.83718468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.56864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:265.64, Y:30.97, Z:-183.80 [[-4.43975358e-01 8.89385729e-01 1.08990397e-01 2.65642677e+02] [-4.78028838e-02 9.79527355e-02 -9.94042326e-01 3.09747953e+01] [-8.94762966e-01 -4.46540353e-01 -9.73398128e-04 -1.83798074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:265.63, Y:30.97, Z:-183.88 [[-5.01896158e-01 8.59238946e-01 9.90387796e-02 2.65630103e+02] [-5.21799025e-02 8.42171350e-02 -9.95080264e-01 3.09708499e+01] [-8.63352480e-01 -5.04594795e-01 2.56674796e-03 -1.83875312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.62864 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:265.54, Y:29.43, Z:-183.80 [[-3.96321944e-01 -9.15954518e-01 6.28986356e-02 2.65543507e+02] [-1.00128093e-01 1.11220891e-01 9.88738731e-01 2.94322721e+01] [-9.12635350e-01 3.85560935e-01 -1.35792059e-01 -1.83795398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65864 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:265.48, Y:30.96, Z:-183.97 [[-5.03604145e-01 8.37721470e-01 2.11200388e-01 2.65478636e+02] [-6.30202363e-02 2.08191050e-01 -9.76055806e-01 3.09564409e+01] [-8.61632935e-01 -5.04855648e-01 -5.20524708e-02 -1.83972796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.68864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:266.25, Y:30.37, Z:-184.38 [[-4.85274322e-01 2.83416582e-01 -8.27154081e-01 2.66252127e+02] [-5.67407679e-02 -9.54222383e-01 -2.93666698e-01 3.03725785e+01] [-8.72518950e-01 -9.55755503e-02 4.79140894e-01 -1.84381658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71864 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:265.70, Y:29.42, Z:-184.08 [[-3.95830357e-01 -8.83458621e-01 -2.50637573e-01 2.65703289e+02] [-7.49672513e-02 -2.40931745e-01 9.67642395e-01 2.94190918e+01] [-9.15258564e-01 4.01811845e-01 2.91376344e-02 -1.84077697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.74864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:265.46, Y:29.41, Z:-184.04 [[-3.40284308e-01 -9.40279619e-01 8.99041211e-03 2.65459499e+02] [-8.35832704e-02 3.97689050e-02 9.95706920e-01 2.94060865e+01] [-9.36600463e-01 3.38071992e-01 -9.21243800e-02 -1.84041830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77864 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:265.42, Y:29.40, Z:-184.11 [[-2.81650457e-01 -9.59413251e-01 1.41150069e-02 2.65419458e+02] [-6.99219307e-02 3.51936334e-02 9.96931458e-01 2.93996269e+01] [-9.56966010e-01 2.79799253e-01 -7.69963298e-02 -1.84112619e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.80864 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:264.73, Y:30.30, Z:-184.03 [[-3.17892097e-01 5.09359232e-02 9.46757702e-01 2.64726062e+02] [-1.45861262e-01 9.84041316e-01 -1.01917518e-01 3.03043801e+01] [-9.36839958e-01 -1.70494046e-01 -3.05389379e-01 -1.84028235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83864 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:266.14, Y:30.44, Z:-184.51 [[-2.87793641e-01 4.13583782e-01 -8.63784276e-01 2.66139646e+02] [-1.13864443e-01 -9.10322512e-01 -3.97929407e-01 3.04361377e+01] [-9.50899421e-01 -1.61672379e-02 3.09077517e-01 -1.84514904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.86864 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:265.30, Y:29.42, Z:-184.17 [[-2.38213706e-01 -9.66751202e-01 9.29857158e-02 2.65301075e+02] [-1.58153243e-01 1.33076685e-01 9.78405922e-01 2.94169604e+01] [-9.58249332e-01 2.18363708e-01 -1.84595528e-01 -1.84173726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89864 meters Centerline goodness : 0.997309 Centerline is valid? [True, True] Translation: X:266.09, Y:30.50, Z:-184.56 [[-2.23620990e-01 5.01992124e-01 -8.35462483e-01 2.66087852e+02] [-1.22259721e-01 -8.64845907e-01 -4.86923113e-01 3.04977489e+01] [-9.66977876e-01 -6.74281840e-03 2.54771115e-01 -1.84556117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92864 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:266.08, Y:30.47, Z:-184.63 [[-2.33707563e-01 4.69428410e-01 -8.51479737e-01 2.66080020e+02] [-1.02104651e-01 -8.82738372e-01 -4.58636682e-01 3.04666362e+01] [-9.66930926e-01 -2.02468204e-02 2.54233458e-01 -1.84625218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95864 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:266.09, Y:30.39, Z:-184.70 [[-2.47843055e-01 3.75236577e-01 -8.93180459e-01 2.66091644e+02] [-7.14928951e-02 -9.26515159e-01 -3.69402797e-01 3.03865589e+01] [-9.66158676e-01 -2.76978607e-02 2.56457096e-01 -1.84697496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98864 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:265.37, Y:30.91, Z:-184.62 [[-3.25171182e-01 9.44499983e-01 4.67277726e-02 2.65373572e+02] [-5.26820098e-02 3.12433761e-02 -9.98122466e-01 3.09114877e+01] [-9.44186586e-01 -3.27022375e-01 3.95987119e-02 -1.84619058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01864 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:265.31, Y:29.36, Z:-184.56 [[-2.80351394e-01 -9.59825260e-01 -1.17714166e-02 2.65309560e+02] [-9.17099453e-02 1.45760467e-02 9.95679077e-01 2.93584316e+01] [-9.55506348e-01 2.80219573e-01 -9.21119371e-02 -1.84560017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:265.36, Y:30.90, Z:-184.77 [[-3.23988604e-01 9.46039226e-01 -6.41615991e-03 2.65362708e+02] [-5.31166812e-02 -2.49612268e-02 -9.98276292e-01 3.08984608e+01] [-9.44568686e-01 -3.23089337e-01 5.83376170e-02 -1.84773520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07864 meters Centerline goodness : 0.997751 Centerline is valid? [True, True] Translation: X:265.23, Y:29.35, Z:-184.69 [[-2.80430651e-01 -9.58996891e-01 4.10318562e-02 2.65228394e+02] [-9.42789680e-02 7.00591750e-02 9.93077635e-01 2.93522501e+01] [-9.55233022e-01 2.74620966e-01 -1.10059977e-01 -1.84688959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:265.25, Y:29.34, Z:-184.77 [[-2.11847034e-01 -9.77148914e-01 -1.73445792e-02 2.65247393e+02] [-9.47857355e-02 2.87945932e-03 9.95493532e-01 2.93427481e+01] [-9.72695481e-01 2.12536371e-01 -9.32297834e-02 -1.84769055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.13864 meters Centerline goodness : 0.998092 Centerline is valid? [True, True] Translation: X:265.97, Y:30.37, Z:-185.07 [[-2.08315713e-01 3.69775217e-01 -9.05467201e-01 2.65966184e+02] [-6.16393277e-02 -9.28900395e-01 -3.65163867e-01 3.03670498e+01] [-9.76117389e-01 -2.02569819e-02 2.16297244e-01 -1.85068568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:265.54, Y:29.39, Z:-184.98 [[-1.45544038e-01 -8.89260064e-01 -4.33628264e-01 2.65541441e+02] [-4.64426683e-02 -4.31671154e-01 9.00834665e-01 2.93896216e+01] [-9.88261105e-01 1.51249968e-01 2.15275525e-02 -1.84983521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.19864 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:265.18, Y:29.32, Z:-185.00 [[-8.69865049e-02 -9.96177462e-01 7.98823685e-03 2.65175754e+02] [-4.81857617e-02 1.22165701e-02 9.98763680e-01 2.93239025e+01] [-9.95043457e-01 8.64940425e-02 -4.90642465e-02 -1.84997707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:265.24, Y:29.32, Z:-185.09 [[-1.70304914e-02 -9.95035516e-01 -9.80524541e-02 2.65240604e+02] [-2.42960591e-02 -9.76258805e-02 9.94926575e-01 2.93203586e+01] [-9.99559735e-01 1.93263767e-02 -2.25128250e-02 -1.85092721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.25864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:264.43, Y:29.91, Z:-185.17 [[ 7.53953183e-04 -2.87742204e-01 9.57707604e-01 2.64434883e+02] [-8.65894128e-02 9.54092018e-01 2.86724073e-01 2.99069234e+01] [-9.96243798e-01 -8.31435156e-02 -2.41960878e-02 -1.85171144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:264.97, Y:30.85, Z:-185.26 [[-4.49987283e-03 9.51449336e-01 3.07772501e-01 2.64972958e+02] [-6.68025653e-02 3.06802083e-01 -9.49426089e-01 3.08464673e+01] [-9.97756067e-01 -2.48322892e-02 6.21786860e-02 -1.85256839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.31864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:265.22, Y:30.88, Z:-185.27 [[-2.37349821e-03 9.99994746e-01 -2.20779516e-03 2.65216082e+02] [-6.82594601e-02 -2.36466565e-03 -9.97664801e-01 3.08754828e+01] [-9.97664780e-01 -2.21725271e-03 6.82647140e-02 -1.85270932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:265.24, Y:30.88, Z:-185.29 [[-7.61952528e-03 9.99587637e-01 -2.76857213e-02 2.65239924e+02] [-8.87812585e-02 -2.82534200e-02 -9.95650356e-01 3.08753947e+01] [-9.96022003e-01 -5.12840988e-03 8.89599261e-02 -1.85293702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.37864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:265.96, Y:30.10, Z:-185.31 [[-9.52933385e-03 6.16635649e-02 -9.98051500e-01 2.65963833e+02] [-2.19874004e-02 -9.97868426e-01 -6.14423195e-02 3.00974438e+01] [-9.99712832e-01 2.13590536e-02 1.08648429e-02 -1.85308779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:265.28, Y:29.31, Z:-185.45 [[ 6.64391266e-02 -9.70485786e-01 -2.31825755e-01 2.65281579e+02] [ 5.12635115e-03 -2.32004043e-01 9.72701313e-01 2.93107654e+01] [-9.97777311e-01 -6.58138459e-02 -1.04390951e-02 -1.85454714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.43864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:264.47, Y:29.70, Z:-185.58 [[ 8.11792618e-02 -5.26987396e-01 8.45987123e-01 2.64466575e+02] [-9.07835805e-03 8.48362373e-01 5.29338142e-01 2.96964975e+01] [-9.96658172e-01 -5.06514536e-02 6.40852508e-02 -1.85579712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:264.38, Y:30.13, Z:-185.67 [[ 4.81205084e-02 2.04942985e-02 9.98631263e-01 2.64377003e+02] [-2.14331512e-02 9.99580468e-01 -1.94809907e-02 3.01312240e+01] [-9.98611554e-01 -2.04663797e-02 4.85395777e-02 -1.85674612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.49864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:265.11, Y:29.29, Z:-185.77 [[ 1.35553378e-01 -9.89944693e-01 -4.04325040e-02 2.65105552e+02] [-4.61020139e-02 -4.70672146e-02 9.97827280e-01 2.92948728e+01] [-9.89696866e-01 -1.33394838e-01 -5.20185639e-02 -1.85767703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:265.02, Y:29.29, Z:-185.95 [[ 1.99434947e-01 -9.79387051e-01 3.20422460e-02 2.65021409e+02] [-4.65255312e-02 2.31982832e-02 9.98647693e-01 2.92947138e+01] [-9.78805944e-01 -2.00656032e-01 -4.09399544e-02 -1.85949020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.55864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:265.17, Y:30.84, Z:-186.13 [[ 1.45351619e-01 9.88120011e-01 4.99174471e-02 2.65168006e+02] [-4.30661023e-03 5.10846657e-02 -9.98685040e-01 3.08442781e+01] [-9.89370689e-01 1.44945513e-01 1.16806866e-02 -1.86127191e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:265.29, Y:30.84, Z:-186.28 [[ 8.09546780e-02 9.96578424e-01 -1.66668949e-02 2.65290933e+02] [-3.52824878e-03 -1.64351459e-02 -9.99858709e-01 3.08370417e+01] [-9.96711539e-01 8.10020448e-02 2.18567467e-03 -1.86280640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.61864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:265.48, Y:30.80, Z:-186.44 [[ 1.93838967e-02 9.84192676e-01 -1.76037046e-01 2.65475003e+02] [ 7.85991081e-03 -1.76214690e-01 -9.84320377e-01 3.08044497e+01] [-9.99781219e-01 1.76963290e-02 -1.11513940e-02 -1.86436250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:265.09, Y:30.79, Z:-186.52 [[ 5.04093640e-04 9.46908869e-01 3.21501695e-01 2.65093546e+02] [ 9.61893033e-03 3.21482271e-01 -9.46866741e-01 3.07933254e+01] [-9.99953610e-01 3.56981191e-03 -8.94619327e-03 -1.86518128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:265.47, Y:30.81, Z:-186.54 [[ 1.39917953e-02 9.85400399e-01 -1.69676999e-01 2.65472596e+02] [ 4.47817938e-03 -1.69753664e-01 -9.85476352e-01 3.08073983e+01] [-9.99892082e-01 1.30287393e-02 -6.78795825e-03 -1.86541583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:265.62, Y:30.76, Z:-186.57 [[ 2.11084721e-02 9.28304863e-01 -3.71220304e-01 2.65620545e+02] [-2.70485659e-03 -3.71248649e-01 -9.28529550e-01 3.07594532e+01] [-9.99773532e-01 2.06039378e-02 -5.32556021e-03 -1.86574703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:265.76, Y:30.67, Z:-186.60 [[ 2.21565627e-02 8.25823893e-01 -5.63492666e-01 2.65764700e+02] [-8.67990227e-03 -5.63450890e-01 -8.26103961e-01 3.06748141e+01] [-9.99716833e-01 2.31946855e-02 -5.31606427e-03 -1.86598309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:265.90, Y:30.54, Z:-186.63 [[ 1.91739619e-02 6.59938084e-01 -7.51075286e-01 2.65904570e+02] [-1.57816472e-02 -7.50920029e-01 -6.60204551e-01 3.05422336e+01] [-9.99691602e-01 2.45119421e-02 -3.98320196e-03 -1.86626105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:266.01, Y:30.37, Z:-186.68 [[ 9.49569087e-03 4.38768253e-01 -8.98550083e-01 2.66013280e+02] [-1.43402356e-02 -8.98438436e-01 -4.38865279e-01 3.03704319e+01] [-9.99852084e-01 1.70527489e-02 -2.23925355e-03 -1.86676199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:265.60, Y:29.33, Z:-186.87 [[ 4.17751547e-02 -8.96138528e-01 -4.41803775e-01 2.65597278e+02] [ 1.71626953e-02 -4.41480915e-01 8.97106484e-01 2.93258239e+01] [-9.98979619e-01 -4.50593058e-02 -3.06278101e-03 -1.86866912e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:264.65, Y:29.57, Z:-186.98 [[ 3.13364764e-02 -6.13598492e-01 7.88996144e-01 2.64648702e+02] [ 6.04037906e-02 7.89103590e-01 6.11283001e-01 2.95660892e+01] [-9.97682017e-01 2.85029026e-02 6.17914008e-02 -1.86976357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.88864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:264.63, Y:29.61, Z:-187.07 [[ 3.90684789e-02 -5.67012304e-01 8.22782293e-01 2.64627357e+02] [ 5.28698789e-02 8.23430542e-01 5.64948598e-01 2.96095299e+01] [-9.97836875e-01 2.14287178e-02 6.21480506e-02 -1.87069195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:264.58, Y:29.72, Z:-187.23 [[ 5.98951660e-02 -4.50246668e-01 8.90893095e-01 2.64578588e+02] [ 2.20941314e-02 8.92874740e-01 4.49762769e-01 2.97229707e+01] [-9.97960129e-01 -7.25510659e-03 6.34266899e-02 -1.87229865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.94864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:265.38, Y:30.84, Z:-187.33 [[ 5.48534395e-02 9.96848562e-01 -5.73065765e-02 2.65377644e+02] [ 2.28339810e-02 -5.86303205e-02 -9.98018584e-01 3.08441281e+01] [-9.98233294e-01 5.34362148e-02 -2.59780959e-02 -1.87325654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:265.23, Y:30.84, Z:-187.50 [[-1.90658348e-02 9.79521372e-01 2.00435465e-01 2.65225382e+02] [ 1.79545815e-02 2.00775009e-01 -9.79472832e-01 3.08389204e+01] [-9.99657005e-01 -1.50757323e-02 -2.14148395e-02 -1.87499907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.00864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:265.47, Y:29.31, Z:-187.57 [[-2.89985574e-03 -9.95370616e-01 -9.60673080e-02 2.65465997e+02] [-2.29546889e-02 -9.59761408e-02 9.95118919e-01 2.93088283e+01] [-9.99732301e-01 5.09089648e-03 -2.25701059e-02 -1.87574889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:265.49, Y:30.85, Z:-187.74 [[-1.35630707e-02 9.94702465e-01 -1.01897246e-01 2.65489455e+02] [ 2.19923378e-02 -1.01585210e-01 -9.94583723e-01 3.08483441e+01] [-9.99666134e-01 -1.57305680e-02 -2.04980253e-02 -1.87743999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.06864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:265.58, Y:30.84, Z:-187.82 [[-7.97614667e-02 9.73403722e-01 -2.14763364e-01 2.65582143e+02] [ 3.30255590e-02 -2.12750988e-01 -9.76548171e-01 3.08354150e+01] [-9.96266742e-01 -8.49835945e-02 -1.51778712e-02 -1.87823523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:265.68, Y:30.81, Z:-187.90 [[-1.46233342e-01 9.28593488e-01 -3.41071756e-01 2.65677387e+02] [ 5.18449145e-02 -3.37110337e-01 -9.40036555e-01 3.08107030e+01] [-9.87890639e-01 -1.55147524e-01 1.15392131e-03 -1.87901931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.12864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:265.35, Y:30.84, Z:-187.91 [[-2.21998130e-01 9.72093156e-01 7.58401397e-02 2.65347088e+02] [ 5.54548688e-02 9.02427829e-02 -9.94374677e-01 3.08424809e+01] [-9.73468843e-01 -2.16543614e-01 -7.39410275e-02 -1.87914488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:265.47, Y:30.85, Z:-188.00 [[-2.92779448e-01 9.51858287e-01 -9.08074627e-02 2.65471717e+02] [ 5.80036723e-02 -7.71138299e-02 -9.95333628e-01 3.08507215e+01] [-9.54419074e-01 -2.96680397e-01 -3.26339316e-02 -1.88001122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.18864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:265.51, Y:29.31, Z:-188.15 [[-2.43476128e-01 -9.66426547e-01 -8.20920440e-02 2.65510670e+02] [ 3.27656561e-02 -9.27864486e-02 9.95146766e-01 2.93079511e+01] [-9.69353283e-01 2.39604682e-01 5.42568851e-02 -1.88146406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:265.41, Y:30.86, Z:-188.11 [[-3.08945941e-01 9.49432961e-01 -5.59415634e-02 2.65406888e+02] [ 6.73944888e-02 -3.68168260e-02 -9.97046892e-01 3.08569568e+01] [-9.48688773e-01 -3.11803744e-01 -5.26121401e-02 -1.88113869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.24864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:265.29, Y:30.85, Z:-188.16 [[-3.77766084e-01 9.22975937e-01 7.35405059e-02 2.65291020e+02] [ 5.91751869e-02 1.03330604e-01 -9.92885232e-01 3.08531297e+01] [-9.24008162e-01 -3.70726593e-01 -9.36520712e-02 -1.88158973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:265.52, Y:29.33, Z:-188.41 [[-2.91449664e-01 -9.41767409e-01 -1.67723705e-01 2.65516584e+02] [ 4.46475414e-02 -1.88536959e-01 9.81050667e-01 2.93338350e+01] [-9.55543662e-01 2.78438437e-01 9.69966328e-02 -1.88409011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.30864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:265.24, Y:30.86, Z:-188.30 [[-3.82804718e-01 9.20782927e-01 7.49623226e-02 2.65236533e+02] [ 6.45374517e-02 1.07598837e-01 -9.92097479e-01 3.08590165e+01] [-9.21572279e-01 -3.74941718e-01 -1.00614326e-01 -1.88303557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:265.27, Y:30.87, Z:-188.40 [[-4.43839552e-01 8.96093604e-01 4.76498635e-03 2.65274034e+02] [ 6.32232438e-02 3.66180805e-02 -9.97327397e-01 3.08702136e+01] [-8.93873186e-01 -4.42352088e-01 -7.29064969e-02 -1.88396146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.36864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:265.25, Y:30.88, Z:-188.47 [[-5.05319203e-01 8.62928586e-01 2.59959007e-03 2.65253394e+02] [ 6.13689701e-02 3.89413844e-02 -9.97355212e-01 3.08753677e+01] [-8.60747554e-01 -5.03823207e-01 -7.26348679e-02 -1.88471285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:265.30, Y:29.33, Z:-188.67 [[-4.17164016e-01 -9.08127096e-01 -3.57681745e-02 2.65304970e+02] [ 3.38064911e-02 -5.48345441e-02 9.97922990e-01 2.93303490e+01] [-9.08202238e-01 4.15088365e-01 5.35755892e-02 -1.88666978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:265.19, Y:30.88, Z:-188.61 [[-5.08168793e-01 8.61254520e-01 -2.26477540e-03 2.65191157e+02] [ 6.56474225e-02 3.61119288e-02 -9.97189222e-01 3.08819167e+01] [-8.58751940e-01 -5.06889120e-01 -7.48900947e-02 -1.88613798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45864 meters Centerline goodness : 0.998530 Centerline is valid? [True, True] Translation: X:265.22, Y:29.34, Z:-188.80 [[-4.14907243e-01 -9.09255134e-01 -3.32728142e-02 2.65222186e+02] [ 3.39524285e-02 -5.20158410e-02 9.98068928e-01 2.93391115e+01] [-9.09230011e-01 4.12976334e-01 5.24531691e-02 -1.88801542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48864 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:265.09, Y:29.34, Z:-188.82 [[-3.56102440e-01 -9.31279285e-01 7.68761735e-02 2.65092814e+02] [ 2.50364225e-02 7.27310083e-02 9.97037300e-01 2.93419015e+01] [-9.34111465e-01 3.56972120e-01 -2.58378787e-03 -1.88817704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51864 meters Centerline goodness : 0.997115 Centerline is valid? [True, True] Translation: X:265.03, Y:29.35, Z:-188.88 [[-2.93489802e-01 -9.50710436e-01 1.00066990e-01 2.65034895e+02] [ 3.19848253e-02 9.48524053e-02 9.94977383e-01 2.93465093e+01] [-9.55426976e-01 2.95216340e-01 2.57009361e-03 -1.88883543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54864 meters Centerline goodness : 0.995886 Centerline is valid? [True, True] Translation: X:264.33, Y:30.06, Z:-188.71 [[-3.03847278e-01 -9.06835467e-02 9.48395132e-01 2.64330729e+02] [-4.66126762e-02 9.95682570e-01 8.02712809e-02 3.00557329e+01] [-9.51579787e-01 -1.98170250e-02 -3.06762441e-01 -1.88706479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57864 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:264.97, Y:30.91, Z:-189.00 [[-3.82313353e-01 9.19842683e-01 8.78973240e-02 2.64972388e+02] [-2.24204227e-02 8.58613387e-02 -9.96054795e-01 3.09085210e+01] [-9.23760697e-01 -3.82775744e-01 -1.22026745e-02 -1.89004014e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60864 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:265.10, Y:29.36, Z:-189.07 [[-2.92863094e-01 -9.51684582e-01 -9.23453534e-02 2.65099848e+02] [-5.56838830e-02 -7.94402072e-02 9.95283155e-01 2.93586678e+01] [-9.54531568e-01 2.96623852e-01 -2.97283881e-02 -1.89067519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.63864 meters Centerline goodness : 0.996188 Centerline is valid? [True, True] Translation: X:264.93, Y:30.90, Z:-189.15 [[-3.81415581e-01 9.20567415e-01 8.41295970e-02 2.64929236e+02] [-2.19900905e-02 8.19482180e-02 -9.96393961e-01 3.09016978e+01] [-9.24142084e-01 -3.81890199e-01 -1.10129664e-02 -1.89149096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66864 meters Centerline goodness : 0.995646 Centerline is valid? [True, True] Translation: X:265.04, Y:29.35, Z:-189.21 [[-2.91692619e-01 -9.51950063e-01 -9.33085893e-02 2.65041710e+02] [-5.45225266e-02 -8.08446772e-02 9.95234360e-01 2.93529433e+01] [-9.54956915e-01 2.95389938e-01 -2.83209270e-02 -1.89207520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.69864 meters Centerline goodness : 0.995698 Centerline is valid? [True, True] Translation: X:265.01, Y:29.35, Z:-189.28 [[-2.24985903e-01 -9.69419060e-01 -9.80205572e-02 2.65007022e+02] [-4.78896852e-02 -8.94762367e-02 9.94836962e-01 2.93489945e+01] [-9.73184423e-01 2.28518466e-01 -2.62942817e-02 -1.89279933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:264.85, Y:30.89, Z:-189.37 [[-3.21113997e-01 9.42097096e-01 9.66377934e-02 2.64853761e+02] [-1.88416179e-02 9.56663795e-02 -9.95235117e-01 3.08938161e+01] [-9.46853101e-01 -3.21404738e-01 -1.29691800e-02 -1.89367840e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.75864 meters Centerline goodness : 0.995640 Centerline is valid? [True, True] Translation: X:264.85, Y:30.89, Z:-189.44 [[-3.83363006e-01 9.19580367e-01 8.60508857e-02 2.64849730e+02] [-2.38792020e-02 8.32695148e-02 -9.96240920e-01 3.08923881e+01] [-9.23289006e-01 -3.83976741e-01 -9.96360616e-03 -1.89444914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78864 meters Centerline goodness : 0.996182 Centerline is valid? [True, True] Translation: X:264.94, Y:29.34, Z:-189.49 [[-2.92183220e-01 -9.51807928e-01 -9.32235708e-02 2.64939984e+02] [-5.55153989e-02 -8.04328525e-02 9.95212840e-01 2.93421189e+01] [-9.54749709e-01 2.95959836e-01 -2.93388670e-02 -1.89488006e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.81864 meters Centerline goodness : 0.995695 Centerline is valid? [True, True] Translation: X:264.79, Y:29.34, Z:-189.51 [[-2.32325743e-01 -9.71030042e-01 5.59053282e-02 2.64786762e+02] [-6.11472798e-02 7.19459241e-02 9.95532417e-01 2.93415636e+01] [-9.70714046e-01 2.27869350e-01 -7.60907361e-02 -1.89512296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84864 meters Centerline goodness : 0.995350 Centerline is valid? [True, True] Translation: X:264.87, Y:30.88, Z:-189.67 [[-3.09520878e-01 9.50620517e-01 -2.27477327e-02 2.64874085e+02] [-2.19794400e-02 -3.10684952e-02 -9.99275564e-01 3.08843989e+01] [-9.50638591e-01 -3.08796667e-01 3.05104545e-02 -1.89668435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.87864 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:264.91, Y:30.88, Z:-189.75 [[-3.69903162e-01 9.25081245e-01 -8.60019796e-02 2.64913070e+02] [-1.55287207e-02 -9.87109631e-02 -9.94994977e-01 3.08755610e+01] [-9.28940531e-01 -3.66716287e-01 5.08788256e-02 -1.89752904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90864 meters Centerline goodness : 0.995343 Centerline is valid? [True, True] Translation: X:264.84, Y:29.33, Z:-189.76 [[-3.03496600e-01 -9.48358017e-01 -9.22327762e-02 2.64842133e+02] [-2.96670803e-02 -8.73463920e-02 9.95736146e-01 2.93292808e+01] [-9.52370557e-01 3.04938812e-01 -1.62568040e-03 -1.89762172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.93864 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:264.04, Y:30.00, Z:-189.60 [[-3.11297600e-01 -2.00050558e-01 9.29017534e-01 2.64039566e+02] [-1.00549671e-01 9.79037788e-01 1.77129256e-01 2.99987371e+01] [-9.44978078e-01 -3.82724954e-02 -3.24887131e-01 -1.89596494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96864 meters Centerline goodness : 0.994765 Centerline is valid? [True, True] Translation: X:264.71, Y:29.34, Z:-189.81 [[-2.30336892e-01 -9.73080493e-01 -7.69868588e-03 2.64712949e+02] [-1.23167277e-01 2.13051864e-02 9.92157201e-01 2.93370333e+01] [-9.65284796e-01 2.29478633e-01 -1.24759045e-01 -1.89814835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.99864 meters Centerline goodness : 0.995011 Centerline is valid? [True, True] Translation: X:265.42, Y:30.38, Z:-190.15 [[-2.11285718e-01 4.05381874e-01 -8.89395234e-01 2.65418821e+02] [-8.04224859e-02 -9.14062478e-01 -3.97519825e-01 3.03797492e+01] [-9.74110142e-01 -1.24628857e-02 2.25730165e-01 -1.90145079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02864 meters Centerline goodness : 0.994810 Centerline is valid? [True, True] Translation: X:265.43, Y:30.32, Z:-190.18 [[-2.16669191e-01 3.36208120e-01 -9.16525265e-01 2.65431000e+02] [-7.38725545e-02 -9.41781709e-01 -3.28009235e-01 3.03201694e+01] [-9.73446099e-01 -3.36343305e-03 2.28891634e-01 -1.90180790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.05864 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:264.64, Y:29.32, Z:-189.99 [[-1.80424963e-01 -9.83298376e-01 2.38984482e-02 2.64637315e+02] [-9.57792423e-02 4.17458376e-02 9.94526833e-01 2.93199973e+01] [-9.78914281e-01 1.77148492e-01 -1.01711565e-01 -1.89994493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08864 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:265.38, Y:30.36, Z:-190.27 [[-1.59652579e-01 4.02397957e-01 -9.01436042e-01 2.65382046e+02] [-5.16293322e-02 -9.15302656e-01 -3.99443938e-01 3.03645398e+01] [-9.85822228e-01 -1.72317142e-02 1.66905968e-01 -1.90269488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.11864 meters Centerline goodness : 0.994721 Centerline is valid? [True, True] Translation: X:264.70, Y:30.85, Z:-190.25 [[-2.38584660e-01 9.71098690e-01 -6.68542250e-03 2.64702459e+02] [-2.91295608e-02 -1.40374949e-02 -9.99477072e-01 3.08502415e+01] [-9.70684722e-01 -2.38265154e-01 3.16368093e-02 -1.90247354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14864 meters Centerline goodness : 0.995005 Centerline is valid? [True, True] Translation: X:264.62, Y:29.30, Z:-190.23 [[-1.92107331e-01 -9.81342783e-01 -7.81761003e-03 2.64622175e+02] [-7.03901520e-02 5.83321032e-03 9.97502481e-01 2.93020646e+01] [-9.78846260e-01 1.92177822e-01 -7.01974702e-02 -1.90225869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17864 meters Centerline goodness : 0.995400 Centerline is valid? [True, True] Translation: X:264.57, Y:29.30, Z:-190.29 [[-1.25371343e-01 -9.91849087e-01 2.27467557e-02 2.64574920e+02] [-7.30000166e-02 3.20879776e-02 9.96815609e-01 2.92994750e+01] [-9.89420550e-01 1.23311598e-01 -7.64279127e-02 -1.90294527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20864 meters Centerline goodness : 0.994811 Centerline is valid? [True, True] Translation: X:265.32, Y:30.36, Z:-190.49 [[-1.02294428e-01 4.14140883e-01 -9.04446339e-01 2.65324789e+02] [-3.09870310e-02 -9.10101325e-01 -4.13225583e-01 3.03610015e+01] [-9.94271419e-01 -1.42445680e-02 1.05931291e-01 -1.90491708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23864 meters Centerline goodness : 0.994950 Centerline is valid? [True, True] Translation: X:264.54, Y:30.84, Z:-190.50 [[-1.84005866e-01 9.73171673e-01 1.38125797e-01 2.64535348e+02] [-3.86549103e-02 1.33252053e-01 -9.90328071e-01 3.08356658e+01] [-9.82164772e-01 -1.87565415e-01 1.30987043e-02 -1.90496631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26864 meters Centerline goodness : 0.995399 Centerline is valid? [True, True] Translation: X:265.34, Y:30.28, Z:-190.63 [[-1.73074844e-01 3.15146491e-01 -9.33127959e-01 2.65343389e+02] [-3.31142897e-02 -9.48752184e-01 -3.14281303e-01 3.02819827e+01] [-9.84351839e-01 -2.34943181e-02 1.74640989e-01 -1.90632986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29864 meters Centerline goodness : 0.995159 Centerline is valid? [True, True] Translation: X:264.63, Y:30.83, Z:-190.58 [[-2.56349482e-01 9.66478013e-01 1.43245912e-02 2.64626092e+02] [-1.67904970e-02 1.03650232e-02 -9.99805304e-01 3.08345759e+01] [-9.66438318e-01 -2.56540089e-01 1.35705778e-02 -1.90582722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32864 meters Centerline goodness : 0.995305 Centerline is valid? [True, True] Translation: X:264.58, Y:29.29, Z:-190.59 [[-1.92181291e-01 -9.80950302e-01 -2.83347330e-02 2.64575069e+02] [-5.21665988e-02 -1.86205037e-02 9.98464783e-01 2.92861063e+01] [-9.79971937e-01 1.93364377e-01 -4.75943284e-02 -1.90585345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35864 meters Centerline goodness : 0.994719 Centerline is valid? [True, True] Translation: X:264.54, Y:30.83, Z:-190.72 [[-2.58637011e-01 9.62364392e-01 8.34366435e-02 2.64544685e+02] [-3.72696966e-02 7.63697327e-02 -9.96382775e-01 3.08319455e+01] [-9.65255337e-01 -2.60811121e-01 1.61149896e-02 -1.90721595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.38864 meters Centerline goodness : 0.994963 Centerline is valid? [True, True] Translation: X:265.31, Y:30.22, Z:-190.92 [[-2.58520795e-01 2.51660801e-01 -9.32648830e-01 2.65305938e+02] [-3.06016259e-02 -9.67118247e-01 -2.52479377e-01 3.02224514e+01] [-9.65520864e-01 -3.67305988e-02 2.57721408e-01 -1.90918872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41864 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:264.68, Y:29.29, Z:-190.78 [[-1.88272325e-01 -9.58601750e-01 -2.13626345e-01 2.64675800e+02] [-3.47802349e-02 -2.10872029e-01 9.76894735e-01 2.92907457e+01] [-9.81500824e-01 1.91352218e-01 6.36097320e-03 -1.90784689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.44864 meters Centerline goodness : 0.994905 Centerline is valid? [True, True] Translation: X:264.61, Y:29.28, Z:-190.85 [[-1.22878360e-01 -9.78499066e-01 -1.65651704e-01 2.64611819e+02] [-2.29408464e-02 -1.64071429e-01 9.86181669e-01 2.92812984e+01] [-9.92156553e-01 1.24980576e-01 -2.28676871e-03 -1.90849937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47864 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:264.51, Y:29.27, Z:-190.92 [[-5.72901862e-02 -9.96025015e-01 -6.82055963e-02 2.64514321e+02] [-1.83092646e-02 -6.72581018e-02 9.97567601e-01 2.92732135e+01] [-9.98189664e-01 5.83996279e-02 -1.43832564e-02 -1.90915228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.50864 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:264.54, Y:30.82, Z:-190.99 [[-1.30045080e-01 9.91315351e-01 1.95487138e-02 2.64536615e+02] [ 1.67825995e-02 2.19140761e-02 -9.99618986e-01 3.08225699e+01] [-9.91366038e-01 -1.29667453e-01 -1.94866663e-02 -1.90989761e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53864 meters Centerline goodness : 0.994625 Centerline is valid? [True, True] Translation: X:264.51, Y:29.27, Z:-191.07 [[-6.03284662e-02 -9.94876952e-01 -8.11192169e-02 2.64507698e+02] [ 4.20731614e-03 -8.15199599e-02 9.96662829e-01 2.92727383e+01] [-9.98169712e-01 5.97858456e-02 9.10373601e-03 -1.91072059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.56864 meters Centerline goodness : 0.995746 Centerline is valid? [True, True] Translation: X:263.71, Y:29.96, Z:-191.10 [[-4.49090489e-02 -1.88449131e-01 9.81055606e-01 2.63714106e+02] [-6.51880771e-02 9.80506176e-01 1.85359526e-01 2.99592652e+01] [-9.96861922e-01 -5.56288084e-02 -5.63182363e-02 -1.91104288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59864 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:264.81, Y:30.76, Z:-191.22 [[-4.26153330e-02 9.25464320e-01 -3.76430241e-01 2.64812054e+02] [-5.16405983e-02 -3.78309246e-01 -9.24237720e-01 3.07562215e+01] [-9.97756073e-01 -1.99476154e-02 6.39133057e-02 -1.91223115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.62864 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:265.00, Y:30.62, Z:-191.25 [[-3.88079510e-02 7.70539237e-01 -6.36210049e-01 2.65003270e+02] [-5.11611506e-02 -6.37386797e-01 -7.68843682e-01 3.06226938e+01] [-9.97936110e-01 2.71199013e-03 6.41573496e-02 -1.91245129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:265.03, Y:30.59, Z:-191.27 [[-4.24106007e-02 7.35760214e-01 -6.75912900e-01 2.65030482e+02] [-4.54675487e-02 -6.77242008e-01 -7.34354114e-01 3.05921143e+01] [-9.98065150e-01 -4.12296463e-04 6.21754537e-02 -1.91266773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.68864 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:264.45, Y:29.28, Z:-191.24 [[-2.13428150e-03 -9.99324508e-01 -3.66875044e-02 2.64450373e+02] [-6.08988349e-02 -3.64896054e-02 9.97476737e-01 2.92793492e+01] [-9.98141662e-01 4.36312242e-03 -6.07798192e-02 -1.91243409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:263.70, Y:30.15, Z:-191.48 [[-2.03507448e-02 4.07837570e-02 9.98960726e-01 2.63695335e+02] [-1.38998717e-01 9.89348840e-01 -4.32230107e-02 3.01541103e+01] [-9.90083433e-01 -1.39733880e-01 -1.44650958e-02 -1.91478478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.74864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:264.50, Y:30.84, Z:-191.63 [[ 4.27480235e-03 9.99959579e-01 7.90987814e-03 2.64500000e+02] [-1.25340311e-01 8.38336307e-03 -9.92078387e-01 3.08412079e+01] [-9.92104598e-01 3.24951244e-03 1.25371082e-01 -1.91633333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:264.52, Y:30.84, Z:-191.65 [[ 1.05378109e-03 9.99858389e-01 -1.67955584e-02 2.64518128e+02] [-1.25823237e-01 -1.65295163e-02 -9.91914960e-01 3.08358906e+01] [-9.92052117e-01 3.15853275e-03 1.25788000e-01 -1.91648331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.80864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:264.54, Y:30.83, Z:-191.66 [[-1.47316266e-03 9.99049238e-01 -4.35712063e-02 2.64538212e+02] [-1.26164297e-01 -4.34087749e-02 -9.91059155e-01 3.08326688e+01] [-9.92008266e-01 4.03713925e-03 1.26108293e-01 -1.91661301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:264.56, Y:30.83, Z:-191.68 [[-5.01055713e-03 9.97516905e-01 -7.02489768e-02 2.64557442e+02] [-1.26280541e-01 -7.03186446e-02 -9.89499122e-01 3.08287101e+01] [-9.91981915e-01 3.91313691e-03 1.26319310e-01 -1.91677100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.86864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:264.58, Y:30.82, Z:-191.69 [[-8.59973984e-03 9.95263233e-01 -9.68356408e-02 2.64577825e+02] [-1.25382042e-01 -9.71481865e-02 -9.87340657e-01 3.08239734e+01] [-9.92071262e-01 3.65057756e-03 1.25623585e-01 -1.91689649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:264.60, Y:30.82, Z:-191.72 [[-1.96855707e-02 9.91987485e-01 -1.24793062e-01 2.64601626e+02] [-1.24911163e-01 -1.26279482e-01 -9.84098925e-01 3.08150231e+01] [-9.91972620e-01 -3.78450250e-03 1.26396194e-01 -1.91718203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:264.65, Y:30.80, Z:-191.73 [[-2.31471961e-02 9.81049603e-01 -1.92369134e-01 2.64654288e+02] [-1.24520268e-01 -1.93751476e-01 -9.73116164e-01 3.08023033e+01] [-9.91947030e-01 1.42894550e-03 1.26645363e-01 -1.91728641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95864 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:264.67, Y:30.79, Z:-191.74 [[-2.74713341e-02 9.75425050e-01 -2.18612209e-01 2.64673556e+02] [-1.21966916e-01 -2.20331492e-01 -9.67769655e-01 3.07949393e+01] [-9.92153918e-01 7.75335152e-05 1.25022386e-01 -1.91739862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:264.68, Y:30.79, Z:-191.77 [[-3.68473556e-02 9.73517177e-01 -2.25624862e-01 2.64678125e+02] [-1.42578244e-01 -2.28589834e-01 -9.63025510e-01 3.07908383e+01] [-9.89097425e-01 -3.31574669e-03 1.47225301e-01 -1.91767965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:265.20, Y:29.81, Z:-191.72 [[-4.89120608e-03 -2.35617681e-01 -9.71833517e-01 2.65199213e+02] [-8.45991085e-02 -9.68263563e-01 2.35177942e-01 2.98143905e+01] [-9.96403065e-01 8.33665529e-02 -1.51970691e-02 -1.91717700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:264.74, Y:30.75, Z:-191.79 [[-1.68508112e-02 9.50178976e-01 -3.11249039e-01 2.64740078e+02] [-5.66480300e-02 -3.11700491e-01 -9.48490277e-01 3.07502309e+01] [-9.98251998e-01 1.64881438e-03 5.90781732e-02 -1.91791393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:264.72, Y:30.76, Z:-191.80 [[-1.96978826e-02 9.57789721e-01 -2.86794078e-01 2.64721731e+02] [-4.01371289e-02 -2.87376032e-01 -9.56976503e-01 3.07614907e+01] [-9.99000002e-01 -7.33931993e-03 4.41036288e-02 -1.91795699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:265.19, Y:29.78, Z:-191.84 [[ 2.59384027e-03 -2.54038112e-01 -9.67190731e-01 2.65189639e+02] [-1.04599310e-02 -9.67147965e-01 2.53998828e-01 2.97826330e+01] [-9.99941929e-01 9.45791587e-03 -5.16584845e-03 -1.91836012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.13864 meters Centerline goodness : 0.997551 Centerline is valid? [True, True] Translation: X:264.57, Y:30.78, Z:-191.90 [[-7.72216723e-02 9.93574005e-01 -8.27496813e-02 2.64571573e+02] [ 2.33319190e-02 -8.11738956e-02 -9.96426826e-01 3.07799956e+01] [-9.96740907e-01 -7.88764547e-02 -1.69136042e-02 -1.91899971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16864 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:264.38, Y:29.25, Z:-191.97 [[-1.85122153e-02 -9.99138730e-01 3.71361940e-02 2.64375257e+02] [-1.52283945e-02 3.74200155e-02 9.99183586e-01 2.92485618e+01] [-9.99712656e-01 1.79315771e-02 -1.59080061e-02 -1.91968481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.19864 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:264.26, Y:29.27, Z:-192.04 [[ 4.65003190e-02 -9.84662524e-01 1.68158955e-01 2.64264808e+02] [-2.55667637e-02 1.67112742e-01 9.85606246e-01 2.92664497e+01] [-9.98591038e-01 -5.01302851e-02 -1.74038383e-02 -1.92040668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22864 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:264.22, Y:29.27, Z:-192.21 [[ 1.13367620e-01 -9.79261423e-01 1.67913216e-01 2.64223770e+02] [-3.68171409e-02 1.64746159e-01 9.85648620e-01 2.92732788e+01] [-9.92870727e-01 -1.17922723e-01 -1.73767257e-02 -1.92210386e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.25864 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:264.67, Y:30.76, Z:-192.36 [[ 6.07470128e-02 9.76444195e-01 -2.07042349e-01 2.64666120e+02] [ 1.14082179e-02 -2.08091072e-01 -9.78042923e-01 3.07573851e+01] [-9.98087999e-01 5.70512017e-02 -2.37803992e-02 -1.92356286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28864 meters Centerline goodness : 0.998046 Centerline is valid? [True, True] Translation: X:264.67, Y:30.76, Z:-192.52 [[-6.85606532e-03 9.90777401e-01 -1.35326040e-01 2.64669144e+02] [ 2.26955104e-02 -1.35140187e-01 -9.90566527e-01 3.07605273e+01] [-9.99718915e-01 -9.86268234e-03 -2.15596688e-02 -1.92524112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.31864 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:264.55, Y:29.24, Z:-192.60 [[ 5.10273374e-02 -9.93992378e-01 -9.68264595e-02 2.64546316e+02] [-1.11747143e-02 -9.75149646e-02 9.95171321e-01 2.92350760e+01] [-9.98634736e-01 -4.96989348e-02 -1.60835098e-02 -1.92603726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34864 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:264.31, Y:30.75, Z:-192.77 [[-1.31569689e-02 9.20268416e-01 3.91066409e-01 2.64306304e+02] [ 4.91948705e-03 3.91155103e-01 -9.20311623e-01 3.07484542e+01] [-9.99901342e-01 -1.01846653e-02 -9.67366409e-03 -1.92769709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.37864 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:264.96, Y:30.69, Z:-192.81 [[-6.44234568e-03 8.83954707e-01 -4.67528151e-01 2.64963918e+02] [ 6.40374506e-03 -4.67491798e-01 -8.83974214e-01 3.06859059e+01] [-9.99958743e-01 -8.68879855e-03 -2.64887683e-03 -1.92812263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40864 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:264.55, Y:29.25, Z:-192.86 [[ 4.38380398e-02 -9.98382950e-01 -3.61899384e-02 2.64549625e+02] [-2.90960347e-02 -3.74852993e-02 9.98873502e-01 2.92518261e+01] [-9.98614864e-01 -4.27356726e-02 -3.06922670e-02 -1.92863162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.43864 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:264.89, Y:30.72, Z:-193.02 [[-6.02414751e-03 9.47608810e-01 -3.19376349e-01 2.64890830e+02] [ 3.14121701e-02 -3.19045205e-01 -9.47218788e-01 3.07238766e+01] [-9.99488362e-01 -1.57384899e-02 -2.78444737e-02 -1.93024997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46864 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:265.19, Y:29.50, Z:-193.07 [[ 9.00720221e-04 -6.26264450e-01 -7.79610177e-01 2.65190273e+02] [ 3.96650204e-03 -7.79602123e-01 6.26262563e-01 2.94974358e+01] [-9.99991728e-01 -3.65641271e-03 1.78187582e-03 -1.93072515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.49864 meters Centerline goodness : 0.996430 Centerline is valid? [True, True] Translation: X:264.98, Y:29.33, Z:-193.09 [[-1.94498560e-03 -8.57742732e-01 -5.14075503e-01 2.64979489e+02] [ 4.68874777e-03 -5.14078646e-01 8.57730238e-01 2.93276704e+01] [-9.99987116e-01 -7.42097407e-04 5.02161489e-03 -1.93086612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52864 meters Centerline goodness : 0.995891 Centerline is valid? [True, True] Translation: X:264.85, Y:29.27, Z:-193.13 [[ 1.52499089e-02 -9.36124034e-01 -3.51339200e-01 2.64849968e+02] [ 1.11713102e-02 -3.51198613e-01 9.36234338e-01 2.92742758e+01] [-9.99821305e-01 -1.82024075e-02 5.10198514e-03 -1.93127100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.55864 meters Centerline goodness : 0.996179 Centerline is valid? [True, True] Translation: X:264.37, Y:29.28, Z:-193.21 [[ 1.67891874e-02 -9.65078926e-01 2.61420715e-01 2.64371596e+02] [ 6.63164905e-03 2.61559298e-01 9.65164626e-01 2.92760281e+01] [-9.99837059e-01 -1.44706793e-02 1.07914328e-02 -1.93214920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58864 meters Centerline goodness : 0.995408 Centerline is valid? [True, True] Translation: X:264.13, Y:29.41, Z:-193.37 [[ 4.83525290e-02 -8.29089810e-01 5.57020753e-01 2.64130438e+02] [-1.65915997e-02 5.56929409e-01 8.30394095e-01 2.94076118e+01] [-9.98692521e-01 -4.93935199e-02 1.31730191e-02 -1.93367959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.61864 meters Centerline goodness : 0.995111 Centerline is valid? [True, True] Translation: X:264.65, Y:29.26, Z:-193.50 [[ 1.23896768e-01 -9.77313606e-01 -1.71778071e-01 2.64645132e+02] [ 4.00793058e-02 -1.68041913e-01 9.84964753e-01 2.92610187e+01] [-9.91485371e-01 -1.28918695e-01 1.83502009e-02 -1.93501662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64864 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:263.87, Y:29.69, Z:-193.65 [[ 1.10170641e-01 -4.73131165e-01 8.74076273e-01 2.63865380e+02] [-2.00076654e-02 8.78195718e-01 4.77882804e-01 2.96911726e+01] [-9.93711288e-01 -7.01368803e-02 8.72851350e-02 -1.93654116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67864 meters Centerline goodness : 0.994668 Centerline is valid? [True, True] Translation: X:264.49, Y:29.26, Z:-193.75 [[ 2.02075525e-01 -9.79358596e-01 4.71409644e-03 2.64488266e+02] [-1.64419441e-02 1.42025604e-03 9.99863813e-01 2.92593159e+01] [-9.79231916e-01 -2.02125514e-01 -1.58155603e-02 -1.93745305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70864 meters Centerline goodness : 0.994374 Centerline is valid? [True, True] Translation: X:264.47, Y:29.26, Z:-193.92 [[ 2.67633449e-01 -9.63418024e-01 1.40729509e-02 2.64465115e+02] [-1.68661253e-02 9.91918063e-03 9.99808554e-01 2.92599007e+01] [-9.63373173e-01 -2.67819568e-01 -1.35944246e-02 -1.93917685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73864 meters Centerline goodness : 0.995294 Centerline is valid? [True, True] Translation: X:264.64, Y:30.80, Z:-194.04 [[ 1.72269546e-01 9.84947160e-01 -1.42230328e-02 2.64644036e+02] [ 2.08284276e-02 -1.80778492e-02 -9.99619612e-01 3.07979571e+01] [-9.84829620e-01 1.71907773e-01 -2.36291635e-02 -1.94036686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76864 meters Centerline goodness : 0.993931 Centerline is valid? [True, True] Translation: X:264.82, Y:30.77, Z:-194.16 [[ 1.05654422e-01 9.83439086e-01 -1.47257285e-01 2.64815778e+02] [-2.25427162e-03 -1.47848882e-01 -9.89007394e-01 3.07720721e+01] [-9.94400353e-01 1.04824963e-01 -1.34039494e-02 -1.94163017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79864 meters Centerline goodness : 0.995093 Centerline is valid? [True, True] Translation: X:265.41, Y:29.75, Z:-194.27 [[ 1.60092155e-01 -2.38891718e-01 -9.57758450e-01 2.65405259e+02] [ 9.54512084e-02 -9.61979473e-01 2.55899511e-01 2.97469546e+01] [-9.82476243e-01 -1.32386706e-01 -1.31202864e-01 -1.94271339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82864 meters Centerline goodness : 0.993247 Centerline is valid? [True, True] Translation: X:264.05, Y:29.58, Z:-194.57 [[ 1.64612070e-01 -5.73710692e-01 8.02345878e-01 2.64050172e+02] [ 8.18709081e-02 8.18582796e-01 5.68523843e-01 2.95797717e+01] [-9.82954740e-01 -2.78971011e-02 1.81718824e-01 -1.94567632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85864 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:264.23, Y:30.60, Z:-194.62 [[ 9.90469274e-02 7.13853138e-01 6.93255655e-01 2.64232716e+02] [ 1.44727802e-02 6.95574276e-01 -7.18308405e-01 3.06028810e+01] [-9.94977510e-01 8.11795772e-02 5.85630553e-02 -1.94615836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.88864 meters Centerline goodness : 0.994276 Centerline is valid? [True, True] Translation: X:265.40, Y:30.46, Z:-194.68 [[ 5.47958127e-02 6.29855932e-01 -7.74776693e-01 2.65400674e+02] [ 1.07226892e-01 -7.75167252e-01 -6.22589853e-01 3.04562429e+01] [-9.92723432e-01 -4.89615798e-02 -1.10013414e-01 -1.94676052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91864 meters Centerline goodness : 0.994233 Centerline is valid? [True, True] Translation: X:264.45, Y:29.33, Z:-194.97 [[ 8.96604601e-02 -9.20036315e-01 3.81436995e-01 2.64449384e+02] [ 9.21857264e-02 3.89001560e-01 9.16613102e-01 2.93341930e+01] [-9.91696926e-01 -4.70209059e-02 1.19692275e-01 -1.94971655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.94864 meters Centerline goodness : 0.994562 Centerline is valid? [True, True] Translation: X:264.26, Y:29.48, Z:-195.07 [[ 1.04415162e-01 -7.57614316e-01 6.44296533e-01 2.64256052e+02] [ 7.38105958e-02 6.51954371e-01 7.54657203e-01 2.94790494e+01] [-9.91791041e-01 -3.12417428e-02 1.23993885e-01 -1.95073439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97864 meters Centerline goodness : 0.994477 Centerline is valid? [True, True] Translation: X:264.31, Y:30.65, Z:-195.16 [[ 1.60045315e-02 7.15475536e-01 6.98454445e-01 2.64305511e+02] [ 1.77177253e-02 6.98231301e-01 -7.15652942e-01 3.06527435e+01] [-9.99714928e-01 2.38287140e-02 -1.50173414e-03 -1.95159118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.00864 meters Centerline goodness : 0.993052 Centerline is valid? [True, True] Translation: X:264.63, Y:30.83, Z:-195.31 [[-4.50440630e-02 9.36009908e-01 3.49079483e-01 2.64631999e+02] [-7.25598716e-06 3.49433851e-01 -9.36961036e-01 3.08307196e+01] [-9.98985001e-01 -4.22070649e-02 -1.57331287e-02 -1.95311785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03864 meters Centerline goodness : 0.994120 Centerline is valid? [True, True] Translation: X:264.72, Y:30.85, Z:-195.39 [[-1.10346613e-01 9.63032813e-01 2.45746672e-01 2.64718280e+02] [-1.55009538e-02 2.45559003e-01 -9.69257704e-01 3.08540167e+01] [-9.93772281e-01 -1.10763612e-01 -1.21686771e-02 -1.95392924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.06864 meters Centerline goodness : 0.993008 Centerline is valid? [True, True] Translation: X:264.83, Y:29.33, Z:-195.44 [[-1.74904473e-02 -9.99819252e-01 7.45297985e-03 2.64829014e+02] [-4.83838297e-02 8.29174807e-03 9.98794399e-01 2.93349026e+01] [-9.98675668e-01 1.71087571e-02 -4.85201109e-02 -1.95435581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09864 meters Centerline goodness : 0.993290 Centerline is valid? [True, True] Translation: X:265.38, Y:30.67, Z:-195.53 [[-3.98803217e-02 7.64163905e-01 -6.43788076e-01 2.65378732e+02] [-1.67915811e-02 -6.44722197e-01 -7.64232511e-01 3.06678976e+01] [-9.99063363e-01 -1.96676187e-02 3.85432488e-02 -1.95529839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.12864 meters Centerline goodness : 0.993055 Centerline is valid? [True, True] Translation: X:265.47, Y:29.63, Z:-195.58 [[ 1.46440089e-02 -5.61520367e-01 -8.27333325e-01 2.65469892e+02] [ 3.78628049e-02 -8.26517206e-01 5.61636640e-01 2.96321194e+01] [-9.99175641e-01 -3.95497722e-02 9.15721083e-03 -1.95584051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15864 meters Centerline goodness : 0.993393 Centerline is valid? [True, True] Translation: X:265.02, Y:29.34, Z:-195.68 [[ 5.01130177e-02 -9.65115567e-01 -2.56983711e-01 2.65018348e+02] [ 4.30104466e-03 -2.57096075e-01 9.66376277e-01 2.93399973e+01] [-9.98734292e-01 -4.95333299e-02 -8.73285498e-03 -1.95676898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.18864 meters Centerline goodness : 0.993538 Centerline is valid? [True, True] Translation: X:264.86, Y:29.32, Z:-195.85 [[ 1.15212170e-01 -9.87136367e-01 -1.10851021e-01 2.64862290e+02] [ 1.07472828e-02 -1.10348872e-01 9.93834806e-01 2.93207328e+01] [-9.93282765e-01 -1.15693212e-01 -2.10449933e-03 -1.95847508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21864 meters Centerline goodness : 0.993041 Centerline is valid? [True, True] Translation: X:264.85, Y:30.85, Z:-195.97 [[ 2.63252838e-02 9.97396848e-01 6.71305244e-02 2.64853034e+02] [ 2.78941307e-03 6.70802448e-02 -9.97743684e-01 3.08544274e+01] [-9.99649538e-01 2.64531404e-02 -1.01624532e-03 -1.95966081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.24864 meters Centerline goodness : 0.993784 Centerline is valid? [True, True] Translation: X:265.64, Y:30.02, Z:-196.12 [[ 4.92063826e-02 1.37032164e-02 -9.98694625e-01 2.65643033e+02] [ 1.12619231e-01 -9.93605328e-01 -8.08455724e-03 3.00191425e+01] [-9.92419085e-01 -1.12074409e-01 -5.04349696e-02 -1.96120484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27864 meters Centerline goodness : 0.995208 Centerline is valid? [True, True] Translation: X:264.63, Y:29.33, Z:-196.28 [[ 6.07553656e-02 -9.60970162e-01 2.69898374e-01 2.64632914e+02] [ 1.15603929e-01 2.75352669e-01 9.54367141e-01 2.93347670e+01] [-9.91435584e-01 -2.67816121e-02 1.27821078e-01 -1.96280050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.30864 meters Centerline goodness : 0.993790 Centerline is valid? [True, True] Translation: X:264.13, Y:30.22, Z:-196.37 [[ 4.93907686e-02 8.73262346e-02 9.94954612e-01 2.64133260e+02] [ 8.05390691e-03 9.96103197e-01 -8.78268506e-02 3.02207468e+01] [-9.98747058e-01 1.23511075e-02 4.84949851e-02 -1.96369890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33864 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:264.92, Y:30.88, Z:-196.49 [[-6.06103143e-02 9.95206763e-01 7.67456104e-02 2.64924545e+02] [ 2.81222068e-03 7.70569196e-02 -9.97022729e-01 3.08836215e+01] [-9.98157543e-01 -6.02140354e-02 -7.46918516e-03 -1.96488241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.36864 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:265.58, Y:30.54, Z:-196.54 [[-5.71096870e-02 6.04564950e-01 -7.94505950e-01 2.65576739e+02] [ 2.20120969e-02 -7.94848836e-01 -6.06408109e-01 3.05442448e+01] [-9.98125218e-01 -5.21205192e-02 3.20858260e-02 -1.96541966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39864 meters Centerline goodness : 0.993744 Centerline is valid? [True, True] Translation: X:265.70, Y:30.14, Z:-196.60 [[-3.53368277e-02 9.94425340e-02 -9.94415653e-01 2.65702406e+02] [ 4.59454849e-02 -9.93823316e-01 -1.01015985e-01 3.01439969e+01] [-9.98318747e-01 -4.92584938e-02 3.05496279e-02 -1.96596621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42864 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:265.58, Y:29.70, Z:-196.62 [[-2.61699083e-02 -4.86275403e-01 -8.73413630e-01 2.65580923e+02] [ 3.99324067e-02 -8.73524022e-01 4.85140378e-01 2.96980091e+01] [-9.98859619e-01 -2.21814290e-02 4.22781907e-02 -1.96620487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45864 meters Centerline goodness : 0.993453 Centerline is valid? [True, True] Translation: X:265.52, Y:29.62, Z:-196.64 [[-2.35546625e-02 -5.97877878e-01 -8.01241050e-01 2.65517072e+02] [ 4.14389129e-02 -8.01358508e-01 5.96747315e-01 2.96153161e+01] [-9.98863351e-01 -1.91463765e-02 4.36511385e-02 -1.96640422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48864 meters Centerline goodness : 0.994913 Centerline is valid? [True, True] Translation: X:265.45, Y:29.55, Z:-196.66 [[-1.75283128e-02 -6.92542568e-01 -7.21164024e-01 2.65449896e+02] [ 4.26429372e-02 -7.21136351e-01 6.91479532e-01 2.95469608e+01] [-9.98936604e-01 -1.86320827e-02 4.21723528e-02 -1.96661720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51864 meters Centerline goodness : 0.993641 Centerline is valid? [True, True] Translation: X:265.37, Y:29.49, Z:-196.68 [[-1.29056559e-02 -7.80004487e-01 -6.25640827e-01 2.65367993e+02] [ 4.06810815e-02 -6.25584472e-01 7.79095063e-01 2.94853910e+01] [-9.99088832e-01 -1.53970126e-02 3.98050041e-02 -1.96677720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54864 meters Centerline goodness : 0.993586 Centerline is valid? [True, True] Translation: X:265.31, Y:29.45, Z:-196.70 [[-8.79822606e-03 -8.29906592e-01 -5.57832985e-01 2.65310083e+02] [ 4.30217730e-02 -5.57652196e-01 8.28959080e-01 2.94506089e+01] [-9.99035394e-01 -1.67055947e-02 4.06104031e-02 -1.96697151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57864 meters Centerline goodness : 0.994113 Centerline is valid? [True, True] Translation: X:265.24, Y:29.41, Z:-196.71 [[-5.61412113e-03 -8.83637805e-01 -4.68137492e-01 2.65235602e+02] [ 4.40027718e-02 -4.67909713e-01 8.82680155e-01 2.94124899e+01] [-9.99015634e-01 -1.56438740e-02 4.15094145e-02 -1.96711181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60864 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:265.19, Y:29.39, Z:-196.73 [[-2.21761183e-03 -9.13940986e-01 -4.05841049e-01 2.65185520e+02] [ 4.50613039e-02 -4.05521129e-01 9.12974311e-01 2.93924772e+01] [-9.98981762e-01 -1.62631042e-02 4.20826610e-02 -1.96728124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.63864 meters Centerline goodness : 0.994805 Centerline is valid? [True, True] Translation: X:265.13, Y:29.38, Z:-196.76 [[ 7.13414047e-03 -9.39776145e-01 -3.41716112e-01 2.65129380e+02] [ 4.79288730e-02 -3.41010706e-01 9.38836792e-01 2.93765258e+01] [-9.98825274e-01 -2.30758617e-02 4.26095932e-02 -1.96761834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66864 meters Centerline goodness : 0.993694 Centerline is valid? [True, True] Translation: X:265.00, Y:29.35, Z:-196.78 [[ 1.14799167e-02 -9.83898247e-01 -1.78360451e-01 2.64998569e+02] [ 4.65102608e-02 -1.77653742e-01 9.82993359e-01 2.93548306e+01] [-9.98851844e-01 -1.95802730e-02 4.37219139e-02 -1.96781748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.69864 meters Centerline goodness : 0.994285 Centerline is valid? [True, True] Translation: X:264.92, Y:29.35, Z:-196.80 [[ 1.62500217e-02 -9.96820383e-01 -7.80068037e-02 2.64919493e+02] [ 4.46106345e-02 -7.72166050e-02 9.96015807e-01 2.93541053e+01] [-9.98872278e-01 -1.96652115e-02 4.32140182e-02 -1.96803068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72864 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:264.82, Y:29.37, Z:-196.86 [[ 1.78709652e-02 -9.98908790e-01 4.31492522e-02 2.64823541e+02] [ 4.27428283e-02 4.38799573e-02 9.98122037e-01 2.93651856e+01] [-9.98926263e-01 -1.59930831e-02 4.34803641e-02 -1.96863715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.75864 meters Centerline goodness : 0.995309 Centerline is valid? [True, True] Translation: X:264.75, Y:29.38, Z:-196.92 [[ 2.01070459e-02 -9.91640230e-01 1.27457287e-01 2.64754180e+02] [ 4.32444316e-02 1.28226352e-01 9.90801656e-01 2.93784685e+01] [-9.98862166e-01 -1.44102764e-02 4.54611712e-02 -1.96917631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78864 meters Centerline goodness : 0.996577 Centerline is valid? [True, True] Translation: X:264.71, Y:29.39, Z:-196.97 [[ 2.46289040e-02 -9.81752222e-01 1.88562964e-01 2.64705604e+02] [ 4.22089830e-02 1.89473191e-01 9.80978242e-01 2.93932590e+01] [-9.98805196e-01 -1.62013680e-02 4.61052799e-02 -1.96974334e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.81864 meters Centerline goodness : 0.996034 Centerline is valid? [True, True] Translation: X:264.65, Y:29.42, Z:-197.03 [[ 2.97251884e-02 -9.65571508e-01 2.58433891e-01 2.64651496e+02] [ 4.07533820e-02 2.59503888e-01 9.64881803e-01 2.94154342e+01] [-9.98726977e-01 -1.81492383e-02 4.70641065e-02 -1.97028509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84864 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:264.60, Y:29.44, Z:-197.09 [[ 3.54920991e-02 -9.47689688e-01 3.17213754e-01 2.64603603e+02] [ 3.61334755e-02 3.18423098e-01 9.47259786e-01 2.94399533e+01] [-9.98716518e-01 -2.21582028e-02 4.55448263e-02 -1.97088365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.87864 meters Centerline goodness : 0.996379 Centerline is valid? [True, True] Translation: X:264.54, Y:29.47, Z:-197.15 [[ 3.91142018e-02 -9.18111863e-01 3.94386469e-01 2.64544967e+02] [ 3.24227664e-02 3.95646803e-01 9.17830252e-01 2.94741392e+01] [-9.98708588e-01 -2.31130973e-02 4.52431354e-02 -1.97150251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90864 meters Centerline goodness : 0.995497 Centerline is valid? [True, True] Translation: X:265.34, Y:30.81, Z:-197.22 [[-4.32292796e-02 9.19536800e-01 -3.90619128e-01 2.65342108e+02] [ 1.04536983e-01 -3.84675182e-01 -9.17113419e-01 3.08060679e+01] [-9.93581023e-01 -8.04802978e-02 -7.94963722e-02 -1.97222923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.93864 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:265.18, Y:29.40, Z:-197.34 [[-7.27231939e-03 -9.24906322e-01 -3.80125518e-01 2.65183971e+02] [ 7.16904240e-02 -3.79639634e-01 9.22352553e-01 2.93992524e+01] [-9.97400419e-01 -2.05437172e-02 6.90677870e-02 -1.97344376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96864 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:265.15, Y:29.39, Z:-197.36 [[-5.00216002e-03 -9.41626252e-01 -3.36622904e-01 2.65147685e+02] [ 7.19589764e-02 -3.36093367e-01 9.39075692e-01 2.93913770e+01] [-9.97395049e-01 -1.95256328e-02 6.94396541e-02 -1.97356499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.99864 meters Centerline goodness : 0.995551 Centerline is valid? [True, True] Translation: X:265.11, Y:29.38, Z:-197.37 [[-1.75467331e-03 -9.55847573e-01 -2.93857685e-01 2.65108315e+02] [ 7.17954468e-02 -2.93220213e-01 9.53345331e-01 2.93832373e+01] [-9.97417834e-01 -1.94248342e-02 6.91400093e-02 -1.97371633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02864 meters Centerline goodness : 0.995841 Centerline is valid? [True, True] Translation: X:265.07, Y:29.38, Z:-197.39 [[ 2.12403748e-03 -9.68237305e-01 -2.50024019e-01 2.65069481e+02] [ 7.22455015e-02 -2.49222657e-01 9.65747718e-01 2.93765825e+01] [-9.97384618e-01 -2.01143950e-02 6.94214314e-02 -1.97387007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.05864 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:265.03, Y:29.37, Z:-197.41 [[ 6.02718906e-03 -9.78487863e-01 -2.06216329e-01 2.65033934e+02] [ 7.33878438e-02 -2.05231154e-01 9.75958195e-01 2.93732329e+01] [-9.97285264e-01 -2.10160563e-02 7.05721475e-02 -1.97405113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08864 meters Centerline goodness : 0.996132 Centerline is valid? [True, True] Translation: X:265.00, Y:29.37, Z:-197.42 [[ 8.39721883e-03 -9.86714020e-01 -1.62249588e-01 2.64997510e+02] [ 7.37312919e-02 -1.61202687e-01 9.84163295e-01 2.93728030e+01] [-9.97242791e-01 -2.02271063e-02 7.13980452e-02 -1.97416623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.11864 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:264.96, Y:29.37, Z:-197.43 [[ 1.09983210e-02 -9.93002452e-01 -1.17580475e-01 2.64960411e+02] [ 7.32687521e-02 -1.16471209e-01 9.90487833e-01 2.93724779e+01] [-9.97251587e-01 -1.95086777e-02 7.14750627e-02 -1.97429705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14864 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:264.93, Y:29.37, Z:-197.45 [[ 1.45949952e-02 -9.97131105e-01 -7.42734495e-02 2.64926603e+02] [ 7.28333049e-02 -7.30238596e-02 9.94667193e-01 2.93748660e+01] [-9.97237332e-01 -1.99267437e-02 7.15585710e-02 -1.97445812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17864 meters Centerline goodness : 0.996186 Centerline is valid? [True, True] Translation: X:264.89, Y:29.38, Z:-197.46 [[ 1.68832841e-02 -9.99515461e-01 -2.61495212e-02 2.64887496e+02] [ 7.23677286e-02 -2.48630948e-02 9.97068071e-01 2.93786807e+01] [-9.97235111e-01 -1.87261649e-02 7.19128929e-02 -1.97456836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20864 meters Centerline goodness : 0.996721 Centerline is valid? [True, True] Translation: X:264.85, Y:29.39, Z:-197.51 [[ 1.85790501e-02 -9.99643854e-01 1.91568038e-02 2.64851713e+02] [ 7.09878592e-02 2.04306292e-02 9.97267925e-01 2.93879856e+01] [-9.97304138e-01 -1.71683902e-02 7.13421588e-02 -1.97510450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23864 meters Centerline goodness : 0.995401 Centerline is valid? [True, True] Translation: X:265.31, Y:30.86, Z:-197.55 [[-6.76922895e-02 9.62581860e-01 -2.62400299e-01 2.65307571e+02] [ 1.27435887e-01 -2.52507468e-01 -9.59166343e-01 3.08616641e+01] [-9.89534157e-01 -9.83673805e-02 -1.05574664e-01 -1.97547400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26864 meters Centerline goodness : 0.995164 Centerline is valid? [True, True] Translation: X:265.30, Y:29.44, Z:-197.72 [[-3.60107467e-02 -8.70217982e-01 -4.91349052e-01 2.65298991e+02] [ 9.90191340e-02 -4.92355525e-01 8.64743458e-01 2.94415313e+01] [-9.94433727e-01 -1.75128999e-02 1.03898321e-01 -1.97715884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29864 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:265.27, Y:29.43, Z:-197.73 [[-3.52839784e-02 -8.89796498e-01 -4.54991464e-01 2.65268871e+02] [ 1.02446946e-01 -4.56096903e-01 8.84013709e-01 2.94292096e+01] [-9.94112501e-01 -1.54209655e-02 1.07249847e-01 -1.97728543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32864 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:265.24, Y:29.42, Z:-197.76 [[-2.76864029e-02 -9.05060334e-01 -4.24381026e-01 2.65242795e+02] [ 1.05534722e-01 -4.24817637e-01 8.99106444e-01 2.94242365e+01] [-9.94030123e-01 -1.98939106e-02 1.07276963e-01 -1.97755117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35864 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:265.19, Y:29.41, Z:-197.76 [[-2.66858405e-02 -9.34005858e-01 -3.56259629e-01 2.65186677e+02] [ 1.03452555e-01 -3.57053316e-01 9.28337492e-01 2.94113607e+01] [-9.94276337e-01 -1.20825026e-02 1.06153560e-01 -1.97763059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.38864 meters Centerline goodness : 0.996474 Centerline is valid? [True, True] Translation: X:265.16, Y:29.41, Z:-197.78 [[-2.39711113e-02 -9.45451807e-01 -3.24878847e-01 2.65161269e+02] [ 1.03401779e-01 -3.25574062e-01 9.39845521e-01 2.94075061e+01] [-9.94350772e-01 -1.10639092e-02 1.05565771e-01 -1.97776105e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41864 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:265.14, Y:29.41, Z:-197.79 [[-2.18805578e-02 -9.56559812e-01 -2.90713891e-01 2.65136906e+02] [ 1.02626787e-01 -2.91396427e-01 9.51081419e-01 2.94050116e+01] [-9.94479253e-01 -9.02484072e-03 1.04544577e-01 -1.97785837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.44864 meters Centerline goodness : 0.996036 Centerline is valid? [True, True] Translation: X:265.10, Y:29.40, Z:-197.80 [[-1.97418222e-02 -9.68859739e-01 -2.46821932e-01 2.65102954e+02] [ 1.01969900e-01 -2.47533871e-01 9.63498377e-01 2.94018976e+01] [-9.94591574e-01 -6.14719417e-03 1.03681301e-01 -1.97796692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47864 meters Centerline goodness : 0.996965 Centerline is valid? [True, True] Translation: X:265.08, Y:29.41, Z:-197.85 [[ 2.38872469e-03 -9.76701586e-01 -2.14588691e-01 2.65076447e+02] [ 1.09983498e-01 -2.13030870e-01 9.70835454e-01 2.94055079e+01] [-9.93930543e-01 -2.59202736e-02 1.06912185e-01 -1.97854112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.50864 meters Centerline goodness : 0.996421 Centerline is valid? [True, True] Translation: X:264.99, Y:29.40, Z:-197.87 [[ 7.48766614e-03 -9.95595159e-01 -9.34570189e-02 2.64985687e+02] [ 1.02997780e-01 -9.21946948e-02 9.90399715e-01 2.94015591e+01] [-9.94653403e-01 -1.70416479e-02 1.01853768e-01 -1.97866187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53864 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:264.23, Y:30.24, Z:-197.98 [[-1.87898029e-03 -9.43909514e-02 9.95533434e-01 2.64227566e+02] [-9.61772617e-03 9.95490852e-01 9.43687615e-02 3.02443912e+01] [-9.99951983e-01 -9.39745091e-03 -2.77833401e-03 -1.97977294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.56864 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:264.84, Y:29.47, Z:-198.14 [[ 8.86568764e-02 -9.95384134e-01 3.67475747e-02 2.64835736e+02] [-1.90121486e-02 3.51950600e-02 9.99199603e-01 2.94687196e+01] [-9.95880764e-01 -8.92845660e-02 -1.58041070e-02 -1.98140340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59864 meters Centerline goodness : 0.996622 Centerline is valid? [True, True] Translation: X:264.89, Y:29.46, Z:-198.31 [[ 1.59938417e-01 -9.84153832e-01 -7.65567671e-02 2.64888838e+02] [-1.49114028e-02 -7.99550163e-02 9.96686935e-01 2.94559622e+01] [-9.87014363e-01 -1.58266962e-01 -2.74629929e-02 -1.98305342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.62864 meters Centerline goodness : 0.997243 Centerline is valid? [True, True] Translation: X:264.95, Y:31.01, Z:-198.46 [[ 6.54682271e-02 9.85119744e-01 1.58911927e-01 2.64949401e+02] [ 7.88013946e-03 1.58738205e-01 -9.87289261e-01 3.10060304e+01] [-9.97823539e-01 6.58883257e-02 2.62942791e-03 -1.98463727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65864 meters Centerline goodness : 0.997014 Centerline is valid? [True, True] Translation: X:265.15, Y:31.00, Z:-198.62 [[-5.62704224e-04 9.99758530e-01 -2.19673629e-02 2.65148512e+02] [ 9.79253211e-03 -2.19608041e-02 -9.99710873e-01 3.09975459e+01] [-9.99951894e-01 -7.77657637e-04 -9.77781007e-03 -1.98615970e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.68864 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:264.57, Y:29.62, Z:-198.78 [[ 7.78320648e-02 -8.76908744e-01 4.74313425e-01 2.64569251e+02] [-6.08318434e-02 4.70693001e-01 8.80197470e-01 2.96206087e+01] [-9.95108867e-01 -9.73609465e-02 -1.67089672e-02 -1.98782597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71864 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:264.38, Y:30.69, Z:-198.91 [[ 4.63666779e-02 4.76513057e-01 8.77943870e-01 2.64383350e+02] [-5.05726987e-02 8.78881837e-01 -4.74351262e-01 3.06948280e+01] [-9.97643490e-01 -2.24058986e-02 6.48493823e-02 -1.98908716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.74864 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:264.43, Y:30.75, Z:-198.98 [[ 4.17445129e-02 5.47166592e-01 8.35982127e-01 2.64429627e+02] [-5.68424478e-02 8.36656898e-01 -5.44769833e-01 3.07450369e+01] [-9.97510066e-01 -2.47781191e-02 6.60281231e-02 -1.98982075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77864 meters Centerline goodness : 0.996286 Centerline is valid? [True, True] Translation: X:264.48, Y:30.80, Z:-199.04 [[ 3.83914714e-02 6.20558419e-01 7.83219856e-01 2.64483564e+02] [-6.01023375e-02 7.83812665e-01 -6.18082046e-01 3.07962660e+01] [-9.97453660e-01 -2.33442649e-02 6.73887331e-02 -1.99042358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.80864 meters Centerline goodness : 0.995835 Centerline is valid? [True, True] Translation: X:264.48, Y:30.78, Z:-199.10 [[ 5.83851886e-02 6.00198986e-01 7.97716959e-01 2.64478575e+02] [-8.04683505e-02 7.99309398e-01 -5.95507624e-01 3.07808941e+01] [-9.95045735e-01 -2.94221429e-02 9.49648524e-02 -1.99104192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83864 meters Centerline goodness : 0.996627 Centerline is valid? [True, True] Translation: X:265.58, Y:30.81, Z:-199.21 [[-1.05140475e-02 8.37183566e-01 -5.46820932e-01 2.65577703e+02] [ 4.70309900e-03 -5.46803708e-01 -8.37247625e-01 3.08083537e+01] [-9.99933666e-01 -1.13746142e-02 1.81176294e-03 -1.99212160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.86864 meters Centerline goodness : 0.996189 Centerline is valid? [True, True] Translation: X:264.52, Y:30.74, Z:-199.28 [[-6.67215796e-02 5.73792045e-01 8.16278702e-01 2.64515912e+02] [-7.24082524e-02 8.13160168e-01 -5.77518472e-01 3.07410634e+01] [-9.95140832e-01 -9.76382590e-02 -1.27080517e-02 -1.99276484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89864 meters Centerline goodness : 0.996521 Centerline is valid? [True, True] Translation: X:265.56, Y:30.83, Z:-199.33 [[-4.46061290e-02 8.53322225e-01 -5.19472303e-01 2.65564228e+02] [-5.32501829e-02 -5.21281566e-01 -8.51721754e-01 3.08284613e+01] [-9.97584438e-01 -1.03300152e-02 6.86919173e-02 -1.99330891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92864 meters Centerline goodness : 0.996524 Centerline is valid? [True, True] Translation: X:265.59, Y:30.81, Z:-199.34 [[-4.52786258e-02 8.27421041e-01 -5.59753756e-01 2.65591112e+02] [-5.31578974e-02 -5.61530189e-01 -8.25746986e-01 3.08054440e+01] [-9.97559063e-01 -7.63335602e-03 6.94092781e-02 -1.99338505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95864 meters Centerline goodness : 0.996334 Centerline is valid? [True, True] Translation: X:265.58, Y:30.81, Z:-199.36 [[-4.52529482e-02 8.29217632e-01 -5.57090916e-01 2.65584232e+02] [-4.13754702e-02 -5.58739465e-01 -8.28310498e-01 3.08122548e+01] [-9.98118350e-01 -1.44335934e-02 5.95938775e-02 -1.99356992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98864 meters Centerline goodness : 0.997015 Centerline is valid? [True, True] Translation: X:265.70, Y:29.76, Z:-199.39 [[-1.17185098e-02 -4.95872184e-01 -8.68316448e-01 2.65702852e+02] [-1.19060070e-02 -8.68245322e-01 4.95992245e-01 2.97585751e+01] [-9.99860452e-01 1.61504717e-02 4.27068364e-03 -1.99390651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:264.98, Y:29.44, Z:-199.46 [[ 3.86201011e-02 -9.99129513e-01 1.57703587e-02 2.64975833e+02] [-1.89641998e-02 1.50464354e-02 9.99706939e-01 2.94439944e+01] [-9.99073995e-01 -3.89078553e-02 -1.83665968e-02 -1.99456338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04864 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:265.25, Y:30.96, Z:-199.62 [[-1.58627831e-02 9.96800520e-01 -7.83396176e-02 2.65254671e+02] [ 2.02993384e-02 -7.80122730e-02 -9.96745716e-01 3.09620265e+01] [-9.99668099e-01 -1.74014036e-02 -1.89968993e-02 -1.99617126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07864 meters Centerline goodness : 0.997794 Centerline is valid? [True, True] Translation: X:265.13, Y:30.97, Z:-199.69 [[-8.67464361e-02 9.92615453e-01 8.47916122e-02 2.65134924e+02] [ 2.49337684e-02 8.72490100e-02 -9.95874449e-01 3.09748181e+01] [-9.95918352e-01 -8.42743848e-02 -3.23181845e-02 -1.99685414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10864 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:265.85, Y:30.46, Z:-199.78 [[-7.44727910e-02 4.09745116e-01 -9.09154961e-01 2.65851149e+02] [ 9.24756123e-03 -9.11363711e-01 -4.11498080e-01 3.04636576e+01] [-9.97180167e-01 -3.90528766e-02 6.40826561e-02 -1.99775133e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.13864 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:265.23, Y:30.97, Z:-199.79 [[-1.55286079e-01 9.86490823e-01 -5.21736573e-02 2.65229779e+02] [ 2.58015665e-02 -4.87461393e-02 -9.98477888e-01 3.09650717e+01] [-9.87532538e-01 -1.56395879e-01 -1.78834118e-02 -1.99785730e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16864 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:265.06, Y:29.44, Z:-199.85 [[-9.84421626e-02 -9.95133586e-01 4.27629375e-03 2.65059290e+02] [-4.38136993e-03 4.73053714e-03 9.99979213e-01 2.94397057e+01] [-9.95133129e-01 9.84213802e-02 -4.82573268e-03 -1.99852309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.19864 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:265.21, Y:30.96, Z:-199.92 [[-1.58187662e-01 9.85411458e-01 -6.27767697e-02 2.65208232e+02] [ 2.85687663e-02 -5.89830565e-02 -9.97850101e-01 3.09641156e+01] [-9.86995688e-01 -1.59641030e-01 -1.88215978e-02 -1.99922871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22864 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:265.17, Y:30.97, Z:-199.99 [[-2.27226907e-01 9.73585096e-01 -2.23605225e-02 2.65174210e+02] [ 3.06511578e-02 -1.57998064e-02 -9.99405259e-01 3.09669165e+01] [-9.73359358e-01 -2.27777142e-01 -2.62513693e-02 -1.99990627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.25864 meters Centerline goodness : 0.997018 Centerline is valid? [True, True] Translation: X:265.13, Y:30.97, Z:-200.06 [[-2.95386185e-01 9.55169016e-01 1.99788226e-02 2.65131258e+02] [ 2.82592768e-02 2.96381716e-02 -9.99161144e-01 3.09708097e+01] [-9.54959902e-01 -2.94573811e-01 -3.57470921e-02 -2.00061116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28864 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:265.15, Y:30.97, Z:-200.14 [[-3.60067967e-01 9.32678975e-01 -2.14706553e-02 2.65145498e+02] [ 2.81222596e-02 -1.21527907e-02 -9.99530614e-01 3.09721092e+01] [-9.32502117e-01 -3.60502760e-01 -2.18532096e-02 -2.00143880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.31864 meters Centerline goodness : 0.996969 Centerline is valid? [True, True] Translation: X:265.05, Y:29.44, Z:-200.23 [[-2.91138747e-01 -9.56347674e-01 -2.52459275e-02 2.65045335e+02] [ 1.77753697e-02 -3.17920718e-02 9.99336430e-01 2.94436207e+01] [-9.56515690e-01 2.90496801e-01 2.62553374e-02 -2.00231553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:264.31, Y:30.26, Z:-200.05 [[-3.06632640e-01 -1.54507674e-02 9.51702526e-01 2.64310460e+02] [-5.98617131e-02 9.98201924e-01 -3.08139285e-03 3.02553241e+01] [-9.49943682e-01 -5.79153992e-02 -3.07006200e-01 -2.00053124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.37864 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:264.95, Y:29.46, Z:-200.28 [[-2.24495358e-01 -9.73755553e-01 3.74427131e-02 2.64948132e+02] [-7.34585879e-02 5.52247126e-02 9.95768079e-01 2.94597207e+01] [-9.71702460e-01 2.20794823e-01 -8.39283996e-02 -2.00284867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40864 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:265.00, Y:30.98, Z:-200.47 [[-2.98197053e-01 9.54235456e-01 2.26542004e-02 2.65003217e+02] [-4.77849141e-02 8.77993634e-03 -9.98819060e-01 3.09764030e+01] [-9.53307463e-01 -2.98927429e-01 4.29799081e-02 -2.00473066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.43864 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:265.03, Y:29.45, Z:-200.46 [[-2.21142025e-01 -9.68850167e-01 -1.11469988e-01 2.65028464e+02] [-6.80771537e-02 -9.86853040e-02 9.92787345e-01 2.94476360e+01] [-9.72862635e-01 2.27135564e-01 -4.41330937e-02 -2.00460586e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46864 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:264.94, Y:29.44, Z:-200.54 [[-1.55476513e-01 -9.87168655e-01 -3.64019262e-02 2.64938597e+02] [-4.96551841e-02 -2.89935101e-02 9.98345501e-01 2.94414577e+01] [-9.86590805e-01 1.57026822e-01 -4.45102314e-02 -2.00537134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.49864 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:264.18, Y:30.32, Z:-200.53 [[-1.84007060e-01 9.08396130e-02 9.78718328e-01 2.64180514e+02] [-1.33223849e-01 9.84227054e-01 -1.16398079e-01 3.03241753e+01] [-9.73854613e-01 -1.51806691e-01 -1.69002724e-01 -2.00533993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:265.53, Y:30.63, Z:-200.85 [[-1.71128885e-01 5.90104625e-01 -7.88981265e-01 2.65533165e+02] [-9.57249415e-02 -8.06963777e-01 -5.82791728e-01 3.06306490e+01] [-9.80587396e-01 -2.42073131e-02 1.94582542e-01 -2.00845036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.55864 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:264.92, Y:30.95, Z:-200.86 [[-2.58975078e-01 9.65678855e-01 1.99062124e-02 2.64921307e+02] [-1.01578130e-01 -6.73454660e-03 -9.94804769e-01 3.09529299e+01] [-9.60527872e-01 -2.59651679e-01 9.98359323e-02 -2.00863180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58864 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:265.58, Y:30.49, Z:-201.02 [[-2.44880190e-01 4.26070544e-01 -8.70917668e-01 2.65576313e+02] [-7.76234902e-02 -9.03999002e-01 -4.20428825e-01 3.04858084e+01] [-9.66441041e-01 -3.53510218e-02 2.54444530e-01 -2.01024997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.61864 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:264.96, Y:29.42, Z:-200.85 [[-1.57810791e-01 -9.74613185e-01 -1.58823467e-01 2.64963704e+02] [-1.01000799e-01 -1.44064216e-01 9.84400498e-01 2.94231732e+01] [-9.82290483e-01 1.71390318e-01 -7.57018228e-02 -2.00846870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64864 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:265.54, Y:30.48, Z:-201.13 [[-1.95037926e-01 4.39557470e-01 -8.76783575e-01 2.65539991e+02] [-3.90854829e-02 -8.96724483e-01 -4.40859985e-01 3.04781576e+01] [-9.80016598e-01 -5.17149075e-02 1.92075599e-01 -2.01125325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67864 meters Centerline goodness : 0.995303 Centerline is valid? [True, True] Translation: X:265.57, Y:30.37, Z:-201.18 [[-1.98415991e-01 3.16937946e-01 -9.27459667e-01 2.65565210e+02] [-1.86004076e-02 -9.47320790e-01 -3.19745750e-01 3.03738095e+01] [-9.79941386e-01 -4.61915422e-02 1.93858769e-01 -2.01184275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70864 meters Centerline goodness : 0.995887 Centerline is valid? [True, True] Translation: X:264.76, Y:29.40, Z:-201.06 [[-1.05666669e-01 -9.93836742e-01 3.35124527e-02 2.64757116e+02] [-6.55079743e-02 4.05849437e-02 9.97026363e-01 2.94020998e+01] [-9.92241533e-01 1.03157122e-01 -6.93927076e-02 -2.01058346e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73864 meters Centerline goodness : 0.995207 Centerline is valid? [True, True] Translation: X:264.77, Y:30.92, Z:-201.22 [[-2.29202060e-01 9.66097450e-01 1.18836582e-01 2.64767384e+02] [-4.94482060e-02 1.10372536e-01 -9.92659447e-01 3.09172576e+01] [-9.72122055e-01 -2.33395846e-01 2.24741731e-02 -2.01220149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76864 meters Centerline goodness : 0.994869 Centerline is valid? [True, True] Translation: X:264.81, Y:30.91, Z:-201.31 [[-2.93106757e-01 9.54383865e-01 5.69198250e-02 2.64811273e+02] [-4.99622691e-02 4.41634189e-02 -9.97774205e-01 3.09139823e+01] [-9.54773377e-01 -2.95298205e-01 3.47385870e-02 -2.01308588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79864 meters Centerline goodness : 0.993637 Centerline is valid? [True, True] Translation: X:264.83, Y:30.91, Z:-201.40 [[-3.55604681e-01 9.34362390e-01 2.26326102e-02 2.64831755e+02] [-5.06869601e-02 4.90037454e-03 -9.98702568e-01 3.09085542e+01] [-9.33261026e-01 -3.56290486e-01 4.56173931e-02 -2.01398101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82864 meters Centerline goodness : 0.992716 Centerline is valid? [True, True] Translation: X:264.86, Y:30.90, Z:-201.49 [[-4.17502336e-01 9.08294014e-01 -2.63397467e-02 2.64857886e+02] [-4.84742850e-02 -5.12084305e-02 -9.97510872e-01 3.09009435e+01] [-9.07381972e-01 -4.15186319e-01 6.54085423e-02 -2.01493921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85864 meters Centerline goodness : 0.992115 Centerline is valid? [True, True] Translation: X:264.71, Y:29.38, Z:-201.41 [[-3.09387893e-01 -9.50845883e-01 -1.30858300e-02 2.64711843e+02] [-8.44355318e-02 1.37619308e-02 9.96333905e-01 2.93797450e+01] [-9.47179905e-01 3.09358556e-01 -8.45429525e-02 -2.01407054e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.88864 meters Centerline goodness : 0.992360 Centerline is valid? [True, True] Translation: X:264.01, Y:30.24, Z:-201.32 [[-3.42569872e-01 -1.12956307e-02 9.39424447e-01 2.64006573e+02] [-1.63252304e-01 9.85431403e-01 -4.76826547e-02 3.02365237e+01] [-9.25199745e-01 -1.69697846e-01 -3.39423147e-01 -2.01320272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91864 meters Centerline goodness : 0.992128 Centerline is valid? [True, True] Translation: X:264.71, Y:30.89, Z:-201.76 [[-4.18657335e-01 9.06033513e-01 6.18814189e-02 2.64712627e+02] [-1.29209648e-01 8.01969409e-03 -9.91584868e-01 3.08895867e+01] [-8.98905391e-01 -4.23129955e-01 1.13710768e-01 -2.01756646e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.94864 meters Centerline goodness : 0.990898 Centerline is valid? [True, True] Translation: X:265.35, Y:30.30, Z:-202.02 [[-4.05487439e-01 3.09817996e-01 -8.59995783e-01 2.65354532e+02] [-7.75384850e-02 -9.49077767e-01 -3.05350905e-01 3.02961068e+01] [-9.10806083e-01 -5.71331862e-02 4.08861931e-01 -2.02023200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97864 meters Centerline goodness : 0.991397 Centerline is valid? [True, True] Translation: X:265.36, Y:30.23, Z:-202.04 [[-4.03857241e-01 2.35695441e-01 -8.83938339e-01 2.65363060e+02] [-7.48411161e-02 -9.71514208e-01 -2.24853176e-01 3.02310953e+01] [-9.11755524e-01 -2.46536516e-02 4.09992758e-01 -2.02035150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.00864 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:264.46, Y:30.85, Z:-201.79 [[-4.88796308e-01 8.09235936e-01 3.25906995e-01 2.64458629e+02] [-1.16485559e-01 3.09690457e-01 -9.43675228e-01 3.08523071e+01] [-8.64586192e-01 -4.99228425e-01 -5.71112516e-02 -2.01785329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03864 meters Centerline goodness : 0.990324 Centerline is valid? [True, True] Translation: X:264.68, Y:30.86, Z:-202.00 [[-5.44407446e-01 8.38781195e-01 8.16333168e-03 2.64676145e+02] [-1.03979103e-01 -5.78239588e-02 -9.92897143e-01 3.08559769e+01] [-8.32351416e-01 -5.41389413e-01 1.18695510e-01 -2.01995044e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.06864 meters Centerline goodness : 0.990273 Centerline is valid? [True, True] Translation: X:264.50, Y:29.35, Z:-201.77 [[-4.45441817e-01 -8.94967721e-01 2.47864040e-02 2.64498118e+02] [-1.41701366e-01 9.78090540e-02 9.85065537e-01 2.93539362e+01] [-8.84026193e-01 4.35277115e-01 -1.70386391e-01 -2.01771027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09864 meters Centerline goodness : 0.990322 Centerline is valid? [True, True] Translation: X:264.41, Y:29.35, Z:-201.83 [[-3.80360884e-01 -9.22487259e-01 6.59003344e-02 2.64410491e+02] [-1.51320040e-01 1.32371451e-01 9.79581566e-01 2.93516613e+01] [-9.12374837e-01 3.62622469e-01 -1.89939731e-01 -2.01830981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.12864 meters Centerline goodness : 0.990768 Centerline is valid? [True, True] Translation: X:265.18, Y:30.21, Z:-202.40 [[-4.24723549e-01 2.75959362e-01 -8.62239142e-01 2.65175107e+02] [-3.96176267e-02 -9.57163468e-01 -2.86824929e-01 3.02111927e+01] [-9.04455831e-01 -8.76614334e-02 4.17462720e-01 -2.02399914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15864 meters Centerline goodness : 0.989783 Centerline is valid? [True, True] Translation: X:264.32, Y:29.32, Z:-202.02 [[-3.36553665e-01 -9.38287985e-01 7.96698681e-02 2.64318465e+02] [-9.37254856e-02 1.17562933e-01 9.88632637e-01 2.93173158e+01] [-9.36988348e-01 3.25260840e-01 -1.27507733e-01 -2.02020170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.18864 meters Centerline goodness : 0.988952 Centerline is valid? [True, True] Translation: X:264.54, Y:30.80, Z:-202.32 [[-4.50016728e-01 8.92138692e-01 -3.96673460e-02 2.64540172e+02] [-6.03256170e-02 -7.46875403e-02 -9.95380626e-01 3.08046494e+01] [-8.90980227e-01 -4.45544976e-01 8.74294595e-02 -2.02322457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21864 meters Centerline goodness : 0.990467 Centerline is valid? [True, True] Translation: X:264.44, Y:30.81, Z:-202.37 [[-5.09788792e-01 8.58184611e-01 6.02873256e-02 2.64440948e+02] [-6.39714409e-02 3.20686780e-02 -9.97436341e-01 3.08105663e+01] [-8.57917853e-01 -5.12338534e-01 3.85510534e-02 -2.02366130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.24864 meters Centerline goodness : 0.989238 Centerline is valid? [True, True] Translation: X:264.27, Y:29.29, Z:-202.22 [[-4.05050232e-01 -9.13964704e-01 2.45525848e-02 2.64270853e+02] [-9.58766515e-02 6.91659799e-02 9.92987278e-01 2.92931630e+01] [-9.09253527e-01 3.99855708e-01 -1.15643572e-01 -2.02223845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27864 meters Centerline goodness : 0.990361 Centerline is valid? [True, True] Translation: X:264.43, Y:30.79, Z:-202.52 [[-5.04144265e-01 8.63574041e-01 -8.85639992e-03 2.64434165e+02] [-6.70025437e-02 -4.93352452e-02 -9.96532334e-01 3.07941806e+01] [-8.61016387e-01 -5.01802660e-01 8.27337383e-02 -2.02524264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.30864 meters Centerline goodness : 0.990397 Centerline is valid? [True, True] Translation: X:264.34, Y:30.80, Z:-202.55 [[-5.60741525e-01 8.23658503e-01 8.45908527e-02 2.64338992e+02] [-6.54860931e-02 5.77267630e-02 -9.96182309e-01 3.08001768e+01] [-8.25397186e-01 -5.64140311e-01 2.15683844e-02 -2.02552607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33864 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:264.97, Y:30.08, Z:-202.91 [[-5.39984516e-01 1.90768726e-01 -8.19770709e-01 2.64966185e+02] [-6.03006282e-02 -9.80241009e-01 -1.88391609e-01 3.00830021e+01] [-8.39512094e-01 -5.22958628e-02 5.40818441e-01 -2.02907613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.36864 meters Centerline goodness : 0.990275 Centerline is valid? [True, True] Translation: X:264.21, Y:29.27, Z:-202.43 [[-4.77876936e-01 -8.78011665e-01 -2.70027717e-02 2.64212599e+02] [-8.70092843e-02 1.67231913e-02 9.96067126e-01 2.92678737e+01] [-8.74106983e-01 4.78346998e-01 -8.43867940e-02 -2.02434968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39864 meters Centerline goodness : 0.990469 Centerline is valid? [True, True] Translation: X:264.40, Y:30.76, Z:-202.76 [[-5.51546278e-01 8.28082049e-01 -1.00383382e-01 2.64402792e+02] [-5.16589620e-02 -1.54021229e-01 -9.86716176e-01 3.07579091e+01] [-8.32543125e-01 -5.39033933e-01 1.27727695e-01 -2.02760085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42864 meters Centerline goodness : 0.990035 Centerline is valid? [True, True] Translation: X:264.03, Y:29.29, Z:-202.49 [[-4.83893087e-01 -8.66415634e-01 1.23172361e-01 2.64027529e+02] [-9.19083924e-02 1.90283569e-01 9.77417521e-01 2.92896508e+01] [-8.70287497e-01 4.61645008e-01 -1.71707772e-01 -2.02486980e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45864 meters Centerline goodness : 0.990504 Centerline is valid? [True, True] Translation: X:264.26, Y:30.77, Z:-202.84 [[-5.50360065e-01 8.34881084e-01 -8.79623974e-03 2.64264981e+02] [-6.23707749e-02 -5.16166313e-02 -9.96717417e-01 3.07672508e+01] [-8.32594550e-01 -5.48004834e-01 8.04799127e-02 -2.02839958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48864 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:264.03, Y:29.26, Z:-202.64 [[-4.84419000e-01 -8.74518294e-01 2.35793612e-02 2.64031035e+02] [-9.39349264e-02 7.87923263e-02 9.92455540e-01 2.92559294e+01] [-8.69778398e-01 4.78549395e-01 -1.20316312e-01 -2.02644511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51864 meters Centerline goodness : 0.991240 Centerline is valid? [True, True] Translation: X:264.03, Y:29.24, Z:-202.73 [[-4.23613318e-01 -9.04926346e-01 -4.07438983e-02 2.64031514e+02] [-9.18951326e-02 -1.81609107e-03 9.95767034e-01 2.92416761e+01] [-9.01169818e-01 4.25564344e-01 -8.23890062e-02 -2.02733163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54864 meters Centerline goodness : 0.991186 Centerline is valid? [True, True] Translation: X:264.10, Y:30.76, Z:-202.99 [[-4.94114873e-01 8.66539670e-01 7.04236600e-02 2.64097814e+02] [-6.79873532e-02 4.22417422e-02 -9.96791530e-01 3.07608870e+01] [-8.66734222e-01 -4.97317439e-01 3.80414656e-02 -2.02988609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57864 meters Centerline goodness : 0.991377 Centerline is valid? [True, True] Translation: X:264.73, Y:30.04, Z:-203.29 [[-4.79708285e-01 2.06465541e-01 -8.52790679e-01 2.64731782e+02] [-7.16837071e-02 -9.77893907e-01 -1.96430531e-01 3.00422066e+01] [-8.74494944e-01 -3.30981558e-02 4.83904024e-01 -2.03292911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60864 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:263.83, Y:29.26, Z:-202.81 [[-4.30389977e-01 -8.94495157e-01 1.21007779e-01 2.63831112e+02] [-1.01222580e-01 1.81042156e-01 9.78252384e-01 2.92630446e+01] [-8.96949529e-01 4.08781301e-01 -1.68461836e-01 -2.02805523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.63864 meters Centerline goodness : 0.992849 Centerline is valid? [True, True] Translation: X:263.81, Y:29.25, Z:-202.89 [[-3.73287627e-01 -9.23947164e-01 8.35343423e-02 2.63813864e+02] [-1.10043027e-01 1.33505812e-01 9.84919657e-01 2.92463094e+01] [-9.21166044e-01 3.58465950e-01 -1.51510010e-01 -2.02893860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66864 meters Centerline goodness : 0.991148 Centerline is valid? [True, True] Translation: X:264.09, Y:30.72, Z:-203.26 [[-4.19201558e-01 9.05906752e-01 -6.00250804e-02 2.64089086e+02] [-7.92380391e-02 -1.02368939e-01 -9.91585565e-01 3.07216318e+01] [-9.04428763e-01 -4.10917945e-01 1.14695493e-01 -2.03257045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.69864 meters Centerline goodness : 0.992282 Centerline is valid? [True, True] Translation: X:263.83, Y:29.21, Z:-203.08 [[-3.81145169e-01 -9.24299619e-01 -1.99643202e-02 2.63827286e+02] [-1.06208176e-01 2.23242940e-02 9.94093280e-01 2.92112787e+01] [-9.18394351e-01 3.81014225e-01 -1.06676973e-01 -2.03080579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72864 meters Centerline goodness : 0.993682 Centerline is valid? [True, True] Translation: X:263.96, Y:30.72, Z:-203.39 [[-4.08155230e-01 9.12766671e-01 1.63190945e-02 2.63956680e+02] [-7.86448437e-02 -1.73464023e-02 -9.96751770e-01 3.07189489e+01] [-9.09518717e-01 -4.08112860e-01 7.88644170e-02 -2.03393227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.75864 meters Centerline goodness : 0.993646 Centerline is valid? [True, True] Translation: X:263.96, Y:30.70, Z:-203.50 [[-4.64891272e-01 8.84791222e-01 -3.19468184e-02 2.63960155e+02] [-7.64184665e-02 -7.60483278e-02 -9.94171449e-01 3.07038309e+01] [-8.82063673e-01 -4.59740302e-01 1.02968592e-01 -2.03497837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78864 meters Centerline goodness : 0.994429 Centerline is valid? [True, True] Translation: X:263.95, Y:30.69, Z:-203.59 [[-5.22869474e-01 8.50054424e-01 -6.33639529e-02 2.63949489e+02] [-6.88398529e-02 -1.16201521e-01 -9.90837162e-01 3.06882339e+01] [-8.49628500e-01 -5.13716540e-01 1.19275850e-01 -2.03590665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.81864 meters Centerline goodness : 0.995699 Centerline is valid? [True, True] Translation: X:263.93, Y:30.68, Z:-203.68 [[-5.78495221e-01 8.11209715e-01 -8.53350884e-02 2.63925508e+02] [-6.13471023e-02 -1.47590732e-01 -9.87144118e-01 3.06755010e+01] [-8.13375567e-01 -5.65823094e-01 1.35145899e-01 -2.03676860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84864 meters Centerline goodness : 0.995546 Centerline is valid? [True, True] Translation: X:263.90, Y:30.66, Z:-203.76 [[-6.31546393e-01 7.67252955e-01 -1.11678358e-01 2.63900499e+02] [-5.06598648e-02 -1.84564826e-01 -9.81513832e-01 3.06608943e+01] [-7.73681285e-01 -6.14213910e-01 1.55430181e-01 -2.03764801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.87864 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:263.80, Y:30.67, Z:-203.79 [[-6.83410397e-01 7.28720926e-01 -4.37726138e-02 2.63799643e+02] [-4.12627451e-02 -9.84217869e-02 -9.94288961e-01 3.06747391e+01] [-7.28867351e-01 -6.77701235e-01 9.73314982e-02 -2.03787487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90864 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:263.56, Y:29.17, Z:-203.56 [[-6.77869154e-01 -7.34140473e-01 3.91302534e-02 2.63558646e+02] [-6.63245961e-02 1.14075557e-01 9.91255676e-01 2.91678378e+01] [-7.32184716e-01 6.69346348e-01 -1.26019872e-01 -2.03555890e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.93864 meters Centerline goodness : 0.997358 Centerline is valid? [True, True] Translation: X:263.42, Y:30.66, Z:-203.65 [[-6.85750791e-01 6.61370830e-01 3.03865888e-01 2.63423524e+02] [-6.04241209e-02 3.64319430e-01 -9.29311723e-01 3.06576480e+01] [-7.25323912e-01 -6.55637079e-01 -2.09869586e-01 -2.03654696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:263.75, Y:29.18, Z:-203.92 [[-6.71208206e-01 -6.61493394e-01 -3.34523593e-01 2.63753215e+02] [-7.79053389e-02 -3.85835457e-01 9.19272407e-01 2.91760834e+01] [-7.37163688e-01 6.43084357e-01 2.07442058e-01 -2.03924659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.99864 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:263.46, Y:30.67, Z:-203.88 [[-6.86478615e-01 7.15334270e-01 1.30552647e-01 2.63456402e+02] [-5.04943758e-02 1.32211297e-01 -9.89934589e-01 3.06734213e+01] [-7.25394672e-01 -6.86161100e-01 -5.46398706e-02 -2.03880602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:263.51, Y:29.13, Z:-203.91 [[-6.75127578e-01 -7.22432852e-01 -1.49310175e-01 2.63509849e+02] [-7.02748022e-02 -1.38496013e-01 9.87866543e-01 2.91313851e+01] [-7.34346108e-01 6.77428689e-01 4.27336517e-02 -2.03906557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.05864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:264.02, Y:29.88, Z:-204.43 [[-6.46288283e-01 9.91304715e-02 -7.56627124e-01 2.64019405e+02] [-7.77037040e-02 -9.94921532e-01 -6.39787362e-02 2.98842302e+01] [-7.59126860e-01 1.74440226e-02 6.50708934e-01 -2.04431798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08864 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:263.35, Y:30.66, Z:-204.01 [[-6.87700590e-01 7.18068990e-01 1.06980486e-01 2.63353567e+02] [-4.40376675e-02 1.05826390e-01 -9.93409009e-01 3.06629105e+01] [-7.24657562e-01 -6.87879133e-01 -4.11547872e-02 -2.04007937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.11864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:263.39, Y:29.12, Z:-204.02 [[-6.73004815e-01 -7.28944910e-01 -1.25314955e-01 2.63388444e+02] [-6.44786308e-02 -1.10960767e-01 9.91730918e-01 2.91243871e+01] [-7.36822248e-01 6.75519820e-01 2.76757609e-02 -2.04021357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:263.14, Y:30.63, Z:-203.99 [[-6.92721902e-01 6.71547998e-01 2.62982230e-01 2.63137047e+02] [-5.44197789e-02 3.14931767e-01 -9.47552885e-01 3.06330519e+01] [-7.19148701e-01 -6.70702071e-01 -1.81614639e-01 -2.03994048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17864 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:263.43, Y:29.14, Z:-204.24 [[-6.65653682e-01 -6.84961281e-01 -2.96197938e-01 2.63430686e+02] [-6.69108983e-02 -3.40529781e-01 9.37849881e-01 2.91442626e+01] [-7.43255076e-01 6.44102097e-01 1.80843528e-01 -2.04237765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:263.24, Y:30.64, Z:-204.26 [[-6.97094369e-01 7.16839998e-01 1.41370883e-02 2.63242159e+02] [-3.35766913e-02 -1.29431817e-02 -9.99352330e-01 3.06429287e+01] [-7.16192744e-01 -6.97117559e-01 3.30917345e-02 -2.04259192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:263.20, Y:30.64, Z:-204.32 [[-7.45550225e-01 6.66398892e-01 8.20842926e-03 2.63204878e+02] [-3.14232725e-02 -2.28472708e-02 -9.99245005e-01 3.06386287e+01] [-6.65708224e-01 -7.45245274e-01 3.79742219e-02 -2.04320944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:263.16, Y:30.63, Z:-204.38 [[-7.89991566e-01 6.13089371e-01 5.89481032e-03 2.63157664e+02] [-3.05214722e-02 -2.97220079e-02 -9.99092109e-01 3.06345239e+01] [-6.12357547e-01 -7.89454258e-01 4.21925257e-02 -2.04382458e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:263.04, Y:29.11, Z:-204.24 [[-7.59877423e-01 -6.49584300e-01 -2.50307735e-02 2.63041437e+02] [-5.93442672e-02 3.09732561e-02 9.97756942e-01 2.91065778e+01] [-6.47351960e-01 7.59658407e-01 -6.20849823e-02 -2.04238908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:262.83, Y:29.16, Z:-204.12 [[-7.20306945e-01 -6.73398697e-01 1.66409433e-01 2.62829737e+02] [-7.69013652e-02 3.15947312e-01 9.45655051e-01 2.91649038e+01] [-6.89379493e-01 6.68364788e-01 -2.79364322e-01 -2.04120112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:263.54, Y:29.85, Z:-204.92 [[-6.97319119e-01 1.06016134e-01 -7.08877017e-01 2.63538113e+02] [-8.19241407e-02 -9.94308166e-01 -6.81153946e-02 2.98544107e+01] [-7.12063537e-01 1.05759735e-02 7.02035375e-01 -2.04922544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.38864 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:262.98, Y:30.62, Z:-204.55 [[-7.42741988e-01 6.69569754e-01 3.26877300e-03 2.62982786e+02] [-5.04019166e-02 -5.10406379e-02 -9.97423932e-01 3.06218721e+01] [-6.67678056e-01 -7.40993386e-01 7.16576237e-02 -2.04552915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:262.85, Y:29.10, Z:-204.37 [[-7.22329383e-01 -6.91354531e-01 -1.64065530e-02 2.62845386e+02] [-7.71494631e-02 5.69843803e-02 9.95389743e-01 2.90995280e+01] [-6.87232292e-01 7.20265016e-01 -9.44991231e-02 -2.04368489e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.44864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:263.42, Y:29.88, Z:-205.03 [[-6.92140460e-01 1.39586953e-01 -7.08136333e-01 2.63422463e+02] [-8.08147461e-02 -9.89938897e-01 -1.16146278e-01 2.98796563e+01] [-7.17224205e-01 -2.31616801e-02 6.96457447e-01 -2.05032503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:262.83, Y:29.09, Z:-204.49 [[-6.71217312e-01 -7.35321301e-01 -9.36477687e-02 2.62829466e+02] [-7.30657348e-02 -6.00891061e-02 9.95515293e-01 2.90869929e+01] [-7.37650811e-01 6.75049542e-01 -1.33939429e-02 -2.04487817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.50864 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:262.68, Y:29.10, Z:-204.45 [[-6.19425844e-01 -7.84721527e-01 2.28855536e-02 2.62677894e+02] [-8.56162255e-02 9.65020265e-02 9.91643697e-01 2.90971151e+01] [-7.80372658e-01 6.12290359e-01 -1.26960744e-01 -2.04450096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:262.10, Y:29.96, Z:-204.20 [[-6.14662459e-01 -4.11740918e-02 7.87714895e-01 2.62097299e+02] [-1.19593396e-01 9.91956473e-01 -4.14701617e-02 2.99576617e+01] [-7.79671393e-01 -1.19695651e-01 -6.14642555e-01 -2.04195440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.56864 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:262.72, Y:29.08, Z:-204.60 [[-5.57688039e-01 -8.13129366e-01 -1.66747368e-01 2.62716571e+02] [-1.60932460e-01 -9.11544528e-02 9.82746971e-01 2.90821177e+01] [-8.14300187e-01 5.74901295e-01 -8.00231615e-02 -2.04602869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:261.97, Y:29.77, Z:-204.34 [[-5.44861179e-01 -2.60806348e-01 7.96935596e-01 2.61970027e+02] [-1.88172478e-01 9.64190503e-01 1.86889789e-01 2.97698769e+01] [-8.17139776e-01 -4.81323555e-02 -5.74426551e-01 -2.04339626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.62864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:262.59, Y:29.08, Z:-204.67 [[-4.89085891e-01 -8.61525872e-01 -1.36265047e-01 2.62588029e+02] [-2.18176603e-01 -3.04234552e-02 9.75434971e-01 2.90764746e+01] [-8.44508118e-01 5.06801327e-01 -1.73085105e-01 -2.04665921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:262.56, Y:29.06, Z:-204.75 [[-4.30433123e-01 -8.86646789e-01 -1.69070394e-01 2.62562942e+02] [-2.15188887e-01 -8.11085262e-02 9.73198412e-01 2.90587280e+01] [-8.76596298e-01 4.55278902e-01 -1.55884740e-01 -2.04747593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.68864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:262.44, Y:29.05, Z:-204.79 [[-3.71812434e-01 -9.25941435e-01 -6.62417717e-02 2.62438014e+02] [-2.14641830e-01 1.63268185e-02 9.76556358e-01 2.90470405e+01] [-9.03152478e-01 3.77314051e-01 -2.04816278e-01 -2.04786731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:262.43, Y:29.03, Z:-204.87 [[-3.08477578e-01 -9.45349995e-01 -1.05617094e-01 2.62431610e+02] [-2.13380546e-01 -3.94324288e-02 9.76173051e-01 2.90268022e+01] [-9.26989928e-01 3.23664132e-01 -1.89555278e-01 -2.04870400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.74864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:263.04, Y:30.13, Z:-205.31 [[-2.61158309e-01 5.77029299e-01 -7.73843347e-01 2.63042391e+02] [-2.07860639e-01 -8.16474252e-01 -5.38668497e-01 3.01264255e+01] [-9.42650674e-01 2.01738188e-02 3.33170714e-01 -2.05314844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:263.04, Y:30.11, Z:-205.34 [[-2.64905227e-01 5.60702042e-01 -7.84498847e-01 2.63038848e+02] [-2.03245435e-01 -8.27753736e-01 -5.22986660e-01 3.01124217e+01] [-9.42611539e-01 2.09039097e-02 3.33236421e-01 -2.05339598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.80864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:263.03, Y:30.09, Z:-205.38 [[-2.72390624e-01 5.41525068e-01 -7.95332602e-01 2.63032818e+02] [-1.94040425e-01 -8.40521852e-01 -5.05837256e-01 3.00925841e+01] [-9.42417987e-01 1.65413503e-02 3.34028026e-01 -2.05377707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:263.02, Y:30.10, Z:-205.40 [[-2.73753471e-01 5.46422523e-01 -7.91505820e-01 2.63020559e+02] [-1.83130579e-01 -8.37500055e-01 -5.14836721e-01 3.01007352e+01] [-9.44204548e-01 4.01057984e-03 3.29335220e-01 -2.05400739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.86864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:262.87, Y:29.17, Z:-205.27 [[-2.60521320e-01 -6.40965826e-01 -7.22005161e-01 2.62873159e+02] [-1.49154116e-01 -7.12131013e-01 6.86019293e-01 2.91674958e+01] [-9.53877189e-01 2.86412693e-01 8.99226206e-02 -2.05272033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:261.83, Y:29.18, Z:-205.09 [[-2.27986677e-01 -7.66741145e-01 6.00108399e-01 2.61826447e+02] [-1.55811626e-01 6.37127543e-01 7.54845170e-01 2.91815094e+01] [-9.61116440e-01 7.85907765e-02 -2.64723776e-01 -2.05087202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:262.92, Y:30.16, Z:-205.49 [[-1.78657299e-01 6.38630982e-01 -7.48486499e-01 2.62921283e+02] [-1.72218105e-01 -7.69278998e-01 -6.15264779e-01 3.01644214e+01] [-9.68722093e-01 1.89813833e-02 2.47421125e-01 -2.05487918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:262.92, Y:30.14, Z:-205.55 [[-1.94907609e-01 6.22776594e-01 -7.57733685e-01 2.62916619e+02] [-1.52473312e-01 -7.82396743e-01 -6.03827148e-01 3.01430190e+01] [-9.68897783e-01 -2.15634130e-03 2.47451889e-01 -2.05549176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:262.94, Y:30.08, Z:-205.60 [[-2.12481400e-01 5.41990493e-01 -8.13079308e-01 2.62942673e+02] [-1.32240707e-01 -8.40374303e-01 -5.25626698e-01 3.00759780e+01] [-9.68175630e-01 -4.16371453e-03 2.50237114e-01 -2.05597354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:262.95, Y:30.04, Z:-205.63 [[-2.20814829e-01 4.97880572e-01 -8.38663071e-01 2.62953979e+02] [-1.17911078e-01 -8.67209268e-01 -4.83782041e-01 3.00401858e+01] [-9.68162067e-01 -7.93858176e-03 2.50198302e-01 -2.05632479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:262.64, Y:29.02, Z:-205.52 [[-1.85662612e-01 -8.31440127e-01 -5.23676150e-01 2.62644594e+02] [-8.82917106e-02 -5.16670402e-01 8.51619792e-01 2.90193835e+01] [-9.78638835e-01 2.04350218e-01 2.25171051e-02 -2.05518960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:262.97, Y:29.94, Z:-205.70 [[-1.71793952e-01 3.77135291e-01 -9.10085606e-01 2.62965264e+02] [-6.27911924e-02 -9.26133578e-01 -3.71932604e-01 2.99431099e+01] [-9.83129749e-01 -6.75041144e-03 1.82784922e-01 -2.05697616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:262.19, Y:28.92, Z:-205.56 [[-1.29512963e-01 -9.91014038e-01 3.34300593e-02 2.62189180e+02] [-6.86348766e-02 4.25926595e-02 9.96732220e-01 2.89189988e+01] [-9.89199498e-01 1.26795275e-01 -7.35344278e-02 -2.05563628e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.13864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:262.92, Y:29.99, Z:-205.76 [[-1.13575850e-01 4.38248671e-01 -8.91649387e-01 2.62920299e+02] [-4.72835299e-02 -8.98823879e-01 -4.35752112e-01 2.99887636e+01] [-9.92403544e-01 -7.33058590e-03 1.22806630e-01 -2.05758901e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:262.13, Y:28.92, Z:-205.68 [[-6.64703668e-02 -9.94093730e-01 8.57866298e-02 2.62130216e+02] [-5.92815936e-02 8.97594771e-02 9.94197631e-01 2.89155587e+01] [-9.96025794e-01 6.09991130e-02 -6.48978059e-02 -2.05681081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.19864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:262.79, Y:30.17, Z:-205.82 [[-6.94370033e-02 6.67062261e-01 -7.41759019e-01 2.62786238e+02] [-4.98968665e-02 -7.44945388e-01 -6.65256846e-01 3.01694807e+01] [-9.96337696e-01 -9.18199107e-03 8.50110920e-02 -2.05817783e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:262.75, Y:29.13, Z:-205.83 [[-8.09521713e-03 -6.83926283e-01 -7.29506207e-01 2.62746922e+02] [ 1.20624461e-03 -7.29536260e-01 6.83941072e-01 2.91286514e+01] [-9.99966506e-01 4.65668855e-03 6.73073682e-03 -2.05830686e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.25864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:262.88, Y:29.31, Z:-205.91 [[ 1.21881108e-02 -4.41387418e-01 -8.97233859e-01 2.62875158e+02] [ 4.13753645e-02 -8.96309392e-01 4.41494681e-01 2.93084245e+01] [-9.99069332e-01 -4.25043641e-02 7.33824712e-03 -2.05906782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:262.20, Y:28.89, Z:-205.95 [[ 1.26563792e-02 -9.99730995e-01 -1.94358982e-02 2.62200075e+02] [ 3.13308618e-02 -1.90314189e-02 9.99327865e-01 2.88941288e+01] [-9.99428934e-01 -1.32568158e-02 3.10815648e-02 -2.05948145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.31864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:262.12, Y:28.90, Z:-206.04 [[ 2.48006044e-02 -9.97045411e-01 7.27006088e-02 2.62124491e+02] [ 3.08875166e-02 7.34524931e-02 9.96820291e-01 2.89025827e+01] [-9.99215138e-01 -2.24762045e-02 3.26179229e-02 -2.06043138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:261.91, Y:28.95, Z:-206.10 [[ 2.50641157e-02 -9.36013030e-01 3.51071783e-01 2.61911334e+02] [ 2.63401452e-02 3.51678523e-01 9.35750188e-01 2.89549158e+01] [-9.99338775e-01 -1.42064692e-02 3.34692303e-02 -2.06098063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.37864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:261.85, Y:28.98, Z:-206.15 [[ 2.71316629e-02 -9.02654816e-01 4.29509204e-01 2.61851389e+02] [ 2.46635162e-02 4.30141049e-01 9.02424728e-01 2.89831907e+01] [-9.99327566e-01 -1.38910763e-02 3.39330836e-02 -2.06150292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:261.89, Y:28.97, Z:-206.19 [[ 4.12682146e-02 -9.22595360e-01 3.83555390e-01 2.61890409e+02] [ 5.83841899e-02 3.85453172e-01 9.20878460e-01 2.89728067e+01] [-9.97440836e-01 -1.56094392e-02 6.97719469e-02 -2.06194519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.43864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:261.49, Y:29.97, Z:-206.34 [[-1.70029119e-02 3.17464241e-01 9.48117797e-01 2.61485375e+02] [-4.43801972e-02 9.47080678e-01 -3.17912861e-01 2.99702793e+01] [-9.98870011e-01 -4.74830991e-02 -2.01400369e-03 -2.06335529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:262.24, Y:30.48, Z:-206.37 [[-1.24852887e-02 9.99326733e-01 -3.44992424e-02 2.62238789e+02] [-2.81998493e-02 -3.48401093e-02 -9.98994963e-01 3.04847772e+01] [-9.99524330e-01 -1.14998670e-02 2.86158521e-02 -2.06371328e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.49864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:262.31, Y:30.48, Z:-206.38 [[-1.49425333e-02 9.90974801e-01 -1.33212852e-01 2.62312781e+02] [-2.74510530e-02 -1.33584086e-01 -9.90657222e-01 3.04777850e+01] [-9.99511461e-01 -1.11460955e-02 2.91993864e-02 -2.06384072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:262.39, Y:30.46, Z:-206.39 [[-1.49576160e-02 9.72729338e-01 -2.31460376e-01 2.62385281e+02] [-2.65580007e-02 -2.31791101e-01 -9.72402981e-01 3.04617421e+01] [-9.99535363e-01 -8.39770559e-03 2.93007887e-02 -2.06393392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.55864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:262.45, Y:30.44, Z:-206.40 [[-1.62657890e-02 9.46294161e-01 -3.22897484e-01 2.62454114e+02] [-2.44823713e-02 -3.23220322e-01 -9.46006996e-01 3.04412041e+01] [-9.99567925e-01 -7.48225407e-03 2.84249585e-02 -2.06404524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:262.52, Y:30.42, Z:-206.41 [[-1.61498966e-02 9.11208931e-01 -4.11627823e-01 2.62520298e+02] [-2.28098509e-02 -4.11910131e-01 -9.10938941e-01 3.04150082e+01] [-9.99609369e-01 -5.32240042e-03 2.74368459e-02 -2.06411869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.61864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:262.59, Y:30.38, Z:-206.43 [[-1.81028598e-02 8.65695751e-01 -5.00243094e-01 2.62586605e+02] [-2.18021160e-02 -5.00547905e-01 -8.65434263e-01 3.03796684e+01] [-9.99598396e-01 -4.76047718e-03 2.79353477e-02 -2.06427196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:262.65, Y:30.34, Z:-206.44 [[-2.19258764e-02 8.10780608e-01 -5.84939366e-01 2.62651893e+02] [-2.02675602e-02 -5.85320253e-01 -8.10548843e-01 3.03369154e+01] [-9.99554142e-01 -5.91669999e-03 2.92662043e-02 -2.06443527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:262.73, Y:30.28, Z:-206.46 [[-2.35931226e-02 7.31599948e-01 -6.81325826e-01 2.62725577e+02] [-1.83202568e-02 -6.81717485e-01 -7.31386108e-01 3.02759971e+01] [-9.99553767e-01 -4.77361803e-03 2.94869431e-02 -2.06457296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:262.78, Y:30.22, Z:-206.49 [[-3.11073151e-02 6.63358290e-01 -7.47655077e-01 2.62775051e+02] [-7.42915194e-03 -7.48149868e-01 -6.63488193e-01 3.02227256e+01] [-9.99488440e-01 -1.50848931e-02 2.82011232e-02 -2.06494335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:262.01, Y:30.45, Z:-206.54 [[-1.15778847e-01 9.56029884e-01 2.69447806e-01 2.62006347e+02] [-1.68352143e-02 2.69344363e-01 -9.62896770e-01 3.04524419e+01] [-9.93132335e-01 -1.16019289e-01 -1.50894118e-02 -2.06537382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:262.82, Y:30.17, Z:-206.63 [[-9.41700411e-02 5.86267336e-01 -8.04625760e-01 2.62824773e+02] [-1.44314464e-02 -8.08936327e-01 -5.87719110e-01 3.01662732e+01] [-9.95451524e-01 -4.37336192e-02 8.46382528e-02 -2.06631833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:262.66, Y:29.11, Z:-206.66 [[-4.50127448e-02 -7.92522925e-01 -6.08178646e-01 2.62657737e+02] [ 9.27789433e-04 -6.08828616e-01 7.93301239e-01 2.91053242e+01] [-9.98985982e-01 3.51444045e-02 2.81403415e-02 -2.06663361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:262.18, Y:30.47, Z:-206.69 [[-1.27513934e-01 9.91357036e-01 3.08451438e-02 2.62179913e+02] [ 2.64857593e-02 3.44913747e-02 -9.99053977e-01 3.04716510e+01] [-9.91483082e-01 -1.26576346e-01 -3.06549748e-02 -2.06694963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:262.20, Y:30.47, Z:-206.77 [[-1.95040416e-01 9.80788188e-01 3.71021240e-03 2.62202856e+02] [ 2.64201210e-02 9.03534244e-03 -9.99610094e-01 3.04730237e+01] [-9.80439296e-01 -1.94866344e-01 -2.76747996e-02 -2.06772669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.88864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:262.21, Y:28.95, Z:-206.87 [[-1.18551025e-01 -9.91427615e-01 -5.49266714e-02 2.62214657e+02] [-2.21598224e-03 -5.50524619e-02 9.98481004e-01 2.89507826e+01] [-9.92945489e-01 1.18492663e-01 4.32953981e-03 -2.06867352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:262.17, Y:28.95, Z:-206.93 [[-5.12862500e-02 -9.98433669e-01 -2.23590919e-02 2.62170292e+02] [-1.28880294e-02 -2.17250072e-02 9.99680910e-01 2.89501499e+01] [-9.98600831e-01 5.15580497e-02 -1.17536483e-02 -2.06926122e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.94864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:261.39, Y:29.69, Z:-206.95 [[-7.01111106e-02 -5.04024366e-02 9.96265038e-01 2.61394551e+02] [-6.12875647e-02 9.97053621e-01 4.61292838e-02 2.96904317e+01] [-9.95654692e-01 -5.78244827e-02 -7.29935793e-02 -2.06954301e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:262.65, Y:30.29, Z:-207.09 [[-6.33140533e-02 7.51509016e-01 -6.56677645e-01 2.62652269e+02] [-5.28675321e-02 -6.59599542e-01 -7.49755605e-01 3.02937906e+01] [-9.96592371e-01 -1.27531399e-02 8.14923476e-02 -2.07093627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.00864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:262.77, Y:29.28, Z:-207.11 [[-2.49967065e-03 -5.68178500e-01 -8.22901539e-01 2.62766805e+02] [-3.48324323e-03 -8.22894171e-01 5.68183993e-01 2.92770288e+01] [-9.99990809e-01 4.28663907e-03 7.78604944e-05 -2.07110677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:262.88, Y:29.53, Z:-207.13 [[ 4.94429733e-04 -2.32970817e-01 -9.72483601e-01 2.62879865e+02] [ 8.33271868e-03 -9.72448998e-01 2.32966764e-01 2.95304492e+01] [-9.99965160e-01 -8.21861796e-03 1.46047258e-03 -2.07125785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.06864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:262.82, Y:29.37, Z:-207.18 [[ 7.16767884e-03 -4.39540350e-01 -8.98194247e-01 2.62822653e+02] [ 2.17761984e-02 -8.97935706e-01 4.39587607e-01 2.93715438e+01] [-9.99737176e-01 -2.27100789e-02 3.13540313e-03 -2.07176232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:262.51, Y:29.04, Z:-207.21 [[ 1.03628987e-02 -8.75008609e-01 -4.83996430e-01 2.62505718e+02] [ 1.45335082e-02 -4.83839496e-01 8.75036068e-01 2.90414330e+01] [-9.99840681e-01 -1.61020762e-02 7.70296507e-03 -2.07205543e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.12864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:262.36, Y:28.98, Z:-207.22 [[ 1.56469170e-02 -9.53828863e-01 -2.99942786e-01 2.62363247e+02] [ 1.04618220e-02 -2.99806913e-01 9.53942538e-01 2.89832855e+01] [-9.99822846e-01 -1.80642078e-02 5.28773384e-03 -2.07224492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:262.25, Y:28.96, Z:-207.24 [[ 1.70364843e-02 -9.87781325e-01 -1.54912273e-01 2.62251302e+02] [ 8.38468214e-03 -1.54788170e-01 9.87912101e-01 2.89587831e+01] [-9.99819711e-01 -1.81294391e-02 5.64518621e-03 -2.07240183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.18864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:262.58, Y:30.33, Z:-207.28 [[-5.63765614e-02 8.26300812e-01 -5.60400438e-01 2.62578258e+02] [ 8.99668449e-02 -5.54805303e-01 -8.27101592e-01 3.03324771e+01] [-9.94347852e-01 -9.70466030e-02 -4.30616618e-02 -2.07278786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:262.13, Y:30.47, Z:-207.32 [[-1.38723981e-01 9.89388205e-01 4.32045945e-02 2.62125802e+02] [ 7.96637173e-02 5.46335764e-02 -9.95323497e-01 3.04703106e+01] [-9.87121750e-01 -1.34633399e-01 -8.63973294e-02 -2.07319905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.24864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:262.82, Y:29.37, Z:-207.53 [[-9.25382469e-02 -4.43318774e-01 -8.91574527e-01 2.62822365e+02] [ 8.21002144e-02 -8.95764799e-01 4.36880968e-01 2.93736908e+01] [-9.92318612e-01 -3.27702609e-02 1.19289070e-01 -2.07528124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:262.76, Y:29.29, Z:-207.59 [[-7.67326209e-02 -5.62835814e-01 -8.22999363e-01 2.62759786e+02] [ 1.00473385e-01 -8.25596211e-01 5.55244086e-01 2.92856459e+01] [-9.91976413e-01 -4.00841982e-02 1.19900181e-01 -2.07593038e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.30864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:262.68, Y:29.20, Z:-207.62 [[-8.49934157e-02 -6.78961428e-01 -7.29237615e-01 2.62684138e+02] [ 1.09903773e-01 -7.33808373e-01 6.70407661e-01 2.91990400e+01] [-9.90301611e-01 -2.31657285e-02 1.36989303e-01 -2.07619163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:261.68, Y:29.11, Z:-207.61 [[-3.09071532e-02 -8.25948851e-01 5.62897187e-01 2.61677270e+02] [ 4.73402799e-02 5.61324574e-01 8.26240655e-01 2.91129688e+01] [-9.98400544e-01 5.21844569e-02 2.17517052e-02 -2.07609220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.36864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:261.50, Y:30.18, Z:-207.61 [[-1.08626090e-01 5.44951831e-01 8.31401152e-01 2.61497192e+02] [-4.48617115e-04 8.36323145e-01 -5.48236624e-01 3.01797832e+01] [-9.94082578e-01 -5.99257817e-02 -9.06020386e-02 -2.07610032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:262.11, Y:28.98, Z:-207.74 [[ 7.97108672e-03 -9.99532635e-01 -2.95122735e-02 2.62106643e+02] [-1.73419999e-02 -2.96469513e-02 9.99409983e-01 2.89845548e+01] [-9.99817842e-01 -7.45458179e-03 -1.75702133e-02 -2.07742174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:262.38, Y:30.46, Z:-207.82 [[-8.74943860e-02 9.44137802e-01 -3.17724005e-01 2.62375517e+02] [ 5.34832922e-02 -3.14034981e-01 -9.47903776e-01 3.04598758e+01] [-9.94728239e-01 -9.99291846e-02 -2.30193001e-02 -2.07817151e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:262.20, Y:30.50, Z:-207.88 [[-1.59960142e-01 9.84231856e-01 -7.55010342e-02 2.62198746e+02] [ 5.43021268e-02 -6.75963843e-02 -9.96233912e-01 3.05032559e+01] [-9.85628750e-01 -1.63457584e-01 -4.26331559e-02 -2.07878847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:262.08, Y:30.51, Z:-207.94 [[-2.27717024e-01 9.70358490e-01 8.09280969e-02 2.62082728e+02] [ 4.47146987e-02 9.34448362e-02 -9.94619856e-01 3.05095470e+01] [-9.72700135e-01 -2.22873198e-01 -6.46682676e-02 -2.07938153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:262.85, Y:29.63, Z:-208.18 [[-1.86005725e-01 -1.23298943e-01 -9.74781637e-01 2.62847051e+02] [ 5.78910165e-02 -9.91746783e-01 1.14398205e-01 2.96321141e+01] [-9.80841731e-01 -3.51523787e-02 1.91608481e-01 -2.08180046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:262.09, Y:28.99, Z:-208.12 [[-1.28372405e-01 -9.90665443e-01 -4.58530938e-02 2.62086915e+02] [ 2.95313094e-02 -5.00336881e-02 9.98310839e-01 2.89881104e+01] [-9.91286249e-01 1.26801462e-01 3.56785926e-02 -2.08122266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57864 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:262.09, Y:30.51, Z:-208.11 [[-2.14871988e-01 9.76279407e-01 2.66185691e-02 2.62094601e+02] [ 6.93006207e-02 4.24277194e-02 -9.96693189e-01 3.05145113e+01] [-9.74180400e-01 -2.12316764e-01 -7.67732973e-02 -2.08108832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:262.79, Y:29.56, Z:-208.36 [[-1.79374393e-01 -2.30341739e-01 -9.56434791e-01 2.62792280e+02] [ 7.35974772e-02 -9.72620653e-01 2.20437015e-01 2.95564367e+01] [-9.81024076e-01 -3.08504320e-02 1.91415810e-01 -2.08363542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.63864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:262.01, Y:29.00, Z:-208.32 [[-1.34261502e-01 -9.90927850e-01 5.98708005e-03 2.62013790e+02] [ 5.13235685e-02 -9.19938206e-04 9.98681653e-01 2.89994491e+01] [-9.89615956e-01 1.34391777e-01 5.09814657e-02 -2.08315252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:262.69, Y:29.37, Z:-208.43 [[-1.09274082e-01 -4.88993739e-01 -8.65415679e-01 2.62686517e+02] [ 7.13915263e-02 -8.72241761e-01 4.83836296e-01 2.93690875e+01] [-9.91444615e-01 -8.91257902e-03 1.30223427e-01 -2.08426375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.69864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:262.65, Y:29.32, Z:-208.45 [[-1.06006765e-01 -5.60061047e-01 -8.21641156e-01 2.62646736e+02] [ 7.64531941e-02 -8.28441679e-01 5.54832672e-01 2.93179591e+01] [-9.91421946e-01 -4.00107426e-03 1.30638878e-01 -2.08454737e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:262.62, Y:29.29, Z:-208.49 [[-1.03117906e-01 -6.07670573e-01 -7.87466299e-01 2.62616879e+02] [ 8.12493061e-02 -7.94186964e-01 6.02217250e-01 2.92865591e+01] [-9.91345171e-01 -1.88170833e-03 1.31267709e-01 -2.08486189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.75864 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:262.59, Y:29.26, Z:-208.51 [[-1.01098190e-01 -6.51642188e-01 -7.51759014e-01 2.62589606e+02] [ 8.34053739e-02 -7.58521919e-01 6.46287894e-01 2.92609260e+01] [-9.91374147e-01 2.63779500e-03 1.31035654e-01 -2.08513360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78864 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:262.57, Y:29.24, Z:-208.52 [[-9.90501659e-02 -6.83756443e-01 -7.22956562e-01 2.62566695e+02] [ 8.64126876e-02 -7.29695088e-01 6.78290444e-01 2.92395883e+01] [-9.91323314e-01 4.71216142e-03 1.31361651e-01 -2.08524794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.81864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:262.55, Y:29.23, Z:-208.56 [[-9.43396356e-02 -7.08174989e-01 -6.99705808e-01 2.62545757e+02] [ 9.23787856e-02 -7.06035144e-01 7.02125727e-01 2.92263453e+01] [-9.91244770e-01 1.60031231e-03 1.32027444e-01 -2.08557244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:262.51, Y:29.20, Z:-208.61 [[-8.19473117e-02 -7.49996518e-01 -6.56345839e-01 2.62505875e+02] [ 1.04137245e-01 -6.61399456e-01 7.42769274e-01 2.92011062e+01] [-9.91181150e-01 -7.48210241e-03 1.32302479e-01 -2.08606587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.87864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:262.44, Y:29.15, Z:-208.63 [[-8.14554516e-02 -8.21488738e-01 -5.64376879e-01 2.62437097e+02] [ 1.05084452e-01 -5.70181029e-01 8.14770429e-01 2.91530993e+01] [-9.91121722e-01 7.06025799e-03 1.32770047e-01 -2.08627565e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:262.42, Y:29.15, Z:-208.67 [[-7.14591144e-02 -8.41059681e-01 -5.36201648e-01 2.62416737e+02] [ 1.10944456e-01 -5.40942331e-01 8.33710215e-01 2.91483812e+01] [-9.91254217e-01 8.75935001e-05 1.31966169e-01 -2.08665440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.93864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:262.40, Y:29.14, Z:-208.67 [[-6.36929497e-02 -8.56847873e-01 -5.11619908e-01 2.62399706e+02] [ 1.07126140e-01 -5.15568895e-01 8.50125111e-01 2.91366781e+01] [-9.92203204e-01 -6.60890185e-04 1.24628909e-01 -2.08671743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:261.36, Y:29.40, Z:-208.64 [[-5.78437442e-02 -5.34724486e-01 8.43044379e-01 2.61358138e+02] [ 7.53214166e-02 8.39713840e-01 5.37780021e-01 2.93961779e+01] [-9.95480178e-01 9.46065069e-02 -8.29598675e-03 -2.08637177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.99864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:262.32, Y:29.11, Z:-208.72 [[-3.42887062e-02 -9.11665286e-01 -4.09500538e-01 2.62316528e+02] [ 7.48487124e-02 -4.10933270e-01 9.08587650e-01 2.91141395e+01] [-9.96605215e-01 5.03706990e-04 8.23273430e-02 -2.08717309e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:261.35, Y:29.41, Z:-208.74 [[-5.44335616e-04 -5.32411293e-01 8.46485628e-01 2.61348369e+02] [ 2.32615300e-02 8.46249965e-01 5.32278027e-01 2.94149804e+01] [-9.99729266e-01 1.99802888e-02 1.19240573e-02 -2.08735079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.05864 meters Centerline goodness : 0.998288 Centerline is valid? [True, True] Translation: X:261.39, Y:30.30, Z:-208.76 [[-7.08199370e-02 6.08621437e-01 7.90293922e-01 2.61393712e+02] [-8.63950638e-03 7.91879273e-01 -6.10616553e-01 3.02985909e+01] [-9.97451701e-01 -5.00715752e-02 -5.08226515e-02 -2.08757463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:261.86, Y:30.59, Z:-208.82 [[-5.42344957e-02 9.83806046e-01 1.70834083e-01 2.61863899e+02] [-8.26382678e-03 1.70637797e-01 -9.85299169e-01 3.05853585e+01] [-9.98494030e-01 -5.48489468e-02 -1.12445209e-03 -2.08821488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.11864 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:262.64, Y:30.25, Z:-208.88 [[-3.67758021e-02 5.33457963e-01 -8.45026711e-01 2.62637393e+02] [-8.40527370e-03 -8.45733933e-01 -5.33538626e-01 3.02508442e+01] [-9.99288193e-01 -1.25186302e-02 3.55864040e-02 -2.08883778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:261.85, Y:30.58, Z:-208.92 [[-1.28784278e-01 9.74270829e-01 1.84962053e-01 2.61848620e+02] [-1.08045607e-02 1.85125643e-01 -9.82655462e-01 3.05791512e+01] [-9.91613771e-01 -1.28549008e-01 -1.33147041e-02 -2.08916479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:262.01, Y:30.59, Z:-209.01 [[-1.91262473e-01 9.81195503e-01 -2.59624998e-02 2.62007930e+02] [-8.56584309e-03 -2.81183573e-02 -9.99567899e-01 3.05936475e+01] [-9.81501550e-01 -1.90957438e-01 1.37827533e-02 -2.09009049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:261.95, Y:30.59, Z:-209.08 [[-2.59467736e-01 9.65009194e-01 3.78648794e-02 2.61954114e+02] [-2.27378517e-02 3.30925414e-02 -9.99193612e-01 3.05915094e+01] [-9.65484067e-01 -2.60119470e-01 1.33557891e-02 -2.09076533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23864 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:262.71, Y:30.04, Z:-209.28 [[-2.38273342e-01 2.39840558e-01 -9.41117592e-01 2.62706604e+02] [-1.28455167e-02 -9.69720902e-01 -2.43877768e-01 3.00393833e+01] [-9.71113179e-01 -4.60204290e-02 2.34139516e-01 -2.09284270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:261.90, Y:30.59, Z:-209.16 [[-3.34178482e-01 9.39831954e-01 7.09974630e-02 2.61901739e+02] [-7.06658542e-03 7.28275455e-02 -9.97319513e-01 3.05857126e+01] [-9.42483319e-01 -3.33784430e-01 -1.76959958e-02 -2.09163240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:262.04, Y:29.06, Z:-209.25 [[-2.43676276e-01 -9.66489119e-01 -8.07505750e-02 2.62036419e+02] [-4.69395935e-02 -7.14101360e-02 9.96341943e-01 2.90629440e+01] [-9.68720056e-01 2.46575293e-01 -2.79656504e-02 -2.09249892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32864 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:261.85, Y:30.58, Z:-209.32 [[-3.43579051e-01 9.36359333e-01 7.20044156e-02 2.61849732e+02] [-9.56710704e-03 7.31781054e-02 -9.97272999e-01 3.05802570e+01] [-9.39075027e-01 -3.43330985e-01 -1.61842141e-02 -2.09324385e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:261.99, Y:29.06, Z:-209.41 [[-2.38740692e-01 -9.68087076e-01 -7.62252954e-02 2.61987080e+02] [-4.70831095e-02 -6.68631335e-02 9.96650642e-01 2.90596218e+01] [-9.69941268e-01 2.41529988e-01 -2.96175990e-02 -2.09405844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.38864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:261.80, Y:30.57, Z:-209.47 [[-3.45064840e-01 9.35829928e-01 7.17816355e-02 2.61802634e+02] [-8.82800344e-03 7.32396096e-02 -9.97275301e-01 3.05744698e+01] [-9.38537332e-01 -3.44758330e-01 -1.70109043e-02 -2.09472658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41864 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:261.80, Y:30.57, Z:-209.55 [[-4.07770501e-01 9.11476507e-01 5.41645294e-02 2.61800287e+02] [-9.24282168e-03 5.51969111e-02 -9.98432707e-01 3.05738212e+01] [-9.13037671e-01 -4.07632038e-01 -1.40830573e-02 -2.09551194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.44864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:261.85, Y:30.58, Z:-209.65 [[-4.67025052e-01 8.83747509e-01 -2.96300609e-02 2.61846217e+02] [-6.11146539e-03 -3.67341533e-02 -9.99306385e-01 3.05755515e+01] [-8.84222964e-01 -4.66520033e-01 2.25567622e-02 -2.09650231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:261.84, Y:30.57, Z:-209.73 [[-5.26231529e-01 8.48909740e-01 -4.93217158e-02 2.61836414e+02] [-2.42468540e-03 -5.95000046e-02 -9.98225361e-01 3.05725764e+01] [-8.50337874e-01 -5.25178068e-01 3.33691174e-02 -2.09732290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.50864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:261.82, Y:30.57, Z:-209.81 [[-5.83594422e-01 8.09719772e-01 -6.14120556e-02 2.61818201e+02] [ 1.61797585e-03 -7.44667779e-02 -9.97222182e-01 3.05699163e+01] [-8.12043677e-01 -5.82072666e-01 4.21482892e-02 -2.09810239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:261.73, Y:29.04, Z:-209.80 [[-4.90609500e-01 -8.69818434e-01 5.21364618e-02 2.61727035e+02] [-5.41186256e-02 9.01322016e-02 9.94458325e-01 2.90421190e+01] [-8.69697357e-01 4.85069148e-01 -9.12930925e-02 -2.09799039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.56864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:261.68, Y:29.04, Z:-209.87 [[-4.28682375e-01 -9.02586463e-01 3.96118349e-02 2.61684539e+02] [-5.87141444e-02 7.15847402e-02 9.95704913e-01 2.90409001e+01] [-9.01545379e-01 4.24515372e-01 -8.36817084e-02 -2.09867698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:261.68, Y:30.56, Z:-210.01 [[-5.30294964e-01 8.46706949e-01 -4.32965726e-02 2.61679574e+02] [-8.75082051e-03 -5.65321772e-02 -9.98362427e-01 3.05636841e+01] [-8.47768054e-01 -5.29047687e-01 3.73881094e-02 -2.10010486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.62864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:261.61, Y:29.04, Z:-210.00 [[-4.28777848e-01 -9.02537404e-01 3.96962458e-02 2.61608441e+02] [-5.80456848e-02 7.13727878e-02 9.95759320e-01 2.90372773e+01] [-9.01543263e-01 4.24655343e-01 -8.29914720e-02 -2.09999618e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:261.59, Y:29.03, Z:-210.06 [[-3.68911645e-01 -9.29339437e-01 1.52449647e-02 2.61585623e+02] [-6.13843803e-02 4.07267299e-02 9.97282954e-01 2.90337101e+01] [-9.27435257e-01 3.66973493e-01 -7.20714904e-02 -2.10064116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.68864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:261.55, Y:30.56, Z:-210.19 [[-4.66293918e-01 8.84536387e-01 -1.28593468e-02 2.61548682e+02] [-1.49995608e-02 -2.24398521e-02 -9.99635667e-01 3.05577261e+01] [-8.84502683e-01 -4.65931147e-01 2.37312239e-02 -2.10189259e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:261.54, Y:30.55, Z:-210.26 [[-5.20683949e-01 8.53225992e-01 -2.98936885e-02 2.61540979e+02] [-1.28443969e-02 -4.28393517e-02 -9.98999405e-01 3.05549674e+01] [-8.53652884e-01 -5.19778989e-01 3.32649361e-02 -2.10255486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.74864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:261.50, Y:29.03, Z:-210.25 [[-4.40356257e-01 -8.97421242e-01 2.68603889e-02 2.61497719e+02] [-5.99439135e-02 5.92380778e-02 9.96442461e-01 2.90258901e+01] [-8.95819789e-01 4.37179556e-01 -7.98807996e-02 -2.10250010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:261.47, Y:30.55, Z:-210.38 [[-5.17802125e-01 8.55147832e-01 -2.45590161e-02 2.61468005e+02] [-1.58545675e-02 -3.82944801e-02 -9.99140714e-01 3.05520055e+01] [-8.55353490e-01 -5.16967812e-01 3.33869622e-02 -2.10376454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.80864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:261.45, Y:30.55, Z:-210.45 [[-5.74426989e-01 8.17549140e-01 -4.05837175e-02 2.61449863e+02] [-1.20795265e-02 -5.80407218e-02 -9.98241133e-01 3.05484149e+01] [-8.18466688e-01 -5.72926417e-01 4.32157636e-02 -2.10450837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:261.46, Y:30.54, Z:-210.53 [[-6.28615559e-01 7.72202277e-01 -9.24452327e-02 2.61457112e+02] [ 8.04828894e-03 -1.12402022e-01 -9.93630218e-01 3.05439918e+01] [-7.77674549e-01 -6.25355442e-01 6.44427527e-02 -2.10530597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.86864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:262.00, Y:29.88, Z:-210.98 [[-6.06781533e-01 7.24541342e-02 -7.91559581e-01 2.61995919e+02] [ 3.25601196e-03 -9.95602042e-01 -9.36267764e-02 2.98841045e+01] [-7.94861982e-01 -5.93883263e-02 6.03877021e-01 -2.10983902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:261.45, Y:29.02, Z:-210.64 [[-5.52273248e-01 -8.26079246e-01 -1.12193306e-01 2.61451638e+02] [-2.03726352e-02 -1.21165116e-01 9.92423282e-01 2.90201909e+01] [-8.33414192e-01 5.50374503e-01 5.00868412e-02 -2.10640407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:261.21, Y:30.53, Z:-210.57 [[-6.36881749e-01 7.67200092e-01 7.60635027e-02 2.61211742e+02] [ 6.60410127e-03 1.04085902e-01 -9.94546385e-01 3.05332592e+01] [-7.70933216e-01 -6.32906110e-01 -7.13570782e-02 -2.10573660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:261.36, Y:29.02, Z:-210.76 [[-5.50218700e-01 -8.28227448e-01 -1.06295229e-01 2.61357287e+02] [-2.08876703e-02 -1.13605197e-01 9.93306380e-01 2.90200988e+01] [-8.34759299e-01 5.48756005e-01 4.52079618e-02 -2.10764849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:261.30, Y:29.02, Z:-210.81 [[-4.92504257e-01 -8.64946072e-01 -9.64771907e-02 2.61300233e+02] [-1.52255257e-02 -1.02273905e-01 9.94639750e-01 2.90180544e+01] [-8.70176844e-01 4.91333227e-01 3.72010751e-02 -2.10812609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:261.24, Y:29.01, Z:-210.87 [[-4.31997677e-01 -8.97832603e-01 -8.52914011e-02 2.61244003e+02] [-8.77908781e-03 -9.03804161e-02 9.95868620e-01 2.90147729e+01] [-9.01831988e-01 4.30961711e-01 3.11619786e-02 -2.10867407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:261.19, Y:29.01, Z:-210.93 [[-3.69913858e-01 -9.26210351e-01 -7.27882095e-02 2.61190505e+02] [-3.65174586e-03 -7.68954667e-02 9.97032473e-01 2.90132023e+01] [-9.29058880e-01 3.69081933e-01 2.50624139e-02 -2.10925524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:261.12, Y:29.01, Z:-210.98 [[-3.07965946e-01 -9.50717501e-01 -3.59612118e-02 2.61119951e+02] [ 7.66081798e-03 -4.02751068e-02 9.99159260e-01 2.90103597e+01] [-9.51366537e-01 3.07431535e-01 1.96866351e-02 -2.10983160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:260.31, Y:29.76, Z:-210.77 [[-3.46739112e-01 -1.30061240e-02 9.37871435e-01 2.60312307e+02] [-7.52747069e-02 9.97064513e-01 -1.40027086e-02 2.97598185e+01] [-9.34936205e-01 -7.54532842e-02 -3.46700296e-01 -2.10769933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.13864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:261.06, Y:29.02, Z:-211.07 [[-2.39087625e-01 -9.70251588e-01 -3.80652583e-02 2.61056380e+02] [-7.40997848e-02 -2.08564113e-02 9.97032714e-01 2.90187357e+01] [-9.68166478e-01 2.41198811e-01 -6.69089240e-02 -2.11065524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:260.97, Y:29.02, Z:-211.12 [[-1.72611961e-01 -9.84539586e-01 2.97810977e-02 2.60972296e+02] [-7.87750449e-02 4.39364933e-02 9.95923730e-01 2.90151406e+01] [-9.81834815e-01 1.69562341e-01 -8.51411144e-02 -2.11123938e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.19864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:260.94, Y:29.01, Z:-211.20 [[-1.02488679e-01 -9.94370867e-01 2.68821582e-02 2.60944610e+02] [-8.01307155e-02 3.51895900e-02 9.96163019e-01 2.90111328e+01] [-9.91501457e-01 9.99413458e-02 -8.32861836e-02 -2.11201829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:261.61, Y:30.10, Z:-211.43 [[-1.37725628e-01 4.07485979e-01 -9.02766209e-01 2.61606438e+02] [ 1.01483061e-02 -9.10823573e-01 -4.12671092e-01 3.01049187e+01] [-9.90418428e-01 -6.59969332e-02 1.21308456e-01 -2.11428937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.25864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:260.88, Y:29.00, Z:-211.38 [[-4.86335396e-02 -9.96621702e-01 6.61812787e-02 2.60877817e+02] [-4.91864031e-02 6.85689744e-02 9.96433135e-01 2.89979790e+01] [-9.97604870e-01 4.52048513e-02 -5.23549887e-02 -2.11380072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:260.88, Y:30.53, Z:-211.51 [[-1.75644370e-01 9.84433624e-01 6.28453319e-03 2.60884140e+02] [-8.78894530e-03 4.81544790e-03 -9.99949782e-01 3.05264887e+01] [-9.84414450e-01 -1.75690784e-01 7.80632696e-03 -2.11507103e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.31864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:261.05, Y:29.01, Z:-211.57 [[-4.28872228e-02 -9.79933579e-01 -1.94655764e-01 2.61053199e+02] [-2.96654580e-02 -1.93500083e-01 9.80651660e-01 2.90091632e+01] [-9.98639398e-01 4.78319786e-02 -2.07714973e-02 -2.11569376e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:260.73, Y:30.51, Z:-211.64 [[-1.78519968e-01 9.65324662e-01 1.90470254e-01 2.60729006e+02] [-1.38314724e-02 1.91098700e-01 -9.81473371e-01 3.05077057e+01] [-9.83839068e-01 -1.77847079e-01 -2.07630725e-02 -2.11644996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.37864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:261.01, Y:29.00, Z:-211.72 [[-4.36968947e-02 -9.84731947e-01 -1.68503931e-01 2.61010105e+02] [-3.38764883e-02 -1.67107554e-01 9.85356508e-01 2.89992934e+01] [-9.98470312e-01 4.87653411e-02 -2.60571790e-02 -2.11722234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40864 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:261.09, Y:29.02, Z:-211.80 [[ 2.86394922e-02 -9.52339713e-01 -3.03692033e-01 2.61092076e+02] [-2.37283658e-02 -3.04378756e-01 9.52255500e-01 2.90189190e+01] [-9.99308133e-01 -2.00659983e-02 -3.13147181e-02 -2.11796989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.43864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:260.11, Y:29.54, Z:-212.00 [[ 1.89057388e-02 -3.04266001e-01 9.52399482e-01 2.60111139e+02] [-1.65832848e-01 9.38421313e-01 3.03092240e-01 2.95356930e+01] [-9.85972636e-01 -1.63669301e-01 -3.27157492e-02 -2.11995517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:260.68, Y:30.50, Z:-212.20 [[-1.94189904e-02 9.74401215e-01 2.23975835e-01 2.60675832e+02] [-1.17698303e-01 2.20232514e-01 -9.68320582e-01 3.05045882e+01] [-9.92859513e-01 -4.51653840e-02 1.10408677e-01 -2.12197887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.49864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:260.75, Y:30.51, Z:-212.25 [[-2.33403361e-02 9.89701714e-01 1.41229408e-01 2.60745665e+02] [-1.14365832e-01 1.37697198e-01 -9.83849551e-01 3.05097006e+01] [-9.93164480e-01 -3.91151980e-02 1.09974161e-01 -2.12254484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:260.78, Y:30.51, Z:-212.31 [[-2.63996471e-02 9.93562878e-01 1.10162908e-01 2.60779571e+02] [-1.12418068e-01 1.06551512e-01 -9.87931654e-01 3.05064073e+01] [-9.93310242e-01 -3.84653483e-02 1.08881497e-01 -2.12307972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.55864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:260.81, Y:30.50, Z:-212.37 [[-2.58863790e-02 9.96209684e-01 8.30431223e-02 2.60806601e+02] [-1.11112054e-01 7.96889210e-02 -9.90607787e-01 3.04999825e+01] [-9.93470687e-01 -3.48703405e-02 1.08628047e-01 -2.12371836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:260.84, Y:30.49, Z:-212.43 [[-2.48786724e-02 9.98844359e-01 4.11217457e-02 2.60841315e+02] [-1.11934034e-01 3.80925385e-02 -9.92985262e-01 3.04937093e+01] [-9.93404159e-01 -2.93070779e-02 1.10856987e-01 -2.12427227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.61864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:260.87, Y:30.49, Z:-212.48 [[-2.41226648e-02 9.99659033e-01 9.99577195e-03 2.60868036e+02] [-1.11875847e-01 7.23648087e-03 -9.93695843e-01 3.04864751e+01] [-9.93429359e-01 -2.50888772e-02 1.11663138e-01 -2.12483078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:260.89, Y:30.48, Z:-212.49 [[-2.25526536e-02 9.99494057e-01 -2.24278144e-02 2.60894943e+02] [-1.11466767e-01 -2.48075249e-02 -9.93458478e-01 3.04848202e+01] [-9.93512223e-01 -1.99051689e-02 1.11969847e-01 -2.12487605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:260.92, Y:30.48, Z:-212.50 [[-2.34820785e-02 9.98368760e-01 -5.20423943e-02 2.60917332e+02] [-1.08214216e-01 -5.42892305e-02 -9.92644127e-01 3.04818703e+01] [-9.93850228e-01 -1.76776205e-02 1.09312516e-01 -2.12496569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:260.94, Y:30.48, Z:-212.51 [[-2.71583697e-02 9.96260531e-01 -8.20205887e-02 2.60940821e+02] [-1.05844198e-01 -8.44555308e-02 -9.90789720e-01 3.04783074e+01] [-9.94011785e-01 -1.82268301e-02 1.07742071e-01 -2.12507786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:260.97, Y:30.47, Z:-212.54 [[-3.60095610e-02 9.93019445e-01 -1.12319600e-01 2.60965462e+02] [-1.03756935e-01 -1.15500063e-01 -9.87873592e-01 3.04708337e+01] [-9.93950607e-01 -2.39189570e-02 1.07191760e-01 -2.12540073e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:261.02, Y:30.46, Z:-212.56 [[-3.80441410e-02 9.81691257e-01 -1.86641149e-01 2.61021750e+02] [-1.02226245e-01 -1.89619892e-01 -9.76521424e-01 3.04588373e+01] [-9.94033419e-01 -1.80712949e-02 1.07568537e-01 -2.12555356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:261.05, Y:30.45, Z:-212.57 [[-4.18276810e-02 9.75222212e-01 -2.17237389e-01 2.61045648e+02] [-1.04263652e-01 -2.20501044e-01 -9.69798113e-01 3.04541627e+01] [-9.93669732e-01 -1.79144426e-02 1.10903277e-01 -2.12571094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82864 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:261.03, Y:30.46, Z:-212.59 [[-4.90079908e-02 9.77949244e-01 -2.03011066e-01 2.61033466e+02] [-1.19908237e-01 -2.07545982e-01 -9.70848433e-01 3.04553124e+01] [-9.91574622e-01 -2.32366321e-02 1.27435582e-01 -2.12594819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:261.60, Y:29.50, Z:-212.56 [[ 2.05670597e-03 -2.29924587e-01 -9.73206275e-01 2.61598360e+02] [-5.02561015e-02 -9.72002313e-01 2.29533937e-01 2.95017808e+01] [-9.98734246e-01 4.84374696e-02 -1.35542363e-02 -2.12563476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.88864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:261.12, Y:30.41, Z:-212.62 [[-3.20644022e-02 9.45381941e-01 -3.24383816e-01 2.61118201e+02] [-3.43747126e-02 -3.25401773e-01 -9.44950827e-01 3.04110587e+01] [-9.98894516e-01 -1.91486829e-02 4.29310458e-02 -2.12623431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:261.16, Y:30.39, Z:-212.64 [[-3.36933305e-02 9.21904907e-01 -3.85948314e-01 2.61162859e+02] [-3.11732592e-02 -3.86949087e-01 -9.21573997e-01 3.03906254e+01] [-9.98945938e-01 -1.90196304e-02 4.17763841e-02 -2.12637529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.94864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:261.21, Y:30.37, Z:-212.66 [[-3.90625669e-02 8.95387312e-01 -4.43571501e-01 2.61205280e+02] [-2.66906740e-02 -4.44686882e-01 -8.95288325e-01 3.03667918e+01] [-9.98880235e-01 -2.31330377e-02 4.12691019e-02 -2.12664190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:261.28, Y:30.32, Z:-212.68 [[-4.04433235e-02 8.39226891e-01 -5.42275357e-01 2.61280740e+02] [-2.34821836e-02 -5.43367812e-01 -8.39166258e-01 3.03213080e+01] [-9.98905864e-01 -2.12048629e-02 4.16824802e-02 -2.12681363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.00864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:261.32, Y:30.29, Z:-212.71 [[-4.50124302e-02 8.02206804e-01 -5.95347062e-01 2.61321723e+02] [-1.96224841e-02 -5.96546117e-01 -8.02338886e-01 3.02919491e+01] [-9.98793692e-01 -2.44330349e-02 4.25932808e-02 -2.12705277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:261.36, Y:30.26, Z:-212.74 [[-5.08679687e-02 7.60998872e-01 -6.46755879e-01 2.61359332e+02] [-1.37941013e-02 -6.48067850e-01 -7.61457671e-01 3.02582800e+01] [-9.98610120e-01 -2.98123889e-02 4.34631906e-02 -2.12735814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.06864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:261.42, Y:30.19, Z:-212.77 [[-5.53399202e-02 6.79485888e-01 -7.31598538e-01 2.61424355e+02] [-3.74784682e-03 -7.32857581e-01 -6.80371751e-01 3.01893551e+01] [-9.98460538e-01 -3.49097991e-02 4.31028890e-02 -2.12769524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:261.48, Y:30.12, Z:-212.81 [[-5.96662255e-02 5.94450211e-01 -8.01915762e-01 2.61477600e+02] [ 7.04841591e-03 -8.03076100e-01 -5.95834790e-01 3.01182774e+01] [-9.98193499e-01 -4.12034488e-02 4.37265874e-02 -2.12812383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.12864 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:260.94, Y:28.92, Z:-212.83 [[ 4.23487015e-02 -9.83066348e-01 -1.78289490e-01 2.60941449e+02] [-2.61444410e-02 -1.79478860e-01 9.83414362e-01 2.89166439e+01] [-9.98760760e-01 -3.69850422e-02 -3.33024168e-02 -2.12834107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:260.07, Y:29.61, Z:-213.06 [[ 1.24347351e-02 -1.64602138e-01 9.86281660e-01 2.60065191e+02] [-1.64910595e-01 9.72513528e-01 1.64383494e-01 2.96091329e+01] [-9.86230132e-01 -1.64692361e-01 -1.50516883e-02 -2.13056195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.18864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:260.70, Y:30.45, Z:-213.20 [[-9.94793113e-03 9.78660252e-01 2.05244124e-01 2.60702888e+02] [-1.17144220e-01 2.02700359e-01 -9.72208721e-01 3.04535588e+01] [-9.93065089e-01 -3.37146281e-02 1.12627942e-01 -2.13203604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:260.59, Y:28.95, Z:-213.18 [[ 1.08442681e-01 -9.72051347e-01 2.08221911e-01 2.60594516e+02] [-1.71836145e-01 1.87975109e-01 9.67025179e-01 2.89530642e+01] [-9.79138664e-01 -1.40646853e-01 -1.46649031e-01 -2.13176057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.24864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:260.36, Y:30.30, Z:-213.46 [[ 8.09574420e-02 7.94606682e-01 6.01702679e-01 2.60359189e+02] [-1.68143717e-01 6.05920094e-01 -7.77552912e-01 3.02988567e+01] [-9.82432483e-01 -3.82238303e-02 1.82661862e-01 -2.13461762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:260.47, Y:30.34, Z:-213.57 [[ 5.89369538e-02 8.72731768e-01 4.84629442e-01 2.60471437e+02] [-1.66680941e-01 4.87261464e-01 -8.57201102e-01 3.03399226e+01] [-9.84247885e-01 -3.02576699e-02 1.74185459e-01 -2.13568033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.30864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:261.55, Y:29.92, Z:-213.61 [[ 4.43024299e-02 4.53721845e-01 -8.90041450e-01 2.61545573e+02] [-6.18615184e-02 -8.87960567e-01 -4.55740260e-01 2.99223261e+01] [-9.97101022e-01 7.52497165e-02 -1.12708885e-02 -2.13605610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:260.63, Y:30.33, Z:-213.75 [[ 9.63869814e-03 9.45064292e-01 3.26742374e-01 2.60631321e+02] [-6.25304235e-02 3.26687703e-01 -9.43061552e-01 3.03286027e+01] [-9.97996514e-01 -1.13414534e-02 6.22441146e-02 -2.13748465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.36864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:260.72, Y:30.35, Z:-213.80 [[ 1.18752567e-02 9.77651777e-01 2.09895165e-01 2.60720682e+02] [-6.17905710e-02 2.10226282e-01 -9.75698127e-01 3.03459511e+01] [-9.98018489e-01 -1.38287637e-03 6.29061526e-02 -2.13802156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:260.75, Y:30.34, Z:-213.85 [[ 1.44990432e-02 9.85841284e-01 1.67053109e-01 2.60748577e+02] [-6.02000839e-02 1.67628262e-01 -9.84010526e-01 3.03445041e+01] [-9.98081023e-01 4.21059995e-03 6.17781774e-02 -2.13854780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:260.78, Y:30.34, Z:-213.91 [[ 1.27179161e-02 9.92164127e-01 1.24292394e-01 2.60781218e+02] [-6.03737700e-02 1.24837598e-01 -9.90338620e-01 3.03429602e+01] [-9.98094816e-01 5.09104305e-03 6.14883629e-02 -2.13908172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45864 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:260.64, Y:28.84, Z:-213.94 [[ 6.79639389e-02 -9.71453342e-01 2.27286839e-01 2.60636576e+02] [-8.67148335e-02 2.21199660e-01 9.71365661e-01 2.88440823e+01] [-9.93912190e-01 -8.57269769e-02 -6.92058147e-02 -2.13942448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48864 meters Centerline goodness : 0.998142 Centerline is valid? [True, True] Translation: X:260.22, Y:30.04, Z:-214.16 [[ 5.50651652e-02 6.00914956e-01 7.97413972e-01 2.60217000e+02] [-9.20030805e-02 7.98281753e-01 -5.95215655e-01 3.00371738e+01] [-9.94235013e-01 -4.05888935e-02 9.92435437e-02 -2.14162202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:260.37, Y:30.17, Z:-214.21 [[ 7.72455011e-02 7.90622298e-01 6.07412145e-01 2.60365608e+02] [-1.19502294e-01 6.12182417e-01 -7.81634115e-01 3.01740312e+01] [-9.89824396e-01 -1.22094260e-02 1.41769516e-01 -2.14214994e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:260.43, Y:30.20, Z:-214.31 [[ 5.28934229e-02 8.43381231e-01 5.34705887e-01 2.60432247e+02] [-1.20463586e-01 5.36934010e-01 -8.34979277e-01 3.02029938e+01] [-9.91307627e-01 -2.02476763e-02 1.29997005e-01 -2.14305725e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:261.26, Y:30.19, Z:-214.42 [[-2.52130165e-02 8.71563365e-01 -4.89634154e-01 2.61258469e+02] [-7.95047002e-02 -4.89986642e-01 -8.68096823e-01 3.01905910e+01] [-9.96515583e-01 1.70408771e-02 8.16474253e-02 -2.14419456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60864 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:261.50, Y:29.06, Z:-214.40 [[ 4.04854566e-02 -5.92679924e-01 -8.04419937e-01 2.61501812e+02] [-3.89618829e-02 -8.05404119e-01 5.91444145e-01 2.90587867e+01] [-9.98420202e-01 7.39682905e-03 -5.56990793e-02 -2.14397561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.63864 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:260.46, Y:28.87, Z:-214.57 [[ 6.97446150e-02 -8.53857508e-01 5.15812994e-01 2.60455229e+02] [-8.96234699e-02 5.09617749e-01 8.55720388e-01 2.88653697e+01] [-9.93530735e-01 -1.05910839e-01 -4.09825789e-02 -2.14569814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:260.95, Y:28.76, Z:-214.68 [[ 1.48145089e-01 -9.73493758e-01 -1.74249639e-01 2.60948033e+02] [-4.01214385e-02 -1.81964858e-01 9.82486163e-01 2.87625152e+01] [-9.88151457e-01 -1.38559354e-01 -6.60151700e-02 -2.14683300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.69864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:260.06, Y:29.53, Z:-214.92 [[ 1.17860437e-01 5.42171478e-02 9.91548999e-01 2.60057361e+02] [-7.37703400e-02 9.96227413e-01 -4.57042511e-02 2.95326056e+01] [-9.90286249e-01 -6.77601838e-02 1.21415416e-01 -2.14922802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:260.14, Y:29.82, Z:-215.03 [[ 1.10970772e-01 4.23991586e-01 8.98841823e-01 2.60141957e+02] [-7.92375543e-02 9.05323282e-01 -4.17266299e-01 2.98194619e+01] [-9.90659829e-01 -2.49176642e-02 1.34060480e-01 -2.15033107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.75864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:260.18, Y:29.88, Z:-215.09 [[ 1.08993492e-01 5.03852358e-01 8.56885769e-01 2.60181158e+02] [-8.08751701e-02 8.63658298e-01 -4.97547536e-01 2.98801135e+01] [-9.90747004e-01 -1.50713391e-02 1.34882279e-01 -2.15086072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:260.21, Y:29.90, Z:-215.17 [[ 1.03735484e-01 5.24718732e-01 8.44931477e-01 2.60205239e+02] [-9.14529528e-02 8.50948003e-01 -5.17227081e-01 2.98966053e+01] [-9.90391492e-01 -2.36166768e-02 1.36260581e-01 -2.15168303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.81864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:260.24, Y:29.93, Z:-215.24 [[ 9.78309360e-02 5.75913306e-01 8.11635985e-01 2.60242711e+02] [-9.60593151e-02 8.17204675e-01 -5.68286131e-01 2.99336534e+01] [-9.90556266e-01 -2.23692327e-02 1.35269736e-01 -2.15240601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:260.29, Y:29.96, Z:-215.36 [[ 8.33378086e-02 6.15708607e-01 7.83554543e-01 2.60287689e+02] [-1.09508919e-01 7.87186098e-01 -6.06915022e-01 2.99604073e+01] [-9.90486046e-01 -3.52272430e-02 1.33027948e-01 -2.15358422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.87864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:260.36, Y:30.02, Z:-215.42 [[ 7.82783607e-02 7.03033499e-01 7.06835482e-01 2.60355725e+02] [-1.08567059e-01 7.10805795e-01 -6.94959218e-01 3.00241079e+01] [-9.91002367e-01 -2.23387810e-02 1.31966992e-01 -2.15418287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:260.38, Y:30.04, Z:-215.48 [[ 7.48462964e-02 7.25371737e-01 6.84276169e-01 2.60382845e+02] [-1.11272745e-01 6.87990636e-01 -7.17138244e-01 3.00371378e+01] [-9.90967410e-01 -2.24661458e-02 1.32207655e-01 -2.15479944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.93864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:260.41, Y:30.05, Z:-215.54 [[ 7.40756254e-02 7.47803380e-01 6.59774890e-01 2.60409585e+02] [-1.13179717e-01 6.63622029e-01 -7.39456662e-01 3.00496564e+01] [-9.90809343e-01 -1.98974205e-02 1.33794392e-01 -2.15538527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:260.43, Y:30.06, Z:-215.59 [[ 7.18929141e-02 7.66968598e-01 6.37644555e-01 2.60433990e+02] [-1.14068914e-01 6.41426668e-01 -7.58656782e-01 3.00592584e+01] [-9.90868151e-01 -1.81933753e-02 1.33601308e-01 -2.15594665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.99864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:260.46, Y:30.07, Z:-215.65 [[ 6.94342501e-02 7.84234744e-01 6.16566908e-01 2.60458456e+02] [-1.14123750e-01 6.20245344e-01 -7.76061520e-01 3.00689483e+01] [-9.91037161e-01 -1.64796778e-02 1.32566080e-01 -2.15650535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:260.49, Y:30.08, Z:-215.72 [[ 6.47917029e-02 8.01434655e-01 5.94562468e-01 2.60485401e+02] [-1.18194616e-01 5.97783612e-01 -7.92896454e-01 3.00760860e+01] [-9.90874396e-01 -1.89009714e-02 1.33456680e-01 -2.15720985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.05864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:260.52, Y:30.09, Z:-215.78 [[ 6.45963408e-02 8.28057546e-01 5.56909340e-01 2.60519758e+02] [-1.21927740e-01 5.60442752e-01 -8.19168815e-01 3.00907084e+01] [-9.90434722e-01 -1.49873891e-02 1.37165736e-01 -2.15777771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:260.54, Y:30.10, Z:-215.83 [[ 6.17912694e-02 8.43336007e-01 5.33822272e-01 2.60543961e+02] [-1.23487198e-01 5.37194630e-01 -8.34369727e-01 3.00958678e+01] [-9.90420492e-01 -1.43634521e-02 1.37335139e-01 -2.15830822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.11864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:260.57, Y:30.10, Z:-215.88 [[ 5.73154584e-02 8.56266019e-01 5.13345345e-01 2.60569447e+02] [-1.26187269e-01 5.16280136e-01 -8.47072366e-01 3.00997162e+01] [-9.90349288e-01 -1.62273061e-02 1.37640703e-01 -2.15883632e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:260.59, Y:30.10, Z:-215.94 [[ 5.27437888e-02 8.68458213e-01 4.92948704e-01 2.60592465e+02] [-1.27311816e-01 4.95455598e-01 -8.59252845e-01 3.01024884e+01] [-9.90459385e-01 -1.74379442e-02 1.36697198e-01 -2.15937090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:260.62, Y:30.11, Z:-215.99 [[ 4.78439682e-02 8.80236027e-01 4.72118090e-01 2.60615096e+02] [-1.28140737e-01 4.74162683e-01 -8.71062398e-01 3.01050924e+01] [-9.90601285e-01 -1.88224785e-02 1.35479918e-01 -2.15988592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:260.64, Y:30.11, Z:-216.05 [[ 4.10861592e-02 8.91036929e-01 4.52067605e-01 2.60640267e+02] [-1.31086591e-01 4.53345897e-01 -8.81642673e-01 3.01078370e+01] [-9.90519174e-01 -2.30366899e-02 1.35429235e-01 -2.16046139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:260.67, Y:30.11, Z:-216.10 [[ 3.64967524e-02 9.03778657e-01 4.26441234e-01 2.60667621e+02] [-1.33642423e-01 4.27306584e-01 -8.94174919e-01 3.01121836e+01] [-9.90357355e-01 -2.43561591e-02 1.36378472e-01 -2.16102252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:260.60, Y:30.07, Z:-216.15 [[ 5.69608077e-02 8.52795752e-01 5.19128955e-01 2.60603331e+02] [-1.80231588e-01 5.20213669e-01 -8.34801961e-01 3.00654018e+01] [-9.81973544e-01 -4.60124423e-02 1.83332524e-01 -2.16146629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:261.67, Y:29.77, Z:-216.20 [[ 2.03032349e-02 5.65852400e-01 -8.24256538e-01 2.61667443e+02] [-5.05798191e-02 -8.22789462e-01 -5.66091144e-01 2.97676822e+01] [-9.98513626e-01 5.31842280e-02 1.19154243e-02 -2.16204484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:260.89, Y:30.10, Z:-216.30 [[-1.42700680e-02 9.77890330e-01 2.08630938e-01 2.60888532e+02] [-6.92287839e-02 2.07185231e-01 -9.75849197e-01 3.01011025e+01] [-9.97498742e-01 -2.83687006e-02 6.47416109e-02 -2.16299308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:260.85, Y:30.08, Z:-216.35 [[-2.95774491e-03 9.63584894e-01 2.67386244e-01 2.60850073e+02] [-1.20983233e-01 2.65078505e-01 -9.56606734e-01 3.00830142e+01] [-9.92650144e-01 -3.51786510e-02 1.15793581e-01 -2.16347340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.38864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:260.96, Y:30.09, Z:-216.44 [[-2.50876944e-02 9.88453169e-01 1.49435406e-01 2.60955339e+02] [-9.35868953e-02 1.46503749e-01 -9.84773144e-01 3.00902436e+01] [-9.95294982e-01 -3.86908833e-02 8.88308219e-02 -2.16438360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:261.80, Y:29.42, Z:-216.44 [[ 4.27734771e-03 1.89420917e-01 -9.81886664e-01 2.61800448e+02] [-1.80698217e-02 -9.81720686e-01 -1.89467614e-01 2.94184064e+01] [-9.99827578e-01 1.85529358e-02 -7.76358528e-04 -2.16444447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.44864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:261.28, Y:30.04, Z:-216.48 [[-2.90501661e-02 9.61942928e-01 -2.71701841e-01 2.61284900e+02] [-1.68390324e-02 -2.72248945e-01 -9.62079497e-01 3.00364355e+01] [-9.99436108e-01 -2.33733731e-02 2.41070652e-02 -2.16475607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:261.32, Y:30.02, Z:-216.49 [[-3.17719683e-02 9.49095084e-01 -3.13383253e-01 2.61318228e+02] [-3.47735095e-02 -3.14401372e-01 -9.48653035e-01 3.00240320e+01] [-9.98890057e-01 -1.92431386e-02 4.29925174e-02 -2.16488153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.50864 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:261.78, Y:29.09, Z:-216.54 [[-5.34645074e-04 -2.13776754e-01 -9.76882395e-01 2.61777411e+02] [ 3.74738309e-02 -9.76200664e-01 2.13607058e-01 2.90898164e+01] [-9.99297466e-01 -3.64933217e-02 8.53295480e-03 -2.16535192e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:261.51, Y:28.69, Z:-216.62 [[ 1.84901633e-02 -7.48522896e-01 -6.62851105e-01 2.61514459e+02] [ 4.54083987e-02 -6.61651686e-01 7.48435117e-01 2.86913015e+01] [-9.98797372e-01 -4.39376948e-02 2.17551784e-02 -2.16616106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.56864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:260.97, Y:28.53, Z:-216.71 [[ 4.21807264e-02 -9.98656246e-01 3.01079499e-02 2.60971010e+02] [ 3.07455635e-03 3.02643708e-02 9.99537200e-01 2.85279740e+01] [-9.99105266e-01 -4.20686365e-02 4.34699804e-03 -2.16706262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:260.35, Y:28.95, Z:-216.79 [[ 2.75957377e-02 -5.03983693e-01 8.63272212e-01 2.60351126e+02] [ 6.22915489e-05 8.63601967e-01 5.04174214e-01 2.89468214e+01] [-9.99619163e-01 -1.38592848e-02 2.38631273e-02 -2.16790130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.62864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:261.04, Y:30.07, Z:-216.91 [[-3.39248001e-02 9.93118778e-01 1.12090145e-01 2.61042421e+02] [-9.46630832e-03 1.11830371e-01 -9.93682221e-01 3.00698348e+01] [-9.99379556e-01 -3.47715506e-02 5.60734558e-03 -2.16905089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:261.61, Y:29.86, Z:-216.94 [[-3.88470706e-02 7.63198473e-01 -6.44995346e-01 2.61614057e+02] [ 1.31598513e-03 -6.45442942e-01 -7.63807356e-01 2.98621860e+01] [-9.99244301e-01 -3.05204825e-02 2.40692097e-02 -2.16939012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.68864 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:261.83, Y:29.51, Z:-216.99 [[-2.38149772e-02 3.27739597e-01 -9.44467894e-01 2.61825211e+02] [ 3.29042620e-02 -9.43967013e-01 -3.28395475e-01 2.95117064e+01] [-9.99174738e-01 -3.88977498e-02 1.16965233e-02 -2.16989490e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:261.30, Y:30.04, Z:-217.04 [[-1.07492534e-01 9.69941802e-01 -2.18307711e-01 2.61303501e+02] [ 5.30341785e-02 -2.13673291e-01 -9.75464556e-01 3.00385714e+01] [-9.92790376e-01 -1.16432927e-01 -2.84717833e-02 -2.17035767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.74864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:261.15, Y:30.07, Z:-217.09 [[-1.77063639e-01 9.84129107e-01 -1.17630420e-02 2.61148825e+02] [ 5.19809874e-02 -2.58417020e-03 -9.98644731e-01 3.00667102e+01] [-9.82825745e-01 -1.77435125e-01 -5.06984401e-02 -2.17091821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77864 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:261.30, Y:30.04, Z:-217.20 [[-2.37531830e-01 9.48423857e-01 -2.09930504e-01 2.61297570e+02] [ 6.55236354e-02 -1.99979690e-01 -9.77606657e-01 3.00415254e+01] [-9.69167314e-01 -2.45968108e-01 -1.46426372e-02 -2.17196111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.80864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:261.30, Y:30.04, Z:-217.28 [[-3.01113652e-01 9.28176030e-01 -2.18677449e-01 2.61298913e+02] [ 7.99614363e-02 -2.03936502e-01 -9.75713109e-01 3.00388772e+01] [-9.50229834e-01 -3.11286300e-01 -1.28102234e-02 -2.17275731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:260.98, Y:28.55, Z:-217.35 [[-2.28817716e-01 -9.72688594e-01 3.89788541e-02 2.60977270e+02] [ 4.18452408e-02 3.01761671e-02 9.98668301e-01 2.85465203e+01] [-9.72569498e-01 2.30144079e-01 3.37975468e-02 -2.17351431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.86864 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:261.05, Y:30.08, Z:-217.35 [[-3.06645598e-01 9.49882390e-01 6.07611952e-02 2.61047672e+02] [ 7.02104729e-02 8.62360104e-02 -9.93797686e-01 3.00765119e+01] [-9.49230724e-01 -3.00477614e-01 -9.31355848e-02 -2.17354780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:260.95, Y:30.08, Z:-217.41 [[-3.70465035e-01 9.13650250e-01 1.67328657e-01 2.60953336e+02] [ 5.52929453e-02 2.01519747e-01 -9.77922534e-01 3.00756444e+01] [-9.27199196e-01 -3.53034011e-01 -1.25174433e-01 -2.17405178e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92864 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:261.15, Y:30.07, Z:-217.56 [[-4.27582623e-01 8.96613817e-01 -1.15138021e-01 2.61154556e+02] [ 6.96971199e-02 -9.42908944e-02 -9.93101978e-01 3.00746578e+01] [-9.01285422e-01 -4.32657937e-01 -2.21742528e-02 -2.17559182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:261.71, Y:29.28, Z:-217.88 [[-4.09652397e-01 -1.59291448e-02 -9.12102612e-01 2.61709637e+02] [ 6.11675965e-02 -9.98076997e-01 -1.00415671e-02 2.92782814e+01] [-9.10188683e-01 -5.99046766e-02 4.09838982e-01 -2.17883564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98864 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:260.88, Y:28.57, Z:-217.62 [[-3.62647094e-01 -9.29947270e-01 6.07055234e-02 2.60884046e+02] [ 3.94904107e-02 4.97467635e-02 9.97980845e-01 2.85667185e+01] [-9.31089465e-01 3.64312139e-01 1.86834804e-02 -2.17624398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:261.07, Y:30.08, Z:-217.69 [[-4.19279924e-01 9.03172365e-01 -9.21087694e-02 2.61068320e+02] [ 7.60940157e-02 -6.61388199e-02 -9.94904698e-01 3.00833853e+01] [-9.04662394e-01 -4.24152492e-01 -4.09953327e-02 -2.17691582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:261.01, Y:30.09, Z:-217.76 [[-4.80652431e-01 8.75871375e-01 -4.26916296e-02 2.61006292e+02] [ 6.17058074e-02 -1.47813442e-02 -9.97984922e-01 3.00927159e+01] [-8.74737466e-01 -4.82318201e-01 -4.69416614e-02 -2.17764553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07864 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:261.59, Y:29.24, Z:-218.15 [[-4.71862599e-01 -8.27505061e-02 -8.77780178e-01 2.61590763e+02] [ 6.20174794e-02 -9.96234909e-01 6.05791920e-02 2.92433484e+01] [-8.79488215e-01 -2.58526591e-02 4.75217972e-01 -2.18154721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:260.88, Y:28.58, Z:-217.92 [[-4.28619707e-01 -9.01781284e-01 -5.54586611e-02 2.60884787e+02] [ 7.56620450e-02 -9.69943471e-02 9.92404833e-01 2.85780285e+01] [-9.00311280e-01 4.21168153e-01 1.09804305e-01 -2.17916860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.13864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:260.16, Y:29.31, Z:-217.59 [[-4.32499567e-01 -1.01195677e-01 8.95937252e-01 2.60162652e+02] [ 6.80777330e-03 9.93286755e-01 1.15477601e-01 2.93080262e+01] [-9.01608440e-01 5.60433503e-02 -4.28907174e-01 -2.17586904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:260.82, Y:28.59, Z:-217.97 [[-3.53879501e-01 -9.33430283e-01 -5.89678363e-02 2.60818950e+02] [-7.87933255e-03 -6.00700268e-02 9.98163067e-01 2.85911204e+01] [-9.35257833e-01 3.53694075e-01 1.39027435e-02 -2.17966722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.19864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:260.81, Y:30.12, Z:-218.03 [[-4.19256134e-01 9.07516327e-01 2.52667897e-02 2.60810174e+02] [ 2.12232468e-02 3.76204633e-02 -9.99066702e-01 3.01176501e+01] [-9.07619892e-01 -4.18328599e-01 -3.50330529e-02 -2.18032810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22864 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:260.78, Y:30.12, Z:-218.10 [[-4.81860981e-01 8.75624696e-01 3.30361357e-02 2.60780113e+02] [ 1.80916093e-02 4.76355455e-02 -9.98700930e-01 3.01176452e+01] [-8.76060893e-01 -4.80637333e-01 -3.87951706e-02 -2.18104083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.25864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:260.74, Y:28.59, Z:-218.18 [[-4.12274423e-01 -9.09205755e-01 -5.80921290e-02 2.60735628e+02] [-9.48524190e-03 -5.94762504e-02 9.98184655e-01 2.85934924e+01] [-9.11010335e-01 4.12077021e-01 1.58965003e-02 -2.18176157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:260.71, Y:30.12, Z:-218.24 [[-4.84146847e-01 8.74388157e-01 3.23601906e-02 2.60713612e+02] [ 2.01881444e-02 4.81366322e-02 -9.98636722e-01 3.01188808e+01] [-8.74753834e-01 -4.82833528e-01 -4.09574731e-02 -2.18237601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.31864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:260.67, Y:28.59, Z:-218.31 [[-4.10455211e-01 -9.10314893e-01 -5.34164280e-02 2.60667170e+02] [-1.09017537e-02 -5.36754528e-02 9.98498922e-01 2.85934143e+01] [-9.11815591e-01 4.10421418e-01 1.21073405e-02 -2.18307162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:260.65, Y:30.12, Z:-218.37 [[-4.84449706e-01 8.74525200e-01 2.26750459e-02 2.60653224e+02] [ 2.19880935e-02 3.80837918e-02 -9.99032606e-01 3.01198758e+01] [-8.74542741e-01 -4.83482471e-01 -3.76788236e-02 -2.18371360e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.37864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:260.62, Y:30.12, Z:-218.43 [[-5.42296258e-01 8.39192928e-01 4.08656205e-02 2.60616218e+02] [ 1.47783889e-02 5.81585506e-02 -9.98197967e-01 3.01211852e+01] [-8.40057360e-01 -5.40715094e-01 -4.39410838e-02 -2.18432381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40864 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:260.58, Y:30.12, Z:-218.50 [[-5.97694243e-01 8.00434049e-01 4.54634368e-02 2.60580799e+02] [ 1.13635463e-02 6.51594039e-02 -9.97810163e-01 3.01216515e+01] [-8.01643600e-01 -5.95868765e-01 -4.80411699e-02 -2.18497394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.43864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:260.54, Y:30.12, Z:-218.56 [[-6.50438310e-01 7.57909751e-01 5.00281307e-02 2.60542237e+02] [ 6.43558426e-03 7.13613950e-02 -9.97429764e-01 3.01219742e+01] [-7.59531822e-01 -6.48444570e-01 -5.12937772e-02 -2.18561584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:260.52, Y:28.60, Z:-218.63 [[-5.87890694e-01 -8.05591245e-01 -7.35342026e-02 2.60520221e+02] [-1.90998834e-02 -7.70533271e-02 9.96844009e-01 2.85955466e+01] [-8.08714861e-01 5.87439811e-01 2.99122350e-02 -2.18625050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.49864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:260.46, Y:28.59, Z:-218.68 [[-5.30990324e-01 -8.44514107e-01 -6.96074629e-02 2.60461663e+02] [-1.51721078e-02 -7.26562377e-02 9.97241635e-01 2.85944074e+01] [-8.47242045e-01 5.30581750e-01 2.57667001e-02 -2.18678055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:260.38, Y:28.60, Z:-218.73 [[-4.75720223e-01 -8.79172413e-01 -2.73155121e-02 2.60378831e+02] [ 8.43478187e-03 -3.56128199e-02 9.99330066e-01 2.85954504e+01] [-8.79556209e-01 4.75171121e-01 2.43573662e-02 -2.18732864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.55864 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:259.72, Y:29.55, Z:-218.44 [[-5.04838148e-01 1.31532836e-01 8.53133962e-01 2.59718103e+02] [-6.64790927e-02 9.79463114e-01 -1.90348468e-01 2.95539142e+01] [-8.60650321e-01 -1.52810740e-01 -4.85726161e-01 -2.18438877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:260.27, Y:28.61, Z:-218.76 [[-4.27430897e-01 -9.03916733e-01 1.54067166e-02 2.60269509e+02] [-8.78860187e-02 5.85073868e-02 9.94410847e-01 2.86102250e+01] [-8.99766012e-01 4.23687886e-01 -1.04449508e-01 -2.18758377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.61864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:260.26, Y:28.60, Z:-218.83 [[-3.65146720e-01 -9.30777912e-01 -1.78983938e-02 2.60256340e+02] [-8.88645921e-02 1.57107826e-02 9.95919804e-01 2.86023998e+01] [-9.26698957e-01 3.65247383e-01 -8.84499402e-02 -2.18831184e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:260.25, Y:28.60, Z:-218.91 [[-3.01756879e-01 -9.51654315e-01 -5.74182011e-02 2.60253731e+02] [-8.67970608e-02 -3.25531532e-02 9.95694010e-01 2.85961576e+01] [-9.49425645e-01 3.05441248e-01 -7.27776595e-02 -2.18907620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:260.23, Y:30.11, Z:-219.09 [[-3.67236370e-01 9.28914580e-01 4.74884469e-02 2.60231830e+02] [-5.16233395e-02 3.06216097e-02 -9.98197049e-01 3.01098735e+01] [-9.28693964e-01 -3.69025773e-01 3.67083039e-02 -2.19088260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:260.16, Y:28.59, Z:-219.03 [[-3.00999574e-01 -9.53624047e-01 6.58380727e-04 2.60159768e+02] [-9.10932671e-02 2.94396849e-02 9.95407114e-01 2.85891663e+01] [-9.49263543e-01 2.99557143e-01 -9.57300626e-02 -2.19027918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73864 meters Centerline goodness : 0.999607 Centerline is valid? [True, True] Translation: X:260.13, Y:28.58, Z:-219.11 [[-2.30649592e-01 -9.72968621e-01 -1.15250804e-02 2.60134107e+02] [-9.14606200e-02 9.88638776e-03 9.95759617e-01 2.85814157e+01] [-9.68728920e-01 2.30725640e-01 -9.12686047e-02 -2.19106557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:260.22, Y:30.09, Z:-219.32 [[-3.09213395e-01 9.50421228e-01 -3.29630839e-02 2.60216858e+02] [-5.15316500e-02 -5.13561849e-02 -9.97350004e-01 3.00900442e+01] [-9.49595474e-01 -3.06695339e-01 6.48567944e-02 -2.19322868e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:260.17, Y:28.57, Z:-219.28 [[-2.25128695e-01 -9.68210682e-01 -1.09019017e-01 2.60165618e+02] [-8.28534332e-02 -9.24621720e-02 9.92263098e-01 2.85684053e+01] [-9.70799866e-01 2.32419496e-01 -5.94036909e-02 -2.19279796e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:260.11, Y:28.56, Z:-219.35 [[-1.59313959e-01 -9.84173394e-01 -7.76002136e-02 2.60112371e+02] [-7.81175335e-02 -6.57904653e-02 9.94770961e-01 2.85623526e+01] [-9.84132467e-01 1.64542838e-01 -6.63998586e-02 -2.19348782e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:260.10, Y:30.08, Z:-219.51 [[-2.46666128e-01 9.68463653e-01 3.51279746e-02 2.60103840e+02] [-4.49227249e-02 2.47823419e-02 -9.98683025e-01 3.00764279e+01] [-9.68058764e-01 -2.47919319e-01 3.73930620e-02 -2.19514704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.88864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:260.19, Y:30.06, Z:-219.61 [[-3.07621305e-01 9.46988829e-01 -9.26352547e-02 2.60190066e+02] [-3.78520411e-02 -1.09458472e-01 -9.93270389e-01 3.00637163e+01] [-9.50755676e-01 -3.02044700e-01 6.95172179e-02 -2.19608827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:260.10, Y:30.07, Z:-219.66 [[-3.72257033e-01 9.28046298e-01 1.24407042e-02 2.60096475e+02] [-3.85827248e-02 -2.08101327e-03 -9.99253243e-01 3.00678713e+01] [-9.27327383e-01 -3.72459043e-01 3.65812267e-02 -2.19657447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.94864 meters Centerline goodness : 0.998044 Centerline is valid? [True, True] Translation: X:259.95, Y:28.55, Z:-219.59 [[-2.99617285e-01 -9.51478425e-01 7.01305118e-02 2.59953194e+02] [-7.84745166e-02 9.78362323e-02 9.92103735e-01 2.85549375e+01] [-9.50826605e-01 2.91747969e-01 -1.03980236e-01 -2.19589287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97864 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:260.08, Y:30.06, Z:-219.81 [[-3.70016990e-01 9.28290710e-01 -3.69294564e-02 2.60083602e+02] [-4.08378513e-02 -5.59646042e-02 -9.97597230e-01 3.00554489e+01] [-9.28126983e-01 -3.67619804e-01 5.86172524e-02 -2.19806683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.00864 meters Centerline goodness : 0.998385 Centerline is valid? [True, True] Translation: X:260.09, Y:30.05, Z:-219.88 [[-4.27948037e-01 9.00301669e-01 -7.94819668e-02 2.60093860e+02] [-3.40027751e-02 -1.03917231e-01 -9.94004537e-01 3.00462406e+01] [-9.03163490e-01 -4.22679683e-01 7.50839302e-02 -2.19883640e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:259.86, Y:28.55, Z:-219.77 [[-3.70007555e-01 -9.20538613e-01 1.25311899e-01 2.59855626e+02] [-7.78546768e-02 1.65134464e-01 9.83193398e-01 2.85508697e+01] [-9.25760800e-01 3.54032868e-01 -1.32769235e-01 -2.19769289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.06864 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:259.89, Y:28.54, Z:-219.86 [[-3.07494771e-01 -9.50582006e-01 4.29047318e-02 2.59886761e+02] [-8.24269850e-02 7.15291492e-02 9.94026847e-01 2.85367511e+01] [-9.47972973e-01 3.02121550e-01 -1.00348448e-01 -2.19860881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:259.91, Y:28.53, Z:-219.95 [[-2.41805127e-01 -9.69841925e-01 -3.06091573e-02 2.59912890e+02] [-8.16832077e-02 -1.10879571e-02 9.96596664e-01 2.85291271e+01] [-9.66880620e-01 2.43482437e-01 -7.65386745e-02 -2.19949013e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.12864 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:259.88, Y:28.52, Z:-220.02 [[-1.75053560e-01 -9.84241369e-01 -2.50035820e-02 2.59884049e+02] [-8.12028497e-02 -1.08760703e-02 9.96638253e-01 2.85245872e+01] [-9.81204540e-01 1.76495436e-01 -7.80193091e-02 -2.20017896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:259.77, Y:30.02, Z:-220.17 [[-2.35345953e-01 9.61099220e-01 1.44570299e-01 2.59769504e+02] [-5.90273625e-02 1.34339494e-01 -9.89175753e-01 3.00243804e+01] [-9.70117546e-01 -2.41332113e-01 2.51148958e-02 -2.20173342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.18864 meters Centerline goodness : 0.997654 Centerline is valid? [True, True] Translation: X:259.84, Y:28.52, Z:-220.15 [[-1.73510480e-01 -9.84832000e-01 -2.13992063e-04 2.59840961e+02] [-9.19995873e-02 1.59924084e-02 9.95630614e-01 2.85182664e+01] [-9.80525466e-01 1.72772033e-01 -9.33789880e-02 -2.20147918e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21864 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:259.68, Y:30.01, Z:-220.31 [[-2.35994436e-01 9.47628492e-01 2.15190304e-01 2.59682809e+02] [-7.11365836e-02 2.04004115e-01 -9.76382050e-01 3.00068047e+01] [-9.69147157e-01 -2.45728634e-01 1.92672175e-02 -2.20306423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.24864 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:260.47, Y:29.64, Z:-220.49 [[-2.26380040e-01 4.99095587e-01 -8.36454226e-01 2.60471656e+02] [-7.50182664e-02 -8.65131220e-01 -4.95903450e-01 2.96405685e+01] [-9.71145889e-01 -4.95132968e-02 2.33289726e-01 -2.20489084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27864 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:260.52, Y:29.48, Z:-220.56 [[-2.43885665e-01 2.98149872e-01 -9.22836083e-01 2.60519501e+02] [-1.30535056e-02 -9.52492694e-01 -3.04281570e-01 2.94830248e+01] [-9.69716138e-01 -6.21636670e-02 2.36191215e-01 -2.20562083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.30864 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:259.95, Y:29.99, Z:-220.49 [[-3.18901804e-01 9.28947553e-01 -1.88037453e-01 2.59953632e+02] [ 1.52153030e-02 -1.93352873e-01 -9.81011295e-01 2.99865816e+01] [-9.47665624e-01 -3.15707319e-01 4.75263615e-02 -2.20489533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33864 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:260.02, Y:29.96, Z:-220.59 [[-3.78182370e-01 8.78951839e-01 -2.90554228e-01 2.60017208e+02] [ 3.50520195e-02 -3.00043575e-01 -9.53281285e-01 2.99622408e+01] [-9.25067268e-01 -3.70698688e-01 8.26621533e-02 -2.20585935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.36864 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:259.79, Y:28.49, Z:-220.60 [[-3.19929560e-01 -9.47109440e-01 -2.50756103e-02 2.59788186e+02] [ 1.19626265e-03 -2.68704511e-02 9.99638208e-01 2.84906877e+01] [-9.47440576e-01 3.19783815e-01 9.72964325e-03 -2.20596367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39864 meters Centerline goodness : 0.997994 Centerline is valid? [True, True] Translation: X:259.74, Y:28.49, Z:-220.66 [[-2.52345399e-01 -9.67564206e-01 -1.18872465e-02 2.59743372e+02] [ 1.97322338e-03 -1.27993402e-02 9.99916138e-01 2.84910127e+01] [-9.67635213e-01 2.52300780e-01 5.13907491e-03 -2.20663491e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:259.65, Y:30.00, Z:-220.68 [[-3.26020348e-01 9.40507987e-01 9.56841576e-02 2.59647698e+02] [ 3.07661331e-02 1.11716216e-01 -9.93263778e-01 2.99972234e+01] [-9.44861989e-01 -3.20880371e-01 -6.53575535e-02 -2.20683813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:259.81, Y:28.51, Z:-220.84 [[-2.49351768e-01 -9.54656760e-01 -1.62647371e-01 2.59813051e+02] [ 6.42061819e-03 -1.69578527e-01 9.85495763e-01 2.85056167e+01] [-9.68391693e-01 2.44690814e-01 4.84141921e-02 -2.20837668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48864 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:259.67, Y:28.50, Z:-220.87 [[-1.86131581e-01 -9.82496913e-01 -7.40608630e-03 2.59668213e+02] [ 5.35426867e-03 -8.55199409e-03 9.99949096e-01 2.84963170e+01] [-9.82510237e-01 1.86082452e-01 6.85234862e-03 -2.20873132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:259.62, Y:28.50, Z:-220.94 [[-1.19327194e-01 -9.92617015e-01 2.17366374e-02 2.59623340e+02] [ 3.24009303e-03 2.15036269e-02 9.99763520e-01 2.84975182e+01] [-9.92849698e-01 1.19369404e-01 6.50204015e-04 -2.20940860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:259.54, Y:30.00, Z:-220.98 [[-1.93267428e-01 9.73583404e-01 1.21585598e-01 2.59544806e+02] [ 1.82141367e-02 1.27460842e-01 -9.91676348e-01 3.00012656e+01] [-9.80977037e-01 -1.89444160e-01 -4.23670103e-02 -2.20980516e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57864 meters Centerline goodness : 0.997452 Centerline is valid? [True, True] Translation: X:260.37, Y:29.35, Z:-221.17 [[-1.90833559e-01 1.10784180e-01 -9.75350920e-01 2.60370686e+02] [ 2.85993494e-02 -9.92561824e-01 -1.18334705e-01 2.93466914e+01] [-9.81205702e-01 -5.04766347e-02 1.86245750e-01 -2.21171459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60864 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:259.63, Y:28.50, Z:-221.12 [[-1.15081355e-01 -9.92942007e-01 -2.86784282e-02 2.59633510e+02] [ 6.67555512e-03 -2.96426359e-02 9.99538269e-01 2.85028083e+01] [-9.93333639e-01 1.14836774e-01 1.00397538e-02 -2.21116039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.63864 meters Centerline goodness : 0.997996 Centerline is valid? [True, True] Translation: X:259.58, Y:28.50, Z:-221.19 [[-4.58202357e-02 -9.98808371e-01 1.68031105e-02 2.59577726e+02] [ 5.76218941e-03 1.65562324e-02 9.99846332e-01 2.85048730e+01] [-9.98933082e-01 4.59100173e-02 4.99671254e-03 -2.21190057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66864 meters Centerline goodness : 0.997700 Centerline is valid? [True, True] Translation: X:260.27, Y:28.93, Z:-221.25 [[-2.70522711e-02 -4.34419157e-01 -9.00304488e-01 2.60265501e+02] [ 3.45039318e-02 -9.00503225e-01 4.33478281e-01 2.89305867e+01] [-9.99038364e-01 -1.93374726e-02 3.93498263e-02 -2.21249751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.69864 meters Centerline goodness : 0.998035 Centerline is valid? [True, True] Translation: X:260.23, Y:28.87, Z:-221.28 [[-2.23338498e-02 -5.12036647e-01 -8.58673204e-01 2.60233953e+02] [ 3.81041788e-02 -8.58699345e-01 5.11061157e-01 2.88689313e+01] [-9.99024159e-01 -2.13050742e-02 3.86887982e-02 -2.21275844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72864 meters Centerline goodness : 0.997653 Centerline is valid? [True, True] Translation: X:259.28, Y:28.57, Z:-221.32 [[ 2.00820349e-02 -9.21989939e-01 3.86692725e-01 2.59275194e+02] [-1.91127663e-02 3.86346021e-01 9.22155873e-01 2.85718124e+01] [-9.99615633e-01 -2.59095341e-02 -9.86316394e-03 -2.21319676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.75864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:258.92, Y:29.64, Z:-221.40 [[-3.76918101e-02 4.72944785e-01 8.80285498e-01 2.58918473e+02] [-5.58267771e-02 8.78539107e-01 -4.74396889e-01 2.96407091e+01] [-9.97728770e-01 -6.70243797e-02 -6.71074613e-03 -2.21401523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:259.72, Y:30.02, Z:-221.43 [[-1.88798002e-02 9.83896132e-01 -1.77741259e-01 2.59721958e+02] [-2.45117733e-02 -1.78175000e-01 -9.83693470e-01 3.00199138e+01] [-9.99521248e-01 -1.42151827e-02 2.74809474e-02 -2.21434280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.81864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:260.30, Y:29.04, Z:-221.47 [[ 2.37661126e-02 -2.86476712e-01 -9.57792392e-01 2.60296058e+02] [ 1.48681376e-02 -9.57855753e-01 2.86864593e-01 2.90396534e+01] [-9.99606978e-01 -2.10582453e-02 -1.85051325e-02 -2.21467558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:259.44, Y:28.52, Z:-221.55 [[ 9.55413542e-03 -9.86630628e-01 1.62692107e-01 2.59442781e+02] [-6.98267403e-03 1.62629739e-01 9.86662460e-01 2.85207523e+01] [-9.99929978e-01 -1.05627327e-02 -5.33553352e-03 -2.21550748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.87864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:259.12, Y:28.66, Z:-221.61 [[-1.19947066e-03 -8.04345065e-01 5.94161239e-01 2.59119390e+02] [-3.38034876e-03 5.94161533e-01 8.04338639e-01 2.86603539e+01] [-9.99993567e-01 -1.04369161e-03 -3.43164617e-03 -2.21609126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90864 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:258.98, Y:28.80, Z:-221.67 [[-1.41449519e-03 -6.24268472e-01 7.81208598e-01 2.58979027e+02] [-7.86702569e-04 7.81209833e-01 6.24268034e-01 2.87990678e+01] [-9.99998690e-01 2.68445317e-04 -1.59613116e-03 -2.21674997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.93864 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:259.87, Y:28.58, Z:-221.82 [[ 6.23008614e-02 -8.87277320e-01 -4.57009365e-01 2.59873077e+02] [ 5.08620017e-02 -4.54481387e-01 8.89302944e-01 2.85821652e+01] [-9.96760583e-01 -7.86487506e-02 1.68141187e-02 -2.21818381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96864 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:259.06, Y:28.67, Z:-221.95 [[ 6.55745614e-02 -7.78400915e-01 6.24333238e-01 2.59063592e+02] [ 1.72958299e-02 6.26472559e-01 7.79251556e-01 2.86654993e+01] [-9.97697765e-01 -4.03007175e-02 5.45437531e-02 -2.21945156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.99864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:259.58, Y:30.02, Z:-222.03 [[ 2.45019597e-02 9.99698946e-01 -1.29301997e-03 2.59584472e+02] [ 4.40492529e-02 -2.37176833e-03 -9.99026545e-01 3.00161063e+01] [-9.98728851e-01 2.44211516e-02 -4.40941047e-02 -2.22028551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02864 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:259.20, Y:28.62, Z:-222.18 [[ 1.54796102e-02 -8.44546878e-01 5.35257837e-01 2.59195115e+02] [ 7.10697141e-03 5.35401388e-01 8.44567845e-01 2.86240042e+01] [-9.99854926e-01 -9.26951885e-03 1.42899753e-02 -2.22175923e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.05864 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:258.96, Y:28.85, Z:-222.26 [[ 2.03214817e-02 -5.43241332e-01 8.39330622e-01 2.58962325e+02] [ 1.37636425e-03 8.39518387e-01 5.43329536e-01 2.88510836e+01] [-9.99792550e-01 -9.88603656e-03 1.78079555e-02 -2.22260561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08864 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:259.62, Y:30.03, Z:-222.38 [[-3.65469654e-02 9.99300664e-01 7.90577919e-03 2.59618860e+02] [ 2.75023460e-02 8.91383559e-03 -9.99581995e-01 3.00328406e+01] [-9.98953422e-01 -3.63142611e-02 -2.78088862e-02 -2.22384756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.11864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:260.37, Y:29.07, Z:-222.46 [[-1.00326986e-02 -2.91924653e-01 -9.56388698e-01 2.60368133e+02] [ 2.28020202e-02 -9.56254925e-01 2.91644624e-01 2.90733084e+01] [-9.99689658e-01 -1.88816118e-02 1.62502893e-02 -2.22464961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14864 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:260.26, Y:28.85, Z:-222.55 [[ 5.42361108e-05 -5.85153855e-01 -8.10922292e-01 2.60258038e+02] [ 5.85261548e-02 -8.09530414e-01 5.84153403e-01 2.88455529e+01] [-9.98285874e-01 -4.74918458e-02 3.42028993e-02 -2.22551525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:259.81, Y:28.55, Z:-222.69 [[ 5.17590655e-02 -9.72918603e-01 -2.25278476e-01 2.59810868e+02] [ 2.02799867e-02 -2.24510337e-01 9.74260658e-01 2.85453211e+01] [-9.98453665e-01 -5.49954658e-02 8.11033107e-03 -2.22692089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20864 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:260.01, Y:28.64, Z:-222.83 [[ 1.05757680e-01 -8.29017174e-01 -5.49131896e-01 2.60012210e+02] [ 8.51047158e-02 -5.42656701e-01 8.35632032e-01 2.86393284e+01] [-9.90743408e-01 -1.35108219e-01 1.31631571e-02 -2.22833785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23864 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:259.30, Y:28.58, Z:-222.98 [[ 1.15741135e-01 -9.08608325e-01 4.01291543e-01 2.59299792e+02] [ 3.25953095e-02 4.07263488e-01 9.12728874e-01 2.85758387e+01] [-9.92744446e-01 -9.25600534e-02 7.67535078e-02 -2.22978441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26864 meters Centerline goodness : 0.997356 Centerline is valid? [True, True] Translation: X:258.95, Y:28.90, Z:-223.07 [[ 1.01846700e-01 -4.92259690e-01 8.64469576e-01 2.58949777e+02] [ 2.15717511e-02 8.69876728e-01 4.92797258e-01 2.88960216e+01] [-9.94566191e-01 -3.15416521e-02 9.92129778e-02 -2.23067188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29864 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:258.94, Y:28.95, Z:-223.18 [[ 1.08485757e-01 -4.40598177e-01 8.91125181e-01 2.58935557e+02] [ 1.53191325e-03 8.96488855e-01 4.43063637e-01 2.89498544e+01] [-9.94096823e-01 -4.67009674e-02 9.79312298e-02 -2.23179022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32864 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:259.76, Y:30.04, Z:-223.21 [[ 1.61620011e-02 9.92936210e-01 -1.17543496e-01 2.59757054e+02] [ 7.06732969e-02 -1.18399270e-01 -9.90447827e-01 3.00403281e+01] [-9.97368575e-01 7.70043248e-03 -7.20876447e-02 -2.23211199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35864 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:259.14, Y:28.77, Z:-223.38 [[ 6.50002124e-02 -7.05301786e-01 7.05920933e-01 2.59136599e+02] [ 1.25487074e-03 7.07474157e-01 7.06738101e-01 2.87662103e+01] [-9.97884461e-01 -4.50522871e-02 4.68710330e-02 -2.23379438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.38864 meters Centerline goodness : 0.997894 Centerline is valid? [True, True] Translation: X:259.07, Y:28.85, Z:-223.48 [[ 6.86130352e-02 -6.10004109e-01 7.89422091e-01 2.59072995e+02] [-1.10649306e-02 7.90772903e-01 6.12009626e-01 2.88501401e+01] [-9.97581986e-01 -5.07267387e-02 4.75076759e-02 -2.23476599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41864 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:259.00, Y:28.98, Z:-223.56 [[ 6.41557343e-02 -4.56388280e-01 8.87464805e-01 2.59002397e+02] [-2.02622578e-02 8.88517789e-01 4.58394568e-01 2.89758484e+01] [-9.97734174e-01 -4.73906807e-02 4.77560542e-02 -2.23562806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.44864 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:259.78, Y:30.07, Z:-223.66 [[-3.66909708e-02 9.98364134e-01 -4.38500606e-02 2.59782625e+02] [ 4.75266003e-02 -4.20866632e-02 -9.97982933e-01 3.00691135e+01] [-9.98195870e-01 -3.87010069e-02 -4.59046526e-02 -2.23657471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47864 meters Centerline goodness : 0.997600 Centerline is valid? [True, True] Translation: X:259.82, Y:28.56, Z:-223.71 [[ 3.42321254e-02 -9.90905832e-01 -1.30129907e-01 2.59819206e+02] [ 9.70973866e-03 -1.29870326e-01 9.91483444e-01 2.85642757e+01] [-9.99366741e-01 -3.52041129e-02 5.17569938e-03 -2.23706036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.50864 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:259.69, Y:28.56, Z:-223.83 [[ 4.62787769e-02 -9.98813094e-01 1.51880958e-02 2.59691536e+02] [ 5.72190207e-03 1.54691929e-02 9.99863973e-01 2.85632843e+01] [-9.98912176e-01 -4.61855769e-02 6.43100604e-03 -2.23834095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53864 meters Centerline goodness : 0.997112 Centerline is valid? [True, True] Translation: X:259.23, Y:28.75, Z:-223.90 [[ 2.87204170e-02 -7.71378061e-01 6.35728735e-01 2.59225807e+02] [-6.84124067e-03 6.35824508e-01 7.71803338e-01 2.87529608e+01] [-9.99564073e-01 -2.65156870e-02 1.29839620e-02 -2.23896031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.56864 meters Centerline goodness : 0.996623 Centerline is valid? [True, True] Translation: X:259.16, Y:28.83, Z:-223.98 [[ 2.71066203e-02 -6.82568501e-01 7.30318748e-01 2.59155361e+02] [-9.23409734e-03 7.30385056e-01 6.82973207e-01 2.88294599e+01] [-9.99589897e-01 -2.52569298e-02 1.34953664e-02 -2.23979274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59864 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:259.63, Y:30.08, Z:-224.11 [[-5.22574689e-02 9.74485784e-01 2.18281041e-01 2.59633475e+02] [ 1.85534337e-02 2.19489377e-01 -9.75438457e-01 3.00838108e+01] [-9.98461280e-01 -4.69240821e-02 -2.95500166e-02 -2.24108740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.62864 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:259.77, Y:28.59, Z:-224.18 [[ 4.34353973e-02 -9.98219118e-01 -4.08895994e-02 2.59769055e+02] [-1.44936758e-02 -4.15535240e-02 9.99031150e-01 2.85850504e+01] [-9.98951100e-01 -4.28006743e-02 -1.62727581e-02 -2.24182365e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65864 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:259.78, Y:28.58, Z:-224.34 [[ 1.06770689e-01 -9.88389207e-01 -1.08105481e-01 2.59781223e+02] [-3.89000359e-03 -1.09141418e-01 9.94018621e-01 2.85817057e+01] [-9.94276062e-01 -1.05711522e-01 -1.54979420e-02 -2.24344065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.68864 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:258.98, Y:29.23, Z:-224.47 [[ 1.26469837e-01 -1.72157907e-01 9.76917108e-01 2.58979335e+02] [ 8.83573426e-03 9.84981242e-01 1.72435157e-01 2.92256305e+01] [-9.91931102e-01 -1.31760662e-02 1.26091558e-01 -2.24469065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71864 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:258.99, Y:29.36, Z:-224.60 [[ 1.05127305e-01 -2.18615122e-02 9.94218449e-01 2.58991171e+02] [-3.07609262e-02 9.99208448e-01 2.52238540e-02 2.93580141e+01] [-9.93982905e-01 -3.32347961e-02 1.04371611e-01 -2.24600227e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.74864 meters Centerline goodness : 0.996476 Centerline is valid? [True, True] Translation: X:259.87, Y:30.11, Z:-224.71 [[ 1.43250841e-02 9.97063338e-01 -7.52295915e-02 2.59870939e+02] [-7.71550283e-03 -7.51248484e-02 -9.97144287e-01 3.01069016e+01] [-9.99867623e-01 1.48646099e-02 6.61667524e-03 -2.24708017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77864 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:259.48, Y:30.03, Z:-224.76 [[ 1.87039041e-02 8.96656969e-01 4.42330696e-01 2.59477927e+02] [-4.69104950e-02 4.42707880e-01 -8.95437959e-01 3.00321247e+01] [-9.98723971e-01 -4.00176618e-03 5.03429880e-02 -2.24764372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.80864 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:259.56, Y:30.06, Z:-224.87 [[-2.67055464e-03 9.38888771e-01 3.44210320e-01 2.59562063e+02] [-4.75756128e-02 3.43702483e-01 -9.37872680e-01 3.00594749e+01] [-9.98864069e-01 -1.88806572e-02 4.37503324e-02 -2.24866719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:260.55, Y:29.54, Z:-224.90 [[-5.89603670e-03 2.77230400e-01 -9.60785378e-01 2.60547925e+02] [ 6.95693254e-03 -9.60767454e-01 -2.77267921e-01 2.95383014e+01] [-9.99958418e-01 -8.31890090e-03 3.73604697e-03 -2.24903007e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.86864 meters Centerline goodness : 0.996815 Centerline is valid? [True, True] Translation: X:259.88, Y:28.58, Z:-224.97 [[ 4.87049282e-02 -9.94880770e-01 -8.85442464e-02 2.59878550e+02] [-5.63670337e-03 -8.89218222e-02 9.96022659e-01 2.85787751e+01] [-9.98797306e-01 -4.80121145e-02 -9.93877876e-03 -2.24965714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89864 meters Centerline goodness : 0.996868 Centerline is valid? [True, True] Translation: X:259.63, Y:30.07, Z:-225.12 [[-2.16348664e-02 9.52946388e-01 3.02365863e-01 2.59629719e+02] [ 6.00974975e-03 3.02555148e-01 -9.53112934e-01 3.00665109e+01] [-9.99747876e-01 -1.88033278e-02 -1.22727095e-02 -2.25124155e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92864 meters Centerline goodness : 0.996129 Centerline is valid? [True, True] Translation: X:260.50, Y:29.75, Z:-225.19 [[-1.31127707e-02 5.15733937e-01 -8.56648447e-01 2.60503456e+02] [ 1.63191841e-02 -8.56497617e-01 -5.15892930e-01 2.97461758e+01] [-9.99780846e-01 -2.07445894e-02 2.81469980e-03 -2.25194704e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95864 meters Centerline goodness : 0.995055 Centerline is valid? [True, True] Translation: X:259.85, Y:30.10, Z:-225.24 [[-9.46773604e-02 9.95490145e-01 5.96399579e-03 2.59851836e+02] [ 2.62182399e-02 8.48225850e-03 -9.99620255e-01 3.01011373e+01] [-9.95162701e-01 -9.44850417e-02 -2.69030773e-02 -2.25242900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98864 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:259.97, Y:28.60, Z:-225.34 [[-2.93113383e-02 -9.91814498e-01 -1.24277299e-01 2.59969269e+02] [-1.63764846e-03 -1.24282903e-01 9.92245473e-01 2.85989388e+01] [-9.99568989e-01 2.92875652e-02 2.01865473e-03 -2.25340666e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01864 meters Centerline goodness : 0.994132 Centerline is valid? [True, True] Translation: X:260.53, Y:29.01, Z:-225.38 [[-2.23973351e-02 -4.70096762e-01 -8.82330660e-01 2.60533691e+02] [ 1.44330834e-02 -8.82612116e-01 4.69880345e-01 2.90094574e+01] [-9.99644960e-01 -2.21068449e-03 2.65531051e-02 -2.25376440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04864 meters Centerline goodness : 0.995248 Centerline is valid? [True, True] Translation: X:259.51, Y:28.67, Z:-225.43 [[ 3.04251654e-02 -8.81551861e-01 4.71105748e-01 2.59505488e+02] [-1.83161663e-02 4.70753088e-01 8.82074854e-01 2.86725222e+01] [-9.99369215e-01 -3.54661246e-02 -1.82390986e-03 -2.25426068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07864 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:259.10, Y:29.21, Z:-225.52 [[ 2.04335355e-03 -1.56033206e-01 9.87749697e-01 2.59097645e+02] [-5.39369630e-02 9.86296728e-01 1.55915262e-01 2.92063568e+01] [-9.98542252e-01 -5.35948089e-02 -6.40060435e-03 -2.25522922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10864 meters Centerline goodness : 0.994469 Centerline is valid? [True, True] Translation: X:259.55, Y:30.05, Z:-225.61 [[ 1.02245283e-03 9.35897326e-01 3.52271414e-01 2.59549834e+02] [-3.59172078e-02 3.52078671e-01 -9.35281008e-01 3.00502496e+01] [-9.99354246e-01 -1.16963248e-02 3.39748026e-02 -2.25608647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.13864 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:260.49, Y:29.73, Z:-225.73 [[-5.21848604e-02 5.36825953e-01 -8.42077572e-01 2.60489003e+02] [ 3.87635625e-03 -8.43111275e-01 -5.37725164e-01 2.97346658e+01] [-9.98629919e-01 -3.13253053e-02 4.19167155e-02 -2.25729498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16864 meters Centerline goodness : 0.994216 Centerline is valid? [True, True] Translation: X:260.58, Y:29.55, Z:-225.77 [[-2.46139417e-02 2.86156981e-01 -9.57866554e-01 2.60580478e+02] [ 3.38089023e-02 -9.57370475e-01 -2.86877555e-01 2.95470254e+01] [-9.99125173e-01 -3.94456042e-02 1.38900077e-02 -2.25772830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.19864 meters Centerline goodness : 0.994813 Centerline is valid? [True, True] Translation: X:260.06, Y:28.57, Z:-225.85 [[ 3.90758412e-02 -9.70511877e-01 -2.37865036e-01 2.60060312e+02] [ 1.38936188e-02 -2.37496132e-01 9.71289120e-01 2.85680966e+01] [-9.99139653e-01 -4.12587455e-02 4.20356094e-03 -2.25849635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22864 meters Centerline goodness : 0.995385 Centerline is valid? [True, True] Translation: X:259.47, Y:28.64, Z:-225.91 [[ 2.83618857e-02 -8.46461166e-01 5.31694552e-01 2.59472879e+02] [ 5.58808428e-04 5.31921871e-01 8.46793251e-01 2.86361226e+01] [-9.99597565e-01 -2.37195380e-02 1.55593169e-02 -2.25914400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.25864 meters Centerline goodness : 0.993928 Centerline is valid? [True, True] Translation: X:259.43, Y:28.67, Z:-226.04 [[ 6.84578782e-02 -8.11962448e-01 5.79681380e-01 2.59427867e+02] [ 1.58637121e-02 5.81856985e-01 8.13136392e-01 2.86736921e+01] [-9.97527875e-01 -4.64696936e-02 5.27134331e-02 -2.26042147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28864 meters Centerline goodness : 0.994713 Centerline is valid? [True, True] Translation: X:259.25, Y:29.78, Z:-226.20 [[-3.31708059e-02 6.07079953e-01 7.93948127e-01 2.59248356e+02] [-5.57771950e-02 7.92022808e-01 -6.07938135e-01 2.97833407e+01] [-9.97892079e-01 -6.44499974e-02 7.58918202e-03 -2.26197514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.31864 meters Centerline goodness : 0.995301 Centerline is valid? [True, True] Translation: X:259.93, Y:30.11, Z:-226.24 [[-3.30622285e-02 9.92292829e-01 -1.19422904e-01 2.59930608e+02] [-2.74602588e-02 -1.20345005e-01 -9.92352263e-01 3.01075016e+01] [-9.99075985e-01 -2.95299934e-02 3.12274919e-02 -2.26238460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34864 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:259.99, Y:30.10, Z:-226.27 [[-4.09942393e-02 9.79500793e-01 -1.97224918e-01 2.59990894e+02] [-2.28213940e-02 -1.98257263e-01 -9.79884300e-01 3.00982261e+01] [-9.98898722e-01 -3.56686639e-02 3.04809792e-02 -2.26267776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.37864 meters Centerline goodness : 0.996333 Centerline is valid? [True, True] Translation: X:260.06, Y:30.08, Z:-226.29 [[-4.44327975e-02 9.55887998e-01 -2.90351273e-01 2.60062893e+02] [-1.74986840e-02 -2.91338413e-01 -9.56459996e-01 3.00822266e+01] [-9.98859110e-01 -3.74174281e-02 2.96717628e-02 -2.26288634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40864 meters Centerline goodness : 0.995397 Centerline is valid? [True, True] Translation: X:260.12, Y:30.06, Z:-226.31 [[-4.81979628e-02 9.31023008e-01 -3.61763895e-01 2.60118698e+02] [-1.34992972e-02 -3.62758916e-01 -9.31785242e-01 3.00644495e+01] [-9.98746577e-01 -4.00265921e-02 3.00523970e-02 -2.26308998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.43864 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:260.18, Y:30.04, Z:-226.33 [[-5.24452460e-02 9.00279831e-01 -4.32140860e-01 2.60176926e+02] [-8.79441829e-03 -4.33135988e-01 -9.01285678e-01 3.00408736e+01] [-9.98585076e-01 -4.34677216e-02 3.06333608e-02 -2.26331234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46864 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:260.24, Y:30.01, Z:-226.35 [[-5.25255305e-02 8.56363055e-01 -5.13695811e-01 2.60239742e+02] [-4.45918155e-03 -5.14601911e-01 -8.57417628e-01 3.00089757e+01] [-9.98609626e-01 -4.27456529e-02 3.08484167e-02 -2.26347459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.49864 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:260.29, Y:29.98, Z:-226.37 [[-5.51602922e-02 8.13483033e-01 -5.78966922e-01 2.60291814e+02] [ 1.33454525e-03 -5.79789152e-01 -8.14765462e-01 2.99767734e+01] [-9.98476620e-01 -4.57153585e-02 3.08957091e-02 -2.26370965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52864 meters Centerline goodness : 0.996206 Centerline is valid? [True, True] Translation: X:260.32, Y:29.96, Z:-226.38 [[-5.19990838e-02 7.87038909e-01 -6.14707940e-01 2.60322678e+02] [ 9.73156057e-03 -6.15112112e-01 -7.88379596e-01 2.99570472e+01] [-9.98599716e-01 -4.69770842e-02 2.43261495e-02 -2.26383873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.55864 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:260.46, Y:28.86, Z:-226.44 [[ 4.77857153e-02 -6.34604524e-01 -7.71358298e-01 2.60460536e+02] [ 3.94503399e-02 -7.70438886e-01 6.36292066e-01 2.88631105e+01] [-9.98078251e-01 -6.08360185e-02 -1.17806091e-02 -2.26442634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58864 meters Centerline goodness : 0.994321 Centerline is valid? [True, True] Translation: X:259.60, Y:28.62, Z:-226.54 [[ 4.62699847e-02 -9.30978837e-01 3.62129113e-01 2.59600418e+02] [-1.31122065e-02 3.61920109e-01 9.32116894e-01 2.86188990e+01] [-9.98842910e-01 -4.78773461e-02 4.53885122e-03 -2.26541403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.61864 meters Centerline goodness : 0.994663 Centerline is valid? [True, True] Translation: X:259.33, Y:28.79, Z:-226.69 [[ 5.13293158e-02 -7.18069700e-01 6.94075794e-01 2.59332165e+02] [-4.14566577e-02 6.92860836e-01 7.19878606e-01 2.87906049e+01] [-9.97820949e-01 -6.57249389e-02 5.79530292e-03 -2.26691851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64864 meters Centerline goodness : 0.996120 Centerline is valid? [True, True] Translation: X:259.69, Y:30.08, Z:-226.84 [[-6.23176305e-02 9.64534768e-01 2.56494044e-01 2.59691864e+02] [-3.08958355e-02 2.55006068e-01 -9.66445732e-01 3.00821998e+01] [-9.97578047e-01 -6.81512058e-02 1.39087336e-02 -2.26837922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67864 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:260.63, Y:29.57, Z:-226.92 [[-3.10866228e-02 2.88052924e-01 -9.57109782e-01 2.60625504e+02] [ 6.16893591e-02 -9.55194084e-01 -2.89480024e-01 2.95677060e+01] [-9.97611169e-01 -6.80424453e-02 1.19239579e-02 -2.26917642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70864 meters Centerline goodness : 0.994664 Centerline is valid? [True, True] Translation: X:260.58, Y:29.00, Z:-226.96 [[-1.71933916e-04 -4.52545006e-01 -8.91741548e-01 2.60583790e+02] [ 5.22754120e-02 -8.90526355e-01 4.51918236e-01 2.90032635e+01] [-9.98632691e-01 -4.65384568e-02 2.38100883e-02 -2.26961696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73864 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:260.50, Y:28.87, Z:-226.99 [[ 7.82410374e-03 -6.27937451e-01 -7.78224480e-01 2.60495668e+02] [ 5.13134887e-02 -7.76970849e-01 6.27441811e-01 2.88664358e+01] [-9.98651946e-01 -4.48425829e-02 2.61425608e-02 -2.26990726e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76864 meters Centerline goodness : 0.994128 Centerline is valid? [True, True] Translation: X:260.40, Y:28.77, Z:-227.01 [[ 1.30818438e-02 -7.57794659e-01 -6.52361954e-01 2.60399459e+02] [ 4.72751788e-02 -6.51219456e-01 7.57415525e-01 2.87658926e+01] [-9.98796237e-01 -4.07489196e-02 2.73057269e-02 -2.27008648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79864 meters Centerline goodness : 0.993480 Centerline is valid? [True, True] Translation: X:260.33, Y:28.71, Z:-227.02 [[ 1.54750690e-02 -8.22387483e-01 -5.68717285e-01 2.60333851e+02] [ 4.51089917e-02 -5.67632056e-01 8.22045636e-01 2.87146338e+01] [-9.98862203e-01 -3.83754762e-02 2.83129249e-02 -2.27021501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82864 meters Centerline goodness : 0.992948 Centerline is valid? [True, True] Translation: X:260.27, Y:28.68, Z:-227.03 [[ 1.75933347e-02 -8.74250730e-01 -4.85155785e-01 2.60269029e+02] [ 4.28872173e-02 -4.84124445e-01 8.73947486e-01 2.86754523e+01] [-9.98925003e-01 -3.61826322e-02 2.89768176e-02 -2.27034880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85864 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:260.21, Y:28.65, Z:-227.05 [[ 1.94890294e-02 -9.12077716e-01 -4.09553926e-01 2.60208603e+02] [ 4.07234412e-02 -4.08567636e-01 9.11819109e-01 2.86456966e+01] [-9.98980370e-01 -3.44489146e-02 2.91803565e-02 -2.27047388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.88864 meters Centerline goodness : 0.992168 Centerline is valid? [True, True] Translation: X:260.10, Y:28.61, Z:-227.06 [[ 1.94478959e-02 -9.61412229e-01 -2.74423589e-01 2.60104420e+02] [ 3.68797979e-02 -2.73598887e-01 9.61136582e-01 2.86088401e+01] [-9.99130452e-01 -2.88127707e-02 3.01357660e-02 -2.27057152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91864 meters Centerline goodness : 0.992068 Centerline is valid? [True, True] Translation: X:260.04, Y:28.59, Z:-227.07 [[ 1.97143056e-02 -9.81357976e-01 -1.91174967e-01 2.60040671e+02] [ 3.36754527e-02 -1.90451870e-01 9.81118774e-01 2.85930020e+01] [-9.99238365e-01 -2.57799789e-02 2.92930477e-02 -2.27065654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.94864 meters Centerline goodness : 0.992753 Centerline is valid? [True, True] Translation: X:259.98, Y:28.58, Z:-227.07 [[ 1.72471190e-02 -9.94252355e-01 -1.05663574e-01 2.59976923e+02] [ 3.15388919e-02 -1.05085715e-01 9.93962922e-01 2.85827442e+01] [-9.99353709e-01 -2.04755088e-02 2.95451917e-02 -2.27068508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97864 meters Centerline goodness : 0.991586 Centerline is valid? [True, True] Translation: X:259.91, Y:28.58, Z:-227.08 [[ 1.73620608e-02 -9.99571323e-01 -2.35738967e-02 2.59914732e+02] [ 2.94383069e-02 -2.30561844e-02 9.99300655e-01 2.85798973e+01] [-9.99415802e-01 -1.80438944e-02 2.90253845e-02 -2.27078170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.00864 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:259.84, Y:28.59, Z:-227.13 [[ 1.66814106e-02 -9.97727772e-01 6.52765167e-02 2.59844355e+02] [ 2.87288453e-02 6.57369279e-02 9.97423335e-01 2.85859684e+01] [-9.99448040e-01 -1.47631092e-02 2.97601515e-02 -2.27132673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03864 meters Centerline goodness : 0.992070 Centerline is valid? [True, True] Translation: X:259.78, Y:28.59, Z:-227.18 [[ 1.88014905e-02 -9.89441404e-01 1.43708775e-01 2.59782567e+02] [ 2.85227343e-02 1.44206477e-01 9.89136465e-01 2.85945032e+01] [-9.99416308e-01 -1.44982727e-02 3.09328710e-02 -2.27184829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.06864 meters Centerline goodness : 0.992067 Centerline is valid? [True, True] Translation: X:259.72, Y:28.61, Z:-227.24 [[ 2.05705992e-02 -9.75718517e-01 2.18060143e-01 2.59724660e+02] [ 2.83435728e-02 2.18587758e-01 9.75405574e-01 2.86074139e+01] [-9.99386558e-01 -1.38840736e-02 3.21518299e-02 -2.27237414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09864 meters Centerline goodness : 0.991433 Centerline is valid? [True, True] Translation: X:259.67, Y:28.62, Z:-227.29 [[ 2.15975757e-02 -9.56556442e-01 2.90746141e-01 2.59667701e+02] [ 2.92477844e-02 2.91294024e-01 9.56186362e-01 2.86247841e+01] [-9.99338837e-01 -1.21476269e-02 3.42684014e-02 -2.27291736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.12864 meters Centerline goodness : 0.991568 Centerline is valid? [True, True] Translation: X:259.61, Y:28.65, Z:-227.34 [[ 2.06443158e-02 -9.30568487e-01 3.65535364e-01 2.59611609e+02] [ 2.72629640e-02 3.66001295e-01 9.30214912e-01 2.86474002e+01] [-9.99415100e-01 -9.23807292e-03 3.29259015e-02 -2.27343881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15864 meters Centerline goodness : 0.992018 Centerline is valid? [True, True] Translation: X:259.18, Y:29.61, Z:-227.46 [[ 2.27756332e-02 2.73212459e-01 9.61684056e-01 2.59181583e+02] [-2.94618648e-02 9.61699216e-01 -2.72519019e-01 2.96105755e+01] [-9.99306394e-01 -2.21262124e-02 2.99526572e-02 -2.27463280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.18864 meters Centerline goodness : 0.991296 Centerline is valid? [True, True] Translation: X:260.17, Y:30.12, Z:-227.52 [[-3.68477536e-02 9.44873323e-01 -3.25356185e-01 2.60169396e+02] [ 1.06192214e-02 -3.25188678e-01 -9.45589528e-01 3.01161638e+01] [-9.99264467e-01 -3.82978793e-02 1.94865322e-03 -2.27520861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21864 meters Centerline goodness : 0.991331 Centerline is valid? [True, True] Translation: X:259.92, Y:30.16, Z:-227.60 [[-1.02629066e-01 9.94718073e-01 1.79703534e-03 2.59920384e+02] [ 1.17796702e-02 3.02179994e-03 -9.99926051e-01 3.01563223e+01] [-9.94649946e-01 -1.02600309e-01 -1.20275754e-02 -2.27598243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.24864 meters Centerline goodness : 0.992455 Centerline is valid? [True, True] Translation: X:259.81, Y:30.15, Z:-227.68 [[-1.67160159e-01 9.75493519e-01 1.43072973e-01 2.59813737e+02] [-1.10397868e-02 1.43253740e-01 -9.89624418e-01 3.01502051e+01] [-9.85867945e-01 -1.67005270e-01 -1.31770774e-02 -2.27678392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27864 meters Centerline goodness : 0.993298 Centerline is valid? [True, True] Translation: X:260.64, Y:29.65, Z:-227.84 [[-1.62281378e-01 3.11273450e-01 -9.36361892e-01 2.60637867e+02] [-1.35672359e-02 -9.49554720e-01 -3.13307778e-01 2.96528914e+01] [-9.86651248e-01 -3.81401752e-02 1.58318168e-01 -2.27836141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.30864 meters Centerline goodness : 0.992660 Centerline is valid? [True, True] Translation: X:259.87, Y:30.16, Z:-227.78 [[-2.32481214e-01 9.71478932e-01 4.67029863e-02 2.59869835e+02] [ 8.12193251e-03 4.99561302e-02 -9.98718388e-01 3.01568226e+01] [-9.72566974e-01 -2.31803945e-01 -1.95041481e-02 -2.27775541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33864 meters Centerline goodness : 0.992419 Centerline is valid? [True, True] Translation: X:259.97, Y:28.64, Z:-227.86 [[-1.95511610e-01 -9.78725934e-01 -6.22154039e-02 2.59969397e+02] [-1.89153038e-02 -5.96645616e-02 9.98039253e-01 2.86376724e+01] [-9.80518955e-01 1.96305084e-01 -6.84778384e-03 -2.27863873e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.36864 meters Centerline goodness : 0.993692 Centerline is valid? [True, True] Translation: X:259.84, Y:30.16, Z:-227.93 [[-2.34326341e-01 9.71438559e-01 3.73937548e-02 2.59838403e+02] [-3.59464302e-03 3.75986241e-02 -9.99286456e-01 3.01559033e+01] [-9.72151349e-01 -2.34293556e-01 -5.31837316e-03 -2.27927124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39864 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:260.62, Y:29.53, Z:-228.13 [[-2.30540612e-01 1.31437718e-01 -9.64144778e-01 2.60620163e+02] [-7.00169009e-03 -9.91033620e-01 -1.33429156e-01 2.95292801e+01] [-9.73037513e-01 -2.40101963e-02 2.29393784e-01 -2.28129289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42864 meters Centerline goodness : 0.994126 Centerline is valid? [True, True] Translation: X:259.91, Y:30.16, Z:-228.02 [[-3.01737774e-01 9.49532585e-01 -8.56865618e-02 2.59914742e+02] [ 2.40554164e-02 -8.22644991e-02 -9.96320174e-01 3.01556833e+01] [-9.53087432e-01 -3.02688657e-01 1.98090505e-03 -2.28015670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45864 meters Centerline goodness : 0.994033 Centerline is valid? [True, True] Translation: X:259.92, Y:30.15, Z:-228.09 [[-3.66499018e-01 9.23193595e-01 -1.15724049e-01 2.59924169e+02] [ 3.10637532e-02 -1.12167922e-01 -9.93203605e-01 3.01538362e+01] [-9.29899733e-01 -3.67602969e-01 1.24315753e-02 -2.28091134e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48864 meters Centerline goodness : 0.994566 Centerline is valid? [True, True] Translation: X:259.78, Y:28.64, Z:-228.13 [[-3.21247251e-01 -9.37984784e-01 1.30325546e-01 2.59777601e+02] [-9.84623853e-03 1.40920946e-01 9.89971888e-01 2.86379926e+01] [-9.46944167e-01 3.16742532e-01 -5.45060886e-02 -2.28127276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51864 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:259.81, Y:28.64, Z:-228.20 [[-2.55237075e-01 -9.66003632e-01 4.11219932e-02 2.59811917e+02] [-2.57433703e-02 4.93051939e-02 9.98451940e-01 2.86353241e+01] [-9.66535729e-01 2.53783334e-01 -3.74527026e-02 -2.28204369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54864 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:259.06, Y:29.46, Z:-228.08 [[-2.73183582e-01 1.00716165e-01 9.56674963e-01 2.59056549e+02] [-6.95634793e-02 9.89831952e-01 -1.24071062e-01 2.94617001e+01] [-9.59443408e-01 -1.00443816e-01 -2.63399672e-01 -2.28082900e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57864 meters Centerline goodness : 0.995204 Centerline is valid? [True, True] Translation: X:259.63, Y:30.15, Z:-228.36 [[-3.26529158e-01 9.34780296e-01 1.39873181e-01 2.59630042e+02] [-6.34843443e-02 1.25960319e-01 -9.90001887e-01 3.01505998e+01] [-9.43052728e-01 -3.32144239e-01 1.82141974e-02 -2.28364544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60864 meters Centerline goodness : 0.994761 Centerline is valid? [True, True] Translation: X:259.87, Y:28.65, Z:-228.40 [[-2.50497134e-01 -9.60960271e-01 -1.17501247e-01 2.59871434e+02] [-8.63782181e-02 -9.87019614e-02 9.91361047e-01 2.86464753e+01] [-9.64256184e-01 2.58482650e-01 -5.82814774e-02 -2.28402263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.63864 meters Centerline goodness : 0.995057 Centerline is valid? [True, True] Translation: X:258.99, Y:29.39, Z:-228.31 [[-2.75604028e-01 -3.44759544e-03 9.61265069e-01 2.58989487e+02] [-1.58435334e-01 9.86480477e-01 -4.18869174e-02 2.93917485e+01] [-9.48124815e-01 -1.63842555e-01 -2.72424214e-01 -2.28306588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66864 meters Centerline goodness : 0.996817 Centerline is valid? [True, True] Translation: X:260.32, Y:29.80, Z:-228.77 [[-2.51649714e-01 4.97421453e-01 -8.30207396e-01 2.60321193e+02] [-1.19588769e-01 -8.67221036e-01 -4.83348944e-01 2.97963357e+01] [-9.60401451e-01 -2.23511426e-02 2.77721945e-01 -2.28765844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.69864 meters Centerline goodness : 0.995741 Centerline is valid? [True, True] Translation: X:260.33, Y:29.77, Z:-228.80 [[-2.56309175e-01 4.64206701e-01 -8.47831201e-01 2.60329178e+02] [-1.10486691e-01 -8.85453014e-01 -4.51404088e-01 2.97653191e+01] [-9.60259495e-01 -2.20249450e-02 2.78238394e-01 -2.28798731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72864 meters Centerline goodness : 0.996522 Centerline is valid? [True, True] Translation: X:259.81, Y:28.63, Z:-228.58 [[-1.82163043e-01 -9.73918517e-01 -1.35275082e-01 2.59806766e+02] [-1.43864857e-01 -1.09697053e-01 9.83498581e-01 2.86348712e+01] [-9.72686758e-01 1.98618425e-01 -1.20129899e-01 -2.28575059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.75864 meters Centerline goodness : 0.997502 Centerline is valid? [True, True] Translation: X:260.28, Y:29.79, Z:-228.85 [[-1.95443542e-01 5.27265741e-01 -8.26917566e-01 2.60277087e+02] [-9.36031345e-02 -8.49357994e-01 -5.19451105e-01 2.97933241e+01] [-9.76237817e-01 -2.41212876e-02 2.15355261e-01 -2.28850407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78864 meters Centerline goodness : 0.996716 Centerline is valid? [True, True] Translation: X:260.28, Y:29.76, Z:-228.92 [[-2.28314497e-01 4.89301010e-01 -8.41698884e-01 2.60280059e+02] [-3.51593200e-02 -8.68113315e-01 -4.95119273e-01 2.97558864e+01] [-9.72952369e-01 -8.34493474e-02 2.15406346e-01 -2.28921781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.81864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:259.61, Y:30.11, Z:-228.85 [[-3.17972486e-01 9.47837550e-01 2.23041775e-02 2.59607674e+02] [-4.07383372e-02 9.84441866e-03 -9.99121352e-01 3.01122515e+01] [-9.47224306e-01 -3.18601735e-01 3.54830714e-02 -2.28847884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84864 meters Centerline goodness : 0.998090 Centerline is valid? [True, True] Translation: X:259.70, Y:28.59, Z:-228.85 [[-2.24110665e-01 -9.71533039e-01 -7.67981984e-02 2.59700250e+02] [-7.87568212e-02 -6.04903109e-02 9.95056926e-01 2.85908977e+01] [-9.71376226e-01 2.29051252e-01 -6.29583301e-02 -2.28850478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.87864 meters Centerline goodness : 0.997454 Centerline is valid? [True, True] Translation: X:259.56, Y:30.10, Z:-228.99 [[-3.12037663e-01 9.49308198e-01 3.80321277e-02 2.59562110e+02] [-5.41349257e-02 2.22002043e-02 -9.98286813e-01 3.01044110e+01] [-9.48526176e-01 -3.13561950e-01 4.44634289e-02 -2.28987711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90864 meters Centerline goodness : 0.997260 Centerline is valid? [True, True] Translation: X:260.30, Y:29.55, Z:-229.20 [[-2.87509733e-01 2.48846022e-01 -9.24885837e-01 2.60304724e+02] [-3.84464379e-02 -9.67878361e-01 -2.48461967e-01 2.95509238e+01] [-9.57005760e-01 -3.58766680e-02 2.87841692e-01 -2.29200501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.93864 meters Centerline goodness : 0.995938 Centerline is valid? [True, True] Translation: X:259.64, Y:28.58, Z:-229.01 [[-2.31993990e-01 -9.70605172e-01 -6.40655051e-02 2.59640999e+02] [-5.75908910e-02 -5.20412183e-02 9.96982949e-01 2.85792527e+01] [-9.71010854e-01 2.34983642e-01 -4.38247668e-02 -2.29014395e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96864 meters Centerline goodness : 0.996571 Centerline is valid? [True, True] Translation: X:258.82, Y:29.38, Z:-228.92 [[-2.62293527e-01 2.98311310e-02 9.64526936e-01 2.58820734e+02] [-1.28268770e-01 9.89574931e-01 -6.54872406e-02 2.93778051e+01] [-9.56425234e-01 -1.40895563e-01 -2.55732696e-01 -2.28923025e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.99864 meters Centerline goodness : 0.995498 Centerline is valid? [True, True] Translation: X:260.19, Y:29.68, Z:-229.37 [[-2.39850435e-01 4.41125057e-01 -8.64800817e-01 2.60193626e+02] [-8.15287252e-02 -8.96809279e-01 -4.34840413e-01 2.96810182e+01] [-9.67380399e-01 -3.37905539e-02 2.51064459e-01 -2.29370145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02864 meters Centerline goodness : 0.996037 Centerline is valid? [True, True] Translation: X:259.58, Y:28.57, Z:-229.17 [[-1.80744639e-01 -9.81444990e-01 -6.40086510e-02 2.59579053e+02] [-1.15040476e-01 -4.35374747e-02 9.92406256e-01 2.85723421e+01] [-9.76778923e-01 1.86735697e-01 -1.05036734e-01 -2.29168161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.05864 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:260.16, Y:29.68, Z:-229.46 [[-2.03443530e-01 4.62313809e-01 -8.63062380e-01 2.60157841e+02] [-5.38082427e-02 -8.85444633e-01 -4.61619405e-01 2.96805338e+01] [-9.77606978e-01 -4.74736112e-02 2.05014275e-01 -2.29462542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08864 meters Centerline goodness : 0.995396 Centerline is valid? [True, True] Translation: X:259.80, Y:28.62, Z:-229.38 [[-1.31033963e-01 -9.07591176e-01 -3.98883890e-01 2.59797394e+02] [-4.87149498e-02 -3.95972322e-01 9.16969342e-01 2.86153355e+01] [-9.90180263e-01 1.39585736e-01 7.67256417e-03 -2.29383880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.11864 meters Centerline goodness : 0.994616 Centerline is valid? [True, True] Translation: X:259.56, Y:28.55, Z:-229.43 [[-7.29343379e-02 -9.90246602e-01 -1.18710782e-01 2.59564360e+02] [-2.76908631e-02 -1.16971284e-01 9.92749180e-01 2.85478258e+01] [-9.96952255e-01 7.56927081e-02 -1.88895599e-02 -2.29431581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14864 meters Centerline goodness : 0.995344 Centerline is valid? [True, True] Translation: X:258.70, Y:29.25, Z:-229.44 [[-8.77805944e-02 -7.34951833e-02 9.93424897e-01 2.58697194e+02] [-9.72408896e-02 9.93143762e-01 6.48820258e-02 2.92500036e+01] [-9.91382256e-01 -9.09061379e-02 -9.43254868e-02 -2.29442551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17864 meters Centerline goodness : 0.996170 Centerline is valid? [True, True] Translation: X:259.89, Y:29.93, Z:-229.61 [[-6.40718106e-02 8.07220744e-01 -5.86761855e-01 2.59888876e+02] [-7.60558951e-02 -5.90209742e-01 -8.03659107e-01 2.99314396e+01] [-9.95042865e-01 -6.86519607e-03 9.92097031e-02 -2.29614165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20864 meters Centerline goodness : 0.995442 Centerline is valid? [True, True] Translation: X:259.93, Y:29.90, Z:-229.64 [[-6.87299447e-02 7.67347856e-01 -6.37537028e-01 2.59926813e+02] [-7.09407605e-02 -6.41189628e-01 -7.64096375e-01 2.98992207e+01] [-9.95109845e-01 -7.28893993e-03 9.85051681e-02 -2.29637830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23864 meters Centerline goodness : 0.994221 Centerline is valid? [True, True] Translation: X:259.95, Y:29.88, Z:-229.68 [[-8.56672230e-02 7.39346253e-01 -6.67853460e-01 2.59949044e+02] [-7.66356936e-02 -6.73221603e-01 -7.35458798e-01 2.98750161e+01] [-9.93372084e-01 -1.18232997e-02 1.14333338e-01 -2.29677922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26864 meters Centerline goodness : 0.995105 Centerline is valid? [True, True] Translation: X:259.98, Y:28.76, Z:-229.66 [[-2.18449723e-02 -7.05784133e-01 -7.08090076e-01 2.59980516e+02] [-4.60760399e-02 -7.06795779e-01 7.05915523e-01 2.87632166e+01] [-9.98699052e-01 4.80466916e-02 -1.70798036e-02 -2.29655415e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29864 meters Centerline goodness : 0.995063 Centerline is valid? [True, True] Translation: X:260.03, Y:29.77, Z:-229.70 [[-2.40968676e-02 6.12067562e-01 -7.90438258e-01 2.60029791e+02] [-1.17792364e-02 -7.90786791e-01 -6.11978350e-01 2.97660826e+01] [-9.99640231e-01 -5.43600214e-03 2.62651731e-02 -2.29702245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32864 meters Centerline goodness : 0.994859 Centerline is valid? [True, True] Translation: X:260.06, Y:29.73, Z:-229.73 [[-4.35961691e-02 5.60600511e-01 -8.26937991e-01 2.60061576e+02] [-2.37621654e-02 -8.28072655e-01 -5.60116986e-01 2.97273546e+01] [-9.98766606e-01 -4.76911748e-03 4.94218776e-02 -2.29725855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35864 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:259.87, Y:28.66, Z:-229.77 [[ 1.30303909e-02 -8.16922510e-01 -5.76600226e-01 2.59867802e+02] [ 1.52643694e-02 -5.76419474e-01 8.17011376e-01 2.86638677e+01] [-9.99798584e-01 -1.94474164e-02 4.95883586e-03 -2.29767476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.38864 meters Centerline goodness : 0.994609 Centerline is valid? [True, True] Translation: X:259.38, Y:28.52, Z:-229.85 [[ 3.42196062e-02 -9.97240419e-01 6.58829635e-02 2.59377164e+02] [ 1.44102755e-02 6.64070481e-02 9.97688553e-01 2.85216931e+01] [-9.99310444e-01 -3.31911177e-02 1.66429322e-02 -2.29845807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41864 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:258.84, Y:28.79, Z:-229.94 [[ 2.15662839e-02 -6.42382266e-01 7.66080883e-01 2.58840745e+02] [-2.66027501e-02 7.65619062e-01 6.42743920e-01 2.87896670e+01] [-9.99413423e-01 -3.42414562e-02 -5.77576807e-04 -2.29939008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.44864 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:258.72, Y:29.59, Z:-230.03 [[ 1.69223129e-02 4.04010373e-01 9.14597865e-01 2.58723376e+02] [-1.39455633e-02 9.14735240e-01 -4.03813029e-01 2.95898825e+01] [-9.99759549e-01 -5.92113197e-03 2.11135881e-02 -2.30028622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47864 meters Centerline goodness : 0.994861 Centerline is valid? [True, True] Translation: X:259.66, Y:30.01, Z:-230.17 [[-2.62944382e-02 9.68917061e-01 -2.45984415e-01 2.59657149e+02] [ 1.32744121e-02 -2.45709372e-01 -9.69252648e-01 3.00141664e+01] [-9.99566102e-01 -2.87512523e-02 -6.40101447e-03 -2.30168889e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.50864 meters Centerline goodness : 0.994914 Centerline is valid? [True, True] Translation: X:259.58, Y:28.52, Z:-230.25 [[ 3.02350271e-02 -9.88974198e-01 -1.44968541e-01 2.59580551e+02] [-3.02115067e-04 -1.45043884e-01 9.89425177e-01 2.85174422e+01] [-9.99542771e-01 -2.98714998e-02 -4.68418977e-03 -2.30246098e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53864 meters Centerline goodness : 0.994123 Centerline is valid? [True, True] Translation: X:258.81, Y:28.88, Z:-230.34 [[ 1.68188757e-02 -4.99991477e-01 8.65866992e-01 2.58808271e+02] [-3.07380990e-02 8.65321606e-01 5.00273613e-01 2.88845993e+01] [-9.99385959e-01 -3.50291450e-02 -8.15050974e-04 -2.30340456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.56864 meters Centerline goodness : 0.993720 Centerline is valid? [True, True] Translation: X:258.79, Y:29.61, Z:-230.43 [[ 4.83846241e-02 4.45123562e-01 8.94161027e-01 2.58786940e+02] [-3.73492658e-02 8.95389722e-01 -4.43714186e-01 2.96063815e+01] [-9.98130232e-01 -1.19273137e-02 5.99481333e-02 -2.30430563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59864 meters Centerline goodness : 0.993584 Centerline is valid? [True, True] Translation: X:259.90, Y:29.90, Z:-230.57 [[-2.82056857e-02 8.61692425e-01 -5.06646429e-01 2.59897552e+02] [ 2.34395621e-02 -5.06138575e-01 -8.62133591e-01 2.99047616e+01] [-9.99327287e-01 -3.61926396e-02 -5.92170753e-03 -2.30566986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.62864 meters Centerline goodness : 0.993250 Centerline is valid? [True, True] Translation: X:259.36, Y:28.50, Z:-230.65 [[ 2.59622759e-02 -9.80018780e-01 1.97203323e-01 2.59356307e+02] [-3.24775938e-03 1.97186087e-01 9.80360699e-01 2.84976758e+01] [-9.99657648e-01 -2.60928639e-02 1.93653441e-03 -2.30647272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65864 meters Centerline goodness : 0.993834 Centerline is valid? [True, True] Translation: X:258.81, Y:28.93, Z:-230.74 [[ 6.51155999e-03 -4.05441396e-01 9.14097847e-01 2.58808389e+02] [-4.36086302e-02 9.13132448e-01 4.05323845e-01 2.89342291e+01] [-9.99027471e-01 -4.25018455e-02 -1.17348272e-02 -2.30738871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.68864 meters Centerline goodness : 0.993689 Centerline is valid? [True, True] Translation: X:259.21, Y:28.54, Z:-230.88 [[ 8.23253742e-02 -9.36947598e-01 3.39634704e-01 2.59205316e+02] [-7.64994058e-02 3.33845035e-01 9.39518671e-01 2.85406600e+01] [-9.93665121e-01 -1.03328079e-01 -4.41920171e-02 -2.30877340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71864 meters Centerline goodness : 0.993670 Centerline is valid? [True, True] Translation: X:258.82, Y:29.65, Z:-231.07 [[ 9.31135714e-02 5.17672403e-01 8.50496999e-01 2.58821202e+02] [-8.71127882e-02 8.55168109e-01 -5.10978343e-01 2.96470674e+01] [-9.91837298e-01 -2.65101465e-02 1.24723643e-01 -2.31073547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.74864 meters Centerline goodness : 0.993524 Centerline is valid? [True, True] Translation: X:260.00, Y:29.81, Z:-231.15 [[ 2.41246692e-02 7.77570689e-01 -6.28332574e-01 2.59998777e+02] [-5.08430128e-03 -6.28411940e-01 -7.77864116e-01 2.98146603e+01] [-9.99696029e-01 2.19603466e-02 -1.12068265e-02 -2.31151772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77864 meters Centerline goodness : 0.994177 Centerline is valid? [True, True] Translation: X:259.04, Y:29.81, Z:-231.23 [[-2.92831166e-03 7.75717125e-01 6.31073979e-01 2.59040751e+02] [-1.88139316e-02 6.30922248e-01 -7.75617917e-01 2.98117034e+01] [-9.99818714e-01 -1.41442337e-02 1.27467520e-02 -2.31232402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.80864 meters Centerline goodness : 0.993338 Centerline is valid? [True, True] Translation: X:259.16, Y:29.89, Z:-231.29 [[-5.55932998e-03 8.74184901e-01 4.85561380e-01 2.59156220e+02] [-1.84842597e-02 4.85396088e-01 -8.74098948e-01 2.98862091e+01] [-9.99813696e-01 -1.38346471e-02 1.34601837e-02 -2.31289481e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83864 meters Centerline goodness : 0.993878 Centerline is valid? [True, True] Translation: X:259.26, Y:29.93, Z:-231.34 [[-8.88594412e-03 9.34368348e-01 3.56197741e-01 2.59260843e+02] [-1.71547753e-02 3.56016939e-01 -9.34322028e-01 2.99311479e+01] [-9.99813359e-01 -1.44128255e-02 1.28653325e-02 -2.31342238e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.86864 meters Centerline goodness : 0.993006 Centerline is valid? [True, True] Translation: X:259.35, Y:29.96, Z:-231.39 [[-1.17954707e-02 9.69739942e-01 2.43855104e-01 2.59350554e+02] [-1.56603650e-02 2.43663003e-01 -9.69733517e-01 2.99567596e+01] [-9.99807791e-01 -1.52573232e-02 1.23123616e-02 -2.31394920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89864 meters Centerline goodness : 0.993495 Centerline is valid? [True, True] Translation: X:259.44, Y:29.97, Z:-231.45 [[-1.38756115e-02 9.91581393e-01 1.28739308e-01 2.59440777e+02] [-1.51507231e-02 1.28528426e-01 -9.91590086e-01 2.99721569e+01] [-9.99788939e-01 -1.57094125e-02 1.32397646e-02 -2.31452193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92864 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:259.55, Y:29.98, Z:-231.46 [[-1.53281980e-02 9.99820530e-01 -1.11334296e-02 2.59548194e+02] [-1.28693510e-02 -1.13310903e-02 -9.99852982e-01 2.99776068e+01] [-9.99799693e-01 -1.51826645e-02 1.30407265e-02 -2.31464943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95864 meters Centerline goodness : 0.993339 Centerline is valid? [True, True] Translation: X:259.65, Y:29.97, Z:-231.48 [[-1.56701334e-02 9.90231672e-01 -1.38548483e-01 2.59646612e+02] [-1.11864088e-02 -1.38730447e-01 -9.90266998e-01 2.99672280e+01] [-9.99814638e-01 -1.39677560e-02 1.32510609e-02 -2.31477896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98864 meters Centerline goodness : 0.992161 Centerline is valid? [True, True] Translation: X:259.74, Y:29.95, Z:-231.50 [[-1.83275208e-02 9.64592471e-01 -2.63107329e-01 2.59741939e+02] [-9.25301711e-03 -2.63303895e-01 -9.64668565e-01 2.99454993e+01] [-9.99789220e-01 -1.52454466e-02 1.37510982e-02 -2.31495880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01864 meters Centerline goodness : 0.992263 Centerline is valid? [True, True] Translation: X:259.86, Y:29.90, Z:-231.52 [[-2.46216534e-02 9.11013850e-01 -4.11640061e-01 2.59857247e+02] [-2.26913373e-02 -4.12168095e-01 -9.10825211e-01 2.99046708e+01] [-9.99439281e-01 -1.30853592e-02 3.08203825e-02 -2.31519033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04864 meters Centerline goodness : 0.991761 Centerline is valid? [True, True] Translation: X:260.27, Y:29.04, Z:-231.56 [[ 2.73192733e-02 -2.00487745e-01 -9.79315231e-01 2.60274636e+02] [ 4.31583494e-02 -9.78530820e-01 2.01531116e-01 2.90354683e+01] [-9.98694655e-01 -4.77713126e-02 -1.80800308e-02 -2.31558305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07864 meters Centerline goodness : 0.992803 Centerline is valid? [True, True] Translation: X:260.03, Y:28.62, Z:-231.67 [[ 8.54999989e-02 -7.43959860e-01 -6.62731829e-01 2.60029618e+02] [ 2.91347278e-02 -6.63016246e-01 7.48037850e-01 2.86229188e+01] [-9.95912103e-01 -8.32657468e-02 -3.50128203e-02 -2.31673472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10864 meters Centerline goodness : 0.992754 Centerline is valid? [True, True] Translation: X:258.86, Y:28.87, Z:-231.85 [[ 6.50143990e-02 -4.60124380e-01 8.85470882e-01 2.58856139e+02] [ 1.60654557e-02 8.87715850e-01 4.60111368e-01 2.88665987e+01] [-9.97754995e-01 -1.56883709e-02 6.51064203e-02 -2.31850593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.13864 meters Centerline goodness : 0.993198 Centerline is valid? [True, True] Translation: X:259.57, Y:28.45, Z:-231.97 [[ 1.46633861e-01 -9.83255927e-01 -1.08195626e-01 2.59573760e+02] [ 1.63722409e-02 -1.06950530e-01 9.94129536e-01 2.84505709e+01] [-9.89055337e-01 -1.47544457e-01 4.15533676e-04 -2.31966835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16864 meters Centerline goodness : 0.994080 Centerline is valid? [True, True] Translation: X:259.46, Y:28.45, Z:-232.15 [[ 2.09346290e-01 -9.77814841e-01 7.22967261e-03 2.59462134e+02] [ 1.57428929e-02 1.07628496e-02 9.99818145e-01 2.84516669e+01] [-9.77714832e-01 -2.09194404e-01 1.76467969e-02 -2.32147502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.19864 meters Centerline goodness : 0.994422 Centerline is valid? [True, True] Translation: X:259.64, Y:29.97, Z:-232.23 [[ 1.50521426e-01 9.82859292e-01 -1.06446762e-01 2.59642211e+02] [ 5.28658798e-02 -1.15521811e-01 -9.91897127e-01 2.99712284e+01] [-9.87192230e-01 1.43674369e-01 -6.93482290e-02 -2.32226592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22864 meters Centerline goodness : 0.995255 Centerline is valid? [True, True] Translation: X:259.55, Y:28.45, Z:-232.46 [[ 2.08033825e-01 -9.77795232e-01 -2.52668304e-02 2.59548710e+02] [ 2.62660466e-02 -2.02380923e-02 9.99450106e-01 2.84538889e+01] [-9.77768900e-01 -2.08583088e-01 2.14726074e-02 -2.32463727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.25864 meters Centerline goodness : 0.993490 Centerline is valid? [True, True] Translation: X:259.45, Y:28.47, Z:-232.65 [[ 2.71835414e-01 -9.58240096e-01 8.87773991e-02 2.59448725e+02] [ 1.98066961e-02 9.78026771e-02 9.95008709e-01 2.84691122e+01] [-9.62139908e-01 -2.68720218e-01 4.55658016e-02 -2.32651216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28864 meters Centerline goodness : 0.994028 Centerline is valid? [True, True] Translation: X:259.51, Y:28.47, Z:-232.80 [[ 3.37866254e-01 -9.41175673e-01 5.89459679e-03 2.59512034e+02] [ 1.73436643e-02 1.24876680e-02 9.99771602e-01 2.84719179e+01] [-9.41034320e-01 -3.37686852e-01 2.05425966e-02 -2.32801368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.31864 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:259.64, Y:30.00, Z:-232.87 [[ 2.82876893e-01 9.58725646e-01 -2.87367407e-02 2.59636032e+02] [ 5.16420707e-02 -4.51405599e-02 -9.97644940e-01 3.00012572e+01] [-9.57764982e-01 2.80726676e-01 -6.22797988e-02 -2.32873440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34864 meters Centerline goodness : 0.993446 Centerline is valid? [True, True] Translation: X:259.70, Y:30.01, Z:-233.02 [[ 2.14616975e-01 9.76696781e-01 1.71815785e-03 2.59704070e+02] [ 5.35533655e-02 -1.00111472e-02 -9.98514804e-01 3.00068589e+01] [-9.75228994e-01 2.14390240e-01 -5.44539618e-02 -2.33021663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.37864 meters Centerline goodness : 0.993491 Centerline is valid? [True, True] Translation: X:259.74, Y:28.49, Z:-233.24 [[ 2.77213564e-01 -9.59018465e-01 -5.86193144e-02 2.59744697e+02] [ 2.24486749e-02 -5.45289070e-02 9.98259814e-01 2.84862905e+01] [-9.60546041e-01 -2.78047087e-01 6.41254112e-03 -2.33235975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40864 meters Centerline goodness : 0.993632 Centerline is valid? [True, True] Translation: X:259.80, Y:28.49, Z:-233.38 [[ 3.38575959e-01 -9.28750848e-01 -1.50957550e-01 2.59804607e+02] [ 6.62847737e-02 -1.36492142e-01 9.88421076e-01 2.84949869e+01] [-9.38601432e-01 -3.44661800e-01 1.53490820e-02 -2.33378606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.43864 meters Centerline goodness : 0.992713 Centerline is valid? [True, True] Translation: X:259.02, Y:29.06, Z:-233.70 [[ 3.27648910e-01 -2.41294000e-01 9.13467787e-01 2.59020696e+02] [ 3.41271468e-02 9.69229289e-01 2.43782532e-01 2.90613107e+01] [-9.44182996e-01 -4.87010316e-02 3.25801596e-01 -2.33703647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46864 meters Centerline goodness : 0.992518 Centerline is valid? [True, True] Translation: X:259.68, Y:28.51, Z:-233.66 [[ 4.04767808e-01 -9.11623159e-01 7.14579358e-02 2.59679706e+02] [ 1.48778713e-02 8.47008888e-02 9.96295342e-01 2.85077194e+01] [-9.14298458e-01 -4.02205140e-01 4.78472051e-02 -2.33655207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.49864 meters Centerline goodness : 0.991830 Centerline is valid? [True, True] Translation: X:259.89, Y:30.02, Z:-233.68 [[ 3.46293112e-01 9.33124694e-01 -9.67439147e-02 2.59893289e+02] [ 5.83850170e-02 -1.24361613e-01 -9.90517733e-01 3.00227259e+01] [-9.36307786e-01 3.37361073e-01 -9.75460712e-02 -2.33680382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52864 meters Centerline goodness : 0.991242 Centerline is valid? [True, True] Translation: X:259.93, Y:28.51, Z:-233.90 [[ 4.04754584e-01 -9.07166931e-01 -1.14986462e-01 2.59933110e+02] [ 6.06889115e-02 -9.88203193e-02 9.93252939e-01 2.85139551e+01] [-9.12409219e-01 -4.09002083e-01 1.50569964e-02 -2.33896559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.55864 meters Centerline goodness : 0.989579 Centerline is valid? [True, True] Translation: X:259.18, Y:29.12, Z:-234.27 [[ 3.89632118e-01 -1.78511027e-01 9.03504635e-01 2.59184132e+02] [ 3.42316656e-02 9.83164467e-01 1.79487670e-01 2.91220458e+01] [-9.20334182e-01 -3.90056926e-02 3.89183183e-01 -2.34267805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58864 meters Centerline goodness : 0.989427 Centerline is valid? [True, True] Translation: X:259.89, Y:30.04, Z:-234.09 [[ 3.44268938e-01 9.34587242e-01 8.95856362e-02 2.59890734e+02] [ 5.02591801e-02 7.69365037e-02 -9.95768442e-01 3.00411349e+01] [-9.37524887e-01 3.47314644e-01 -2.04847401e-02 -2.34089047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.61864 meters Centerline goodness : 0.989125 Centerline is valid? [True, True] Translation: X:260.06, Y:28.53, Z:-234.25 [[ 4.08374331e-01 -9.09710151e-01 -7.52186554e-02 2.60061779e+02] [ 1.84798971e-02 -7.41467029e-02 9.97076105e-01 2.85301920e+01] [-9.12627470e-01 -4.08570321e-01 -1.34682602e-02 -2.34245599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64864 meters Centerline goodness : 0.990166 Centerline is valid? [True, True] Translation: X:260.01, Y:30.05, Z:-234.38 [[ 3.42668288e-01 9.35510266e-01 8.60173578e-02 2.60006811e+02] [ 4.98266008e-02 7.33339070e-02 -9.96061970e-01 3.00519295e+01] [-9.38134188e-01 3.45604802e-01 -2.14840922e-02 -2.34380483e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67864 meters Centerline goodness : 0.989288 Centerline is valid? [True, True] Translation: X:260.19, Y:28.54, Z:-234.53 [[ 4.11613498e-01 -9.07953329e-01 -7.87088319e-02 2.60186658e+02] [ 1.61440106e-02 -7.90865692e-02 9.96737019e-01 2.85428439e+01] [-9.11215506e-01 -4.11541087e-01 -1.78950912e-02 -2.34533570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70864 meters Centerline goodness : 0.990156 Centerline is valid? [True, True] Translation: X:260.25, Y:28.55, Z:-234.67 [[ 4.69527633e-01 -8.69332193e-01 -1.54289792e-01 2.60251978e+02] [ 5.60909760e-02 -1.45027209e-01 9.87836480e-01 2.85497571e+01] [-8.81134272e-01 -4.72470789e-01 -1.93325908e-02 -2.34670208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73864 meters Centerline goodness : 0.990218 Centerline is valid? [True, True] Translation: X:259.49, Y:29.16, Z:-235.11 [[ 4.51880615e-01 -1.51629179e-01 8.79097549e-01 2.59487008e+02] [ 2.94336285e-02 9.87446410e-01 1.55187786e-01 2.91624611e+01] [-8.91592716e-01 -4.42513216e-02 4.50670888e-01 -2.35113528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76864 meters Centerline goodness : 0.990017 Centerline is valid? [True, True] Translation: X:260.15, Y:28.55, Z:-234.96 [[ 5.29932687e-01 -8.44731803e-01 7.48299906e-02 2.60149586e+02] [ 1.11618695e-02 9.51788871e-02 9.95397605e-01 2.85531991e+01] [-8.47966249e-01 -5.26658485e-01 5.98671896e-02 -2.34963146e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79864 meters Centerline goodness : 0.989976 Centerline is valid? [True, True] Translation: X:260.34, Y:30.07, Z:-234.97 [[ 4.68951126e-01 8.80012270e-01 -7.52545494e-02 2.60338988e+02] [ 5.62271506e-02 -1.14776983e-01 -9.91798746e-01 3.00734074e+01] [-8.81432555e-01 4.60873789e-01 -1.03305378e-01 -2.34972213e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82864 meters Centerline goodness : 0.989518 Centerline is valid? [True, True] Translation: X:260.31, Y:28.56, Z:-235.23 [[ 5.26182153e-01 -8.47531032e-01 6.94513655e-02 2.60311323e+02] [ 1.61472512e-02 9.16150409e-02 9.95663573e-01 2.85634279e+01] [-8.50218565e-01 -5.22778954e-01 6.18914959e-02 -2.35227083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85864 meters Centerline goodness : 0.989584 Centerline is valid? [True, True] Translation: X:260.49, Y:30.08, Z:-235.24 [[ 4.72839763e-01 8.77909538e-01 -7.54811318e-02 2.60489739e+02] [ 5.72658477e-02 -1.16098030e-01 -9.91585533e-01 3.00817909e+01] [-8.79285608e-01 4.64538578e-01 -1.05169999e-01 -2.35240781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.88864 meters Centerline goodness : 0.990515 Centerline is valid? [True, True] Translation: X:260.44, Y:28.58, Z:-235.51 [[ 5.27181396e-01 -8.44710305e-01 9.24352562e-02 2.60442221e+02] [ 4.29902825e-02 1.35152341e-01 9.89891752e-01 2.85780398e+01] [-8.48664605e-01 -5.17878698e-01 1.07564134e-01 -2.35505494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91864 meters Centerline goodness : 0.989235 Centerline is valid? [True, True] Translation: X:259.88, Y:29.23, Z:-235.90 [[ 5.10839210e-01 -9.12680627e-02 8.54817783e-01 2.59879661e+02] [ 2.13448354e-02 9.95388479e-01 9.35209829e-02 2.92329921e+01] [-8.59411252e-01 -2.95282402e-02 5.10431566e-01 -2.35902218e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.94864 meters Centerline goodness : 0.989621 Centerline is valid? [True, True] Translation: X:260.52, Y:30.10, Z:-235.66 [[ 4.68711018e-01 8.74797645e-01 1.22633855e-01 2.60519895e+02] [ 3.16488361e-02 1.22108357e-01 -9.92012046e-01 3.01017833e+01] [-8.82784421e-01 4.68848195e-01 2.95472049e-02 -2.35664087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97864 meters Centerline goodness : 0.990769 Centerline is valid? [True, True] Translation: X:260.75, Y:28.60, Z:-235.73 [[ 5.29379630e-01 -8.45279116e-01 -7.25287755e-02 2.60754805e+02] [ 2.95407788e-02 -6.70730334e-02 9.97310659e-01 2.85975652e+01] [-8.47870598e-01 -5.30098504e-01 -1.05368941e-02 -2.35729827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.00864 meters Centerline goodness : 0.990266 Centerline is valid? [True, True] Translation: X:260.06, Y:29.25, Z:-236.22 [[ 5.15641776e-01 -7.76054521e-02 8.53282458e-01 2.60064268e+02] [-9.92419799e-04 9.95834829e-01 9.11702151e-02 2.92494549e+01] [-8.56803696e-01 -4.78579860e-02 5.13417023e-01 -2.36219316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03864 meters Centerline goodness : 0.988838 Centerline is valid? [True, True] Translation: X:260.83, Y:28.60, Z:-235.93 [[ 5.91901441e-01 -8.03696031e-01 -6.10358370e-02 2.60831192e+02] [-2.61450818e-03 -7.76399505e-02 9.96978035e-01 2.85998559e+01] [-8.06006109e-01 -5.89953157e-01 -4.80564684e-02 -2.35929205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.06864 meters Centerline goodness : 0.989130 Centerline is valid? [True, True] Translation: X:260.89, Y:28.60, Z:-236.08 [[ 6.46053109e-01 -7.60451683e-01 -6.57922347e-02 2.60885503e+02] [ 2.47626698e-03 -8.41067426e-02 9.96453674e-01 2.85995681e+01] [-7.63288444e-01 -6.43924913e-01 -5.24543412e-02 -2.36079701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09864 meters Centerline goodness : 0.989816 Centerline is valid? [True, True] Translation: X:260.94, Y:28.60, Z:-236.23 [[ 6.98850696e-01 -7.12057404e-01 -6.76901598e-02 2.60944617e+02] [ 7.18026756e-03 -8.76473883e-02 9.96125684e-01 2.85990516e+01] [-7.15231535e-01 -6.96629161e-01 -5.61396756e-02 -2.36229210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.12864 meters Centerline goodness : 0.989505 Centerline is valid? [True, True] Translation: X:261.01, Y:28.60, Z:-236.37 [[ 7.47057493e-01 -6.61060821e-01 -7.00263678e-02 2.61014838e+02] [ 1.28983780e-02 -9.09065208e-02 9.95775897e-01 2.85980256e+01] [-6.64634286e-01 -7.44805072e-01 -5.93857852e-02 -2.36373664e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15864 meters Centerline goodness : 0.990203 Centerline is valid? [True, True] Translation: X:260.99, Y:30.11, Z:-236.56 [[ 6.73472794e-01 7.32423889e-01 9.99482031e-02 2.60993206e+02] [ 3.90446211e-02 9.97747095e-02 -9.94243695e-01 3.01129809e+01] [-7.38180136e-01 6.73498519e-01 3.85983392e-02 -2.36555042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.18864 meters Centerline goodness : 0.990755 Centerline is valid? [True, True] Translation: X:260.56, Y:29.32, Z:-237.06 [[ 6.76684170e-01 -1.71112538e-02 7.36074547e-01 2.60559409e+02] [-1.80702450e-03 9.99688299e-01 2.49006097e-02 2.93234279e+01] [-7.36271192e-01 -1.81799532e-02 6.76442326e-01 -2.37056424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21864 meters Centerline goodness : 0.990116 Centerline is valid? [True, True] Translation: X:261.12, Y:28.62, Z:-236.76 [[ 7.53638799e-01 -6.49572744e-01 1.00418183e-01 2.61119965e+02] [-1.01514386e-02 1.41255258e-01 9.89921159e-01 2.86196443e+01] [-6.57210399e-01 -7.47062382e-01 9.98613453e-02 -2.36759797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.24864 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:261.40, Y:30.12, Z:-236.66 [[ 6.68151755e-01 7.39420343e-01 -8.26485907e-02 2.61402081e+02] [ 4.34607012e-02 -1.49680581e-01 -9.87778766e-01 3.01169220e+01] [-7.42754603e-01 6.56394150e-01 -1.32145070e-01 -2.36659022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27864 meters Centerline goodness : 0.989507 Centerline is valid? [True, True] Translation: X:261.54, Y:30.11, Z:-236.75 [[ 6.16176568e-01 7.83978917e-01 -7.55214867e-02 2.61541403e+02] [ 5.25386714e-02 -1.36587231e-01 -9.89233853e-01 3.01146290e+01] [-7.85853756e-01 6.05574922e-01 -1.25351062e-01 -2.36745881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.30864 meters Centerline goodness : 0.991041 Centerline is valid? [True, True] Translation: X:261.68, Y:30.11, Z:-236.84 [[ 5.60080858e-01 8.25892334e-01 -6.48944097e-02 2.61676944e+02] [ 6.01183116e-02 -1.18646139e-01 -9.91114969e-01 3.01147073e+01] [-8.26253727e-01 5.51203180e-01 -1.16102684e-01 -2.36842931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33864 meters Centerline goodness : 0.990016 Centerline is valid? [True, True] Translation: X:261.81, Y:30.12, Z:-236.95 [[ 5.02293546e-01 8.63132577e-01 -5.19937382e-02 2.61809139e+02] [ 6.64651769e-02 -9.84905923e-02 -9.92915900e-01 3.01159512e+01] [-8.62138953e-01 4.95279475e-01 -1.06839448e-01 -2.36947679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.36864 meters Centerline goodness : 0.991483 Centerline is valid? [True, True] Translation: X:261.74, Y:28.62, Z:-237.27 [[ 6.08409336e-01 -7.91611866e-01 5.64688751e-02 2.61740612e+02] [ 2.01331977e-02 8.65257765e-02 9.96046156e-01 2.86221625e+01] [-7.93367969e-01 -6.04866881e-01 6.85807684e-02 -2.37266216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39864 meters Centerline goodness : 0.991970 Centerline is valid? [True, True] Translation: X:262.00, Y:30.13, Z:-237.21 [[ 5.06888470e-01 8.60633142e-01 -4.87306282e-02 2.61997279e+02] [ 6.81980470e-02 -9.63924378e-02 -9.93004292e-01 3.01266284e+01] [-8.59309668e-01 5.00019092e-01 -1.07553715e-01 -2.37205504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42864 meters Centerline goodness : 0.990986 Centerline is valid? [True, True] Translation: X:261.92, Y:28.64, Z:-237.53 [[ 6.04247188e-01 -7.95082979e-01 5.22340243e-02 2.61915252e+02] [ 2.21517029e-02 8.22921690e-02 9.96362033e-01 2.86358580e+01] [-7.96488944e-01 -6.00891884e-01 6.73372536e-02 -2.37532076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45864 meters Centerline goodness : 0.992125 Centerline is valid? [True, True] Translation: X:261.96, Y:28.65, Z:-237.70 [[ 6.53707778e-01 -7.53937541e-01 6.51484792e-02 2.61955651e+02] [ 1.63644102e-02 1.00153767e-01 9.94837388e-01 2.86490153e+01] [-7.56570120e-01 -6.49266822e-01 7.78090400e-02 -2.37700440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48864 meters Centerline goodness : 0.991870 Centerline is valid? [True, True] Translation: X:262.01, Y:28.66, Z:-237.86 [[ 7.01982713e-01 -7.08278020e-01 7.45822797e-02 2.62011626e+02] [ 9.40693543e-03 1.13933805e-01 9.93443807e-01 2.86606276e+01] [-7.12131856e-01 -6.96678788e-01 8.66422873e-02 -2.37860512e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51864 meters Centerline goodness : 0.992709 Centerline is valid? [True, True] Translation: X:262.32, Y:30.16, Z:-237.73 [[ 6.27636967e-01 7.76014438e-01 -6.22368770e-02 2.62317945e+02] [ 5.40682399e-02 -1.23201605e-01 -9.90907660e-01 3.01563706e+01] [-7.76626334e-01 6.18565240e-01 -1.19283617e-01 -2.37728069e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54864 meters Centerline goodness : 0.992173 Centerline is valid? [True, True] Translation: X:262.21, Y:28.67, Z:-238.09 [[ 6.98934877e-01 -7.11386015e-01 7.36204808e-02 2.62212897e+02] [ 9.85664545e-03 1.12510761e-01 9.93601618e-01 2.86700704e+01] [-7.15117392e-01 -6.93737174e-01 8.56495749e-02 -2.38091820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57864 meters Centerline goodness : 0.992218 Centerline is valid? [True, True] Translation: X:262.52, Y:30.16, Z:-237.95 [[ 6.32782322e-01 7.71997663e-01 -6.00511572e-02 2.62523825e+02] [ 5.70779615e-02 -1.23845092e-01 -9.90658619e-01 3.01624661e+01] [-7.72223179e-01 6.23443664e-01 -1.22431038e-01 -2.37954114e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60864 meters Centerline goodness : 0.993147 Centerline is valid? [True, True] Translation: X:262.41, Y:28.68, Z:-238.32 [[ 6.93778144e-01 -7.16308677e-01 7.46576623e-02 2.62414753e+02] [ 1.01163238e-02 1.13346625e-01 9.93504002e-01 2.86813413e+01] [-7.20117731e-01 -6.88516102e-01 8.58838213e-02 -2.38323768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.63864 meters Centerline goodness : 0.993497 Centerline is valid? [True, True] Translation: X:262.73, Y:30.17, Z:-238.18 [[ 6.36688403e-01 7.68900229e-01 -5.84834630e-02 2.62726362e+02] [ 5.68970961e-02 -1.22478068e-01 -9.90838959e-01 3.01742503e+01] [-7.69019245e-01 6.27528135e-01 -1.21728556e-01 -2.38184074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66864 meters Centerline goodness : 0.993151 Centerline is valid? [True, True] Translation: X:262.86, Y:30.18, Z:-238.28 [[ 5.84124752e-01 8.09970190e-01 -5.24076918e-02 2.62858603e+02] [ 6.28291206e-02 -1.09495946e-01 -9.91999566e-01 3.01779230e+01] [-8.09228507e-01 5.76158771e-01 -1.14849007e-01 -2.38281244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.69864 meters Centerline goodness : 0.994278 Centerline is valid? [True, True] Translation: X:262.98, Y:30.18, Z:-238.39 [[ 5.27856967e-01 8.48408979e-01 -3.96134738e-02 2.62982656e+02] [ 6.82261554e-02 -8.88460626e-02 -9.93705977e-01 3.01822292e+01] [-8.46588574e-01 5.21831948e-01 -1.04781696e-01 -2.38389384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72864 meters Centerline goodness : 0.994220 Centerline is valid? [True, True] Translation: X:262.89, Y:28.69, Z:-238.73 [[ 5.87408846e-01 -8.08075588e-01 4.43248402e-02 2.62887376e+02] [ 3.02630370e-02 7.66646139e-02 9.96597554e-01 2.86885259e+01] [-8.08724302e-01 -5.84068815e-01 6.94882938e-02 -2.38731313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.75864 meters Centerline goodness : 0.994959 Centerline is valid? [True, True] Translation: X:262.93, Y:28.70, Z:-238.90 [[ 6.40884087e-01 -7.65425218e-01 5.82393551e-02 2.62930288e+02] [ 2.35377656e-02 9.54271473e-02 9.95158095e-01 2.87027583e+01] [-7.67276717e-01 -6.36410162e-01 7.91741395e-02 -2.38896616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78864 meters Centerline goodness : 0.994323 Centerline is valid? [True, True] Translation: X:263.22, Y:30.20, Z:-238.78 [[ 5.83673012e-01 8.10530238e-01 -4.86471844e-02 2.63222124e+02] [ 6.39618014e-02 -1.05619361e-01 -9.92347438e-01 3.02038224e+01] [-8.09465690e-01 5.76094857e-01 -1.13490145e-01 -2.38783099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.81864 meters Centerline goodness : 0.994172 Centerline is valid? [True, True] Translation: X:263.12, Y:28.72, Z:-239.14 [[ 6.42252402e-01 -7.64645592e-01 5.31880738e-02 2.63123066e+02] [ 2.46680164e-02 8.99752583e-02 9.95638459e-01 2.87159862e+01] [-7.66096170e-01 -6.38139148e-01 7.66491158e-02 -2.39143206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84864 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:263.17, Y:28.73, Z:-239.31 [[ 6.94450251e-01 -7.16479058e-01 6.63069264e-02 2.63173250e+02] [ 1.64483114e-02 1.07934865e-01 9.94021890e-01 2.87292543e+01] [-7.19352697e-01 -6.89208114e-01 8.67402646e-02 -2.39309569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.87864 meters Centerline goodness : 0.994160 Centerline is valid? [True, True] Translation: X:263.49, Y:30.23, Z:-239.16 [[ 6.33609704e-01 7.71796462e-01 -5.35627221e-02 2.63490583e+02] [ 6.08035135e-02 -1.18697028e-01 -9.91067076e-01 3.02251378e+01] [-7.71259798e-01 6.24692914e-01 -1.22135525e-01 -2.39156297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90864 meters Centerline goodness : 0.994720 Centerline is valid? [True, True] Translation: X:263.37, Y:28.74, Z:-239.55 [[ 6.96716378e-01 -7.14241949e-01 6.66687912e-02 2.63372881e+02] [ 1.91596277e-02 1.11432949e-01 9.93587242e-01 2.87408286e+01] [-7.17090788e-01 -6.90971155e-01 9.13217705e-02 -2.39546245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.93864 meters Centerline goodness : 0.993340 Centerline is valid? [True, True] Translation: X:263.44, Y:28.76, Z:-239.71 [[ 7.43837178e-01 -6.63374662e-01 8.14880967e-02 2.63436549e+02] [ 7.78820257e-03 1.30517066e-01 9.91415473e-01 2.87569535e+01] [-6.68315491e-01 -7.36817042e-01 1.02249942e-01 -2.39706462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96864 meters Centerline goodness : 0.992708 Centerline is valid? [True, True] Translation: X:263.79, Y:30.24, Z:-239.50 [[ 6.83893888e-01 7.26685712e-01 -6.49386368e-02 2.63788045e+02] [ 5.60940695e-02 -1.41117262e-01 -9.88402435e-01 3.02387582e+01] [-7.27421890e-01 6.72319712e-01 -1.37271992e-01 -2.39499729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.99864 meters Centerline goodness : 0.993299 Centerline is valid? [True, True] Translation: X:263.65, Y:28.77, Z:-239.93 [[ 7.42684575e-01 -6.64591958e-01 8.20801524e-02 2.63651343e+02] [ 4.98632514e-03 1.28058417e-01 9.91754092e-01 2.87671875e+01] [-6.69622848e-01 -7.36151188e-01 9.84208822e-02 -2.39926265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02864 meters Centerline goodness : 0.992224 Centerline is valid? [True, True] Translation: X:264.01, Y:30.25, Z:-239.71 [[ 6.86280257e-01 7.24963577e-01 -5.87130363e-02 2.64008998e+02] [ 5.94635245e-02 -1.36376851e-01 -9.88870792e-01 3.02480923e+01] [-7.24902406e-01 6.75151218e-01 -1.36701630e-01 -2.39712721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.05864 meters Centerline goodness : 0.992414 Centerline is valid? [True, True] Translation: X:263.87, Y:28.78, Z:-240.15 [[ 7.40318929e-01 -6.67206475e-01 8.22399167e-02 2.63868319e+02] [ 5.56331056e-03 1.28410625e-01 9.91705481e-01 2.87769870e+01] [-6.72232797e-01 -7.33720813e-01 9.87766930e-02 -2.40145560e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08864 meters Centerline goodness : 0.991777 Centerline is valid? [True, True] Translation: X:264.23, Y:30.26, Z:-239.93 [[ 6.88453266e-01 7.22839190e-01 -5.94609653e-02 2.64229542e+02] [ 5.92584949e-02 -1.37769466e-01 -9.88690045e-01 3.02577117e+01] [-7.22855817e-01 6.77143323e-01 -1.37682201e-01 -2.39925568e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.11864 meters Centerline goodness : 0.991389 Centerline is valid? [True, True] Translation: X:264.29, Y:30.28, Z:-240.09 [[ 6.39075539e-01 7.68217919e-01 3.77317546e-02 2.64285585e+02] [ 2.17867171e-02 3.09565192e-02 -9.99283260e-01 3.02836549e+01] [-7.68835350e-01 6.39439539e-01 3.04660766e-03 -2.40091855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14864 meters Centerline goodness : 0.992114 Centerline is valid? [True, True] Translation: X:264.96, Y:29.54, Z:-239.78 [[ 6.40173144e-01 2.08059556e-01 -7.39519822e-01 2.64958914e+02] [ 1.09181174e-01 -9.77496574e-01 -1.80499081e-01 2.95402400e+01] [-7.60432651e-01 3.48090221e-02 -6.48483242e-01 -2.39779523e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17864 meters Centerline goodness : 0.991875 Centerline is valid? [True, True] Translation: X:264.54, Y:30.25, Z:-240.24 [[ 5.72313551e-01 8.17718387e-01 6.15941455e-02 2.64536484e+02] [ 1.25873527e-01 -1.33792254e-02 -9.91956073e-01 3.02486749e+01] [-8.10316638e-01 5.75462975e-01 -1.10586210e-01 -2.40237636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20864 meters Centerline goodness : 0.992852 Centerline is valid? [True, True] Translation: X:264.55, Y:28.75, Z:-240.63 [[ 6.25367262e-01 -7.78455463e-01 -5.40636631e-02 2.64551162e+02] [ 8.91389846e-02 2.43599995e-03 9.96016218e-01 2.87543315e+01] [-7.75222568e-01 -6.27695115e-01 7.09141242e-02 -2.40628834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23864 meters Centerline goodness : 0.994615 Centerline is valid? [True, True] Translation: X:264.61, Y:28.77, Z:-240.79 [[ 6.73943365e-01 -7.37672017e-01 -4.05010592e-02 2.64606286e+02] [ 8.67785177e-02 2.46014979e-02 9.95923820e-01 2.87738178e+01] [-7.33668746e-01 -6.74710873e-01 8.05941005e-02 -2.40794318e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26864 meters Centerline goodness : 0.993624 Centerline is valid? [True, True] Translation: X:264.67, Y:28.79, Z:-240.95 [[ 7.21112737e-01 -6.92116339e-01 -3.11671926e-02 2.64673978e+02] [ 8.45877541e-02 4.33036415e-02 9.95474614e-01 2.87944418e+01] [-6.87634592e-01 -7.20485786e-01 8.97713742e-02 -2.40954319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29864 meters Centerline goodness : 0.992804 Centerline is valid? [True, True] Translation: X:264.75, Y:28.82, Z:-241.11 [[ 7.63501917e-01 -6.45444348e-01 -2.15966932e-02 2.64752843e+02] [ 8.01341519e-02 6.15023660e-02 9.94884906e-01 2.88154885e+01] [-6.40814592e-01 -7.61327166e-01 9.86793097e-02 -2.41106865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32864 meters Centerline goodness : 0.992459 Centerline is valid? [True, True] Translation: X:264.95, Y:30.33, Z:-240.89 [[ 7.35714142e-01 6.75751067e-01 4.56639526e-02 2.64947768e+02] [ 1.23371081e-01 -6.74145079e-02 -9.90068109e-01 3.03292207e+01] [-6.65961168e-01 7.34040721e-01 -1.32965946e-01 -2.40887326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35864 meters Centerline goodness : 0.994320 Centerline is valid? [True, True] Translation: X:265.10, Y:30.34, Z:-240.97 [[ 6.92186612e-01 7.19962297e-01 5.03188355e-02 2.65097640e+02] [ 1.26742660e-01 -5.26233307e-02 -9.90538784e-01 3.03445885e+01] [-7.10502634e-01 6.92015228e-01 -1.27675101e-01 -2.40967961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.38864 meters Centerline goodness : 0.994277 Centerline is valid? [True, True] Translation: X:265.14, Y:28.86, Z:-241.38 [[ 7.10916195e-01 -7.02639244e-01 -2.99375519e-02 2.65140273e+02] [ 8.47856920e-02 4.33708202e-02 9.95454850e-01 2.88586496e+01] [-6.98147227e-01 -7.10223250e-01 9.04067730e-02 -2.41378278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41864 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:265.32, Y:30.38, Z:-241.20 [[ 6.94434209e-01 7.17667086e-01 5.21064628e-02 2.65318259e+02] [ 1.27327121e-01 -5.12871371e-02 -9.90533913e-01 3.03779561e+01] [-7.08201196e-01 6.94495201e-01 -1.26994027e-01 -2.41198052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.44864 meters Centerline goodness : 0.994863 Centerline is valid? [True, True] Translation: X:265.37, Y:28.89, Z:-241.60 [[ 7.09744495e-01 -7.03702473e-01 -3.26432548e-02 2.65371564e+02] [ 8.77934517e-02 4.23803425e-02 9.95236764e-01 2.88927554e+01] [-6.98967139e-01 -7.09229678e-01 9.18596838e-02 -2.41600570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47864 meters Centerline goodness : 0.995593 Centerline is valid? [True, True] Translation: X:265.54, Y:30.41, Z:-241.43 [[ 6.94588683e-01 7.17524973e-01 5.20045506e-02 2.65537843e+02] [ 1.25621581e-01 -4.97930689e-02 -9.90827870e-01 3.04134285e+01] [-7.08354275e-01 6.94750720e-01 -1.24722324e-01 -2.41429080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.50864 meters Centerline goodness : 0.995493 Centerline is valid? [True, True] Translation: X:265.60, Y:28.92, Z:-241.82 [[ 7.10562465e-01 -7.02705694e-01 -3.61343456e-02 2.65602893e+02] [ 8.92553632e-02 3.90762373e-02 9.95241944e-01 2.89246723e+01] [-6.97950187e-01 -7.10406753e-01 9.04863595e-02 -2.41821451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53864 meters Centerline goodness : 0.996082 Centerline is valid? [True, True] Translation: X:265.76, Y:30.45, Z:-241.66 [[ 6.93971622e-01 7.17989923e-01 5.37945974e-02 2.65756365e+02] [ 1.26885451e-01 -4.84111190e-02 -9.90735306e-01 3.04480766e+01] [-7.08733709e-01 6.94367938e-01 -1.24698418e-01 -2.41660256e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.56864 meters Centerline goodness : 0.995692 Centerline is valid? [True, True] Translation: X:265.83, Y:28.96, Z:-242.04 [[ 7.10837166e-01 -7.02446724e-01 -3.57648238e-02 2.65831776e+02] [ 8.84476906e-02 3.88276083e-02 9.95323778e-01 2.89588186e+01] [-6.97773265e-01 -7.10676450e-01 8.97298976e-02 -2.42043031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59864 meters Centerline goodness : 0.994224 Centerline is valid? [True, True] Translation: X:265.98, Y:30.48, Z:-241.89 [[ 6.94216015e-01 7.17563441e-01 5.62746202e-02 2.65975125e+02] [ 1.30319754e-01 -4.84165053e-02 -9.90289152e-01 3.04806966e+01] [-7.07870671e-01 6.94808283e-01 -1.27124204e-01 -2.41891027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.62864 meters Centerline goodness : 0.995599 Centerline is valid? [True, True] Translation: X:266.12, Y:30.50, Z:-241.98 [[ 6.46074558e-01 7.60635454e-01 6.34142807e-02 2.66116107e+02] [ 1.32355823e-01 -2.98221790e-02 -9.90753538e-01 3.04985404e+01] [-7.51711116e-01 6.48493904e-01 -1.19941883e-01 -2.41983937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65864 meters Centerline goodness : 0.995391 Centerline is valid? [True, True] Translation: X:266.25, Y:30.52, Z:-242.09 [[ 5.93116329e-01 8.01697400e-01 7.41235417e-02 2.66251159e+02] [ 1.34176718e-01 -7.64791843e-03 -9.90927907e-01 3.05177025e+01] [-7.93857436e-01 5.97681177e-01 -1.12105231e-01 -2.42087764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.68864 meters Centerline goodness : 0.995929 Centerline is valid? [True, True] Translation: X:266.35, Y:29.02, Z:-242.43 [[ 6.05554577e-01 -7.93520038e-01 -6.02461898e-02 2.66353168e+02] [ 9.42017916e-02 -3.69687316e-03 9.95546260e-01 2.90244142e+01] [-7.90208629e-01 -6.08532893e-01 7.25123508e-02 -2.42431644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71864 meters Centerline goodness : 0.997245 Centerline is valid? [True, True] Translation: X:266.42, Y:29.05, Z:-242.58 [[ 6.58700803e-01 -7.47587712e-01 -8.50050877e-02 2.66424778e+02] [ 1.16831009e-01 -9.98145483e-03 9.93101649e-01 2.90454453e+01] [-7.43279064e-01 -6.64088084e-01 8.07666348e-02 -2.42576033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.74864 meters Centerline goodness : 0.995883 Centerline is valid? [True, True] Translation: X:265.88, Y:29.71, Z:-243.07 [[ 6.61378447e-01 -2.03282297e-01 7.21979818e-01 2.65879442e+02] [ 1.23548574e-01 9.78950144e-01 1.62457270e-01 2.97120607e+01] [-7.39806934e-01 -1.82461601e-02 6.72571764e-01 -2.43069387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77864 meters Centerline goodness : 0.995447 Centerline is valid? [True, True] Translation: X:265.91, Y:29.75, Z:-243.10 [[ 6.61036011e-01 -1.61753537e-01 7.32712212e-01 2.65908065e+02] [ 1.19990966e-01 9.86709653e-01 1.09572934e-01 2.97532118e+01] [-7.40698022e-01 1.54871902e-02 6.71659577e-01 -2.43101219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.80864 meters Centerline goodness : 0.995643 Centerline is valid? [True, True] Translation: X:266.50, Y:29.09, Z:-242.86 [[ 7.11011866e-01 -7.02346174e-01 3.42341653e-02 2.66503486e+02] [ 7.36009077e-02 1.22749773e-01 9.89704703e-01 2.90936701e+01] [-6.99317548e-01 -7.01172122e-01 1.38969861e-01 -2.42859258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83864 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:266.58, Y:29.12, Z:-242.99 [[ 7.58134232e-01 -6.51875345e-01 1.70593300e-02 2.66584959e+02] [ 8.58000545e-02 1.25650821e-01 9.88357335e-01 2.91186274e+01] [-6.46429298e-01 -7.47843838e-01 1.51191129e-01 -2.42994515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.86864 meters Centerline goodness : 0.995587 Centerline is valid? [True, True] Translation: X:266.18, Y:29.80, Z:-243.51 [[ 7.56404543e-01 -1.36184988e-01 6.39770128e-01 2.66182349e+02] [ 8.69515509e-02 9.90340423e-01 1.08005903e-01 2.97968908e+01] [-6.48299001e-01 -2.60671512e-02 7.60939491e-01 -2.43505500e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89864 meters Centerline goodness : 0.995403 Centerline is valid? [True, True] Translation: X:266.75, Y:29.14, Z:-243.13 [[ 8.01726125e-01 -5.97497660e-01 1.52238884e-02 2.66745835e+02] [ 4.21906822e-02 8.19826004e-02 9.95740327e-01 2.91367537e+01] [-5.96200609e-01 -7.97668728e-01 9.09364264e-02 -2.43133823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92864 meters Centerline goodness : 0.994613 Centerline is valid? [True, True] Translation: X:266.84, Y:29.15, Z:-243.26 [[ 8.41204692e-01 -5.40441192e-01 1.72622064e-02 2.66841557e+02] [ 3.83683856e-02 9.15042899e-02 9.95065240e-01 2.91501988e+01] [-5.39353811e-01 -8.36391226e-01 9.77096940e-02 -2.43262812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95864 meters Centerline goodness : 0.995283 Centerline is valid? [True, True] Translation: X:266.99, Y:30.66, Z:-243.15 [[ 8.24609179e-01 5.65580064e-01 1.17852695e-02 2.66988669e+02] [ 7.95321210e-02 -9.52805303e-02 -9.92268241e-01 3.06630848e+01] [-5.60084229e-01 8.19170807e-01 -1.23550982e-01 -2.43145833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98864 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:266.59, Y:29.86, Z:-243.86 [[ 8.02464547e-01 -8.92000149e-02 5.89994923e-01 2.66587962e+02] [ 7.73580853e-02 9.95970880e-01 4.53622488e-02 2.98617093e+01] [-5.91664075e-01 9.23928113e-03 8.06131663e-01 -2.43862609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01864 meters Centerline goodness : 0.994368 Centerline is valid? [True, True] Translation: X:267.16, Y:29.16, Z:-243.40 [[ 8.44345311e-01 -5.35290428e-01 -2.33485298e-02 2.67157228e+02] [ 4.22827742e-02 2.31273778e-02 9.98837971e-01 2.91629868e+01] [-5.34128415e-01 -8.44351397e-01 4.21610573e-02 -2.43397494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04864 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:267.26, Y:29.18, Z:-243.50 [[ 8.79032354e-01 -4.73389644e-01 -5.66071181e-02 2.67255819e+02] [ 7.05184323e-02 1.16725330e-02 9.97442180e-01 2.91812828e+01] [-4.71518051e-01 -8.80775792e-01 4.36432297e-02 -2.43497434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07864 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:266.94, Y:29.73, Z:-244.17 [[ 8.95010040e-01 -1.63830322e-01 4.14869442e-01 2.66941612e+02] [ 5.98785658e-02 9.65815765e-01 2.52219083e-01 2.97286242e+01] [-4.42008581e-01 -2.00896824e-01 8.74224731e-01 -2.44166401e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10864 meters Centerline goodness : 0.994857 Centerline is valid? [True, True] Translation: X:267.07, Y:30.34, Z:-244.15 [[ 8.60314471e-01 2.43692252e-01 4.47742223e-01 2.67067511e+02] [ 1.19474307e-02 8.68452568e-01 -4.95628284e-01 3.03367853e+01] [-5.09623656e-01 4.31745554e-01 7.44230815e-01 -2.44145236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.13864 meters Centerline goodness : 0.993683 Centerline is valid? [True, True] Translation: X:267.05, Y:29.96, Z:-244.24 [[ 8.56146639e-01 7.78118906e-04 5.16732356e-01 2.67052771e+02] [ 2.28920088e-03 9.99983342e-01 -5.29867649e-03 2.99583151e+01] [-5.16727871e-01 5.71934823e-03 8.56130596e-01 -2.44238260e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16864 meters Centerline goodness : 0.993732 Centerline is valid? [True, True] Translation: X:267.09, Y:29.96, Z:-244.26 [[ 8.56992839e-01 1.94702076e-03 5.15324638e-01 2.67086670e+02] [ 1.22277366e-03 9.99982365e-01 -5.81166604e-03 2.99572775e+01] [-5.15326866e-01 5.61068157e-03 8.56975345e-01 -2.44258090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.19864 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:267.12, Y:29.96, Z:-244.28 [[ 8.57608127e-01 3.41671498e-03 5.14292354e-01 2.67121207e+02] [-1.25233079e-06 9.99977946e-01 -6.64129185e-03 2.99563853e+01] [-5.14303704e-01 5.69498181e-03 8.57589218e-01 -2.44278119e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22864 meters Centerline goodness : 0.994070 Centerline is valid? [True, True] Translation: X:267.58, Y:29.22, Z:-243.74 [[ 8.92280361e-01 -4.47359414e-01 6.08712836e-02 2.67582252e+02] [-3.51296133e-02 6.56227581e-02 9.97225934e-01 2.92234973e+01] [-4.50112951e-01 -8.91943501e-01 4.28383350e-02 -2.43744849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.25864 meters Centerline goodness : 0.992956 Centerline is valid? [True, True] Translation: X:267.75, Y:30.73, Z:-243.75 [[ 8.71149415e-01 4.87826223e-01 -5.58951984e-02 2.67749628e+02] [-3.71768955e-02 -4.79791964e-02 -9.98156238e-01 3.07345125e+01] [-4.89608594e-01 8.71621233e-01 -2.36611844e-02 -2.43754147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28864 meters Centerline goodness : 0.994218 Centerline is valid? [True, True] Translation: X:267.38, Y:29.93, Z:-244.42 [[ 8.79225931e-01 -1.18062687e-02 4.76258727e-01 2.67379382e+02] [ 5.19136713e-03 9.99870957e-01 1.52025782e-02 2.99259229e+01] [-4.76376755e-01 -1.08940671e-02 8.79173764e-01 -2.44417345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.31864 meters Centerline goodness : 0.994670 Centerline is valid? [True, True] Translation: X:267.94, Y:30.72, Z:-243.73 [[ 8.34126455e-01 5.48483503e-01 -5.83001248e-02 2.67937949e+02] [ 2.51938922e-02 -1.43474050e-01 -9.89333344e-01 3.07228071e+01] [-5.50997573e-01 8.23760307e-01 -1.33493935e-01 -2.43729717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34864 meters Centerline goodness : 0.996035 Centerline is valid? [True, True] Translation: X:267.51, Y:29.92, Z:-244.44 [[ 8.15883314e-01 -1.34556785e-02 5.78059999e-01 2.67505632e+02] [ 1.34814850e-02 9.99900101e-01 4.24699111e-03 2.99246682e+01] [-5.78059398e-01 4.32805800e-03 8.15983211e-01 -2.44439635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.37864 meters Centerline goodness : 0.993381 Centerline is valid? [True, True] Translation: X:267.54, Y:29.92, Z:-244.46 [[ 8.16269278e-01 -7.93654881e-03 5.77617068e-01 2.67540091e+02] [ 7.09880358e-03 9.99967929e-01 3.70792194e-03 2.99249821e+01] [-5.77627971e-01 1.07372734e-03 8.16299439e-01 -2.44462608e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40864 meters Centerline goodness : 0.995009 Centerline is valid? [True, True] Translation: X:267.58, Y:29.88, Z:-244.48 [[ 8.40851493e-01 -4.10566314e-02 5.39706513e-01 2.67576790e+02] [ 3.70800834e-03 9.97532555e-01 7.01074402e-02 2.98752775e+01] [-5.41253192e-01 -5.69487095e-02 8.38928976e-01 -2.44480946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.43864 meters Centerline goodness : 0.993541 Centerline is valid? [True, True] Translation: X:268.14, Y:30.72, Z:-243.90 [[ 7.82905033e-01 6.22096779e-01 -7.43690031e-03 2.68135384e+02] [ 2.60316553e-02 -4.46992480e-02 -9.98661269e-01 3.07247153e+01] [-6.21596382e-01 7.81663339e-01 -5.11894751e-02 -2.43903408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46864 meters Centerline goodness : 0.993200 Centerline is valid? [True, True] Translation: X:267.70, Y:29.92, Z:-244.52 [[ 7.71834026e-01 -2.70619439e-03 6.35818302e-01 2.67704059e+02] [ 3.95907930e-05 9.99991145e-01 4.20814075e-03 2.99214452e+01] [-6.35824059e-01 -3.22281367e-03 7.71827299e-01 -2.44516381e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.49864 meters Centerline goodness : 0.992704 Centerline is valid? [True, True] Translation: X:267.74, Y:29.92, Z:-244.54 [[ 7.71227436e-01 1.51593735e-03 6.36557888e-01 2.67738669e+02] [-4.80959416e-03 9.99982497e-01 3.44568844e-03 2.99215736e+01] [-6.36541523e-01 -5.71899456e-03 7.71221228e-01 -2.44542848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52864 meters Centerline goodness : 0.992757 Centerline is valid? [True, True] Translation: X:268.34, Y:30.72, Z:-244.02 [[ 7.35403045e-01 6.77615415e-01 -4.43972412e-03 2.68340562e+02] [ 2.66137495e-02 -3.54289397e-02 -9.99017767e-01 3.07243322e+01] [-6.77107134e-01 7.34562550e-01 -4.40884371e-02 -2.44016610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.55864 meters Centerline goodness : 0.992955 Centerline is valid? [True, True] Translation: X:267.88, Y:29.92, Z:-244.59 [[ 7.26214123e-01 1.85786914e-03 6.87466069e-01 2.67876590e+02] [-6.51587711e-03 9.99970032e-01 4.18072781e-03 2.99184950e+01] [-6.87437700e-01 -7.51554800e-03 7.26204465e-01 -2.44592641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58864 meters Centerline goodness : 0.993590 Centerline is valid? [True, True] Translation: X:267.98, Y:29.94, Z:-244.69 [[ 7.25804819e-01 3.18106154e-02 6.87164791e-01 2.67980741e+02] [-4.57447851e-02 9.98951008e-01 2.07306767e-03 2.99441905e+01] [-6.86378015e-01 -3.29388481e-02 7.26498626e-01 -2.44687457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.61864 meters Centerline goodness : 0.992388 Centerline is valid? [True, True] Translation: X:268.02, Y:29.97, Z:-244.72 [[ 7.26110014e-01 5.77205489e-02 6.85151505e-01 2.68015293e+02] [-4.89257523e-02 9.98281640e-01 -3.22496343e-02 2.99691226e+01] [-6.85835635e-01 -1.01047704e-02 7.27686317e-01 -2.44718914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64864 meters Centerline goodness : 0.991435 Centerline is valid? [True, True] Translation: X:268.77, Y:30.72, Z:-244.15 [[ 6.88506166e-01 7.06569905e-01 -1.63457115e-01 2.68770943e+02] [ 1.71738128e-03 -2.26974269e-01 -9.73899241e-01 3.07224971e+01] [-7.25228454e-01 6.70254914e-01 -1.57486634e-01 -2.44150993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67864 meters Centerline goodness : 0.992910 Centerline is valid? [True, True] Translation: X:268.16, Y:29.95, Z:-244.78 [[ 6.78449362e-01 4.17367609e-02 7.33460637e-01 2.68156600e+02] [-3.65808268e-02 9.99065674e-01 -2.30135412e-02 2.99454308e+01] [-7.33735856e-01 -1.12170742e-02 6.79342234e-01 -2.44783274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70864 meters Centerline goodness : 0.990638 Centerline is valid? [True, True] Translation: X:268.19, Y:29.95, Z:-244.82 [[ 6.78874300e-01 4.41729427e-02 7.32924578e-01 2.68189167e+02] [-3.75558888e-02 9.98971132e-01 -2.54211243e-02 2.99465071e+01] [-7.33293421e-01 -1.02678860e-02 6.79834781e-01 -2.44817052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73864 meters Centerline goodness : 0.992418 Centerline is valid? [True, True] Translation: X:268.96, Y:30.71, Z:-244.31 [[ 6.40696075e-01 7.52901006e-01 -1.50494565e-01 2.68961604e+02] [ 8.67342831e-03 -2.03093640e-01 -9.79120904e-01 3.07116313e+01] [-7.67745603e-01 6.26013617e-01 -1.36651531e-01 -2.44309967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76864 meters Centerline goodness : 0.991083 Centerline is valid? [True, True] Translation: X:268.84, Y:29.23, Z:-244.58 [[ 7.04440947e-01 -6.90032787e-01 1.66185756e-01 2.68836424e+02] [-1.03942064e-02 2.24088121e-01 9.74513455e-01 2.92298061e+01] [-7.09686489e-01 -6.88214550e-01 1.50684505e-01 -2.44580877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79864 meters Centerline goodness : 0.991747 Centerline is valid? [True, True] Translation: X:268.44, Y:29.93, Z:-245.08 [[ 6.77770796e-01 3.54601001e-02 7.34417681e-01 2.68437265e+02] [-5.14252139e-02 9.98676559e-01 -7.60687812e-04 2.99260549e+01] [-7.33472696e-01 -3.72520143e-02 6.78697349e-01 -2.45080756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82864 meters Centerline goodness : 0.990519 Centerline is valid? [True, True] Translation: X:268.96, Y:29.23, Z:-244.75 [[ 7.39690550e-01 -6.47217996e-01 1.84300723e-01 2.68961562e+02] [-7.58352882e-02 1.91956805e-01 9.78469005e-01 2.92320059e+01] [-6.68660526e-01 -7.37740775e-01 9.29066716e-02 -2.44747769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85864 meters Centerline goodness : 0.991142 Centerline is valid? [True, True] Translation: X:269.30, Y:30.71, Z:-244.72 [[ 6.88325101e-01 7.06743055e-01 -1.63471127e-01 2.69299698e+02] [-1.97227904e-02 -2.07035734e-01 -9.78134559e-01 3.07084791e+01] [-7.25134172e-01 6.76498676e-01 -1.28568948e-01 -2.44721527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.88864 meters Centerline goodness : 0.990798 Centerline is valid? [True, True] Translation: X:268.69, Y:29.95, Z:-245.33 [[ 6.75975289e-01 6.81516206e-02 7.33766152e-01 2.68686587e+02] [-5.31177705e-02 9.97630511e-01 -4.37248786e-02 2.99452988e+01] [-7.35007423e-01 -9.41908465e-03 6.77993635e-01 -2.45326150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91864 meters Centerline goodness : 0.990603 Centerline is valid? [True, True] Translation: X:269.43, Y:29.22, Z:-244.78 [[ 7.48565104e-01 -6.53992611e-01 -1.09288378e-01 2.69427723e+02] [-4.57389077e-02 -2.15362166e-01 9.75462501e-01 2.92192424e+01] [-6.61481850e-01 -7.25198457e-01 -1.91125509e-01 -2.44779824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.94864 meters Centerline goodness : 0.991110 Centerline is valid? [True, True] Translation: X:269.29, Y:30.66, Z:-245.20 [[ 6.84775624e-01 7.14374498e-01 1.44053537e-01 2.69293083e+02] [-6.71191037e-02 2.58655047e-01 -9.63635093e-01 3.06621864e+01] [-7.25656510e-01 6.50205078e-01 2.25068848e-01 -2.45198681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97864 meters Centerline goodness : 0.990651 Centerline is valid? [True, True] Translation: X:270.08, Y:30.10, Z:-244.61 [[ 6.90773619e-01 1.86643175e-01 -6.98567199e-01 2.70081287e+02] [ 5.09287137e-02 -9.76270788e-01 -2.10479489e-01 3.00970464e+01] [-7.21275310e-01 1.09816550e-01 -6.83887602e-01 -2.44611794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.00864 meters Centerline goodness : 0.990551 Centerline is valid? [True, True] Translation: X:269.07, Y:29.81, Z:-245.69 [[ 6.92432867e-01 -6.37087968e-02 7.18663978e-01 2.69066511e+02] [ 6.54449766e-03 9.96607339e-01 8.20425553e-02 2.98075179e+01] [-7.21452628e-01 -5.21056671e-02 6.90500619e-01 -2.45686936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03864 meters Centerline goodness : 0.991291 Centerline is valid? [True, True] Translation: X:269.62, Y:30.65, Z:-245.35 [[ 6.18728177e-01 7.74066689e-01 1.34149931e-01 2.69616632e+02] [-1.64294530e-03 1.72034570e-01 -9.85089543e-01 3.06498714e+01] [-7.85603427e-01 6.09282256e-01 1.07714385e-01 -2.45352252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.06864 meters Centerline goodness : 0.991239 Centerline is valid? [True, True] Translation: X:270.43, Y:29.98, Z:-244.91 [[ 6.33500683e-01 1.37281707e-01 -7.61466097e-01 2.70432207e+02] [ 9.74012150e-02 -9.90454666e-01 -9.75323411e-02 2.99771392e+01] [-7.67587055e-01 -1.23809183e-02 -6.40825113e-01 -2.44907099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09864 meters Centerline goodness : 0.991490 Centerline is valid? [True, True] Translation: X:269.36, Y:29.79, Z:-245.96 [[ 6.08026963e-01 -1.09102368e-01 7.86384057e-01 2.69361805e+02] [ 3.81191947e-02 9.93381963e-01 1.08347601e-01 2.97902717e+01] [-7.93000718e-01 -3.59019358e-02 6.08161913e-01 -2.45961648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.12864 meters Centerline goodness : 0.990455 Centerline is valid? [True, True] Translation: X:269.39, Y:29.80, Z:-246.00 [[ 6.35829411e-01 -1.02725990e-01 7.64962960e-01 2.69390417e+02] [ 4.13068180e-02 9.94212008e-01 9.91777735e-02 2.97992378e+01] [-7.70723495e-01 -3.14619596e-02 6.36392519e-01 -2.45998638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15864 meters Centerline goodness : 0.991198 Centerline is valid? [True, True] Translation: X:269.96, Y:30.66, Z:-245.68 [[ 5.69987795e-01 8.10068952e-01 1.37485292e-01 2.69962044e+02] [ 2.24221009e-02 1.51930228e-01 -9.88136861e-01 3.06587467e+01] [-8.21347163e-01 5.66308660e-01 6.84349279e-02 -2.45681496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.18864 meters Centerline goodness : 0.990562 Centerline is valid? [True, True] Translation: X:270.77, Y:30.15, Z:-245.33 [[ 5.38982901e-01 3.05450806e-01 -7.84982317e-01 2.70771917e+02] [ 9.70701471e-02 -9.48247759e-01 -3.02330241e-01 3.01468921e+01] [-8.36704738e-01 8.67524812e-02 -5.40739483e-01 -2.45327800e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21864 meters Centerline goodness : 0.990327 Centerline is valid? [True, True] Translation: X:270.57, Y:29.21, Z:-245.76 [[ 5.91658416e-01 -7.03069396e-01 -3.94504428e-01 2.70569637e+02] [ 1.43119679e-01 -3.89972337e-01 9.09636374e-01 2.92132909e+01] [-7.93383310e-01 -5.94655364e-01 -1.30107349e-01 -2.45761049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.24864 meters Centerline goodness : 0.990271 Centerline is valid? [True, True] Translation: X:269.73, Y:29.68, Z:-246.40 [[ 5.87195920e-01 -2.52465814e-01 7.69065644e-01 2.69726530e+02] [ 1.27267862e-01 9.67093490e-01 2.20302230e-01 2.96847316e+01] [-7.99377160e-01 -3.14832304e-02 6.00004136e-01 -2.46400294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27864 meters Centerline goodness : 0.989985 Centerline is valid? [True, True] Translation: X:270.07, Y:30.59, Z:-246.19 [[ 5.50466779e-01 7.24530362e-01 4.14779555e-01 2.70074485e+02] [ 1.15968201e-01 4.25651057e-01 -8.97425515e-01 3.05874485e+01] [-8.26763389e-01 5.42104171e-01 1.50284284e-01 -2.46185085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.30864 meters Centerline goodness : 0.990711 Centerline is valid? [True, True] Translation: X:270.50, Y:29.20, Z:-246.24 [[ 6.09708320e-01 -7.92543169e-01 1.14494795e-02 2.70500800e+02] [ 7.04873987e-02 6.86028403e-02 9.95150831e-01 2.92032589e+01] [-7.89485460e-01 -6.05944697e-01 9.76920288e-02 -2.46244661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33864 meters Centerline goodness : 0.990944 Centerline is valid? [True, True] Translation: X:270.56, Y:30.71, Z:-246.22 [[ 5.53177402e-01 8.33057608e-01 -3.12798792e-03 2.70562473e+02] [ 1.19736835e-01 -8.32238547e-02 -9.89311316e-01 3.07084770e+01] [-8.24413642e-01 5.46890128e-01 -1.45785237e-01 -2.46215776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.36864 meters Centerline goodness : 0.991156 Centerline is valid? [True, True] Translation: X:270.67, Y:30.72, Z:-246.32 [[ 4.90357610e-01 8.71389722e-01 1.51448557e-02 2.70673698e+02] [ 1.22911664e-01 -5.19414530e-02 -9.91057419e-01 3.07208814e+01] [-8.62810603e-01 4.87834027e-01 -1.32573848e-01 -2.46324503e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39864 meters Centerline goodness : 0.990993 Centerline is valid? [True, True] Translation: X:270.78, Y:30.74, Z:-246.44 [[ 4.27349547e-01 9.03240046e-01 3.91124629e-02 2.70776379e+02] [ 1.24336221e-01 -1.58662513e-02 -9.92113283e-01 3.07350045e+01] [-8.95495879e-01 4.28842258e-01 -1.19085889e-01 -2.46444237e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42864 meters Centerline goodness : 0.991692 Centerline is valid? [True, True] Translation: X:270.87, Y:30.75, Z:-246.57 [[ 3.62491740e-01 9.29692208e-01 6.53615830e-02 2.70868219e+02] [ 1.22164731e-01 2.21279507e-02 -9.92263137e-01 3.07493216e+01] [-9.23945624e-01 3.67672071e-01 -1.05554399e-01 -2.46571388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45864 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:270.95, Y:30.77, Z:-246.71 [[ 2.95584792e-01 9.50968220e-01 9.10443588e-02 2.70953281e+02] [ 1.17454907e-01 5.84034167e-02 -9.91359363e-01 3.07671666e+01] [-9.48068550e-01 3.03724358e-01 -9.44327219e-02 -2.46706348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48864 meters Centerline goodness : 0.991929 Centerline is valid? [True, True] Translation: X:271.21, Y:29.30, Z:-246.94 [[ 3.94413867e-01 -9.10460874e-01 -1.24493767e-01 2.71209188e+02] [ 8.53159023e-02 -9.86105857e-02 9.91462127e-01 2.92951180e+01] [-9.14963878e-01 -4.01667709e-01 3.87834085e-02 -2.46943748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51864 meters Centerline goodness : 0.993104 Centerline is valid? [True, True] Translation: X:271.12, Y:29.30, Z:-247.15 [[ 4.52650516e-01 -8.91561721e-01 1.50068989e-02 2.71118921e+02] [ 7.88090792e-02 5.67643494e-02 9.95272293e-01 2.93048717e+01] [-8.88198536e-01 -4.49327838e-01 9.59575704e-02 -2.47151880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54864 meters Centerline goodness : 0.992371 Centerline is valid? [True, True] Translation: X:271.14, Y:30.81, Z:-247.14 [[ 3.61362796e-01 9.32364501e-01 1.06473977e-02 2.71137709e+02] [ 9.68178067e-02 -2.61621259e-02 -9.94958218e-01 3.08126284e+01] [-9.27385164e-01 3.60571741e-01 -9.97235050e-02 -2.47142943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57864 meters Centerline goodness : 0.992369 Centerline is valid? [True, True] Translation: X:271.94, Y:29.95, Z:-247.09 [[ 4.05322707e-01 -9.02349641e-02 -9.09709379e-01 2.71941501e+02] [ 1.88706628e-01 -9.65425985e-01 1.79840138e-01 2.99490078e+01] [-8.94484942e-01 -2.44561481e-01 -3.74281138e-01 -2.47085865e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60864 meters Centerline goodness : 0.992223 Centerline is valid? [True, True] Translation: X:271.41, Y:29.33, Z:-247.60 [[ 4.56675469e-01 -8.77269923e-01 -1.47800533e-01 2.71412209e+02] [ 1.93675614e-01 -6.41138499e-02 9.78968422e-01 2.93291656e+01] [-8.68295613e-01 -4.75696222e-01 1.40626568e-01 -2.47602653e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.63864 meters Centerline goodness : 0.993343 Centerline is valid? [True, True] Translation: X:270.71, Y:29.76, Z:-247.94 [[ 4.35438857e-01 -3.97172361e-01 8.07865779e-01 2.70708895e+02] [ 1.52417137e-01 9.16981726e-01 3.68664524e-01 2.97582336e+01] [-8.87221516e-01 -3.73982694e-02 4.59825349e-01 -2.47939720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66864 meters Centerline goodness : 0.993050 Centerline is valid? [True, True] Translation: X:270.75, Y:29.84, Z:-248.07 [[ 4.47328398e-01 -3.37209284e-01 8.28364173e-01 2.70749589e+02] [ 1.16390522e-01 9.40271116e-01 3.19911668e-01 2.98434898e+01] [-8.86764090e-01 -4.66918356e-02 4.59857937e-01 -2.48070880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.69864 meters Centerline goodness : 0.994378 Centerline is valid? [True, True] Translation: X:270.75, Y:29.90, Z:-248.12 [[ 4.47805831e-01 -2.76785308e-01 8.50211639e-01 2.70752041e+02] [ 1.14276447e-01 9.60799310e-01 2.52597663e-01 2.99022844e+01] [-8.86798078e-01 -1.59555415e-02 4.61881575e-01 -2.48118697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72864 meters Centerline goodness : 0.994820 Centerline is valid? [True, True] Translation: X:270.80, Y:29.93, Z:-248.22 [[ 4.52262602e-01 -2.63697404e-01 8.52010691e-01 2.70800487e+02] [ 9.86192812e-02 9.64219994e-01 2.46077307e-01 2.99316155e+01] [-8.86415690e-01 -2.72668812e-02 4.62086292e-01 -2.48219196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.75864 meters Centerline goodness : 0.995102 Centerline is valid? [True, True] Translation: X:270.84, Y:29.98, Z:-248.31 [[ 4.53709282e-01 -2.29520977e-01 8.61085366e-01 2.70840304e+02] [ 8.36169530e-02 9.72965009e-01 2.15284221e-01 2.99753786e+01] [-8.87218176e-01 -2.56751148e-02 4.60635101e-01 -2.48313654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78864 meters Centerline goodness : 0.994714 Centerline is valid? [True, True] Translation: X:271.41, Y:30.94, Z:-248.08 [[ 3.93412688e-01 8.99056896e-01 1.92153986e-01 2.71407543e+02] [ 1.12901666e-01 1.60180215e-01 -9.80609766e-01 3.09387906e+01] [-9.12403239e-01 4.07478829e-01 -3.84880925e-02 -2.48075295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.81864 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:271.78, Y:29.48, Z:-248.22 [[ 4.83968854e-01 -8.55813082e-01 -1.82642046e-01 2.71783044e+02] [ 9.89682178e-02 -1.53845081e-01 9.83126128e-01 2.94843904e+01] [-8.69470782e-01 -4.93878183e-01 1.02420682e-02 -2.48215777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84864 meters Centerline goodness : 0.995838 Centerline is valid? [True, True] Translation: X:271.03, Y:29.97, Z:-248.65 [[ 4.56886988e-01 -2.85771555e-01 8.42370998e-01 2.71026329e+02] [ 6.27263075e-02 9.54983018e-01 2.89953178e-01 2.99691110e+01] [-8.87310369e-01 -7.96370120e-02 4.54244709e-01 -2.48648848e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.87864 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:271.03, Y:30.08, Z:-248.72 [[ 4.55572458e-01 -1.65790835e-01 8.74623996e-01 2.71029730e+02] [ 5.73749289e-02 9.85929904e-01 1.57004273e-01 3.00788982e+01] [-8.88347822e-01 -2.13453331e-02 4.58674747e-01 -2.48718001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90864 meters Centerline goodness : 0.996079 Centerline is valid? [True, True] Translation: X:271.66, Y:29.51, Z:-248.61 [[ 5.46096809e-01 -8.30003836e-01 1.13454430e-01 2.71663048e+02] [ 3.82393916e-02 1.59988839e-01 9.86377879e-01 2.95112780e+01] [-8.36848866e-01 -5.34319384e-01 1.19108236e-01 -2.48606845e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.93864 meters Centerline goodness : 0.996433 Centerline is valid? [True, True] Translation: X:271.68, Y:29.54, Z:-248.78 [[ 6.01261059e-01 -7.85967391e-01 1.44015275e-01 2.71682259e+02] [ 2.39472518e-02 1.97876003e-01 9.79934496e-01 2.95352456e+01] [-7.98693726e-01 -5.85747683e-01 1.37796894e-01 -2.48781522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96864 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:271.97, Y:31.02, Z:-248.67 [[ 5.17783474e-01 8.43160863e-01 -1.44844857e-01 2.71974976e+02] [ 1.00914612e-01 -2.28320898e-01 -9.68341783e-01 3.10150254e+01] [-8.49539002e-01 4.86774410e-01 -2.03308039e-01 -2.48665369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.99864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:271.85, Y:29.56, Z:-249.06 [[ 6.04642312e-01 -7.82510162e-01 1.48611977e-01 2.71851276e+02] [ 2.56879352e-02 2.05642838e-01 9.78289913e-01 2.95555130e+01] [-7.96082787e-01 -5.87697940e-01 1.44441431e-01 -2.49056189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02864 meters Centerline goodness : 0.997504 Centerline is valid? [True, True] Translation: X:271.88, Y:29.58, Z:-249.23 [[ 6.58775117e-01 -7.30838369e-01 1.78579462e-01 2.71878372e+02] [ 5.98428886e-03 2.42448182e-01 9.70145900e-01 2.95843127e+01] [-7.52316113e-01 -6.38039308e-01 1.64092377e-01 -2.49233885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.05864 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:272.25, Y:31.04, Z:-249.06 [[ 5.68272757e-01 8.05146104e-01 -1.69722790e-01 2.72250673e+02] [ 9.36486620e-02 -2.68209523e-01 -9.58797987e-01 3.10391546e+01] [-8.17493732e-01 5.28964463e-01 -2.27817021e-01 -2.49055789e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08864 meters Centerline goodness : 0.997108 Centerline is valid? [True, True] Translation: X:272.07, Y:29.60, Z:-249.49 [[ 6.60729912e-01 -7.28675327e-01 1.80189487e-01 2.72070217e+02] [ 6.64335281e-03 2.45720374e-01 9.69317989e-01 2.96000999e+01] [-7.50594330e-01 -6.39260328e-01 1.67195648e-01 -2.49490738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.11864 meters Centerline goodness : 0.997749 Centerline is valid? [True, True] Translation: X:272.26, Y:29.59, Z:-249.55 [[ 7.17080315e-01 -6.96892150e-01 1.17112616e-02 2.72257204e+02] [ 9.89522857e-03 2.69799258e-02 9.99586999e-01 2.95895015e+01] [-6.96920302e-01 -7.16668274e-01 2.62426808e-02 -2.49545065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14864 meters Centerline goodness : 0.997554 Centerline is valid? [True, True] Translation: X:272.32, Y:29.60, Z:-249.70 [[ 7.62621461e-01 -6.46573953e-01 1.87251107e-02 2.72324847e+02] [ 6.17740483e-03 3.62270753e-02 9.99324491e-01 2.95972814e+01] [-6.46815543e-01 -7.61990631e-01 3.16216941e-02 -2.49702911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17864 meters Centerline goodness : 0.998186 Centerline is valid? [True, True] Translation: X:272.47, Y:31.11, Z:-249.69 [[ 6.66437563e-01 7.45275812e-01 2.06140294e-02 2.72470611e+02] [ 7.06762221e-02 -3.56269830e-02 -9.96862874e-01 3.11050598e+01] [-7.42203372e-01 6.65803786e-01 -7.64164385e-02 -2.49693788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20864 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:272.54, Y:29.61, Z:-249.93 [[ 7.60933408e-01 -6.48595324e-01 1.74486190e-02 2.72540746e+02] [ 8.04385491e-03 3.63206122e-02 9.99307815e-01 2.96089635e+01] [-6.48780121e-01 -7.60266347e-01 3.28547739e-02 -2.49931952e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23864 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:272.62, Y:29.62, Z:-250.09 [[ 8.01373751e-01 -5.97855674e-01 1.92016844e-02 2.72616760e+02] [ 7.09798835e-03 4.16032135e-02 9.99108999e-01 2.96181248e+01] [-5.98121836e-01 -8.00523432e-01 3.75832959e-02 -2.50085255e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26864 meters Centerline goodness : 0.996823 Centerline is valid? [True, True] Translation: X:272.70, Y:29.63, Z:-250.23 [[ 8.39193322e-01 -5.43306716e-01 2.39244708e-02 2.72703956e+02] [ 3.10337180e-03 4.87757791e-02 9.98804932e-01 2.96258455e+01] [-5.43824363e-01 -8.38116183e-01 4.26183908e-02 -2.50228132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29864 meters Centerline goodness : 0.996872 Centerline is valid? [True, True] Translation: X:272.88, Y:31.13, Z:-250.15 [[ 7.67138407e-01 6.41466858e-01 4.35138627e-03 2.72879052e+02] [ 2.74484856e-02 -2.60473593e-02 -9.99283801e-01 3.11266899e+01] [-6.40894098e-01 7.66708423e-01 -3.75892235e-02 -2.50150367e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32864 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:272.42, Y:30.42, Z:-250.82 [[ 7.66873501e-01 -1.00724441e-02 6.41719238e-01 2.72420009e+02] [ 1.48556085e-02 9.99887530e-01 -2.05862800e-03 3.04154582e+01] [-6.41626328e-01 1.11118370e-02 7.66936883e-01 -2.50816424e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:272.45, Y:30.40, Z:-250.85 [[ 7.67152139e-01 -3.07064171e-02 6.40729828e-01 2.72453744e+02] [ 1.22402287e-02 9.99372486e-01 3.32387067e-02 3.03953719e+01] [-6.41348402e-01 -1.76564652e-02 7.67046593e-01 -2.50845924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.38864 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:272.49, Y:30.36, Z:-250.88 [[ 7.93021686e-01 -6.47442757e-02 6.05743167e-01 2.72492876e+02] [ 1.40968222e-02 9.96020411e-01 8.80035257e-02 3.03615531e+01] [-6.09030283e-01 -6.12496506e-02 7.90778474e-01 -2.50875018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41864 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:273.13, Y:31.14, Z:-250.28 [[ 7.21822395e-01 6.91002431e-01 3.85755252e-02 2.73127459e+02] [ 6.37371387e-02 -1.08712902e-02 -9.97907507e-01 3.11413687e+01] [-6.89137147e-01 7.22770680e-01 -5.18896585e-02 -2.50275454e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.44864 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:273.28, Y:31.15, Z:-250.34 [[ 6.76743077e-01 7.35073422e-01 4.10593733e-02 2.73278568e+02] [ 6.56505600e-02 -4.70459467e-03 -9.97831584e-01 3.11457963e+01] [-7.33286310e-01 6.77971187e-01 -5.14417837e-02 -2.50343310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47864 meters Centerline goodness : 0.996239 Centerline is valid? [True, True] Translation: X:273.43, Y:31.15, Z:-250.43 [[ 6.27561809e-01 7.77469412e-01 4.13217805e-02 2.73425221e+02] [ 6.51271307e-02 4.66576342e-04 -9.97876866e-01 3.11518329e+01] [-7.75838020e-01 6.28920580e-01 -5.03415465e-02 -2.50425201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.50864 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:273.59, Y:31.15, Z:-250.50 [[ 5.78812870e-01 8.15386457e-01 -1.09812287e-02 2.73586314e+02] [ 2.99295790e-02 -3.46992750e-02 -9.98949539e-01 3.11500714e+01] [-8.14910966e-01 5.77876186e-01 -4.44885604e-02 -2.50496587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53864 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:274.23, Y:30.22, Z:-250.28 [[ 6.08848693e-01 -1.65807756e-02 -7.93113074e-01 2.74233694e+02] [ 1.16662820e-01 -9.87039606e-01 1.10193478e-01 3.02171162e+01] [-7.84661109e-01 -1.59617963e-01 -5.99023413e-01 -2.50276856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.56864 meters Centerline goodness : 0.996131 Centerline is valid? [True, True] Translation: X:273.05, Y:30.31, Z:-251.20 [[ 5.69145776e-01 -1.87341044e-01 8.00610029e-01 2.73048462e+02] [ 1.04378615e-01 9.82282099e-01 1.55650194e-01 3.03080593e+01] [-8.15584570e-01 -5.02108404e-03 5.78616106e-01 -2.51196372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59864 meters Centerline goodness : 0.995549 Centerline is valid? [True, True] Translation: X:273.08, Y:30.29, Z:-251.24 [[ 6.01579802e-01 -2.18733808e-01 7.68282020e-01 2.73080618e+02] [ 1.11268942e-01 9.75349012e-01 1.90561085e-01 3.02864404e+01] [-7.91025261e-01 -2.91517726e-02 6.11088545e-01 -2.51235613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.62864 meters Centerline goodness : 0.994575 Centerline is valid? [True, True] Translation: X:273.64, Y:31.14, Z:-250.91 [[ 5.40429362e-01 7.91460109e-01 2.85529334e-01 2.73638873e+02] [ 7.76491962e-02 2.90991453e-01 -9.53569388e-01 3.11362261e+01] [-8.37798727e-01 5.37508019e-01 9.58040839e-02 -2.50907498e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65864 meters Centerline goodness : 0.994430 Centerline is valid? [True, True] Translation: X:274.52, Y:30.57, Z:-250.61 [[ 5.02784152e-01 3.74569024e-01 -7.79041811e-01 2.74520172e+02] [ 1.51116798e-01 -9.25447933e-01 -3.47433211e-01 3.05699326e+01] [-8.51100352e-01 5.69576079e-02 -5.21904226e-01 -2.50605217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.68864 meters Centerline goodness : 0.993936 Centerline is valid? [True, True] Translation: X:274.25, Y:29.68, Z:-251.13 [[ 5.51390921e-01 -6.97653828e-01 -4.57435447e-01 2.74252088e+02] [ 1.96959994e-01 -4.23955541e-01 8.84007048e-01 2.96780183e+01] [-8.10663193e-01 -5.77529943e-01 -9.63553425e-02 -2.51126855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71864 meters Centerline goodness : 0.994083 Centerline is valid? [True, True] Translation: X:273.41, Y:30.18, Z:-251.67 [[ 5.72281552e-01 -3.86956075e-01 7.23020623e-01 2.73412898e+02] [ 1.90083984e-01 9.20252060e-01 3.42058802e-01 3.01837013e+01] [-7.97722949e-01 -5.83193016e-02 6.00197430e-01 -2.51665384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.74864 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:273.89, Y:31.16, Z:-251.31 [[ 5.04124585e-01 7.80872848e-01 3.68911911e-01 2.73893256e+02] [ 1.80848763e-01 3.22242866e-01 -9.29221858e-01 3.11563727e+01] [-8.44483350e-01 5.35160846e-01 2.12306625e-02 -2.51313299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77864 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:274.38, Y:29.71, Z:-251.49 [[ 5.65148819e-01 -7.52974385e-01 -3.37099968e-01 2.74375259e+02] [ 1.57128677e-01 -3.02888578e-01 9.39983557e-01 2.97114635e+01] [-8.09887271e-01 -5.84198669e-01 -5.28632531e-02 -2.51490045e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.80864 meters Centerline goodness : 0.994085 Centerline is valid? [True, True] Translation: X:274.29, Y:31.21, Z:-251.42 [[ 5.08167190e-01 8.59367657e-01 5.70380353e-02 2.74291997e+02] [ 1.68133681e-01 -3.40337305e-02 -9.85176517e-01 3.12053822e+01] [-8.44687618e-01 5.10224398e-01 -1.61783472e-01 -2.51418416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83864 meters Centerline goodness : 0.994624 Centerline is valid? [True, True] Translation: X:275.03, Y:30.43, Z:-251.34 [[ 5.10302161e-01 1.74098124e-01 -8.42188547e-01 2.75033514e+02] [ 2.49351215e-01 -9.67180322e-01 -4.88487004e-02 3.04258086e+01] [-8.23052657e-01 -1.85073140e-01 -5.36965787e-01 -2.51342096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.86864 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:274.40, Y:31.23, Z:-251.67 [[ 4.33085589e-01 8.76680881e-01 2.09445709e-01 2.74401902e+02] [ 2.66973441e-01 9.71761878e-02 -9.58791933e-01 3.12250056e+01] [-8.60907692e-01 4.71155411e-01 -1.91964905e-01 -2.51672307e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89864 meters Centerline goodness : 0.994759 Centerline is valid? [True, True] Translation: X:273.94, Y:30.21, Z:-252.27 [[ 4.46315214e-01 -5.21133193e-01 7.27477096e-01 2.73944249e+02] [ 2.51295974e-01 8.53212811e-01 4.57031983e-01 3.02104932e+01] [-8.58867314e-01 -2.11682617e-02 5.11760532e-01 -2.52272463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92864 meters Centerline goodness : 0.995014 Centerline is valid? [True, True] Translation: X:274.32, Y:31.26, Z:-251.98 [[ 3.75097691e-01 7.84595627e-01 4.93671373e-01 2.74316304e+02] [ 2.30908932e-01 4.36685495e-01 -8.69475039e-01 3.12554889e+01] [-8.97765441e-01 4.40131209e-01 -1.73704170e-02 -2.51984537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95864 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:274.06, Y:30.29, Z:-252.42 [[ 3.97074611e-01 -5.10619367e-01 7.62626787e-01 2.74059053e+02] [ 2.09182093e-01 8.59422297e-01 4.66514916e-01 3.02860396e+01] [-8.93630016e-01 -2.57133614e-02 4.48067202e-01 -2.52415562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98864 meters Centerline goodness : 0.995200 Centerline is valid? [True, True] Translation: X:274.33, Y:31.28, Z:-252.26 [[ 3.45279860e-01 7.07226853e-01 6.16937595e-01 2.74334748e+02] [ 1.49291610e-01 6.07605046e-01 -7.80082126e-01 3.12763340e+01] [-9.26549423e-01 3.61450254e-01 1.04210750e-01 -2.52256882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01864 meters Centerline goodness : 0.994467 Centerline is valid? [True, True] Translation: X:275.26, Y:31.24, Z:-252.10 [[ 2.67550997e-01 8.36742563e-01 -4.77784834e-01 2.75262400e+02] [ 1.87416198e-01 -5.31583826e-01 -8.26010778e-01 3.12429498e+01] [-9.45141065e-01 1.31455390e-01 -2.99044893e-01 -2.52099603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04864 meters Centerline goodness : 0.994614 Centerline is valid? [True, True] Translation: X:275.58, Y:30.37, Z:-252.36 [[ 2.75490956e-01 -1.96748549e-01 -9.40954165e-01 2.75582545e+02] [ 2.77157388e-01 -9.21009763e-01 2.73723948e-01 3.03731739e+01] [-9.20482762e-01 -3.36200871e-01 -1.99199546e-01 -2.52357467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07864 meters Centerline goodness : 0.994434 Centerline is valid? [True, True] Translation: X:274.43, Y:30.15, Z:-252.88 [[ 3.04005510e-01 -7.57976724e-01 5.77106520e-01 2.74427997e+02] [ 2.40209660e-01 6.47192786e-01 7.23492099e-01 3.01515161e+01] [-9.21889348e-01 -8.13190232e-02 3.78823504e-01 -2.52876290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10864 meters Centerline goodness : 0.994726 Centerline is valid? [True, True] Translation: X:274.36, Y:30.27, Z:-252.94 [[ 3.04350343e-01 -6.41264870e-01 7.04379326e-01 2.74356327e+02] [ 2.36861216e-01 7.67181034e-01 5.96095651e-01 3.02737298e+01] [-9.22641660e-01 -1.45817725e-02 3.85382588e-01 -2.52935522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.13864 meters Centerline goodness : 0.993786 Centerline is valid? [True, True] Translation: X:274.38, Y:30.34, Z:-253.08 [[ 3.70385123e-01 -6.29363611e-01 6.83166383e-01 2.74384474e+02] [ 2.05938216e-01 7.72809577e-01 6.00295601e-01 3.03442384e+01] [-9.05761730e-01 -8.16504939e-02 4.15847189e-01 -2.53082808e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16864 meters Centerline goodness : 0.993787 Centerline is valid? [True, True] Translation: X:274.35, Y:30.49, Z:-253.18 [[ 3.73826642e-01 -4.94665501e-01 7.84576118e-01 2.74350471e+02] [ 1.85210544e-01 8.68681130e-01 4.59445479e-01 3.04867710e+01] [-9.08818297e-01 -2.64411912e-02 4.16353416e-01 -2.53176593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.19864 meters Centerline goodness : 0.995161 Centerline is valid? [True, True] Translation: X:274.67, Y:31.49, Z:-253.03 [[ 2.81491645e-01 7.54309872e-01 5.93109661e-01 2.74668462e+02] [ 1.57431591e-01 5.73423390e-01 -8.03990616e-01 3.14888411e+01] [-9.46561011e-01 3.19690839e-01 4.26616900e-02 -2.53027960e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22864 meters Centerline goodness : 0.995107 Centerline is valid? [True, True] Translation: X:274.43, Y:30.61, Z:-253.37 [[ 2.99895016e-01 -4.24801664e-01 8.54170080e-01 2.74434774e+02] [ 1.08477397e-01 9.04760259e-01 4.11875622e-01 3.06126788e+01] [-9.47784592e-01 -3.08612991e-02 3.17414471e-01 -2.53368885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.25864 meters Centerline goodness : 0.995450 Centerline is valid? [True, True] Translation: X:275.13, Y:30.14, Z:-253.37 [[ 3.89289385e-01 -9.14076817e-01 -1.13654510e-01 2.75132918e+02] [ 1.37033216e-01 -6.45432916e-02 9.88461462e-01 3.01421386e+01] [-9.10865343e-01 -4.00371998e-01 1.00132868e-01 -2.53369711e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28864 meters Centerline goodness : 0.995446 Centerline is valid? [True, True] Translation: X:274.49, Y:30.64, Z:-253.65 [[ 3.69758867e-01 -4.29346076e-01 8.23978354e-01 2.74485847e+02] [ 9.02729996e-02 8.99235250e-01 4.28049939e-01 3.06413132e+01] [-9.24731943e-01 -8.38922630e-02 3.71258565e-01 -2.53645620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.31864 meters Centerline goodness : 0.995996 Centerline is valid? [True, True] Translation: X:275.09, Y:30.19, Z:-253.63 [[ 4.57512016e-01 -8.89203025e-01 -8.57418092e-04 2.75086496e+02] [ 1.20873813e-01 6.12365341e-02 9.90777275e-01 3.01853131e+01] [-8.80949645e-01 -4.53396148e-01 1.35497810e-01 -2.53632131e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34864 meters Centerline goodness : 0.993045 Centerline is valid? [True, True] Translation: X:274.52, Y:30.75, Z:-253.91 [[ 4.65111560e-01 -3.34697902e-01 8.19541671e-01 2.74524459e+02] [ 9.30220809e-02 9.39125146e-01 3.30742879e-01 3.07508349e+01] [-8.80351140e-01 -7.75968644e-02 4.67932257e-01 -2.53908471e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.37864 meters Centerline goodness : 0.993583 Centerline is valid? [True, True] Translation: X:275.02, Y:31.69, Z:-253.74 [[ 3.61510943e-01 8.31600810e-01 4.21603997e-01 2.75022488e+02] [ 8.48059579e-02 4.20983521e-01 -9.03095136e-01 3.16885787e+01] [-9.28502982e-01 3.62233305e-01 8.16654467e-02 -2.53735079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40864 meters Centerline goodness : 0.994086 Centerline is valid? [True, True] Translation: X:275.53, Y:30.25, Z:-253.81 [[ 4.64434985e-01 -8.04672327e-01 -3.69868343e-01 2.75532844e+02] [ 8.17664631e-02 -3.76898257e-01 9.22638580e-01 3.02479222e+01] [-8.81824467e-01 -4.58748461e-01 -1.09249526e-01 -2.53813258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.43864 meters Centerline goodness : 0.993099 Centerline is valid? [True, True] Translation: X:275.63, Y:30.27, Z:-253.94 [[ 4.98512535e-01 -7.27332290e-01 -4.71670428e-01 2.75630728e+02] [ 1.47588980e-01 -4.64945771e-01 8.72950699e-01 3.02735781e+01] [-8.54226402e-01 -5.04790224e-01 -1.24435064e-01 -2.53941247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46864 meters Centerline goodness : 0.992870 Centerline is valid? [True, True] Translation: X:274.74, Y:30.81, Z:-254.46 [[ 4.84308289e-01 -3.25671267e-01 8.12024450e-01 2.74735180e+02] [ 9.32017617e-02 9.42060171e-01 3.22236041e-01 3.08051356e+01] [-8.69918911e-01 -8.03794765e-02 4.86600686e-01 -2.54455470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.49864 meters Centerline goodness : 0.991972 Centerline is valid? [True, True] Translation: X:275.62, Y:31.72, Z:-254.01 [[ 4.24508057e-01 9.02367074e-01 -7.43409224e-02 2.75615838e+02] [ 1.55184548e-01 -1.53403821e-01 -9.75902159e-01 3.17163567e+01] [-8.92026158e-01 4.02741767e-01 -2.05154585e-01 -2.54010924e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52864 meters Centerline goodness : 0.991107 Centerline is valid? [True, True] Translation: X:275.46, Y:30.27, Z:-254.48 [[ 5.16508953e-01 -8.56157273e-01 -1.46022175e-02 2.75464133e+02] [ 1.01565677e-01 4.43228136e-02 9.93840984e-01 3.02653926e+01] [-8.50236975e-01 -5.14810851e-01 1.09849323e-01 -2.54482705e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.55864 meters Centerline goodness : 0.993355 Centerline is valid? [True, True] Translation: X:275.72, Y:31.77, Z:-254.31 [[ 4.18561725e-01 9.08181368e-01 -3.56175254e-03 2.75716870e+02] [ 1.55567399e-01 -7.55605018e-02 -9.84931163e-01 3.17670692e+01] [-8.94765258e-01 4.11700394e-01 -1.72910147e-01 -2.54307590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58864 meters Centerline goodness : 0.992126 Centerline is valid? [True, True] Translation: X:275.81, Y:31.79, Z:-254.45 [[ 3.56054644e-01 9.33846011e-01 3.40105640e-02 2.75807476e+02] [ 1.57467429e-01 -2.40839975e-02 -9.87230454e-01 3.17925116e+01] [-9.21102111e-01 3.56863544e-01 -1.55625550e-01 -2.54445341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.61864 meters Centerline goodness : 0.990815 Centerline is valid? [True, True] Translation: X:275.73, Y:30.32, Z:-254.87 [[ 4.57970599e-01 -8.87053474e-01 -5.83014937e-02 2.75734928e+02] [ 1.11494690e-01 -7.75030341e-03 9.93734807e-01 3.03160256e+01] [-8.81947767e-01 -4.61601632e-01 9.53523410e-02 -2.54871370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64864 meters Centerline goodness : 0.992565 Centerline is valid? [True, True] Translation: X:275.14, Y:30.98, Z:-255.19 [[ 4.27784666e-01 -2.79462699e-01 8.59593438e-01 2.75139569e+02] [ 9.72841427e-02 9.59714300e-01 2.63598667e-01 3.09775309e+01] [-8.98630110e-01 -2.91386570e-02 4.37738351e-01 -2.55190281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67864 meters Centerline goodness : 0.991441 Centerline is valid? [True, True] Translation: X:275.88, Y:30.35, Z:-255.08 [[ 5.07676655e-01 -8.44140754e-01 -1.72310191e-01 2.75883438e+02] [ 1.40729885e-01 -1.16063342e-01 9.83221440e-01 3.03508995e+01] [-8.49976184e-01 -5.23407765e-01 5.98731823e-02 -2.55084913e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70864 meters Centerline goodness : 0.992762 Centerline is valid? [True, True] Translation: X:275.22, Y:31.00, Z:-255.45 [[ 4.85637957e-01 -2.85142552e-01 8.26347082e-01 2.75223379e+02] [ 1.07476048e-01 9.57608434e-01 2.67273243e-01 3.10003298e+01] [-8.67527909e-01 -4.09855131e-02 4.95696998e-01 -2.55451245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73864 meters Centerline goodness : 0.992907 Centerline is valid? [True, True] Translation: X:275.29, Y:31.13, Z:-255.59 [[ 4.99677838e-01 -1.89344273e-01 8.45263749e-01 2.75286507e+02] [ 4.56736633e-02 9.80218739e-01 1.92575024e-01 3.11253738e+01] [-8.65006344e-01 -5.76191800e-02 4.98441627e-01 -2.55590394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76864 meters Centerline goodness : 0.992862 Centerline is valid? [True, True] Translation: X:275.91, Y:31.96, Z:-255.36 [[ 4.57401519e-01 8.36263687e-01 3.02401878e-01 2.75908901e+02] [ 4.93930607e-02 3.15643252e-01 -9.47591506e-01 3.19555444e+01] [-8.87887479e-01 4.48366349e-01 1.03070080e-01 -2.55358081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79864 meters Centerline goodness : 0.993189 Centerline is valid? [True, True] Translation: X:276.18, Y:30.45, Z:-255.45 [[ 5.15056746e-01 -8.26928714e-01 -2.25622364e-01 2.76177053e+02] [ 6.27567638e-02 -2.26135489e-01 9.72072183e-01 3.04510820e+01] [-8.54855624e-01 -5.14831664e-01 -6.45772391e-02 -2.55445971e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82864 meters Centerline goodness : 0.993545 Centerline is valid? [True, True] Translation: X:275.47, Y:31.18, Z:-255.92 [[ 5.05547199e-01 -1.48367247e-01 8.49946580e-01 2.75470110e+02] [ 2.87727053e-02 9.87455034e-01 1.55256845e-01 3.11819838e+01] [-8.62319060e-01 -5.40344007e-02 5.03474053e-01 -2.55917235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85864 meters Centerline goodness : 0.994181 Centerline is valid? [True, True] Translation: X:276.10, Y:30.46, Z:-255.75 [[ 5.79179830e-01 -8.15199477e-01 -7.32575786e-04 2.76100125e+02] [ 1.08315595e-02 6.79699269e-03 9.99918236e-01 3.04627622e+01] [-8.15127844e-01 -5.79140409e-01 1.27665627e-02 -2.55753592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.88864 meters Centerline goodness : 0.993088 Centerline is valid? [True, True] Translation: X:276.19, Y:30.47, Z:-255.89 [[ 6.30812791e-01 -7.72720937e-01 -7.05519374e-02 2.76185204e+02] [ 5.64228052e-02 -4.50042429e-02 9.97392142e-01 3.04670609e+01] [-7.73880927e-01 -6.33148459e-01 1.52098308e-02 -2.55890853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91864 meters Centerline goodness : 0.994428 Centerline is valid? [True, True] Translation: X:275.66, Y:31.24, Z:-256.37 [[ 6.18297996e-01 -9.45429596e-02 7.80236642e-01 2.75660518e+02] [ 2.12928806e-02 9.94389143e-01 1.03618752e-01 3.12356550e+01] [-7.85655269e-01 -4.74537811e-02 6.16841906e-01 -2.56373860e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.94864 meters Centerline goodness : 0.994519 Centerline is valid? [True, True] Translation: X:276.46, Y:31.98, Z:-255.90 [[ 5.82625142e-01 8.12352467e-01 -2.51279340e-02 2.76463647e+02] [ 7.17887439e-03 -3.60601308e-02 -9.99323837e-01 3.19815109e+01] [-8.12709301e-01 5.82050802e-01 -2.68413151e-02 -2.55900590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97864 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:277.09, Y:31.06, Z:-255.68 [[ 5.97114838e-01 1.05951297e-02 -8.02085789e-01 2.77092175e+02] [ 9.39977525e-02 -9.93948088e-01 5.68473404e-02 3.10628485e+01] [-7.96629332e-01 -1.09338652e-01 -5.94497071e-01 -2.55681817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.00864 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:276.41, Y:31.95, Z:-256.27 [[ 5.26123594e-01 7.75249096e-01 3.49546568e-01 2.76410930e+02] [ 9.34199946e-02 3.55857968e-01 -9.29859028e-01 3.19498951e+01] [-8.45261302e-01 5.21875412e-01 1.14801507e-01 -2.56267998e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03864 meters Centerline goodness : 0.993164 Centerline is valid? [True, True] Translation: X:276.83, Y:30.48, Z:-256.33 [[ 5.84643069e-01 -7.50452425e-01 -3.08242824e-01 2.76834601e+02] [ 7.82236540e-02 -3.26027732e-01 9.42118346e-01 3.04770268e+01] [-8.07510707e-01 -5.74914842e-01 -1.31906723e-01 -2.56329288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.06864 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:276.59, Y:31.98, Z:-256.53 [[ 5.25163478e-01 7.77039290e-01 3.47006142e-01 2.76589399e+02] [ 9.33909818e-02 3.52675520e-01 -9.31073629e-01 3.19788062e+01] [-8.45861363e-01 5.21373109e-01 1.12643840e-01 -2.56530364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09864 meters Centerline goodness : 0.995601 Centerline is valid? [True, True] Translation: X:276.74, Y:32.01, Z:-256.63 [[ 4.70331431e-01 8.21655632e-01 3.21978830e-01 2.76737414e+02] [ 7.11073462e-02 3.28381504e-01 -9.41864817e-01 3.20131014e+01] [-8.79620424e-01 4.65883687e-01 9.60223913e-02 -2.56632331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.12864 meters Centerline goodness : 0.995691 Centerline is valid? [True, True] Translation: X:276.91, Y:32.04, Z:-256.72 [[ 4.20765128e-01 8.74551255e-01 2.41074282e-01 2.76907165e+02] [ 2.15400221e-02 2.56036912e-01 -9.66426990e-01 3.20424580e+01] [-9.06913852e-01 4.11831522e-01 8.88935505e-02 -2.56721859e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15864 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:277.79, Y:31.35, Z:-256.53 [[ 4.15676879e-01 2.53482123e-01 -8.73475555e-01 2.77790535e+02] [ 1.11969561e-01 -9.67334567e-01 -2.27434942e-01 3.13537885e+01] [-9.02593790e-01 -3.26322714e-03 -4.30480896e-01 -2.56525673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.18864 meters Centerline goodness : 0.995499 Centerline is valid? [True, True] Translation: X:276.46, Y:31.16, Z:-257.23 [[ 3.84372813e-01 -2.54809382e-01 8.87316020e-01 2.76455445e+02] [ 9.11070355e-02 9.66931888e-01 2.38206281e-01 3.11587492e+01] [-9.18671350e-01 -1.07192860e-02 3.94877257e-01 -2.57230979e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21864 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:277.27, Y:30.52, Z:-257.12 [[ 4.66794440e-01 -8.58472147e-01 -2.12434751e-01 2.77266543e+02] [ 8.96305141e-02 -1.93050064e-01 9.77086508e-01 3.05227593e+01] [-8.79812095e-01 -4.75139185e-01 -1.31693966e-02 -2.57123551e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.24864 meters Centerline goodness : 0.994522 Centerline is valid? [True, True] Translation: X:277.17, Y:32.05, Z:-257.17 [[ 3.94834890e-01 8.90150029e-01 2.27460623e-01 2.77172128e+02] [ 1.18224717e-01 1.96291810e-01 -9.73392234e-01 3.20497365e+01] [-9.11113783e-01 4.11220683e-01 -2.77348797e-02 -2.57170813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27864 meters Centerline goodness : 0.996085 Centerline is valid? [True, True] Translation: X:277.41, Y:30.56, Z:-257.41 [[ 4.68492423e-01 -8.57929440e-01 -2.10883678e-01 2.77407051e+02] [ 8.93048878e-02 -1.91488932e-01 9.77423463e-01 3.05575564e+01] [-8.78942254e-01 -4.76748430e-01 -1.30938214e-02 -2.57409475e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.30864 meters Centerline goodness : 0.995700 Centerline is valid? [True, True] Translation: X:277.44, Y:30.57, Z:-257.58 [[ 5.25872683e-01 -8.24029112e-01 -2.10793603e-01 2.77440669e+02] [ 1.03432452e-01 -1.84035385e-01 9.77462380e-01 3.05653319e+01] [-8.44250939e-01 -5.35823664e-01 -1.15478301e-02 -2.57578580e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33864 meters Centerline goodness : 0.995948 Centerline is valid? [True, True] Translation: X:277.30, Y:32.08, Z:-257.63 [[ 4.60915406e-01 8.47311195e-01 2.63857399e-01 2.77296275e+02] [ 9.16422790e-02 2.50289153e-01 -9.63824171e-01 3.20841874e+01] [-8.82699655e-01 4.68421902e-01 3.77125973e-02 -2.57634790e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.36864 meters Centerline goodness : 0.996968 Centerline is valid? [True, True] Translation: X:278.18, Y:31.49, Z:-257.43 [[ 4.23047687e-01 3.56428853e-01 -8.33060098e-01 2.78178153e+02] [ 1.80323679e-01 -9.34110878e-01 -3.08091282e-01 3.14873396e+01] [-8.87983122e-01 -1.98831571e-02 -4.59446008e-01 -2.57426472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39864 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:277.63, Y:30.59, Z:-258.06 [[ 5.15468978e-01 -8.43092368e-01 -1.53254663e-01 2.77632136e+02] [ 1.63598443e-01 -7.87312365e-02 9.83380365e-01 3.05936259e+01] [-8.41146410e-01 -5.31974296e-01 9.73450884e-02 -2.58062124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42864 meters Centerline goodness : 0.997019 Centerline is valid? [True, True] Translation: X:277.66, Y:30.62, Z:-258.24 [[ 5.75477040e-01 -8.06735847e-01 -1.34176936e-01 2.77656210e+02] [ 1.64933943e-01 -4.62088232e-02 9.85221569e-01 3.06222548e+01] [-8.01013715e-01 -5.89102723e-01 1.06466007e-01 -2.58236684e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45864 meters Centerline goodness : 0.997696 Centerline is valid? [True, True] Translation: X:277.69, Y:32.14, Z:-258.06 [[ 4.85349262e-01 8.63243483e-01 1.38732772e-01 2.77691756e+02] [ 2.06098357e-01 4.12444816e-02 -9.77661680e-01 3.21373758e+01] [-8.49682035e-01 5.03099971e-01 -1.57895084e-01 -2.58064949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48864 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:277.82, Y:32.16, Z:-258.17 [[ 4.29195804e-01 8.95999822e-01 1.13909092e-01 2.77823149e+02] [ 1.77178428e-01 4.01443926e-02 -9.83359666e-01 3.21647105e+01] [-8.85662896e-01 4.42236077e-01 -1.41522035e-01 -2.58171126e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51864 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:278.58, Y:31.21, Z:-258.17 [[ 4.70006466e-01 -3.67845782e-02 -8.81896149e-01 2.78583647e+02] [ 2.64581256e-01 -9.47316533e-01 1.80521868e-01 3.12065596e+01] [-8.42075223e-01 -3.18179636e-01 -4.35512386e-01 -2.58174409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54864 meters Centerline goodness : 0.997408 Centerline is valid? [True, True] Translation: X:277.86, Y:32.18, Z:-258.45 [[ 3.82566971e-01 8.70381452e-01 3.09965549e-01 2.77857198e+02] [ 2.29427384e-01 2.35486466e-01 -9.44409445e-01 3.21803151e+01] [-8.94989155e-01 4.32414446e-01 -1.09599996e-01 -2.58454089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57864 meters Centerline goodness : 0.997405 Centerline is valid? [True, True] Translation: X:278.78, Y:31.50, Z:-258.41 [[ 3.62398953e-01 2.78652850e-01 -8.89392820e-01 2.78783424e+02] [ 3.14589819e-01 -9.34829446e-01 -1.64703228e-01 3.14960229e+01] [-8.77325621e-01 -2.20105649e-01 -4.26442562e-01 -2.58412127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60864 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:277.60, Y:31.06, Z:-259.15 [[ 3.69938836e-01 -6.88120166e-01 6.24208214e-01 2.77600098e+02] [ 2.87045197e-01 7.23657758e-01 6.27634052e-01 3.10611454e+01] [-8.83600765e-01 -5.30102403e-02 4.65230697e-01 -2.59150884e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.63864 meters Centerline goodness : 0.998042 Centerline is valid? [True, True] Translation: X:277.58, Y:31.15, Z:-259.20 [[ 3.70985164e-01 -6.19449521e-01 6.91847020e-01 2.77576153e+02] [ 2.85862336e-01 7.85012690e-01 5.49579659e-01 3.11484470e+01] [-8.83545547e-01 -6.11289476e-03 4.68305348e-01 -2.59204875e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:277.61, Y:31.20, Z:-259.30 [[ 3.77925066e-01 -6.07277521e-01 6.98846662e-01 2.77606297e+02] [ 2.74956190e-01 7.94390873e-01 5.41610777e-01 3.11993902e+01] [-8.84065460e-01 -1.25360729e-02 4.67194937e-01 -2.59301633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.69864 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:277.64, Y:31.27, Z:-259.43 [[ 3.92738009e-01 -5.76650531e-01 7.16401438e-01 2.77640395e+02] [ 2.54698938e-01 8.16723983e-01 5.17774455e-01 3.12748374e+01] [-8.83677151e-01 -2.08830233e-02 4.67630829e-01 -2.59425031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:278.21, Y:32.37, Z:-259.02 [[ 3.51562357e-01 8.92551681e-01 2.82409997e-01 2.78209834e+02] [ 2.74288231e-01 1.90222298e-01 -9.42645980e-01 3.23706012e+01] [-8.95080932e-01 4.08860581e-01 -1.77941422e-01 -2.59019559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.75864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:277.75, Y:31.34, Z:-259.55 [[ 3.31231793e-01 -5.83629879e-01 7.41391708e-01 2.77747800e+02] [ 2.43781699e-01 8.12003885e-01 5.30301966e-01 3.13350196e+01] [-9.11513019e-01 5.08485900e-03 4.11239786e-01 -2.59546928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:277.77, Y:31.36, Z:-259.60 [[ 3.31032123e-01 -5.78178340e-01 7.45739593e-01 2.77765083e+02] [ 2.43731595e-01 8.15869403e-01 5.24358682e-01 3.13586096e+01] [-9.11598949e-01 8.18073281e-03 4.10999310e-01 -2.59601282e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.81864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:277.79, Y:31.39, Z:-259.67 [[ 3.34498523e-01 -5.68447904e-01 7.51649997e-01 2.77786325e+02] [ 2.39452741e-01 8.22684942e-01 5.15608254e-01 3.13877655e+01] [-9.11467565e-01 7.51445216e-03 4.11303307e-01 -2.59672231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84864 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:277.80, Y:31.41, Z:-259.72 [[ 3.34931502e-01 -5.55271310e-01 7.61245467e-01 2.77798650e+02] [ 2.39176190e-01 8.31548648e-01 5.01319854e-01 3.14133592e+01] [-9.11381171e-01 1.41639787e-02 4.11319514e-01 -2.59719609e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.87864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:278.43, Y:32.49, Z:-259.38 [[ 3.15930140e-01 9.18016527e-01 2.39653504e-01 2.78434143e+02] [ 2.49390544e-01 1.63357996e-01 -9.54525286e-01 3.24949379e+01] [-9.15419304e-01 3.61330626e-01 -1.77334927e-01 -2.59376071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:277.93, Y:31.44, Z:-259.89 [[ 2.74845683e-01 -6.01436118e-01 7.50156282e-01 2.77934684e+02] [ 2.23750172e-01 7.98791834e-01 5.58450953e-01 3.14368100e+01] [-9.35091285e-01 1.43597633e-02 3.54115921e-01 -2.59887874e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.93864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:277.95, Y:31.46, Z:-259.94 [[ 2.75195634e-01 -5.83369727e-01 7.64164331e-01 2.77946208e+02] [ 2.23315974e-01 8.11902948e-01 5.39391861e-01 3.14639748e+01] [-9.35092155e-01 2.22118169e-02 3.53707925e-01 -2.59939554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96864 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:277.96, Y:31.48, Z:-259.99 [[ 2.76068794e-01 -5.75139304e-01 7.70065453e-01 2.77958576e+02] [ 2.21788097e-01 8.17699166e-01 5.31204399e-01 3.14813849e+01] [-9.35198407e-01 2.41423935e-02 3.53300274e-01 -2.59988101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.99864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:277.98, Y:31.50, Z:-260.06 [[ 2.79912141e-01 -5.66592866e-01 7.74997883e-01 2.77979315e+02] [ 2.15476470e-01 8.23750130e-01 5.24409777e-01 3.15018459e+01] [-9.35531445e-01 2.02051449e-02 3.52665093e-01 -2.60058768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:278.00, Y:31.53, Z:-260.12 [[ 2.84965864e-01 -5.50151070e-01 7.84938377e-01 2.77995141e+02] [ 2.10087714e-01 8.34827956e-01 5.08847163e-01 3.15289061e+01] [-9.35231313e-01 1.99018377e-02 3.53477451e-01 -2.60124832e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.05864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:278.75, Y:31.13, Z:-260.14 [[ 3.61165848e-01 -9.01809324e-01 -2.37274469e-01 2.78745822e+02] [ 1.83752017e-01 -1.80634091e-01 9.66233161e-01 3.11344002e+01] [-9.14217932e-01 -3.92570081e-01 1.00470418e-01 -2.60142377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:278.72, Y:31.16, Z:-260.34 [[ 4.23988590e-01 -8.89565849e-01 -1.70018458e-01 2.78716247e+02] [ 1.92551529e-01 -9.48949261e-02 9.76687699e-01 3.11640624e+01] [-8.84961911e-01 -4.46841754e-01 1.31052898e-01 -2.60341160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.11864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:278.07, Y:31.70, Z:-260.67 [[ 4.21201255e-01 -4.43395526e-01 7.91195242e-01 2.78073930e+02] [ 2.10535813e-01 8.96323337e-01 3.90229608e-01 3.17023740e+01] [-8.82192822e-01 2.20973281e-03 4.70883152e-01 -2.60674508e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:278.12, Y:31.76, Z:-260.78 [[ 4.29106760e-01 -4.09272060e-01 8.05210388e-01 2.78116423e+02] [ 1.93789938e-01 9.12411391e-01 3.60487050e-01 3.17574515e+01] [-8.82220408e-01 1.35424097e-03 4.70834703e-01 -2.60779162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:278.62, Y:32.74, Z:-260.50 [[ 4.05632567e-01 8.29549407e-01 3.83809851e-01 2.78622536e+02] [ 1.91245807e-01 3.33585887e-01 -9.23117272e-01 3.27355492e+01] [-8.93804935e-01 4.47848453e-01 -2.33345461e-02 -2.60502435e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:279.12, Y:31.32, Z:-260.73 [[ 4.52627384e-01 -8.14100859e-01 -3.63824467e-01 2.79119346e+02] [ 1.56540519e-01 -3.29130693e-01 9.31218585e-01 3.13156667e+01] [-8.77851649e-01 -4.78448303e-01 -2.15337935e-02 -2.60727911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:278.92, Y:31.32, Z:-261.03 [[ 5.04267934e-01 -8.61591540e-01 -5.80850169e-02 2.78917684e+02] [ 1.60039105e-01 2.71450350e-02 9.86737367e-01 3.13242088e+01] [-8.48587848e-01 -5.06875888e-01 1.51576710e-01 -2.61025236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26864 meters Centerline goodness : 0.999608 Centerline is valid? [True, True] Translation: X:279.05, Y:31.35, Z:-261.13 [[ 5.60222779e-01 -8.07094726e-01 -1.86409603e-01 2.79046008e+02] [ 1.96632028e-01 -8.90323875e-02 9.76426689e-01 3.13477831e+01] [-8.04665324e-01 -5.83670572e-01 1.08822701e-01 -2.61133266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:278.40, Y:31.93, Z:-261.53 [[ 5.52154572e-01 -3.42532537e-01 7.60129456e-01 2.78402136e+02] [ 1.83104162e-01 9.39269432e-01 2.90251271e-01 3.19256201e+01] [-8.13386866e-01 -2.10806992e-02 5.81341045e-01 -2.61532354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:279.00, Y:32.88, Z:-261.09 [[ 5.17760285e-01 8.31964654e-01 1.99396846e-01 2.79004231e+02] [ 1.95690135e-01 1.11721103e-01 -9.74281154e-01 3.28780575e+01] [-8.32844318e-01 5.43464084e-01 -1.04962525e-01 -2.61090654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35864 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:279.14, Y:32.90, Z:-261.18 [[ 4.63449013e-01 8.71865563e-01 1.58320728e-01 2.79144914e+02] [ 1.54266026e-01 9.65542945e-02 -9.83300189e-01 3.29019489e+01] [-8.72592119e-01 4.80133011e-01 -8.97512434e-02 -2.61182982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.38864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:279.92, Y:32.42, Z:-261.05 [[ 4.10448533e-01 4.79531655e-01 -7.75616782e-01 2.79918917e+02] [ 2.33317730e-01 -8.77478724e-01 -4.19039289e-01 3.24226142e+01] [-8.81529828e-01 -8.97108543e-03 -4.72043093e-01 -2.61047877e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:279.66, Y:31.48, Z:-261.62 [[ 5.02331445e-01 -7.50723977e-01 -4.29041525e-01 2.79661336e+02] [ 2.46788003e-01 -3.51072342e-01 9.03240772e-01 3.14779018e+01] [-8.28709117e-01 -5.59608543e-01 8.91499459e-03 -2.61620812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.44864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:279.17, Y:32.92, Z:-261.64 [[ 4.18671591e-01 7.90505120e-01 4.47007555e-01 2.79170484e+02] [ 2.63640017e-01 3.65225752e-01 -8.92806861e-01 3.29157767e+01] [-8.69027065e-01 4.91641949e-01 -5.54991362e-02 -2.61640387e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:278.91, Y:31.95, Z:-262.10 [[ 4.23080756e-01 -4.83847753e-01 7.66090090e-01 2.78909250e+02] [ 2.23012636e-01 8.75084601e-01 4.29525675e-01 3.19493940e+01] [-8.78218673e-01 -1.08762767e-02 4.78135617e-01 -2.62103867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.50864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:278.93, Y:31.96, Z:-262.15 [[ 4.26519371e-01 -4.77839816e-01 7.67952040e-01 2.78929895e+02] [ 2.20070887e-01 8.78365368e-01 4.24314842e-01 3.19649538e+01] [-8.77297002e-01 -1.19746129e-02 4.79798477e-01 -2.62149515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:278.95, Y:31.98, Z:-262.20 [[ 4.27271044e-01 -4.71641283e-01 7.71358513e-01 2.78950916e+02] [ 2.16918817e-01 8.81713047e-01 4.18961013e-01 3.19818773e+01] [-8.77716174e-01 -1.16877335e-02 4.79038323e-01 -2.62196961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.56864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:279.47, Y:33.04, Z:-261.83 [[ 3.67934226e-01 8.86380306e-01 2.80988181e-01 2.79471219e+02] [ 2.44542460e-01 1.99309003e-01 -9.48933563e-01 3.30412192e+01] [-8.97119496e-01 4.17858677e-01 -1.43425017e-01 -2.61831150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:279.86, Y:31.62, Z:-262.19 [[ 4.43307707e-01 -8.50222602e-01 -2.83901048e-01 2.79859651e+02] [ 2.48018772e-01 -1.88012719e-01 9.50335681e-01 3.16187153e+01] [-8.61373883e-01 -4.91703920e-01 1.27523678e-01 -2.62191296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.62864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:279.15, Y:31.99, Z:-262.52 [[ 4.58965764e-01 -5.51003480e-01 6.96954513e-01 2.79153092e+02] [ 2.27931426e-01 8.31227523e-01 5.07058251e-01 3.19883257e+01] [-8.58718634e-01 -7.38645414e-02 5.07095984e-01 -2.62523177e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65864 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:279.29, Y:32.98, Z:-262.37 [[ 4.06061691e-01 6.22018726e-01 6.69482343e-01 2.79290743e+02] [ 1.66081890e-01 6.70167702e-01 -7.23389285e-01 3.29782528e+01] [-8.98627125e-01 4.04929569e-01 1.68823384e-01 -2.62371630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.68864 meters Centerline goodness : 0.999755 Centerline is valid? [True, True] Translation: X:280.38, Y:32.89, Z:-262.08 [[ 3.60832230e-01 6.80693007e-01 -6.37539907e-01 2.80382310e+02] [ 2.52668413e-01 -7.29376976e-01 -6.35742007e-01 3.28947652e+01] [-8.97752067e-01 6.83100097e-02 -4.35172343e-01 -2.62079612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:279.33, Y:32.05, Z:-262.76 [[ 3.35853548e-01 -5.56119977e-01 7.60219025e-01 2.79332319e+02] [ 2.16752827e-01 8.31070472e-01 5.12191451e-01 3.20521738e+01] [-9.16635482e-01 -7.24169289e-03 3.99658544e-01 -2.62763502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.74864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:279.35, Y:32.07, Z:-262.81 [[ 3.37174173e-01 -5.48075508e-01 7.65458565e-01 2.79349749e+02] [ 2.12266919e-01 8.36391420e-01 5.05363382e-01 3.20670528e+01] [-9.17200268e-01 -7.91394920e-03 3.98347885e-01 -2.62809319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:279.37, Y:32.09, Z:-262.87 [[ 3.40559584e-01 -5.40341645e-01 7.69447903e-01 2.79367533e+02] [ 2.06506088e-01 8.41371228e-01 4.99449390e-01 3.20861994e+01] [-9.17264632e-01 -1.11966007e-02 3.98120875e-01 -2.62865623e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.80864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:279.38, Y:32.10, Z:-262.91 [[ 3.43621654e-01 -5.29572115e-01 7.75549827e-01 2.79381651e+02] [ 2.02132933e-01 8.48187270e-01 4.89612738e-01 3.21049903e+01] [-9.17096743e-01 -1.14773778e-02 3.98499477e-01 -2.62912902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:279.43, Y:32.08, Z:-262.96 [[ 3.78441912e-01 -5.67544785e-01 7.31214494e-01 2.79425723e+02] [ 2.16595769e-01 8.22333661e-01 5.26168815e-01 3.20802432e+01] [-8.99926659e-01 -4.07463668e-02 4.34133322e-01 -2.62956388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.86864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:279.69, Y:33.20, Z:-262.75 [[ 2.77839978e-01 8.23594620e-01 4.94466227e-01 2.79692267e+02] [ 2.01419608e-01 4.53344748e-01 -8.68279149e-01 3.31981225e+01] [-9.39273702e-01 3.40837853e-01 -3.99308111e-02 -2.62754418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:279.49, Y:32.17, Z:-263.08 [[ 2.90440903e-01 -5.21373635e-01 8.02379969e-01 2.79490355e+02] [ 1.59154559e-01 8.53167446e-01 4.96764667e-01 3.21733944e+01] [-9.43564469e-01 -1.65783482e-02 3.30773715e-01 -2.63084416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92864 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:279.51, Y:32.20, Z:-263.16 [[ 2.95002583e-01 -5.09018174e-01 8.08624742e-01 2.79509263e+02] [ 1.50474518e-01 8.60476653e-01 4.86762107e-01 3.22009174e+01] [-9.43573471e-01 -2.19186606e-02 3.30437100e-01 -2.63160127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95864 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:279.52, Y:32.23, Z:-263.21 [[ 2.96599165e-01 -4.87663791e-01 8.21104720e-01 2.79515476e+02] [ 1.47811709e-01 8.72874537e-01 4.65018002e-01 3.22268490e+01] [-9.43493844e-01 -1.65550592e-02 3.30976277e-01 -2.63209626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:280.29, Y:31.87, Z:-263.19 [[ 3.88931288e-01 -9.01956979e-01 -1.87632784e-01 2.80290010e+02] [ 1.60173553e-01 -1.34363214e-01 9.77901304e-01 3.18726727e+01] [-9.07235849e-01 -4.10390223e-01 9.22115958e-02 -2.63189851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01864 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:279.92, Y:33.33, Z:-263.22 [[ 3.06212565e-01 8.70568623e-01 3.85154694e-01 2.79918292e+02] [ 1.40593651e-01 3.58795944e-01 -9.22766978e-01 3.33345199e+01] [-9.41523919e-01 3.36713148e-01 -1.25285949e-02 -2.63218754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:280.77, Y:33.16, Z:-263.12 [[ 2.45869103e-01 7.28623904e-01 -6.39261754e-01 2.80766702e+02] [ 2.20774122e-01 -6.84267656e-01 -6.95008317e-01 3.31649871e+01] [-9.43825816e-01 2.97486189e-02 -3.29101577e-01 -2.63117647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:280.84, Y:32.10, Z:-263.52 [[ 3.53891285e-01 -6.47844950e-01 -6.74579780e-01 2.80840219e+02] [ 2.67881002e-01 -6.20828837e-01 7.36757303e-01 3.21005781e+01] [-8.96103079e-01 -4.41439096e-01 -4.61605602e-02 -2.63521741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:279.82, Y:32.21, Z:-263.92 [[ 3.26494097e-01 -6.34840668e-01 7.00270612e-01 2.79820855e+02] [ 2.41460765e-01 7.72308081e-01 5.87568658e-01 3.22081244e+01] [-9.13837132e-01 -2.27498207e-02 4.05443143e-01 -2.63924094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.13864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:279.84, Y:32.24, Z:-264.00 [[ 3.31429948e-01 -6.23865661e-01 7.07775266e-01 2.79839964e+02] [ 2.33591021e-01 7.81078808e-01 5.79095097e-01 3.22407080e+01] [-9.14105806e-01 -2.65995104e-02 4.04602325e-01 -2.63999140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16864 meters Centerline goodness : 0.999461 Centerline is valid? [True, True] Translation: X:279.86, Y:32.33, Z:-264.14 [[ 3.68707873e-01 -5.85642138e-01 7.21857181e-01 2.79856762e+02] [ 1.80477648e-01 8.06894557e-01 5.62449102e-01 3.23293851e+01] [-9.11856525e-01 -7.71003263e-02 4.03203692e-01 -2.64142300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.19864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:280.57, Y:32.06, Z:-264.09 [[ 4.58028769e-01 -8.67387591e-01 -1.94546687e-01 2.80570981e+02] [ 1.97259437e-01 -1.14221896e-01 9.73674521e-01 3.20648432e+01] [-8.66774689e-01 -4.84347112e-01 1.18783474e-01 -2.64085350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22864 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:280.33, Y:33.55, Z:-264.01 [[ 3.55902502e-01 9.12049702e-01 2.03712418e-01 2.80334820e+02] [ 1.98604736e-01 1.39188477e-01 -9.70145724e-01 3.35530311e+01] [-9.13175541e-01 3.85735542e-01 -1.31599863e-01 -2.64005696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.25864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:281.27, Y:32.86, Z:-263.96 [[ 3.84725169e-01 1.44584075e-01 -9.11636983e-01 2.81267220e+02] [ 3.09834967e-01 -9.50579870e-01 -2.00051134e-02 3.28577004e+01] [-8.69476185e-01 -2.74760544e-01 -4.10509204e-01 -2.63961371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:280.08, Y:32.41, Z:-264.66 [[ 3.68316741e-01 -6.07227930e-01 7.04000724e-01 2.80083012e+02] [ 2.48999451e-01 7.93999466e-01 5.54584638e-01 3.24100852e+01] [-8.95735481e-01 -2.89670123e-02 4.43642717e-01 -2.64663649e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.31864 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:280.39, Y:33.58, Z:-264.35 [[ 2.73840700e-01 8.73332473e-01 4.02866806e-01 2.80386443e+02] [ 2.73212355e-01 3.30985200e-01 -9.03218582e-01 3.35799085e+01] [-9.22153068e-01 3.57406198e-01 -1.47968003e-01 -2.64347786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:280.24, Y:32.47, Z:-264.88 [[ 3.68245911e-01 -6.58784623e-01 6.56047079e-01 2.80243140e+02] [ 2.15396756e-01 7.46886360e-01 6.29098563e-01 3.24748576e+01] [-9.04433075e-01 -9.03525609e-02 4.16937919e-01 -2.64877305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.37864 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:280.36, Y:33.62, Z:-264.73 [[ 2.35305077e-01 7.54606783e-01 6.12535814e-01 2.80355533e+02] [ 1.86622306e-01 5.83425056e-01 -7.90434892e-01 3.36177860e+01] [-9.53836273e-01 3.00306190e-01 -3.54358057e-03 -2.64726825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:280.26, Y:32.63, Z:-265.03 [[ 2.86199012e-01 -5.49495655e-01 7.84948821e-01 2.80256466e+02] [ 1.38151397e-01 8.34321356e-01 5.33687236e-01 3.26341110e+01] [-9.48158382e-01 -4.42989835e-02 3.14695540e-01 -2.65028297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.43864 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:280.28, Y:32.68, Z:-265.15 [[ 2.99104816e-01 -5.28115869e-01 7.94751494e-01 2.80275083e+02] [ 1.18482906e-01 8.46989833e-01 5.18237420e-01 3.26842502e+01] [-9.46835841e-01 -6.08428414e-02 3.15911441e-01 -2.65153142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:280.29, Y:32.76, Z:-265.29 [[ 3.10420128e-01 -4.71849012e-01 8.25225941e-01 2.80285239e+02] [ 9.54128218e-02 8.79192703e-01 4.66815364e-01 3.27646841e+01] [-9.45798994e-01 -6.61717491e-02 3.17939557e-01 -2.65291427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.49864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:281.14, Y:32.41, Z:-265.25 [[ 4.09775428e-01 -8.62082351e-01 -2.98157875e-01 2.81137061e+02] [ 1.50023228e-01 -2.58717602e-01 9.54231750e-01 3.24082161e+01] [-8.99765041e-01 -4.35751331e-01 2.33162608e-02 -2.65246589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52864 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:280.29, Y:32.86, Z:-265.57 [[ 3.64930379e-01 -3.85775439e-01 8.47350653e-01 2.80294778e+02] [ 1.14273563e-01 9.21794894e-01 3.70453406e-01 3.28644641e+01] [-9.23995331e-01 -3.83599240e-02 3.80474894e-01 -2.65566332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.55864 meters Centerline goodness : 0.998386 Centerline is valid? [True, True] Translation: X:280.84, Y:33.90, Z:-265.35 [[ 2.72511923e-01 9.20676382e-01 2.79449908e-01 2.80835694e+02] [ 1.55224912e-01 2.44568380e-01 -9.57126708e-01 3.39007724e+01] [-9.49548566e-01 3.04206027e-01 -7.62641107e-02 -2.65352223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58864 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:280.41, Y:32.91, Z:-265.74 [[ 3.08640170e-01 -4.03445869e-01 8.61378358e-01 2.80413848e+02] [ 9.44779416e-02 9.14115003e-01 3.94293901e-01 3.29057570e+01] [-9.46475126e-01 -4.03136825e-02 3.20249345e-01 -2.65742311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.61864 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:280.47, Y:32.85, Z:-265.78 [[ 3.46221054e-01 -4.89574961e-01 8.00279538e-01 2.80465591e+02] [ 1.12645431e-01 8.68559823e-01 4.82612516e-01 3.28473700e+01] [-9.31365658e-01 -7.69427805e-02 3.55862080e-01 -2.65782578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64864 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:280.82, Y:33.91, Z:-265.69 [[ 2.13324046e-01 8.54512262e-01 4.73604947e-01 2.80821687e+02] [ 9.53157587e-02 4.64247611e-01 -8.80561788e-01 3.39149904e+01] [-9.72320810e-01 2.32987018e-01 1.75866943e-02 -2.65691521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:281.19, Y:34.01, Z:-265.76 [[ 1.48610600e-01 9.82378811e-01 1.13343550e-01 2.81187886e+02] [ 1.02899169e-01 9.86323778e-02 -9.89789581e-01 3.40114042e+01] [-9.83527656e-01 1.58756181e-01 -8.64281462e-02 -2.65760713e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:281.39, Y:32.53, Z:-266.02 [[ 2.81041691e-01 -9.33637905e-01 -2.22116702e-01 2.81387148e+02] [ 8.48324654e-02 -2.06370765e-01 9.74789495e-01 3.25266384e+01] [-9.55938816e-01 -2.92799196e-01 2.12040165e-02 -2.66024063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73864 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:281.33, Y:32.53, Z:-266.21 [[ 3.44189914e-01 -9.25441952e-01 -1.58399799e-01 2.81329267e+02] [ 9.25794889e-02 -1.34433581e-01 9.86588390e-01 3.25278342e+01] [-9.34324538e-01 -3.54238345e-01 3.94062603e-02 -2.66211152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76864 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:281.28, Y:34.05, Z:-266.23 [[ 2.12393800e-01 9.71700867e-01 1.03374561e-01 2.81279669e+02] [ 1.22808495e-01 7.84064515e-02 -9.89328309e-01 3.40461680e+01] [-9.69436407e-01 2.22822473e-01 -1.02680076e-01 -2.66228813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79864 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:281.42, Y:32.56, Z:-266.53 [[ 3.41471551e-01 -9.24839836e-01 -1.67536435e-01 2.81424018e+02] [ 9.65229528e-02 -1.42802182e-01 9.85033429e-01 3.25601494e+01] [-9.34922724e-01 -3.52532004e-01 4.05053893e-02 -2.66525641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82864 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:281.37, Y:34.08, Z:-266.54 [[ 2.17115784e-01 9.69185971e-01 1.16358456e-01 2.81366939e+02] [ 1.28344876e-01 8.98239652e-02 -9.87653405e-01 3.40768204e+01] [-9.67671602e-01 2.29369155e-01 -1.04887852e-01 -2.66535527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85864 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:281.40, Y:34.10, Z:-266.70 [[ 1.55142137e-01 9.68882105e-01 1.92868824e-01 2.81397924e+02] [ 1.12678282e-01 1.76603682e-01 -9.77811201e-01 3.40991729e+01] [-9.81445119e-01 1.73431847e-01 -8.17732986e-02 -2.66696715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.88864 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:281.42, Y:34.11, Z:-266.85 [[ 9.86212124e-02 9.62089619e-01 2.54278236e-01 2.81423848e+02] [ 6.72479086e-02 2.48496471e-01 -9.66295619e-01 3.41086825e+01] [-9.92850228e-01 1.12396925e-01 -4.01914915e-02 -2.66849278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91864 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:282.34, Y:33.50, Z:-266.97 [[ 1.02814666e-01 2.77853675e-01 -9.55105481e-01 2.82342231e+02] [ 1.85573064e-01 -9.48694087e-01 -2.56012044e-01 3.35008689e+01] [-9.77236810e-01 -1.50920058e-01 -1.49101824e-01 -2.66967312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.94864 meters Centerline goodness : 0.997796 Centerline is valid? [True, True] Translation: X:281.22, Y:32.72, Z:-267.25 [[ 9.79441072e-02 -8.74384934e-01 4.75245136e-01 2.81219122e+02] [ 1.41182798e-01 4.84919485e-01 8.63087777e-01 3.27233847e+01] [-9.85126575e-01 -1.74379236e-02 1.70943118e-01 -2.67254564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97864 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:281.26, Y:32.72, Z:-267.33 [[ 1.23224645e-01 -9.00425029e-01 4.17193546e-01 2.81264064e+02] [ 1.73547285e-01 4.33471801e-01 8.84298331e-01 3.27177779e+01] [-9.77085987e-01 -3.65645405e-02 2.09680727e-01 -2.67329438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.00864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:280.93, Y:33.68, Z:-267.37 [[ 9.18972019e-02 2.71393322e-01 9.58071275e-01 2.80934792e+02] [ 7.45953201e-02 9.57562808e-01 -2.78404394e-01 3.36792554e+01] [-9.92970514e-01 9.70522183e-02 6.77526710e-02 -2.67365303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03864 meters Centerline goodness : 0.998678 Centerline is valid? [True, True] Translation: X:281.80, Y:34.18, Z:-267.41 [[-6.98248844e-03 9.96767068e-01 -8.00415897e-02 2.81800554e+02] [ 8.19670909e-02 -7.92036725e-02 -9.93482851e-01 3.41832607e+01] [-9.96610576e-01 -1.34977588e-02 -8.11490582e-02 -2.67411681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.06864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:282.46, Y:33.45, Z:-267.64 [[-1.83237931e-02 9.64320177e-02 -9.95170892e-01 2.82456421e+02] [ 1.78637091e-01 -9.79006845e-01 -9.81549152e-02 3.34471428e+01] [-9.83744392e-01 -1.79573003e-01 7.12783766e-04 -2.67639199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09864 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:281.93, Y:32.72, Z:-267.84 [[ 8.85125744e-03 -9.35709122e-01 -3.52661445e-01 2.81931367e+02] [ 1.98835881e-01 -3.43985838e-01 9.17680792e-01 3.27170763e+01] [-9.79992830e-01 -7.82443781e-02 1.83007841e-01 -2.67836655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.12864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:280.96, Y:33.32, Z:-267.90 [[ 1.56071151e-02 -2.80048651e-01 9.59858933e-01 2.80955422e+02] [ 9.64452151e-02 9.55921280e-01 2.77331620e-01 3.33204968e+01] [-9.95215926e-01 8.82454547e-02 4.19285258e-02 -2.67901029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:281.45, Y:32.79, Z:-268.00 [[ 3.55554370e-02 -9.58987053e-01 2.81211030e-01 2.81445387e+02] [ 8.82833649e-02 2.83302872e-01 9.54958392e-01 3.27899791e+01] [-9.95460626e-01 -9.12770703e-03 9.47355613e-02 -2.67996067e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.18864 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:281.42, Y:32.81, Z:-268.05 [[ 3.78466864e-02 -9.48984690e-01 3.13042627e-01 2.81423990e+02] [ 8.63805227e-02 3.15201344e-01 9.45085455e-01 3.28050173e+01] [-9.95543085e-01 -8.72756714e-03 9.39031200e-02 -2.68048506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21864 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:281.40, Y:32.82, Z:-268.10 [[ 4.12367258e-02 -9.37941091e-01 3.44334203e-01 2.81401753e+02] [ 8.46694752e-02 3.46668096e-01 9.34158611e-01 3.28206305e+01] [-9.95555429e-01 -9.36704628e-03 9.37104371e-02 -2.68100601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.24864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:281.38, Y:32.84, Z:-268.16 [[ 4.54977987e-02 -9.25984793e-01 3.74809436e-01 2.81380316e+02] [ 8.10172074e-02 3.77382383e-01 9.22506774e-01 3.28379952e+01] [-9.95673723e-01 -1.16060137e-02 9.21907698e-02 -2.68156792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:281.35, Y:32.86, Z:-268.22 [[ 5.47463982e-02 -9.09934991e-01 4.11121813e-01 2.81353810e+02] [ 7.67580923e-02 4.14356159e-01 9.06872190e-01 3.28595240e+01] [-9.95545593e-01 -1.80910600e-02 9.25293813e-02 -2.68224022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.30864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:281.31, Y:32.89, Z:-268.29 [[ 5.96948948e-02 -8.83761704e-01 4.64113961e-01 2.81314930e+02] [ 7.32638844e-02 4.67568078e-01 8.80915714e-01 3.28873357e+01] [-9.95524446e-01 -1.85833792e-02 9.26592426e-02 -2.68286590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:281.28, Y:32.91, Z:-268.34 [[ 6.51665296e-02 -8.60008598e-01 5.06101309e-01 2.81283881e+02] [ 6.94518941e-02 5.09858400e-01 8.57450200e-01 3.29134444e+01] [-9.95454548e-01 -2.07273594e-02 9.29549286e-02 -2.68342662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.36864 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:281.26, Y:32.94, Z:-268.40 [[ 6.89655557e-02 -8.39234087e-01 5.39379179e-01 2.81260626e+02] [ 6.53958222e-02 5.43306681e-01 8.36983415e-01 3.29373873e+01] [-9.95473324e-01 -2.24498814e-02 9.23518503e-02 -2.68404484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39864 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:281.24, Y:32.96, Z:-268.47 [[ 7.05206708e-02 -8.12664091e-01 5.78449574e-01 2.81236499e+02] [ 6.25765309e-02 5.82355306e-01 8.10522347e-01 3.29646604e+01] [-9.95545585e-01 -2.09612120e-02 9.19217864e-02 -2.68465810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:281.21, Y:32.99, Z:-268.53 [[ 7.35837761e-02 -7.84254556e-01 6.16060240e-01 2.81212891e+02] [ 5.82418637e-02 6.20059921e-01 7.82389660e-01 3.29941910e+01] [-9.95586919e-01 -2.16906891e-02 9.13027973e-02 -2.68534606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:281.18, Y:33.03, Z:-268.59 [[ 7.35678965e-02 -7.46225212e-01 6.61615974e-01 2.81183614e+02] [ 5.68295994e-02 6.65472520e-01 7.44255818e-01 3.30292222e+01] [-9.95669705e-01 -1.71539642e-02 9.13650933e-02 -2.68590823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:281.17, Y:33.06, Z:-268.67 [[ 7.85877501e-02 -7.19009488e-01 6.90542773e-01 2.81165529e+02] [ 5.00004277e-02 6.94656157e-01 7.17602105e-01 3.30602969e+01] [-9.95652511e-01 -2.18673009e-02 9.05422464e-02 -2.68673593e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51864 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:281.12, Y:33.13, Z:-268.81 [[ 9.46369116e-02 -6.54707406e-01 7.49934709e-01 2.81123667e+02] [ 2.92878544e-02 7.54820679e-01 6.55277013e-01 3.31316506e+01] [-9.95080940e-01 -4.00494142e-02 9.06088730e-02 -2.68810748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:281.74, Y:34.37, Z:-268.84 [[ 1.98298114e-02 9.97231797e-01 7.16625470e-02 2.81740575e+02] [ 7.13538029e-02 7.00822993e-02 -9.94985983e-01 3.43666771e+01] [-9.97253936e-01 2.48437797e-02 -6.97665624e-02 -2.68843689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57864 meters Centerline goodness : 0.997558 Centerline is valid? [True, True] Translation: X:281.93, Y:34.36, Z:-269.00 [[-4.47696666e-02 9.93911782e-01 -1.00672969e-01 2.81925104e+02] [ 8.04081394e-02 -9.68619370e-02 -9.92044503e-01 3.43623708e+01] [-9.95756099e-01 -5.25084279e-02 -7.55821204e-02 -2.69002339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60864 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:282.17, Y:32.96, Z:-269.11 [[-2.53236832e-03 -8.66052767e-01 -4.99946189e-01 2.82170284e+02] [ 4.71047110e-02 -4.99496134e-01 8.65034542e-01 3.29563482e+01] [-9.98886747e-01 -2.13592347e-02 4.20600735e-02 -2.69113274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.63864 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:282.10, Y:32.93, Z:-269.13 [[ 2.92045630e-03 -9.09768904e-01 -4.15104821e-01 2.82100229e+02] [ 4.66332631e-02 -4.14531081e-01 9.08839547e-01 3.29263961e+01] [-9.98907808e-01 -2.20119185e-02 4.12148727e-02 -2.69133975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:282.04, Y:32.91, Z:-269.15 [[ 6.52656693e-03 -9.38974416e-01 -3.43925064e-01 2.82043032e+02] [ 4.67041560e-02 -3.43270834e-01 9.38074547e-01 3.29069587e+01] [-9.98887444e-01 -2.21851362e-02 4.16136276e-02 -2.69152076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.69864 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:282.04, Y:32.90, Z:-269.16 [[ 1.66151256e-02 -9.39993953e-01 -3.40786307e-01 2.82039485e+02] [ 4.43979214e-02 -3.39803572e-01 9.39447900e-01 3.29031301e+01] [-9.98875749e-01 -3.07392485e-02 3.60878986e-02 -2.69163926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:281.11, Y:33.35, Z:-269.32 [[ 2.99501170e-02 -4.67481351e-01 8.83495431e-01 2.81113258e+02] [-6.80975703e-02 8.80883999e-01 4.68408050e-01 3.33548781e+01] [-9.97229017e-01 -7.41927682e-02 -5.45176533e-03 -2.69324011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.75864 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:282.34, Y:34.19, Z:-269.47 [[-3.42589423e-02 7.85319401e-01 -6.18142188e-01 2.82339017e+02] [ 1.63382954e-02 -6.17982516e-01 -7.86022054e-01 3.41889566e+01] [-9.99279433e-01 -3.70276738e-02 8.34064704e-03 -2.69468746e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78864 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:282.41, Y:33.13, Z:-269.54 [[ 4.08982014e-02 -5.82351027e-01 -8.11908011e-01 2.82405240e+02] [ 4.27336342e-02 -8.10824849e-01 5.83726734e-01 3.31334949e+01] [-9.98249054e-01 -5.85691535e-02 -8.27530224e-03 -2.69538562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.81864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:282.25, Y:34.25, Z:-269.67 [[-6.38984925e-02 8.94390283e-01 -4.42699678e-01 2.82253283e+02] [ 9.91802521e-02 -4.35718624e-01 -8.94601899e-01 3.42465742e+01] [-9.93015740e-01 -1.01070778e-01 -6.08640905e-02 -2.69665777e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84864 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:282.28, Y:32.97, Z:-269.77 [[-1.40041456e-02 -7.90209207e-01 -6.12677152e-01 2.82284920e+02] [ 6.75265831e-02 -6.12085786e-01 7.87903009e-01 3.29749869e+01] [-9.97619188e-01 -3.03380861e-02 6.19318661e-02 -2.69774285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.87864 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:282.23, Y:32.94, Z:-269.80 [[-8.55212596e-03 -8.31018414e-01 -5.56179159e-01 2.82233603e+02] [ 6.87830902e-02 -5.55370997e-01 8.28753246e-01 3.29448751e+01] [-9.97594982e-01 -3.11681191e-02 6.19096173e-02 -2.69796642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90864 meters Centerline goodness : 0.995114 Centerline is valid? [True, True] Translation: X:282.19, Y:32.92, Z:-269.81 [[-4.42000708e-03 -8.61989986e-01 -5.06906033e-01 2.82190969e+02] [ 7.01158934e-02 -5.05930525e-01 8.59719760e-01 3.29234996e+01] [-9.97529060e-01 -3.17422020e-02 6.26754145e-02 -2.69814141e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.93864 meters Centerline goodness : 0.994661 Centerline is valid? [True, True] Translation: X:282.14, Y:32.90, Z:-269.84 [[ 1.54783172e-03 -8.88810055e-01 -4.58273161e-01 2.82144497e+02] [ 7.16563230e-02 -4.56997081e-01 8.86577148e-01 3.29049323e+01] [-9.97428181e-01 -3.42104419e-02 6.29815058e-02 -2.69838642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96864 meters Centerline goodness : 0.994727 Centerline is valid? [True, True] Translation: X:282.09, Y:32.89, Z:-269.86 [[ 5.51801769e-03 -9.19787875e-01 -3.92377136e-01 2.82088240e+02] [ 7.00005739e-02 -3.91065253e-01 9.17697056e-01 3.28862397e+01] [-9.97531689e-01 -3.25304933e-02 6.22277741e-02 -2.69855338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.99864 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:282.05, Y:32.87, Z:-269.87 [[ 5.64497384e-03 -9.36209851e-01 -3.51396142e-01 2.82050954e+02] [ 7.20589813e-02 -3.50107363e-01 9.33933797e-01 3.28734860e+01] [-9.97384398e-01 -3.05932799e-02 6.54859812e-02 -2.69865214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02864 meters Centerline goodness : 0.993096 Centerline is valid? [True, True] Translation: X:282.01, Y:32.87, Z:-269.88 [[ 7.60056735e-03 -9.51726209e-01 -3.06854127e-01 2.82013730e+02] [ 7.23824049e-02 -3.05534408e-01 9.49425886e-01 3.28659940e+01] [-9.97347993e-01 -2.94270150e-02 6.65659969e-02 -2.69879280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.05864 meters Centerline goodness : 0.992771 Centerline is valid? [True, True] Translation: X:281.98, Y:32.86, Z:-269.88 [[ 7.46044909e-03 -9.64289516e-01 -2.64745295e-01 2.81976071e+02] [ 6.87959160e-02 -2.63630416e-01 9.62167410e-01 3.28611048e+01] [-9.97602859e-01 -2.53915960e-02 6.43723793e-02 -2.69882785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08864 meters Centerline goodness : 0.992363 Centerline is valid? [True, True] Translation: X:281.94, Y:32.86, Z:-269.89 [[ 8.52931509e-03 -9.75074987e-01 -2.21711570e-01 2.81940182e+02] [ 6.66998268e-02 -2.20671085e-01 9.73064954e-01 3.28583610e+01] [-9.97736631e-01 -2.30877009e-02 6.31551595e-02 -2.69892278e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.11864 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:281.90, Y:32.86, Z:-269.90 [[ 8.63835851e-03 -9.84143581e-01 -1.77163174e-01 2.81904438e+02] [ 6.57674681e-02 -1.76227023e-01 9.82150027e-01 3.28559296e+01] [-9.97797584e-01 -2.01357375e-02 6.32023194e-02 -2.69898258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14864 meters Centerline goodness : 0.990230 Centerline is valid? [True, True] Translation: X:281.87, Y:32.85, Z:-269.90 [[ 6.31844656e-03 -9.91025560e-01 -1.33523097e-01 2.81871347e+02] [ 6.46667258e-02 -1.32841328e-01 9.89025478e-01 3.28548746e+01] [-9.97886913e-01 -1.48836061e-02 6.32470273e-02 -2.69900851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17864 meters Centerline goodness : 0.990378 Centerline is valid? [True, True] Translation: X:281.84, Y:32.86, Z:-269.91 [[ 7.36402450e-03 -9.96177034e-01 -8.70464681e-02 2.81835173e+02] [ 6.35769274e-02 -8.64062965e-02 9.94229313e-01 3.28558819e+01] [-9.97949771e-01 -1.28556760e-02 6.26975769e-02 -2.69912934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20864 meters Centerline goodness : 0.990311 Centerline is valid? [True, True] Translation: X:281.80, Y:32.86, Z:-269.92 [[ 5.60687364e-03 -9.99192060e-01 -3.97968539e-02 2.81797226e+02] [ 6.42921621e-02 -3.93549425e-02 9.97154806e-01 3.28578597e+01] [-9.97915368e-01 -8.14954677e-03 6.40195597e-02 -2.69915149e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23864 meters Centerline goodness : 0.990125 Centerline is valid? [True, True] Translation: X:281.76, Y:32.87, Z:-269.98 [[ 7.89740601e-03 -9.99951722e-01 5.84677635e-03 2.81759896e+02] [ 6.52159773e-02 6.34955505e-03 9.97850971e-01 3.28674320e+01] [-9.97839921e-01 -7.49913102e-03 6.52629738e-02 -2.69981455e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26864 meters Centerline goodness : 0.988935 Centerline is valid? [True, True] Translation: X:281.71, Y:32.88, Z:-270.03 [[ 6.95088484e-03 -9.97190564e-01 7.45832649e-02 2.81708254e+02] [ 6.69946477e-02 7.48818772e-02 9.94939406e-01 3.28824765e+01] [-9.97729123e-01 -1.91902967e-03 6.73269259e-02 -2.70034582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29864 meters Centerline goodness : 0.988499 Centerline is valid? [True, True] Translation: X:281.68, Y:32.89, Z:-270.09 [[ 9.59304182e-03 -9.93143297e-01 1.16509074e-01 2.81675197e+02] [ 6.74411600e-02 1.16891726e-01 9.90852166e-01 3.28948874e+01] [-9.97677134e-01 -1.64777918e-03 6.81000833e-02 -2.70087934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32864 meters Centerline goodness : 0.987257 Centerline is valid? [True, True] Translation: X:281.64, Y:32.91, Z:-270.16 [[ 1.62954091e-02 -9.87243726e-01 1.58380193e-01 2.81640069e+02] [ 6.64688950e-02 1.59120433e-01 9.85019073e-01 3.29112777e+01] [-9.97655424e-01 -5.52393228e-03 6.82139321e-02 -2.70161428e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35864 meters Centerline goodness : 0.987258 Centerline is valid? [True, True] Translation: X:281.58, Y:32.94, Z:-270.22 [[ 1.87266717e-02 -9.69903518e-01 2.42768363e-01 2.81578191e+02] [ 6.59114044e-02 2.43480332e-01 9.67663689e-01 3.29380034e+01] [-9.97649737e-01 -2.11991643e-03 6.84872792e-02 -2.70220032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.38864 meters Centerline goodness : 0.988017 Centerline is valid? [True, True] Translation: X:281.54, Y:32.96, Z:-270.28 [[ 2.03546063e-02 -9.56294520e-01 2.91695870e-01 2.81544383e+02] [ 6.65000409e-02 2.92405182e-01 9.53979536e-01 3.29575042e+01] [-9.97578786e-01 -2.00905912e-05 6.95454171e-02 -2.70276797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41864 meters Centerline goodness : 0.987424 Centerline is valid? [True, True] Translation: X:281.51, Y:32.98, Z:-270.34 [[ 2.40202316e-02 -9.40798322e-01 3.38114693e-01 2.81511207e+02] [ 6.64437708e-02 3.38966829e-01 9.38449100e-01 3.29794637e+01] [-9.97501004e-01 -7.61495585e-05 7.06522499e-02 -2.70339037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.44864 meters Centerline goodness : 0.986966 Centerline is valid? [True, True] Translation: X:282.25, Y:34.31, Z:-270.38 [[-1.70429887e-02 9.37870344e-01 -3.46567100e-01 2.82250561e+02] [ 1.19140956e-01 -3.42242973e-01 -9.32027457e-01 3.43127391e+01] [-9.92731066e-01 -5.71748689e-02 -1.05905926e-01 -2.70377929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47864 meters Centerline goodness : 0.985916 Centerline is valid? [True, True] Translation: X:282.02, Y:32.91, Z:-270.53 [[-2.58307558e-02 -9.63461602e-01 -2.66598036e-01 2.82017593e+02] [ 8.53963711e-02 -2.67838851e-01 9.59671720e-01 3.29057136e+01] [-9.96012165e-01 2.02254109e-03 8.91946045e-02 -2.70533917e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.50864 meters Centerline goodness : 0.984985 Centerline is valid? [True, True] Translation: X:281.99, Y:32.90, Z:-270.55 [[-2.37091372e-02 -9.73083941e-01 -2.29228096e-01 2.81991771e+02] [ 8.72008348e-02 -2.30431567e-01 9.69173518e-01 3.29046575e+01] [-9.95908576e-01 2.98938654e-03 9.03170656e-02 -2.70546843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53864 meters Centerline goodness : 0.986951 Centerline is valid? [True, True] Translation: X:281.97, Y:32.90, Z:-270.57 [[-1.66476754e-02 -9.80991634e-01 -1.93334603e-01 2.81965314e+02] [ 8.90570955e-02 -1.94047684e-01 9.76941314e-01 3.29049975e+01] [-9.95887388e-01 -9.54016253e-04 9.05947085e-02 -2.70573547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.56864 meters Centerline goodness : 0.986324 Centerline is valid? [True, True] Translation: X:281.91, Y:32.90, Z:-270.59 [[-1.34988217e-02 -9.92522480e-01 -1.21313263e-01 2.81911742e+02] [ 9.00593477e-02 -1.22038038e-01 9.88431096e-01 3.29040988e+01] [-9.95844915e-01 2.41726179e-03 9.10332969e-02 -2.70585671e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59864 meters Centerline goodness : 0.987219 Centerline is valid? [True, True] Translation: X:281.88, Y:32.91, Z:-270.60 [[-7.30082202e-03 -9.96511067e-01 -8.31407941e-02 2.81883325e+02] [ 9.03556807e-02 -8.34603045e-02 9.92406282e-01 3.29064546e+01] [-9.95882799e-01 -2.66861410e-04 9.06497646e-02 -2.70596196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.62864 meters Centerline goodness : 0.986683 Centerline is valid? [True, True] Translation: X:281.85, Y:32.91, Z:-270.61 [[ 6.72880892e-04 -9.99116872e-01 -4.20121837e-02 2.81853169e+02] [ 9.15552738e-02 -4.17741903e-02 9.94923388e-01 3.29094856e+01] [-9.95799769e-01 -4.51590192e-03 9.14463097e-02 -2.70606078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65864 meters Centerline goodness : 0.986375 Centerline is valid? [True, True] Translation: X:281.82, Y:32.91, Z:-270.63 [[ 8.98205358e-03 -9.99955210e-01 -2.98350370e-03 2.81824021e+02] [ 9.19056321e-02 -2.14546456e-03 9.95765410e-01 3.29149317e+01] [-9.95727210e-01 -9.21821906e-03 9.18822450e-02 -2.70631736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.68864 meters Centerline goodness : 0.986577 Centerline is valid? [True, True] Translation: X:281.77, Y:32.93, Z:-270.69 [[ 1.51057650e-02 -9.98050497e-01 6.05559343e-02 2.81773787e+02] [ 9.08873483e-02 6.16826876e-02 9.93949061e-01 3.29293389e+01] [-9.95746607e-01 -9.51059261e-03 9.16419273e-02 -2.70694732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71864 meters Centerline goodness : 0.987389 Centerline is valid? [True, True] Translation: X:281.73, Y:32.94, Z:-270.75 [[ 2.05926395e-02 -9.93707705e-01 1.10095143e-01 2.81733268e+02] [ 9.07277636e-02 1.11521498e-01 9.89611756e-01 3.29442357e+01] [-9.95662802e-01 -1.03900321e-02 9.24533997e-02 -2.70751223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.74864 meters Centerline goodness : 0.988613 Centerline is valid? [True, True] Translation: X:281.70, Y:32.96, Z:-270.83 [[ 3.15316279e-02 -9.88234612e-01 1.49659976e-01 2.81696613e+02] [ 8.62541018e-02 1.51866248e-01 9.84630323e-01 3.29616959e+01] [-9.95774064e-01 -1.81382102e-02 9.00278789e-02 -2.70832128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77864 meters Centerline goodness : 0.986979 Centerline is valid? [True, True] Translation: X:281.64, Y:32.99, Z:-270.88 [[ 3.33144189e-02 -9.72066927e-01 2.32327440e-01 2.81637335e+02] [ 8.32561941e-02 2.34347677e-01 9.68581216e-01 3.29869204e+01] [-9.95971162e-01 -1.29250220e-02 8.87377494e-02 -2.70884835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.80864 meters Centerline goodness : 0.986440 Centerline is valid? [True, True] Translation: X:281.61, Y:33.00, Z:-270.94 [[ 3.58170193e-02 -9.63635834e-01 2.64807704e-01 2.81613317e+02] [ 8.36523290e-02 2.66938714e-01 9.60076044e-01 3.30028240e+01] [-9.95851108e-01 -1.22352810e-02 9.01713309e-02 -2.70938165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83864 meters Centerline goodness : 0.987560 Centerline is valid? [True, True] Translation: X:281.59, Y:33.02, Z:-271.00 [[ 3.90461100e-02 -9.54181865e-01 2.96668788e-01 2.81588459e+02] [ 8.31022743e-02 2.98967550e-01 9.50637900e-01 3.30197964e+01] [-9.95775785e-01 -1.24648610e-02 9.09682029e-02 -2.70995384e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.86864 meters Centerline goodness : 0.989162 Centerline is valid? [True, True] Translation: X:281.37, Y:34.25, Z:-271.05 [[-1.97720069e-02 5.71452682e-01 8.20396794e-01 2.81367135e+02] [ 5.27745077e-02 8.20009790e-01 -5.69911218e-01 3.42536936e+01] [-9.98410697e-01 3.20277484e-02 -4.63713732e-02 -2.71045116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89864 meters Centerline goodness : 0.988481 Centerline is valid? [True, True] Translation: X:281.87, Y:33.01, Z:-271.14 [[ 1.61415745e-02 -9.99081496e-01 -3.96939952e-02 2.81870312e+02] [ 3.17110609e-02 -3.91676670e-02 9.98729344e-01 3.30105657e+01] [-9.99366729e-01 -1.73798029e-02 3.10497063e-02 -2.71136197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92864 meters Centerline goodness : 0.989871 Centerline is valid? [True, True] Translation: X:281.68, Y:33.05, Z:-271.19 [[ 1.33143730e-02 -9.74540053e-01 2.23817809e-01 2.81677214e+02] [ 3.10453848e-02 2.24132633e-01 9.74064036e-01 3.30544963e+01] [-9.99429293e-01 -6.02054185e-03 3.32391564e-02 -2.71191788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95864 meters Centerline goodness : 0.990411 Centerline is valid? [True, True] Translation: X:281.62, Y:33.08, Z:-271.25 [[ 1.51612734e-02 -9.54222597e-01 2.98712858e-01 2.81622068e+02] [ 2.95575781e-02 2.99044352e-01 9.53781330e-01 3.30787974e+01] [-9.99448090e-01 -5.63131082e-03 3.27384021e-02 -2.71246886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98864 meters Centerline goodness : 0.990623 Centerline is valid? [True, True] Translation: X:282.33, Y:34.41, Z:-271.34 [[-3.94518096e-02 9.24800152e-01 -3.78402212e-01 2.82332954e+02] [ 8.81144439e-02 -3.74001870e-01 -9.23232607e-01 3.44097787e+01] [-9.95328790e-01 -6.97658975e-02 -6.67332005e-02 -2.71341040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01864 meters Centerline goodness : 0.991349 Centerline is valid? [True, True] Translation: X:282.31, Y:33.09, Z:-271.46 [[-4.01025728e-02 -8.37360154e-01 -5.45178647e-01 2.82310859e+02] [ 7.57578958e-02 -5.46595127e-01 8.33963134e-01 3.30857828e+01] [-9.96319489e-01 -7.85751981e-03 8.53565141e-02 -2.71456764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04864 meters Centerline goodness : 0.990967 Centerline is valid? [True, True] Translation: X:281.30, Y:33.42, Z:-271.46 [[-1.42143043e-02 -5.63390693e-01 8.26068327e-01 2.81302081e+02] [ 5.83859883e-03 8.26090941e-01 5.63506582e-01 3.34164385e+01] [-9.99881925e-01 1.28329356e-02 -8.45289573e-03 -2.71463932e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07864 meters Centerline goodness : 0.992381 Centerline is valid? [True, True] Translation: X:281.95, Y:33.02, Z:-271.48 [[ 5.62090612e-03 -9.96083779e-01 -8.82355406e-02 2.81948250e+02] [ 6.43227306e-04 -8.82333148e-02 9.96099628e-01 3.30195664e+01] [-9.99983996e-01 -5.65573800e-03 1.44757107e-04 -2.71484373e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10864 meters Centerline goodness : 0.991638 Centerline is valid? [True, True] Translation: X:281.76, Y:33.05, Z:-271.55 [[ 7.25317589e-03 -9.86816516e-01 1.61680411e-01 2.81760014e+02] [ 5.13139029e-05 1.61685031e-01 9.86842413e-01 3.30482001e+01] [-9.99973694e-01 -7.14944514e-03 1.22336737e-03 -2.71547720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.13864 meters Centerline goodness : 0.991649 Centerline is valid? [True, True] Translation: X:281.55, Y:33.14, Z:-271.61 [[ 7.29588028e-03 -8.93497497e-01 4.49008901e-01 2.81551405e+02] [-5.01558865e-04 4.49017526e-01 8.93522809e-01 3.31435575e+01] [-9.99973259e-01 -6.74423984e-03 2.82783652e-03 -2.71606285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16864 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:281.39, Y:33.28, Z:-271.76 [[ 3.36358484e-02 -7.54846169e-01 6.55038847e-01 2.81391988e+02] [-2.47998854e-02 6.54577519e-01 7.55588008e-01 3.32823107e+01] [-9.99126416e-01 -4.16597320e-02 3.29717168e-03 -2.71761555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.19864 meters Centerline goodness : 0.990960 Centerline is valid? [True, True] Translation: X:281.25, Y:34.08, Z:-271.88 [[ 2.13543095e-02 2.68776767e-01 9.62965754e-01 2.81254319e+02] [-2.36403948e-02 9.63051828e-01 -2.68276552e-01 3.40770844e+01] [-9.99492434e-01 -1.70360301e-02 2.69192957e-02 -2.71880206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22864 meters Centerline goodness : 0.990565 Centerline is valid? [True, True] Translation: X:281.78, Y:33.06, Z:-272.00 [[ 1.08611336e-01 -9.92834106e-01 4.98398962e-02 2.81783166e+02] [-4.51780784e-02 4.51548418e-02 9.97957906e-01 3.30589000e+01] [-9.93057158e-01 -1.10641212e-01 -3.99500094e-02 -2.72004266e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.25864 meters Centerline goodness : 0.990468 Centerline is valid? [True, True] Translation: X:281.99, Y:34.54, Z:-272.19 [[ 3.50652098e-02 9.95506614e-01 8.79602912e-02 2.81989369e+02] [-5.13299727e-02 8.96922641e-02 -9.94645933e-01 3.45405609e+01] [-9.98065962e-01 3.03624689e-02 5.42444054e-02 -2.72188983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28864 meters Centerline goodness : 0.991597 Centerline is valid? [True, True] Translation: X:282.72, Y:33.71, Z:-272.30 [[ 4.96136489e-02 7.51147366e-02 -9.95939889e-01 2.82724268e+02] [ 4.37889957e-02 -9.96372665e-01 -7.29659885e-02 3.37095519e+01] [-9.97808103e-01 -3.99910986e-02 -5.27228825e-02 -2.72300412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.31864 meters Centerline goodness : 0.991547 Centerline is valid? [True, True] Translation: X:281.45, Y:33.22, Z:-272.43 [[ 2.65760502e-02 -7.81814912e-01 6.22943944e-01 2.81447974e+02] [ 2.26414215e-02 6.23474953e-01 7.81515418e-01 3.32202331e+01] [-9.99390354e-01 -6.66525654e-03 3.42709026e-02 -2.72432798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34864 meters Centerline goodness : 0.990806 Centerline is valid? [True, True] Translation: X:282.12, Y:34.49, Z:-272.53 [[-2.87842016e-02 9.99574737e-01 4.67059084e-03 2.82117380e+02] [ 5.48823488e-02 6.24586094e-03 -9.98473293e-01 3.44941332e+01] [-9.98077851e-01 -2.84839236e-02 -5.50387915e-02 -2.72530634e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.37864 meters Centerline goodness : 0.991837 Centerline is valid? [True, True] Translation: X:282.44, Y:33.13, Z:-272.61 [[-1.73105504e-02 -7.69365742e-01 -6.38573958e-01 2.82440480e+02] [ 2.26389444e-02 -6.38807519e-01 7.69033440e-01 3.31279211e+01] [-9.99593829e-01 -1.14424826e-03 2.84757380e-02 -2.72612382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40864 meters Centerline goodness : 0.992134 Centerline is valid? [True, True] Translation: X:282.12, Y:34.50, Z:-272.63 [[-8.86292545e-02 9.96053895e-01 4.63618427e-03 2.82123518e+02] [ 5.75388669e-02 9.76644818e-03 -9.98295495e-01 3.44985256e+01] [-9.94401395e-01 -8.82114247e-02 -5.81774055e-02 -2.72631839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.43864 meters Centerline goodness : 0.993450 Centerline is valid? [True, True] Translation: X:281.91, Y:33.02, Z:-272.75 [[-3.40205138e-02 -9.98416373e-01 4.48034603e-02 2.81906132e+02] [ 1.87670143e-02 4.41833151e-02 9.98847152e-01 3.30221751e+01] [-9.99244917e-01 3.48221205e-02 1.72341553e-02 -2.72752599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46864 meters Centerline goodness : 0.992379 Centerline is valid? [True, True] Translation: X:282.39, Y:33.11, Z:-272.78 [[-1.86544413e-02 -8.09047089e-01 -5.87447717e-01 2.82391207e+02] [ 2.01562565e-02 -5.87734859e-01 8.08802485e-01 3.31109024e+01] [-9.99622797e-01 3.24701162e-03 2.72712261e-02 -2.72777716e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.49864 meters Centerline goodness : 0.993306 Centerline is valid? [True, True] Translation: X:282.33, Y:33.08, Z:-272.80 [[-1.60417362e-02 -8.63462087e-01 -5.04158593e-01 2.82325001e+02] [ 2.35598056e-02 -5.04409902e-01 8.63142854e-01 3.30787339e+01] [-9.99593717e-01 1.96843152e-03 2.84346095e-02 -2.72796076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52864 meters Centerline goodness : 0.993350 Centerline is valid? [True, True] Translation: X:282.25, Y:33.05, Z:-272.81 [[-1.58659693e-02 -9.17735694e-01 -3.96874624e-01 2.82245217e+02] [ 2.46940811e-02 -3.97163170e-01 9.17415728e-01 3.30494652e+01] [-9.99569144e-01 4.75523564e-03 2.89640184e-02 -2.72814694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.55864 meters Centerline goodness : 0.993496 Centerline is valid? [True, True] Translation: X:282.18, Y:33.03, Z:-272.83 [[-1.51298030e-02 -9.50272689e-01 -3.11051292e-01 2.82181146e+02] [ 2.67825702e-02 -3.11360435e-01 9.49914403e-01 3.30327078e+01] [-9.99526780e-01 6.04126476e-03 3.01615670e-02 -2.72831153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58864 meters Centerline goodness : 0.994924 Centerline is valid? [True, True] Translation: X:282.12, Y:33.02, Z:-272.85 [[-1.46216090e-02 -9.74592939e-01 -2.23505730e-01 2.82117374e+02] [ 2.76976787e-02 -2.23838629e-01 9.74232573e-01 3.30222131e+01] [-9.99509403e-01 8.05425787e-03 3.02668430e-02 -2.72849594e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.61864 meters Centerline goodness : 0.993984 Centerline is valid? [True, True] Translation: X:282.06, Y:33.02, Z:-272.87 [[-1.21109386e-02 -9.90165586e-01 -1.39375168e-01 2.82055209e+02] [ 2.97635028e-02 -1.39680601e-01 9.89749192e-01 3.30180392e+01] [-9.99483596e-01 7.83849852e-03 3.11624594e-02 -2.72867853e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64864 meters Centerline goodness : 0.995257 Centerline is valid? [True, True] Translation: X:281.99, Y:33.02, Z:-272.88 [[-9.42892901e-03 -9.98944458e-01 -4.49562633e-02 2.81986595e+02] [ 3.13896209e-02 -4.52317899e-02 9.98483238e-01 3.30181918e+01] [-9.99462749e-01 8.00346751e-03 3.17829751e-02 -2.72881896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67864 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:281.92, Y:33.03, Z:-272.94 [[-5.24443360e-03 -9.99039981e-01 4.34926727e-02 2.81923676e+02] [ 3.47163878e-02 4.32851546e-02 9.98459397e-01 3.30252756e+01] [-9.99383444e-01 6.74626250e-03 3.44560533e-02 -2.72935765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70864 meters Centerline goodness : 0.995644 Centerline is valid? [True, True] Translation: X:281.86, Y:33.04, Z:-272.99 [[-2.26094536e-03 -9.92570188e-01 1.21652416e-01 2.81864144e+02] [ 3.51339105e-02 1.21498774e-01 9.91969584e-01 3.30379061e+01] [-9.99380056e-01 6.51691413e-03 3.45981701e-02 -2.72991336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73864 meters Centerline goodness : 0.994318 Centerline is valid? [True, True] Translation: X:281.81, Y:33.06, Z:-273.04 [[ 1.64674156e-03 -9.79043652e-01 2.03643845e-01 2.81805873e+02] [ 3.58937842e-02 2.03570764e-01 9.78402054e-01 3.30557399e+01] [-9.99354254e-01 5.69837291e-03 3.54768100e-02 -2.73044189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76864 meters Centerline goodness : 0.995995 Centerline is valid? [True, True] Translation: X:281.75, Y:33.08, Z:-273.10 [[ 5.05003115e-03 -9.60025036e-01 2.79868590e-01 2.81751040e+02] [ 3.41091562e-02 2.79874671e-01 9.59430422e-01 3.30775931e+01] [-9.99405355e-01 4.70092793e-03 3.41590197e-02 -2.73100612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79864 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:281.69, Y:33.11, Z:-273.20 [[ 1.65594395e-02 -9.29880677e-01 3.67488382e-01 2.81685258e+02] [ 2.97815860e-02 3.67834415e-01 9.29414278e-01 3.31117204e+01] [-9.99419252e-01 -4.44619260e-03 3.37844531e-02 -2.73198908e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82864 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:282.32, Y:34.47, Z:-273.30 [[-2.30775653e-02 9.60469659e-01 -2.77426496e-01 2.82319239e+02] [ 6.89350117e-02 -2.75311138e-01 -9.58880463e-01 3.44737207e+01] [-9.97354195e-01 -4.12530253e-02 -5.98564764e-02 -2.73296440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85864 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:282.42, Y:33.12, Z:-273.40 [[-3.36451601e-02 -8.46587209e-01 -5.31185561e-01 2.82416299e+02] [ 4.16284112e-02 -5.32212301e-01 8.45586863e-01 3.31216358e+01] [-9.98566512e-01 6.33749442e-03 5.31484485e-02 -2.73395797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.88864 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:282.38, Y:33.11, Z:-273.41 [[-3.35418372e-02 -8.77205704e-01 -4.78941644e-01 2.82381363e+02] [ 4.39923438e-02 -4.80042675e-01 8.76141372e-01 3.31052816e+01] [-9.98468637e-01 8.31762582e-03 5.46918482e-02 -2.73413083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91864 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:282.34, Y:33.09, Z:-273.43 [[-3.30276351e-02 -9.03159351e-01 -4.28033132e-01 2.82344825e+02] [ 4.63456037e-02 -4.29190050e-01 9.02024382e-01 3.30919983e+01] [-9.98379317e-01 9.95427826e-03 5.60325977e-02 -2.73432968e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.94864 meters Centerline goodness : 0.995651 Centerline is valid? [True, True] Translation: X:282.30, Y:33.08, Z:-273.45 [[-3.13779537e-02 -9.28522581e-01 -3.69947619e-01 2.82302326e+02] [ 4.64791619e-02 -3.71084978e-01 9.27434972e-01 3.30792245e+01] [-9.98426318e-01 1.19061563e-02 5.48008386e-02 -2.73451606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97864 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:282.27, Y:33.07, Z:-273.47 [[-2.93795346e-02 -9.48561012e-01 -3.15228250e-01 2.82266250e+02] [ 4.71114926e-02 -3.16327963e-01 9.47479355e-01 3.30689069e+01] [-9.98457485e-01 1.29856291e-02 5.39816934e-02 -2.73467926e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.00864 meters Centerline goodness : 0.996190 Centerline is valid? [True, True] Translation: X:282.23, Y:33.06, Z:-273.49 [[-2.40889313e-02 -9.64923703e-01 -2.61422973e-01 2.82228935e+02] [ 4.94278575e-02 -2.62328606e-01 9.63711881e-01 3.30598195e+01] [-9.98487161e-01 1.02932118e-02 5.40133271e-02 -2.73486687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03864 meters Centerline goodness : 0.995943 Centerline is valid? [True, True] Translation: X:282.17, Y:33.05, Z:-273.50 [[-2.00566550e-02 -9.84166426e-01 -1.76108423e-01 2.82170955e+02] [ 5.21681500e-02 -1.76934072e-01 9.82839162e-01 3.30505877e+01] [-9.98436886e-01 1.05252154e-02 5.48908473e-02 -2.73498224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.06864 meters Centerline goodness : 0.995794 Centerline is valid? [True, True] Translation: X:282.13, Y:33.05, Z:-273.51 [[-1.53860513e-02 -9.93286442e-01 -1.14653010e-01 2.82127434e+02] [ 5.54368981e-02 -1.15337635e-01 9.91778191e-01 3.30460868e+01] [-9.98343638e-01 8.90354293e-03 5.68393101e-02 -2.73507589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09864 meters Centerline goodness : 0.996134 Centerline is valid? [True, True] Translation: X:282.12, Y:33.05, Z:-273.53 [[-1.09266456e-02 -9.95350113e-01 -9.57014111e-02 2.82116209e+02] [ 7.34689605e-02 -9.62475775e-02 9.92642290e-01 3.30459083e+01] [-9.97237645e-01 3.81516733e-03 7.41790013e-02 -2.73530370e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.12864 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:281.32, Y:33.73, Z:-273.67 [[ 3.05541975e-03 -1.60142165e-01 9.87089232e-01 2.81321277e+02] [-2.40431503e-02 9.86796725e-01 1.60169133e-01 3.37282141e+01] [-9.99706253e-01 -2.42221186e-02 -8.35243946e-04 -2.73666123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15864 meters Centerline goodness : 0.995452 Centerline is valid? [True, True] Translation: X:282.02, Y:33.10, Z:-273.79 [[ 7.75930582e-02 -9.96440368e-01 -3.29531651e-02 2.82021198e+02] [ 2.60037044e-04 -3.30325874e-02 9.99454241e-01 3.30982643e+01] [-9.96985080e-01 -7.75592802e-02 -2.30398807e-03 -2.73791867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.18864 meters Centerline goodness : 0.995251 Centerline is valid? [True, True] Translation: X:281.31, Y:33.61, Z:-273.94 [[ 7.58433122e-02 -3.11879193e-01 9.47089838e-01 2.81309507e+02] [-4.53738917e-02 9.47762182e-01 3.15734156e-01 3.36103753e+01] [-9.96086845e-01 -6.69194759e-02 5.77302503e-02 -2.73935706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21864 meters Centerline goodness : 0.995982 Centerline is valid? [True, True] Translation: X:282.20, Y:34.55, Z:-274.06 [[ 1.97824732e-02 9.87278477e-01 -1.57765212e-01 2.82196727e+02] [-2.18791032e-02 -1.57330821e-01 -9.87303559e-01 3.45529211e+01] [-9.99564885e-01 2.29830676e-02 1.84883749e-02 -2.74060245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.24864 meters Centerline goodness : 0.996335 Centerline is valid? [True, True] Translation: X:281.70, Y:34.46, Z:-274.12 [[ 9.08644316e-03 8.55853676e-01 5.17138204e-01 2.81698643e+02] [-2.78576330e-02 5.17175486e-01 -8.55425899e-01 3.44581119e+01] [-9.99570602e-01 -6.63346749e-03 2.85413432e-02 -2.74119547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27864 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:281.77, Y:34.49, Z:-274.17 [[ 5.31456496e-03 9.03237190e-01 4.29108768e-01 2.81766961e+02] [-2.91313324e-02 4.29072547e-01 -9.02800152e-01 3.44913798e+01] [-9.99561464e-01 -7.70252011e-03 2.85928367e-02 -2.74173414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.30864 meters Centerline goodness : 0.996227 Centerline is valid? [True, True] Translation: X:281.84, Y:34.52, Z:-274.23 [[ 1.92119955e-03 9.42795213e-01 3.33366909e-01 2.81841179e+02] [-3.10395095e-02 3.33263115e-01 -9.42322792e-01 3.45192361e+01] [-9.99516312e-01 -8.53715520e-03 2.99041659e-02 -2.74226194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33864 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:281.92, Y:34.54, Z:-274.28 [[-3.91954205e-03 9.71125056e-01 2.38538809e-01 2.81916601e+02] [-3.30461807e-02 2.38284566e-01 -9.70632997e-01 3.45373220e+01] [-9.99446140e-01 -1.16872334e-02 3.11580077e-02 -2.74283526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.36864 meters Centerline goodness : 0.996576 Centerline is valid? [True, True] Translation: X:282.02, Y:34.55, Z:-274.41 [[-2.68443957e-02 9.92399804e-01 1.20091662e-01 2.82019300e+02] [-3.54068099e-02 1.19115643e-01 -9.92248871e-01 3.45489614e+01] [-9.99012380e-01 -3.08883839e-02 3.19401238e-02 -2.74414059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39864 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:282.41, Y:34.48, Z:-274.45 [[-3.13536306e-02 9.09693784e-01 -4.14094397e-01 2.82413309e+02] [-2.80853141e-02 -4.14936339e-01 -9.09416873e-01 3.44807357e+01] [-9.99113690e-01 -1.68835495e-02 3.85587964e-02 -2.74446515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42864 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:282.53, Y:34.41, Z:-274.47 [[-3.38247966e-02 8.24011094e-01 -5.65563083e-01 2.82525816e+02] [-2.17265885e-02 -5.66359422e-01 -8.23871932e-01 3.44124883e+01] [-9.99191592e-01 -1.55795441e-02 3.70599422e-02 -2.74465969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45864 meters Centerline goodness : 0.996226 Centerline is valid? [True, True] Translation: X:282.58, Y:34.37, Z:-274.48 [[-3.72475615e-02 7.69492176e-01 -6.37569142e-01 2.82578602e+02] [-1.81971481e-02 -6.38428374e-01 -7.69466097e-01 3.43675234e+01] [-9.99140372e-01 -1.70587957e-02 3.77824632e-02 -2.74483000e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48864 meters Centerline goodness : 0.995750 Centerline is valid? [True, True] Translation: X:282.64, Y:34.31, Z:-274.50 [[-3.81721347e-02 6.93752504e-01 -7.19201190e-01 2.82637452e+02] [-1.38824644e-02 -7.20024455e-01 -6.93809817e-01 3.43093572e+01] [-9.99174742e-01 -1.64999169e-02 3.71158649e-02 -2.74498966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51864 meters Centerline goodness : 0.995843 Centerline is valid? [True, True] Translation: X:282.69, Y:34.24, Z:-274.55 [[-4.84422537e-02 6.08233162e-01 -7.92278846e-01 2.82690070e+02] [ 1.61775114e-03 -7.93161268e-01 -6.09009512e-01 3.42424089e+01] [-9.98824675e-01 -3.07835033e-02 3.74385495e-02 -2.74549493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54864 meters Centerline goodness : 0.995993 Centerline is valid? [True, True] Translation: X:282.11, Y:33.07, Z:-274.58 [[ 2.90963254e-02 -9.97271693e-01 -6.78422677e-02 2.82112012e+02] [-1.40706104e-02 -6.82729109e-02 9.97567455e-01 3.30733236e+01] [-9.99477574e-01 -2.80709651e-02 -1.60187123e-02 -2.74583403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57864 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:282.67, Y:34.25, Z:-274.74 [[-2.76991624e-02 6.79642769e-01 -7.33020097e-01 2.82673646e+02] [ 5.36866981e-02 -7.31231646e-01 -6.80013248e-01 3.42545047e+01] [-9.98173580e-01 -5.81892261e-02 -1.62332720e-02 -2.74743939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60864 meters Centerline goodness : 0.996870 Centerline is valid? [True, True] Translation: X:282.49, Y:33.14, Z:-274.83 [[-4.21529613e-03 -8.42940083e-01 -5.37990936e-01 2.82490463e+02] [ 5.03627552e-02 -5.37491937e-01 8.41763631e-01 3.31395233e+01] [-9.98722096e-01 -2.35464229e-02 4.47184728e-02 -2.74827578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.63864 meters Centerline goodness : 0.996285 Centerline is valid? [True, True] Translation: X:282.29, Y:33.06, Z:-274.84 [[-8.26103623e-04 -9.61890614e-01 -2.73433291e-01 2.82291945e+02] [ 4.94948567e-02 -2.73137588e-01 9.60700847e-01 3.30594427e+01] [-9.98774037e-01 -1.27399031e-02 4.78342781e-02 -2.74844506e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66864 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:282.23, Y:33.05, Z:-274.86 [[ 2.77508419e-03 -9.80339725e-01 -1.97297547e-01 2.82234554e+02] [ 4.83097385e-02 -1.96936511e-01 9.79225296e-01 3.30490826e+01] [-9.98828548e-01 -1.22488255e-02 4.68134403e-02 -2.74856992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.69864 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:282.18, Y:33.04, Z:-274.88 [[ 1.11141708e-02 -9.92231143e-01 -1.23910589e-01 2.82178852e+02] [ 4.82877848e-02 -1.23241095e-01 9.91201252e-01 3.30433149e+01] [-9.98771628e-01 -1.69997479e-02 4.65429213e-02 -2.74884627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72864 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:282.07, Y:33.05, Z:-274.95 [[ 1.71856804e-02 -9.99506687e-01 2.62875270e-02 2.82065751e+02] [ 4.44207491e-02 2.70286999e-02 9.98647208e-01 3.30454364e+01] [-9.98865081e-01 -1.59947201e-02 4.48633424e-02 -2.74950293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.75864 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:281.98, Y:33.06, Z:-275.00 [[ 2.09382213e-02 -9.89953714e-01 1.39832886e-01 2.81981183e+02] [ 4.38382149e-02 1.40638101e-01 9.89090054e-01 3.30576238e+01] [-9.98819204e-01 -1.45797624e-02 4.63425153e-02 -2.75003358e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78864 meters Centerline goodness : 0.998143 Centerline is valid? [True, True] Translation: X:281.93, Y:33.07, Z:-275.06 [[ 2.53357793e-02 -9.77939587e-01 2.07345754e-01 2.81928892e+02] [ 4.14911530e-02 2.08262292e-01 9.77192561e-01 3.30721769e+01] [-9.98817592e-01 -1.61549206e-02 4.58523285e-02 -2.75060495e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.81864 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:281.87, Y:33.09, Z:-275.12 [[ 2.92954443e-02 -9.57400982e-01 2.87271887e-01 2.81867206e+02] [ 4.00063216e-02 2.88288000e-01 9.56707648e-01 3.30928035e+01] [-9.98769879e-01 -1.65344841e-02 4.67476166e-02 -2.75116331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84864 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:281.81, Y:33.12, Z:-275.17 [[ 3.35777054e-02 -9.30845995e-01 3.63865733e-01 2.81809895e+02] [ 3.86069949e-02 3.65007347e-01 9.30203814e-01 3.31189817e+01] [-9.98690161e-01 -1.71863471e-02 4.81932758e-02 -2.75173546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.87864 meters Centerline goodness : 0.998582 Centerline is valid? [True, True] Translation: X:281.76, Y:33.15, Z:-275.23 [[ 3.83005444e-02 -8.97408976e-01 4.39534070e-01 2.81755051e+02] [ 3.55757506e-02 4.40802541e-01 8.96898816e-01 3.31487611e+01] [-9.98632783e-01 -1.87149584e-02 4.88089752e-02 -2.75227004e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90864 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:281.71, Y:33.18, Z:-275.29 [[ 4.38497610e-02 -8.64697019e-01 5.00376122e-01 2.81710188e+02] [ 3.11927921e-02 5.01798693e-01 8.64421819e-01 3.31796464e+01] [-9.98551054e-01 -2.22965619e-02 4.89760671e-02 -2.75288505e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.93864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:281.65, Y:33.23, Z:-275.35 [[ 4.65728157e-02 -8.11169710e-01 5.82953407e-01 2.81649746e+02] [ 2.57396531e-02 5.84367402e-01 8.11080889e-01 3.32256537e+01] [-9.98583218e-01 -2.27693023e-02 4.80948623e-02 -2.75345273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:281.60, Y:33.27, Z:-275.40 [[ 4.98859095e-02 -7.61239075e-01 6.46549663e-01 2.81603737e+02] [ 2.18337727e-02 6.48032174e-01 7.61299933e-01 3.32683797e+01] [-9.98516240e-01 -2.38615212e-02 4.89483953e-02 -2.75401816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.99864 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:281.56, Y:33.32, Z:-275.46 [[ 5.42940123e-02 -7.06589798e-01 7.05537396e-01 2.81561812e+02] [ 1.36198340e-02 7.07037925e-01 7.07044463e-01 3.33174730e+01] [-9.98432101e-01 -2.87789785e-02 4.80115616e-02 -2.75462658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02864 meters Centerline goodness : 0.997261 Centerline is valid? [True, True] Translation: X:281.52, Y:33.38, Z:-275.56 [[ 6.02011261e-02 -6.36241870e-01 7.69137249e-01 2.81516820e+02] [ 7.32904479e-04 7.70562759e-01 6.37363708e-01 3.33818139e+01] [-9.98185998e-01 -3.78063088e-02 4.68550503e-02 -2.75558727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.05864 meters Centerline goodness : 0.996287 Centerline is valid? [True, True] Translation: X:281.42, Y:33.57, Z:-275.72 [[ 8.51835645e-02 -4.46547532e-01 8.90695830e-01 2.81420286e+02] [-6.30679508e-02 8.89735874e-01 4.52097897e-01 3.35724541e+01] [-9.94367233e-01 -9.46856712e-02 4.76280353e-02 -2.75724281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08864 meters Centerline goodness : 0.994865 Centerline is valid? [True, True] Translation: X:282.44, Y:34.52, Z:-275.84 [[-8.20764074e-03 9.44065907e-01 -3.29654664e-01 2.82437828e+02] [ 7.92747357e-03 -3.29593978e-01 -9.44089490e-01 3.45218114e+01] [-9.99934893e-01 -1.03620760e-02 -4.77886856e-03 -2.75840657e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.11864 meters Centerline goodness : 0.994961 Centerline is valid? [True, True] Translation: X:282.43, Y:34.53, Z:-276.01 [[-7.63193410e-02 9.64692257e-01 -2.52079762e-01 2.82433226e+02] [ 2.39785856e-02 -2.50968246e-01 -9.67698283e-01 3.45280159e+01] [-9.96795057e-01 -7.98986114e-02 -3.97822472e-03 -2.76009595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14864 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:282.12, Y:33.10, Z:-276.09 [[ 5.17346278e-02 -9.98501516e-01 1.78395686e-02 2.82116183e+02] [-8.60900187e-03 1.74169168e-02 9.99811250e-01 3.30993372e+01] [-9.98623760e-01 -5.18784437e-02 -7.69504371e-03 -2.76090899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17864 meters Centerline goodness : 0.993249 Centerline is valid? [True, True] Translation: X:282.27, Y:33.10, Z:-276.26 [[ 1.19683064e-01 -9.60620087e-01 -2.50768842e-01 2.82268674e+02] [ 1.67453233e-02 -2.50595264e-01 9.67947110e-01 3.30971317e+01] [-9.92670921e-01 -1.20046081e-01 -1.39061150e-02 -2.76257663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20864 meters Centerline goodness : 0.993043 Centerline is valid? [True, True] Translation: X:282.01, Y:34.55, Z:-276.42 [[-1.43559460e-02 9.37240009e-01 3.48389254e-01 2.82006709e+02] [-3.76469666e-04 3.48420069e-01 -9.37338420e-01 3.45479544e+01] [-9.99896877e-01 -1.35875378e-02 -4.64905727e-03 -2.76419003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23864 meters Centerline goodness : 0.992429 Centerline is valid? [True, True] Translation: X:282.19, Y:33.10, Z:-276.58 [[ 1.21520392e-01 -9.83590729e-01 -1.33349438e-01 2.82189089e+02] [-3.17269403e-03 -1.34729296e-01 9.90877364e-01 3.30997926e+01] [-9.92583865e-01 -1.19988729e-01 -1.94929893e-02 -2.76581647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26864 meters Centerline goodness : 0.991405 Centerline is valid? [True, True] Translation: X:282.24, Y:34.57, Z:-276.74 [[-1.04223088e-02 9.98180351e-01 5.93916073e-02 2.82244032e+02] [ 1.42409014e-02 5.95369786e-02 -9.98124514e-01 3.45714842e+01] [-9.99844274e-01 -9.55697190e-03 -1.48355007e-02 -2.76736461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29864 meters Centerline goodness : 0.991393 Centerline is valid? [True, True] Translation: X:282.25, Y:34.58, Z:-276.90 [[-7.51738105e-02 9.88990869e-01 1.27459637e-01 2.82247263e+02] [ 4.56900777e-03 1.28161591e-01 -9.91742774e-01 3.45788533e+01] [-9.97159978e-01 -7.39707193e-02 -1.41531022e-02 -2.76904524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32864 meters Centerline goodness : 0.991991 Centerline is valid? [True, True] Translation: X:282.24, Y:34.58, Z:-276.98 [[-1.40215253e-01 9.79146400e-01 1.47010235e-01 2.82241192e+02] [-4.19391023e-03 1.47888366e-01 -9.88995168e-01 3.45795134e+01] [-9.90112162e-01 -1.39288756e-01 -1.66297527e-02 -2.76982339e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35864 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:282.43, Y:34.56, Z:-277.08 [[-1.98059554e-01 9.74187789e-01 -1.08307728e-01 2.82432527e+02] [ 9.09508341e-03 -1.08665390e-01 -9.94036776e-01 3.45624106e+01] [-9.80147791e-01 -1.97863549e-01 1.26618996e-02 -2.77076824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.38864 meters Centerline goodness : 0.991008 Centerline is valid? [True, True] Translation: X:282.25, Y:33.10, Z:-277.11 [[-9.53546788e-02 -9.90576876e-01 -9.83104197e-02 2.82254669e+02] [-1.53174224e-02 -9.72886420e-02 9.95138330e-01 3.31046157e+01] [-9.95325505e-01 9.63969581e-02 -5.89615717e-03 -2.77111293e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41864 meters Centerline goodness : 0.990320 Centerline is valid? [True, True] Translation: X:282.20, Y:33.10, Z:-277.18 [[-3.15192611e-02 -9.98308998e-01 -4.88434361e-02 2.82198649e+02] [-1.06117602e-02 -4.85307207e-02 9.98765318e-01 3.31049000e+01] [-9.99446810e-01 3.19986596e-02 -9.06416321e-03 -2.77179100e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.44864 meters Centerline goodness : 0.991100 Centerline is valid? [True, True] Translation: X:282.43, Y:34.55, Z:-277.26 [[-1.24054871e-01 9.81672372e-01 -1.44671153e-01 2.82425567e+02] [ 2.51503087e-02 -1.42639838e-01 -9.89455072e-01 3.45535354e+01] [-9.91956577e-01 -1.26385246e-01 -6.99419649e-03 -2.77264529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47864 meters Centerline goodness : 0.991197 Centerline is valid? [True, True] Translation: X:282.17, Y:33.10, Z:-277.33 [[-3.32146907e-02 -9.98905846e-01 -3.29225770e-02 2.82174545e+02] [ 7.10668905e-04 -3.29643489e-02 9.99456276e-01 3.31042031e+01] [-9.99447987e-01 3.31732340e-02 1.80479198e-03 -2.77330262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.50864 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:282.05, Y:33.12, Z:-277.40 [[ 3.07941958e-02 -9.92561007e-01 1.17789491e-01 2.82049849e+02] [-1.06925745e-02 1.17511507e-01 9.93013955e-01 3.31227419e+01] [-9.99468552e-01 -3.18385391e-02 -6.99436014e-03 -2.77402264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53864 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:282.39, Y:33.12, Z:-277.56 [[ 9.93904949e-02 -9.14561541e-01 -3.92044279e-01 2.82387727e+02] [ 2.18604855e-02 -3.91893136e-01 9.19750993e-01 3.31196223e+01] [-9.94808348e-01 -9.99847846e-02 -1.89576934e-02 -2.77562885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.56864 meters Centerline goodness : 0.990908 Centerline is valid? [True, True] Translation: X:282.12, Y:33.09, Z:-277.76 [[ 1.61212094e-01 -9.83681961e-01 -7.98777878e-02 2.82117006e+02] [ 2.42331348e-02 -7.69665864e-02 9.96739133e-01 3.30876349e+01] [-9.86622226e-01 -1.62622092e-01 1.14297530e-02 -2.77755056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59864 meters Centerline goodness : 0.991192 Centerline is valid? [True, True] Translation: X:282.37, Y:34.54, Z:-277.83 [[ 7.78966219e-02 9.90282534e-01 -1.15206855e-01 2.82372534e+02] [ 5.97678099e-02 -1.19988755e-01 -9.90974524e-01 3.45414486e+01] [-9.95168290e-01 7.03079065e-02 -6.85337369e-02 -2.77830199e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.62864 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:281.53, Y:33.56, Z:-278.07 [[ 8.65374302e-02 -4.73090544e-01 8.76753449e-01 2.81531732e+02] [ 1.44638865e-02 8.80558752e-01 4.73716245e-01 3.35637280e+01] [-9.96143599e-01 -2.83129241e-02 8.30440195e-02 -2.78068949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65864 meters Centerline goodness : 0.990614 Centerline is valid? [True, True] Translation: X:282.30, Y:34.59, Z:-278.13 [[ 1.58888771e-02 9.96569167e-01 8.12246192e-02 2.82297690e+02] [ 3.60461447e-02 8.06111563e-02 -9.96093629e-01 3.45858957e+01] [-9.99223808e-01 1.87546437e-02 -3.46416557e-02 -2.78133638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.68864 meters Centerline goodness : 0.990490 Centerline is valid? [True, True] Translation: X:281.67, Y:33.43, Z:-278.28 [[ 3.06362886e-02 -6.67498704e-01 7.43980442e-01 2.81672877e+02] [-4.68707401e-03 7.44225708e-01 6.67911765e-01 3.34293660e+01] [-9.99519609e-01 -2.39494290e-02 1.96716977e-02 -2.78281181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71864 meters Centerline goodness : 0.990962 Centerline is valid? [True, True] Translation: X:281.91, Y:34.50, Z:-278.43 [[-3.39737649e-02 7.61420197e-01 6.47367798e-01 2.81908216e+02] [-2.51751331e-02 6.46884198e-01 -7.62172584e-01 3.45043842e+01] [-9.99105598e-01 -4.21914426e-02 -2.80823685e-03 -2.78428281e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.74864 meters Centerline goodness : 0.989659 Centerline is valid? [True, True] Translation: X:282.73, Y:34.50, Z:-278.46 [[-2.22544143e-02 8.90987272e-01 -4.53482549e-01 2.82728064e+02] [-9.14622383e-03 -4.53757349e-01 -8.91078344e-01 3.45028340e+01] [-9.99710502e-01 -1.56827737e-02 1.82472731e-02 -2.78461332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77864 meters Centerline goodness : 0.989645 Centerline is valid? [True, True] Translation: X:282.80, Y:34.45, Z:-278.48 [[-2.33984309e-02 8.28062195e-01 -5.60147762e-01 2.82801079e+02] [-6.03729807e-03 -5.60407983e-01 -8.28194689e-01 3.44469610e+01] [-9.99707990e-01 -1.59966772e-02 1.81119258e-02 -2.78479150e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.80864 meters Centerline goodness : 0.989747 Centerline is valid? [True, True] Translation: X:282.86, Y:34.39, Z:-278.50 [[-2.32104979e-02 7.56400643e-01 -6.53696673e-01 2.82864115e+02] [-8.55724316e-04 -6.53887618e-01 -7.56591205e-01 3.43855269e+01] [-9.99730234e-01 -1.70014744e-02 1.58243276e-02 -2.78496858e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83864 meters Centerline goodness : 0.989549 Centerline is valid? [True, True] Translation: X:282.93, Y:34.30, Z:-278.51 [[-2.36035453e-02 6.55753314e-01 -7.54606164e-01 2.82929189e+02] [ 1.91273569e-03 -7.54785455e-01 -6.55968947e-01 3.43017985e+01] [-9.99719568e-01 -1.69265549e-02 1.65613299e-02 -2.78513676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.86864 meters Centerline goodness : 0.989474 Centerline is valid? [True, True] Translation: X:282.98, Y:34.21, Z:-278.57 [[-3.23479058e-02 5.42444032e-01 -8.39468930e-01 2.82981492e+02] [ 1.65459302e-02 -8.39502747e-01 -5.43103461e-01 3.42092592e+01] [-9.99339705e-01 -3.14580539e-02 1.81809147e-02 -2.78569957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89864 meters Centerline goodness : 0.989667 Centerline is valid? [True, True] Translation: X:283.05, Y:33.86, Z:-278.61 [[-2.52522974e-02 8.70192154e-02 -9.95886528e-01 2.83053392e+02] [ 2.39914168e-02 -9.95864529e-01 -8.76256339e-02 3.38585244e+01] [-9.99393183e-01 -2.61054773e-02 2.30601530e-02 -2.78612220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92864 meters Centerline goodness : 0.988637 Centerline is valid? [True, True] Translation: X:282.31, Y:33.14, Z:-278.67 [[ 4.11083993e-02 -9.89650778e-01 -1.37482497e-01 2.82310255e+02] [ 2.60532518e-03 -1.37492171e-01 9.90499427e-01 3.31449135e+01] [-9.99151296e-01 -4.10760326e-02 -3.07372098e-03 -2.78671745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95864 meters Centerline goodness : 0.990036 Centerline is valid? [True, True] Translation: X:281.65, Y:33.54, Z:-278.83 [[ 3.54755281e-02 -5.90214062e-01 8.06466892e-01 2.81647164e+02] [-2.63306945e-02 8.06142694e-01 5.91135054e-01 3.35403145e+01] [-9.99023614e-01 -4.22056615e-02 1.30575916e-02 -2.78825011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98864 meters Centerline goodness : 0.990089 Centerline is valid? [True, True] Translation: X:282.25, Y:34.65, Z:-278.97 [[-4.23462017e-02 9.67530989e-01 2.49179825e-01 2.82252512e+02] [-8.22620528e-03 2.49057443e-01 -9.68453778e-01 3.46467047e+01] [-9.99069131e-01 -4.30601434e-02 -2.58752818e-03 -2.78974299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01864 meters Centerline goodness : 0.990772 Centerline is valid? [True, True] Translation: X:282.95, Y:34.35, Z:-279.01 [[-3.48018098e-02 6.82177223e-01 -7.30358179e-01 2.82948054e+02] [-2.96089088e-03 -7.30868047e-01 -6.82512367e-01 3.43483409e+01] [-9.99389847e-01 -2.15901547e-02 2.74553831e-02 -2.79014135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04864 meters Centerline goodness : 0.990335 Centerline is valid? [True, True] Translation: X:282.78, Y:33.31, Z:-279.07 [[ 4.49570472e-02 -7.23035640e-01 -6.89346305e-01 2.82779278e+02] [ 2.97563414e-02 -6.88768606e-01 7.24370325e-01 3.33086841e+01] [-9.98545654e-01 -5.30779749e-02 -9.45010739e-03 -2.79067770e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07864 meters Centerline goodness : 0.990731 Centerline is valid? [True, True] Translation: X:281.84, Y:33.36, Z:-279.18 [[ 3.47528331e-02 -8.17226765e-01 5.75267464e-01 2.81838514e+02] [ 3.04884036e-03 5.75699187e-01 8.17655888e-01 3.33599488e+01] [-9.99391287e-01 -2.66619599e-02 2.24987717e-02 -2.79183751e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10864 meters Centerline goodness : 0.991129 Centerline is valid? [True, True] Translation: X:281.69, Y:33.54, Z:-279.30 [[ 3.77176337e-02 -6.04271306e-01 7.95885399e-01 2.81694359e+02] [-1.05865420e-02 7.96165800e-01 6.04985904e-01 3.35449605e+01] [-9.99232358e-01 -3.12443109e-02 2.36323465e-02 -2.79296104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.13864 meters Centerline goodness : 0.991122 Centerline is valid? [True, True] Translation: X:281.60, Y:33.81, Z:-279.39 [[ 3.30862148e-02 -2.69124173e-01 9.62537003e-01 2.81603082e+02] [-1.91595640e-02 9.62716515e-01 2.69832955e-01 3.38123707e+01] [-9.99268839e-01 -2.73695404e-02 2.66963436e-02 -2.79393700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16864 meters Centerline goodness : 0.991797 Centerline is valid? [True, True] Translation: X:281.60, Y:34.02, Z:-279.48 [[ 3.01919547e-02 1.30904926e-03 9.99543262e-01 2.81604048e+02] [-2.66027405e-02 9.99645957e-01 -5.05628001e-04 3.40188023e+01] [-9.99190042e-01 -2.65753241e-02 3.02160898e-02 -2.79483654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.19864 meters Centerline goodness : 0.992044 Centerline is valid? [True, True] Translation: X:281.65, Y:34.19, Z:-279.59 [[ 2.36900657e-02 2.33289715e-01 9.72118660e-01 2.81649406e+02] [-3.89920539e-02 9.71867278e-01 -2.32279171e-01 3.41914237e+01] [-9.98958658e-01 -3.24021944e-02 3.21200449e-02 -2.79586692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22864 meters Centerline goodness : 0.993862 Centerline is valid? [True, True] Translation: X:281.76, Y:34.38, Z:-279.67 [[ 1.47759858e-02 5.03270410e-01 8.64002642e-01 2.81756196e+02] [-4.29397837e-02 8.63619196e-01 -5.02312710e-01 3.43821033e+01] [-9.98968391e-01 -2.96779211e-02 3.43711475e-02 -2.79666487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.25864 meters Centerline goodness : 0.994592 Centerline is valid? [True, True] Translation: X:281.85, Y:34.48, Z:-279.79 [[-1.30735691e-03 6.44399888e-01 7.64687567e-01 2.81851709e+02] [-5.36535975e-02 7.63541567e-01 -6.43525887e-01 3.44815054e+01] [-9.98558753e-01 -4.18695570e-02 3.35761509e-02 -2.79787460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28864 meters Centerline goodness : 0.995318 Centerline is valid? [True, True] Translation: X:282.07, Y:34.62, Z:-279.85 [[-7.09347381e-03 8.69699992e-01 4.93529743e-01 2.82072509e+02] [-4.63739614e-02 4.92725051e-01 -8.68948491e-01 3.46237692e+01] [-9.98898963e-01 -2.90507926e-02 3.68363016e-02 -2.79845077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.31864 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:282.13, Y:34.64, Z:-279.90 [[-1.28779370e-02 9.06504274e-01 4.22000189e-01 2.82131710e+02] [-4.67572168e-02 4.21027592e-01 -9.05841890e-01 3.46430069e+01] [-9.98823268e-01 -3.13969291e-02 3.69636500e-02 -2.79897336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34864 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:282.18, Y:34.66, Z:-279.95 [[-1.73512016e-02 9.32453581e-01 3.60872906e-01 2.82181925e+02] [-4.70306715e-02 3.59766588e-01 -9.31856275e-01 3.46562783e+01] [-9.98742736e-01 -3.31409212e-02 3.76115355e-02 -2.79950887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.37864 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:282.23, Y:34.67, Z:-280.00 [[-2.10333441e-02 9.54609256e-01 2.97117431e-01 2.82233857e+02] [-4.50180296e-02 2.95977450e-01 -9.54133495e-01 3.46658083e+01] [-9.98764725e-01 -3.34442594e-02 3.67492321e-02 -2.80002892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:282.28, Y:34.67, Z:-280.06 [[-2.39590814e-02 9.71982459e-01 2.33829129e-01 2.82283586e+02] [-4.36239308e-02 2.32656990e-01 -9.71579990e-01 3.46705875e+01] [-9.98760690e-01 -3.34787098e-02 3.68274478e-02 -2.80056787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.43864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:281.88, Y:33.37, Z:-280.16 [[ 8.25151553e-02 -8.49988464e-01 5.20298819e-01 2.81884890e+02] [-1.19530383e-01 5.09869464e-01 8.51907047e-01 3.33651783e+01] [-9.89395642e-01 -1.32486759e-01 -5.95274887e-02 -2.80159033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:282.25, Y:33.20, Z:-280.29 [[ 1.64827273e-01 -9.85812576e-01 -3.17101570e-02 2.82245960e+02] [-1.02011322e-01 -4.90160764e-02 9.93574916e-01 3.31989065e+01] [-9.81032956e-01 -1.60533449e-01 -1.08643230e-01 -2.80289433e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.49864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:281.74, Y:34.39, Z:-280.52 [[ 1.02102606e-01 5.41326237e-01 8.34590297e-01 2.81738735e+02] [-1.05039589e-01 8.40151465e-01 -5.32082888e-01 3.43903682e+01] [-9.89212688e-01 -3.33379722e-02 1.42642340e-01 -2.80516461e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:281.76, Y:34.40, Z:-280.58 [[ 9.76377827e-02 5.60843816e-01 8.22144195e-01 2.81760235e+02] [-1.09605034e-01 8.27125866e-01 -5.51225488e-01 3.44009640e+01] [-9.89168135e-01 -3.62907084e-02 1.42230041e-01 -2.80584811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.55864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:281.79, Y:34.42, Z:-280.67 [[ 9.11784358e-02 5.94710576e-01 7.98752667e-01 2.81793594e+02] [-1.14352979e-01 8.03040635e-01 -5.84849669e-01 3.44197468e+01] [-9.89247132e-01 -3.80140694e-02 1.41226915e-01 -2.80666809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:281.83, Y:34.45, Z:-280.72 [[ 8.84182187e-02 6.40450946e-01 7.62892393e-01 2.81831014e+02] [-1.14206499e-01 7.67359423e-01 -6.30964652e-01 3.44468260e+01] [-9.89514575e-01 -3.13384990e-02 1.40992214e-01 -2.80718427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.61864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:281.85, Y:34.45, Z:-280.77 [[ 8.52311916e-02 6.57419496e-01 7.48689021e-01 2.81850210e+02] [-1.13869773e-01 7.52927036e-01 -6.48177872e-01 3.44534434e+01] [-9.89832975e-01 -3.00080764e-02 1.39033077e-01 -2.80774731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:281.87, Y:34.46, Z:-280.83 [[ 8.39767723e-02 6.77536967e-01 7.30678835e-01 2.81871817e+02] [-1.16262300e-01 7.34922883e-01 -6.68110345e-01 3.44626020e+01] [-9.89662053e-01 -2.88446514e-02 1.40488458e-01 -2.80827965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:281.91, Y:34.47, Z:-280.96 [[ 7.07416947e-02 6.96061376e-01 7.14488750e-01 2.81909462e+02] [-1.32257834e-01 7.16504394e-01 -6.84930156e-01 3.44692811e+01] [-9.88687756e-01 -4.60436143e-02 1.42746305e-01 -2.80959396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:282.00, Y:34.53, Z:-281.01 [[ 6.83414641e-02 7.90641814e-01 6.08452928e-01 2.82003404e+02] [-1.30508772e-01 6.11723001e-01 -7.80232293e-01 3.45259848e+01] [-9.89088927e-01 -2.60862270e-02 1.44991737e-01 -2.81014635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:282.03, Y:34.53, Z:-281.07 [[ 6.61961414e-02 8.06527651e-01 5.87478697e-01 2.82027115e+02] [-1.31229628e-01 5.90692952e-01 -7.96153641e-01 3.45303770e+01] [-9.89139452e-01 -2.43923117e-02 1.44941917e-01 -2.81067469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:282.05, Y:34.53, Z:-281.13 [[ 6.15694703e-02 8.19816648e-01 5.69306476e-01 2.82049907e+02] [-1.30892749e-01 5.72094585e-01 -8.09675784e-01 3.45323828e+01] [-9.89482839e-01 -2.46667807e-02 1.42531615e-01 -2.81126642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79864 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:282.09, Y:34.53, Z:-281.23 [[ 5.02583736e-02 8.37914463e-01 5.43482703e-01 2.82086481e+02] [-1.37347912e-01 5.44798774e-01 -8.27242315e-01 3.45342440e+01] [-9.89247010e-01 -3.30703614e-02 1.42466503e-01 -2.81229779e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:282.15, Y:34.55, Z:-281.28 [[ 4.98822877e-02 8.82822708e-01 4.67050130e-01 2.82153577e+02] [-1.36459494e-01 4.69271211e-01 -8.72446753e-01 3.45549431e+01] [-9.89388985e-01 -2.02137845e-02 1.43877861e-01 -2.81281434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:282.09, Y:34.51, Z:-281.33 [[ 6.92070093e-02 8.28890725e-01 5.55113102e-01 2.82089497e+02] [-1.71264781e-01 5.58057827e-01 -8.11935858e-01 3.45132243e+01] [-9.82791313e-01 -3.88796715e-02 1.80581302e-01 -2.81328464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.88864 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:283.13, Y:34.15, Z:-281.37 [[ 3.35026260e-02 5.67925916e-01 -8.22397549e-01 2.83125642e+02] [-5.79903917e-02 -8.20368541e-01 -5.68887135e-01 3.41506788e+01] [-9.97754824e-01 6.67503689e-02 5.44974586e-03 -2.81373174e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:282.33, Y:34.53, Z:-281.48 [[ 2.47178856e-03 9.52539641e-01 3.04404538e-01 2.82330762e+02] [-6.82889552e-02 3.03855640e-01 -9.50267525e-01 3.45271852e+01] [-9.97662523e-01 -1.84386074e-02 6.57990038e-02 -2.81478096e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.94864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:282.37, Y:34.53, Z:-281.58 [[-9.54504160e-03 9.64555512e-01 2.63707329e-01 2.82372435e+02] [-6.93064550e-02 2.62447007e-01 -9.62454250e-01 3.45255309e+01] [-9.97549752e-01 -2.74632860e-02 6.43448556e-02 -2.81575697e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97864 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:282.49, Y:34.53, Z:-281.63 [[-1.01836803e-02 9.92926482e-01 1.18293258e-01 2.82487071e+02] [-6.73535414e-02 1.17349601e-01 -9.90804003e-01 3.45285057e+01] [-9.97677199e-01 -1.80575011e-02 6.56820641e-02 -2.81633989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.00864 meters Centerline goodness : 0.997118 Centerline is valid? [True, True] Translation: X:282.45, Y:34.52, Z:-281.68 [[-3.88943221e-03 9.84229046e-01 1.76856038e-01 2.82445852e+02] [-1.12671448e-01 1.75299860e-01 -9.78046576e-01 3.45189682e+01] [-9.93624686e-01 -2.37306717e-02 1.10212695e-01 -2.81680922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03864 meters Centerline goodness : 0.997612 Centerline is valid? [True, True] Translation: X:283.24, Y:33.79, Z:-281.79 [[ 5.52252597e-03 2.13832071e-01 -9.76854824e-01 2.83235631e+02] [ 3.32141637e-03 -9.76868254e-01 -2.13816233e-01 3.37902454e+01] [-9.99979235e-01 -2.06373591e-03 -6.10500564e-03 -2.81785418e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.06864 meters Centerline goodness : 0.996530 Centerline is valid? [True, True] Translation: X:283.14, Y:34.10, Z:-281.85 [[-3.49615744e-02 6.22621224e-01 -7.81741965e-01 2.83136927e+02] [ 6.91957610e-02 -7.78834885e-01 -6.23400488e-01 3.41032544e+01] [-9.96990288e-01 -7.58882927e-02 -1.58534556e-02 -2.81852443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09864 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:283.21, Y:33.49, Z:-281.91 [[-3.01167872e-02 -1.87349120e-01 -9.81831598e-01 2.83208664e+02] [ 5.32324334e-02 -9.81183813e-01 1.85592656e-01 3.34867327e+01] [-9.98127891e-01 -4.66758306e-02 3.95231537e-02 -2.81908536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.12864 meters Centerline goodness : 0.997709 Centerline is valid? [True, True] Translation: X:282.95, Y:33.12, Z:-281.98 [[ 4.99424772e-03 -7.14004677e-01 -7.00123117e-01 2.82945014e+02] [ 8.03471990e-02 -6.97581704e-01 7.11986021e-01 3.31213664e+01] [-9.96754426e-01 -5.98087660e-02 5.38843800e-02 -2.81980743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15864 meters Centerline goodness : 0.996778 Centerline is valid? [True, True] Translation: X:282.48, Y:32.97, Z:-282.00 [[-4.54292577e-03 -9.94631916e-01 -1.03376565e-01 2.82479496e+02] [ 7.30918633e-02 -1.03431388e-01 9.91947341e-01 3.29700505e+01] [-9.97314866e-01 -3.04964264e-03 7.31693812e-02 -2.82003440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.18864 meters Centerline goodness : 0.996384 Centerline is valid? [True, True] Translation: X:282.45, Y:32.97, Z:-282.03 [[ 1.85430905e-03 -9.98205867e-01 -5.98465472e-02 2.82447000e+02] [ 7.29068456e-02 -5.95524332e-02 9.95559189e-01 3.29735186e+01] [-9.97337031e-01 -6.20929739e-03 7.26656124e-02 -2.82028747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21864 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:282.38, Y:32.99, Z:-282.08 [[ 3.14482765e-03 -9.99684150e-01 2.49341334e-02 2.82382470e+02] [ 7.21876100e-02 2.50961525e-02 9.97075289e-01 3.29851526e+01] [-9.97386113e-01 -1.33569445e-03 7.22437326e-02 -2.82081371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.24864 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:282.35, Y:33.00, Z:-282.15 [[ 7.92909199e-03 -9.97917431e-01 6.40150781e-02 2.82351107e+02] [ 7.34296876e-02 6.44253136e-02 9.95217293e-01 3.29950079e+01] [-9.97268876e-01 -3.19056227e-03 7.37875995e-02 -2.82145329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27864 meters Centerline goodness : 0.995998 Centerline is valid? [True, True] Translation: X:282.31, Y:33.01, Z:-282.20 [[ 1.02409930e-02 -9.92500054e-01 1.21814469e-01 2.82307968e+02] [ 7.27959019e-02 1.22237604e-01 9.89827624e-01 3.30089232e+01] [-9.97294279e-01 -1.26922361e-03 7.35017710e-02 -2.82199175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.30864 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:282.28, Y:33.02, Z:-282.25 [[ 1.09612757e-02 -9.86816424e-01 1.61471968e-01 2.82279057e+02] [ 7.27006422e-02 1.61840787e-01 9.84135243e-01 3.30213386e+01] [-9.97293571e-01 9.51738051e-04 7.35161692e-02 -2.82252849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33864 meters Centerline goodness : 0.995950 Centerline is valid? [True, True] Translation: X:282.30, Y:33.02, Z:-282.33 [[ 2.30822106e-02 -9.92044778e-01 1.23751246e-01 2.82303278e+02] [ 9.74183583e-02 1.25427066e-01 9.87308318e-01 3.30246997e+01] [-9.94975816e-01 -1.07336153e-02 9.95385076e-02 -2.82334688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.36864 meters Centerline goodness : 0.994779 Centerline is valid? [True, True] Translation: X:281.77, Y:33.99, Z:-282.44 [[ 6.90036064e-04 1.29672130e-01 9.91556686e-01 2.81768453e+02] [ 2.51025927e-02 9.91242217e-01 -1.29648474e-01 3.39882314e+01] [-9.99684642e-01 2.49801058e-02 -2.57111379e-03 -2.82436440e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39864 meters Centerline goodness : 0.994876 Centerline is valid? [True, True] Translation: X:281.86, Y:33.42, Z:-282.50 [[-9.05062451e-04 -6.22254128e-01 7.82814781e-01 2.81859710e+02] [ 7.31697802e-03 7.82790025e-01 6.22242910e-01 3.34161461e+01] [-9.99972821e-01 6.29100724e-03 3.84454592e-03 -2.82502219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42864 meters Centerline goodness : 0.994679 Centerline is valid? [True, True] Translation: X:281.80, Y:33.54, Z:-282.57 [[ 3.95550575e-04 -4.68330319e-01 8.83553369e-01 2.81798512e+02] [ 9.68943053e-03 8.83513756e-01 4.68304984e-01 3.35404380e+01] [-9.99952978e-01 8.37589069e-03 4.88732847e-03 -2.82566254e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45864 meters Centerline goodness : 0.995022 Centerline is valid? [True, True] Translation: X:282.49, Y:34.57, Z:-282.72 [[-3.32335314e-02 9.82285861e-01 1.84418055e-01 2.82487679e+02] [ 1.57537807e-02 1.85011906e-01 -9.82610001e-01 3.45687018e+01] [-9.99323447e-01 -2.97503187e-02 -2.16233151e-02 -2.82717157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48864 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:282.53, Y:33.08, Z:-282.79 [[ 1.35630983e-02 -9.94811378e-01 -1.00828395e-01 2.82530253e+02] [-1.86658689e-02 -1.01071999e-01 9.94703994e-01 3.30801752e+01] [-9.99733778e-01 -1.16092185e-02 -1.99398682e-02 -2.82791731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51864 meters Centerline goodness : 0.993905 Centerline is valid? [True, True] Translation: X:282.64, Y:34.57, Z:-282.96 [[-3.06107239e-02 9.99091295e-01 2.96575194e-02 2.82643409e+02] [ 1.77262742e-02 3.02093870e-02 -9.99386398e-01 3.45681702e+01] [-9.99374186e-01 -3.00662238e-02 -1.86348974e-02 -2.82959764e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54864 meters Centerline goodness : 0.994143 Centerline is valid? [True, True] Translation: X:283.33, Y:33.77, Z:-283.00 [[-2.47425692e-02 2.49975756e-02 -9.99381272e-01 2.83330260e+02] [-2.77160308e-03 -9.99685194e-01 -2.49365586e-02 3.37691656e+01] [-9.99690014e-01 2.15289368e-03 2.48040634e-02 -2.82998169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57864 meters Centerline goodness : 0.993412 Centerline is valid? [True, True] Translation: X:282.41, Y:33.10, Z:-283.04 [[ 1.62737488e-02 -9.92668186e-01 1.19770772e-01 2.82411423e+02] [-1.93227227e-02 1.19452035e-01 9.92651925e-01 3.31012324e+01] [-9.99680848e-01 -1.84684655e-02 -1.72371197e-02 -2.83041031e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60864 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:282.38, Y:33.10, Z:-283.21 [[ 8.95111728e-02 -9.90603059e-01 1.03408554e-01 2.82379360e+02] [-2.81022065e-02 1.01272041e-01 9.94461784e-01 3.31027715e+01] [-9.95589281e-01 -9.19214491e-02 -1.87731525e-02 -2.83211861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.63864 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:282.20, Y:33.16, Z:-283.40 [[ 1.51780035e-01 -9.38491155e-01 3.10156692e-01 2.82198740e+02] [-4.85744049e-02 3.06330746e-01 9.50685017e-01 3.31630392e+01] [-9.87220010e-01 -1.59360682e-01 9.08241923e-04 -2.83397094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66864 meters Centerline goodness : 0.993902 Centerline is valid? [True, True] Translation: X:282.45, Y:33.09, Z:-283.53 [[ 2.27757879e-01 -9.71975539e-01 -5.82228517e-02 2.82445387e+02] [-4.40997529e-02 -7.00297382e-02 9.96569640e-01 3.30944316e+01] [-9.72718644e-01 -2.24408974e-01 -5.88137057e-02 -2.83526202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.69864 meters Centerline goodness : 0.994045 Centerline is valid? [True, True] Translation: X:282.54, Y:33.08, Z:-283.68 [[ 2.98309942e-01 -9.32959991e-01 -2.01486560e-01 2.82540739e+02] [-2.69166543e-02 -2.19237055e-01 9.75300265e-01 3.30831588e+01] [-9.54089447e-01 -2.85518422e-01 -9.05127548e-02 -2.83676276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72864 meters Centerline goodness : 0.994445 Centerline is valid? [True, True] Translation: X:281.80, Y:33.97, Z:-284.08 [[ 2.64654766e-01 6.00662986e-02 9.62470724e-01 2.81799029e+02] [-8.82451211e-02 9.95379226e-01 -3.78549218e-02 3.39720689e+01] [-9.60297169e-01 -7.49148601e-02 2.68732414e-01 -2.84082121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.75864 meters Centerline goodness : 0.993075 Centerline is valid? [True, True] Translation: X:282.71, Y:34.59, Z:-284.04 [[ 2.06663014e-01 9.77349922e-01 -4.55799205e-02 2.82709988e+02] [-5.75656020e-02 -3.43589311e-02 -9.97750302e-01 3.45914675e+01] [-9.76717257e-01 2.08821920e-01 4.91610163e-02 -2.84038641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78864 meters Centerline goodness : 0.993952 Centerline is valid? [True, True] Translation: X:282.85, Y:34.56, Z:-284.18 [[ 1.40472739e-01 9.82561668e-01 -1.21819451e-01 2.82851349e+02] [-4.98000270e-02 -1.15871783e-01 -9.92014963e-01 3.45622830e+01] [-9.88831314e-01 1.45417671e-01 3.26547708e-02 -2.84177285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.81864 meters Centerline goodness : 0.992986 Centerline is valid? [True, True] Translation: X:283.00, Y:34.52, Z:-284.32 [[ 7.50586888e-02 9.72648836e-01 -2.19819096e-01 2.82997076e+02] [-3.38197776e-02 -2.17831088e-01 -9.75400348e-01 3.45198847e+01] [-9.96605446e-01 8.06465042e-02 1.65446515e-02 -2.84322413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84864 meters Centerline goodness : 0.993804 Centerline is valid? [True, True] Translation: X:282.88, Y:34.55, Z:-284.51 [[-9.71745466e-04 9.99270244e-01 3.81842372e-02 2.82875971e+02] [-3.85149357e-02 3.81185239e-02 -9.98530710e-01 3.45518888e+01] [-9.99257552e-01 -2.44098113e-03 3.84497877e-02 -2.84505378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.87864 meters Centerline goodness : 0.993078 Centerline is valid? [True, True] Translation: X:282.69, Y:34.54, Z:-284.56 [[-1.13977312e-02 9.54552073e-01 2.97826177e-01 2.82686543e+02] [-4.66123974e-02 2.97014543e-01 -9.53734578e-01 3.45404903e+01] [-9.98848025e-01 -2.47528025e-02 4.11086686e-02 -2.84562342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90864 meters Centerline goodness : 0.993126 Centerline is valid? [True, True] Translation: X:282.76, Y:34.54, Z:-284.72 [[-4.84385535e-02 9.70131823e-01 2.37692979e-01 2.82761350e+02] [-5.40333835e-02 2.35078758e-01 -9.70473272e-01 3.45447882e+01] [-9.97363575e-01 -5.98516774e-02 4.10326299e-02 -2.84717327e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.93864 meters Centerline goodness : 0.991981 Centerline is valid? [True, True] Translation: X:283.18, Y:34.47, Z:-284.74 [[-4.22666055e-02 9.44302496e-01 -3.26353077e-01 2.83179791e+02] [-4.21332356e-02 -3.28039048e-01 -9.43724098e-01 3.44695728e+01] [-9.98217574e-01 -2.61377031e-02 5.36516166e-02 -2.84737032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96864 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:283.23, Y:34.44, Z:-284.79 [[-5.76697684e-02 9.16796007e-01 -3.95169938e-01 2.83231017e+02] [-3.43804227e-02 -3.97417730e-01 -9.16993530e-01 3.44382523e+01] [-9.97743546e-01 -3.92966950e-02 5.44388227e-02 -2.84789165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.99864 meters Centerline goodness : 0.992781 Centerline is valid? [True, True] Translation: X:283.39, Y:34.31, Z:-284.79 [[-4.99442741e-02 7.80377940e-01 -6.23310389e-01 2.83389857e+02] [-3.23592738e-02 -6.25025966e-01 -7.79932958e-01 3.43105846e+01] [-9.98227653e-01 -1.87833140e-02 5.64689316e-02 -2.84792855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02864 meters Centerline goodness : 0.994284 Centerline is valid? [True, True] Translation: X:283.42, Y:34.28, Z:-284.80 [[-4.88680627e-02 7.44267547e-01 -6.66091383e-01 2.83420000e+02] [-3.35066547e-02 -6.67734379e-01 -7.43645146e-01 3.42758164e+01] [-9.98243065e-01 -1.40220037e-02 5.75688012e-02 -2.84800731e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.05864 meters Centerline goodness : 0.994000 Centerline is valid? [True, True] Translation: X:283.46, Y:34.22, Z:-284.81 [[-4.77049075e-02 6.84881934e-01 -7.27090763e-01 2.83459936e+02] [-3.26689913e-02 -7.28599892e-01 -6.84160021e-01 3.42225378e+01] [-9.98327090e-01 -8.88446873e-03 5.71321924e-02 -2.84809622e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08864 meters Centerline goodness : 0.994570 Centerline is valid? [True, True] Translation: X:283.49, Y:34.18, Z:-284.82 [[-4.71969791e-02 6.30129482e-01 -7.75054373e-01 2.83490891e+02] [-3.31670310e-02 -7.76479806e-01 -6.29268670e-01 3.41752789e+01] [-9.98334810e-01 -3.99332788e-03 5.75470252e-02 -2.84816972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.11864 meters Centerline goodness : 0.994976 Centerline is valid? [True, True] Translation: X:282.75, Y:33.05, Z:-284.82 [[ 1.38662852e-04 -9.98986230e-01 -4.50165794e-02 2.82751707e+02] [-5.91826241e-02 -4.49458716e-02 9.97234820e-01 3.30477643e+01] [-9.98247163e-01 2.52591987e-03 -5.91288589e-02 -2.84815685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14864 meters Centerline goodness : 0.995216 Centerline is valid? [True, True] Translation: X:282.81, Y:34.54, Z:-284.93 [[ 1.20199778e-02 9.83731524e-01 1.79242320e-01 2.82808921e+02] [-2.18301037e-02 1.79470713e-01 -9.83521078e-01 3.45391815e+01] [-9.99689435e-01 7.90902310e-03 2.36321952e-02 -2.84933140e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17864 meters Centerline goodness : 0.996147 Centerline is valid? [True, True] Translation: X:282.89, Y:34.54, Z:-285.00 [[ 1.57790078e-02 9.96792315e-01 7.84608407e-02 2.82887697e+02] [-2.32925414e-02 7.88157605e-02 -9.96617045e-01 3.45350018e+01] [-9.99604162e-01 1.38980757e-02 2.44614607e-02 -2.84998289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20864 meters Centerline goodness : 0.995852 Centerline is valid? [True, True] Translation: X:282.99, Y:34.52, Z:-285.02 [[ 1.71561678e-02 9.98421830e-01 -5.34744394e-02 2.82985590e+02] [-2.58190029e-02 -5.30220900e-02 -9.98259504e-01 3.45215426e+01] [-9.99519407e-01 1.85069643e-02 2.48686003e-02 -2.85019416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23864 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:283.05, Y:34.50, Z:-285.04 [[ 1.65832766e-02 9.89100183e-01 -1.46307289e-01 2.83052743e+02] [-2.81440174e-02 -1.45807671e-01 -9.88912553e-01 3.45043850e+01] [-9.99466312e-01 2.05170853e-02 2.54192838e-02 -2.85038656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26864 meters Centerline goodness : 0.997369 Centerline is valid? [True, True] Translation: X:283.12, Y:34.48, Z:-285.07 [[ 1.16519104e-02 9.70027123e-01 -2.42717146e-01 2.83119303e+02] [-2.85290320e-02 -2.42312311e-01 -9.69778757e-01 3.44793288e+01] [-9.99525051e-01 1.82242604e-02 2.48505335e-02 -2.85073027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29864 meters Centerline goodness : 0.997462 Centerline is valid? [True, True] Translation: X:283.25, Y:34.40, Z:-285.13 [[-3.41665518e-03 9.00210977e-01 -4.35440607e-01 2.83254126e+02] [-2.60911491e-02 -4.35375158e-01 -8.99870948e-01 3.44042396e+01] [-9.99653729e-01 8.28659705e-03 2.49750656e-02 -2.85129781e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32864 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:283.47, Y:34.18, Z:-285.16 [[-9.35573834e-03 6.45715810e-01 -7.63520506e-01 2.83469359e+02] [-3.47454992e-02 -7.63302765e-01 -6.45105913e-01 3.41813151e+01] [-9.99352401e-01 2.04934590e-02 2.95769791e-02 -2.85156251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35864 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:283.52, Y:34.08, Z:-285.19 [[-1.70328613e-02 5.24979659e-01 -8.50944322e-01 2.83519975e+02] [-3.04632016e-02 -8.50945160e-01 -5.24370411e-01 3.40826169e+01] [-9.99390752e-01 1.69909599e-02 3.04865920e-02 -2.85192954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.38864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:282.93, Y:34.52, Z:-285.26 [[-8.52620594e-02 9.96347055e-01 4.78832405e-03 2.82934597e+02] [ 3.43154125e-03 5.09944185e-03 -9.99981110e-01 3.45221611e+01] [-9.96352651e-01 -8.52440175e-02 -3.85379493e-03 -2.85262547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:283.58, Y:33.79, Z:-285.38 [[-9.16613329e-02 1.41302459e-01 -9.85713861e-01 2.83582452e+02] [-2.79091890e-02 -9.89856702e-01 -1.39301067e-01 3.37861740e+01] [-9.95399054e-01 1.47419530e-02 9.46752217e-02 -2.85379906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.44864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:282.88, Y:34.52, Z:-285.39 [[-1.53475693e-01 9.86314667e-01 6.02377790e-02 2.82882452e+02] [ 1.88956078e-02 6.38781897e-02 -9.97778800e-01 3.45235272e+01] [-9.87971744e-01 -1.51996564e-01 -2.84407646e-02 -2.85388957e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:282.85, Y:34.53, Z:-285.47 [[-2.19158936e-01 9.71797816e-01 8.70538139e-02 2.82851248e+02] [ 1.43224370e-02 9.24175524e-02 -9.95617328e-01 3.45259385e+01] [-9.75584045e-01 -2.16951611e-01 -3.41726454e-02 -2.85473603e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.50864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:282.89, Y:33.03, Z:-285.56 [[-2.12755521e-01 -9.49321595e-01 -2.31351677e-01 2.82894259e+02] [-2.32480722e-02 -2.31787335e-01 9.72488642e-01 3.30310144e+01] [-9.76828857e-01 2.12280808e-01 2.72441383e-02 -2.85557651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:282.83, Y:33.03, Z:-285.63 [[-1.46041260e-01 -9.75073524e-01 -1.67043629e-01 2.82826315e+02] [-1.01859965e-02 -1.67362940e-01 9.85842732e-01 3.30265350e+01] [-9.89226059e-01 1.45675221e-01 1.45097992e-02 -2.85626799e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.56864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:282.71, Y:33.03, Z:-285.69 [[-8.01648800e-02 -9.96315124e-01 -3.04920641e-02 2.82706181e+02] [-4.19092765e-03 -3.02533535e-02 9.99533477e-01 3.30280189e+01] [-9.96772807e-01 8.02552712e-02 -1.75022815e-03 -2.85692354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:283.02, Y:34.47, Z:-285.76 [[-8.39219008e-02 9.64038715e-01 -2.52163580e-01 2.83018468e+02] [ 5.01974540e-02 -2.48645010e-01 -9.67293065e-01 3.44739931e+01] [-9.95207180e-01 -9.38350424e-02 -2.75255272e-02 -2.85764707e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.62864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:283.45, Y:33.50, Z:-285.88 [[-1.01549575e-01 -2.90328770e-01 -9.51523457e-01 2.83450659e+02] [ 1.34484108e-02 -9.56781166e-01 2.90497745e-01 3.34951232e+01] [-9.94739576e-01 1.67034443e-02 1.01065182e-01 -2.85879179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:282.79, Y:34.52, Z:-285.83 [[-1.59518824e-01 9.86459771e-01 3.80902120e-02 2.82788839e+02] [ 6.53769350e-02 4.90558448e-02 -9.96654093e-01 3.45225016e+01] [-9.85027716e-01 -1.56494867e-01 -7.23170470e-02 -2.85832878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.68864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:283.02, Y:34.48, Z:-285.96 [[-2.19445389e-01 9.33630276e-01 -2.83157605e-01 2.83018957e+02] [ 7.70210292e-02 -2.72747751e-01 -9.58997615e-01 3.44770871e+01] [-9.72579808e-01 -2.32256695e-01 -1.20559285e-02 -2.85956022e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:282.74, Y:34.52, Z:-285.96 [[-2.95265462e-01 9.51946195e-01 8.13434026e-02 2.82739235e+02] [ 7.79083399e-02 1.08845473e-01 -9.91000986e-01 3.45247767e+01] [-9.52233478e-01 -2.86271034e-01 -1.06302857e-01 -2.85957975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.74864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:282.79, Y:33.04, Z:-286.12 [[-2.51909127e-01 -9.56448497e-01 -1.47472248e-01 2.82788818e+02] [ 3.82370676e-02 -1.62104589e-01 9.86032468e-01 3.30419638e+01] [-9.66995201e-01 2.42751672e-01 7.74074114e-02 -2.86122656e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:282.85, Y:34.52, Z:-286.12 [[-3.04333212e-01 9.44702316e-01 -1.22142663e-01 2.82851311e+02] [ 8.24567135e-02 -1.01617168e-01 -9.91400445e-01 3.45199234e+01] [-9.48990088e-01 -3.11787564e-01 -4.69715692e-02 -2.86123371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.80864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:283.42, Y:33.68, Z:-286.38 [[-3.00125707e-01 -1.06978829e-01 -9.47881897e-01 2.83419898e+02] [ 7.86461847e-02 -9.93083402e-01 8.71787490e-02 3.36795618e+01] [-9.50652059e-01 -4.83827110e-02 3.06463335e-01 -2.86380571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:282.67, Y:33.05, Z:-286.27 [[-2.40352020e-01 -9.69797717e-01 -4.15125952e-02 2.82672449e+02] [ 7.34024328e-02 -6.08023912e-02 9.95447212e-01 3.30453251e+01] [-9.67906498e-01 2.36210622e-01 8.57994892e-02 -2.86274545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.86864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:281.94, Y:33.71, Z:-286.12 [[-2.41686638e-01 -1.82761988e-01 9.52987736e-01 2.81941038e+02] [ 7.01758803e-03 9.81747922e-01 1.90057283e-01 3.37072188e+01] [-9.70328976e-01 5.26219810e-02 -2.35992806e-01 -2.86116988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:282.46, Y:34.54, Z:-286.32 [[-3.05209822e-01 9.03841308e-01 2.99863059e-01 2.82463367e+02] [-8.48475884e-04 3.14629665e-01 -9.49214125e-01 3.45365620e+01] [-9.52284750e-01 -2.89963900e-01 -9.52611763e-02 -2.86315909e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:283.37, Y:33.87, Z:-286.60 [[-2.75898422e-01 1.22197587e-01 -9.53387545e-01 2.83365004e+02] [ 7.07185729e-03 -9.91600897e-01 -1.29141975e-01 3.38718670e+01] [-9.61160783e-01 -4.23722878e-02 2.72716958e-01 -2.86598231e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:282.67, Y:34.56, Z:-286.46 [[-3.68754127e-01 9.29524419e-01 2.17925945e-03 2.82669354e+02] [ 2.08676295e-02 1.06222991e-02 -9.99725817e-01 3.45607579e+01] [-9.29292707e-01 -3.68607544e-01 -2.33139878e-02 -2.86462881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:282.58, Y:33.06, Z:-286.50 [[-2.92512434e-01 -9.56089949e-01 -1.81241579e-02 2.82576143e+02] [-2.56060840e-02 -1.11150601e-02 9.99610316e-01 3.30648957e+01] [-9.55918827e-01 2.92862535e-01 -2.12304263e-02 -2.86502453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:282.54, Y:33.06, Z:-286.57 [[-2.26250051e-01 -9.73959573e-01 -1.46172570e-02 2.82541969e+02] [-2.47065765e-02 -9.26352976e-03 9.99651825e-01 3.30647106e+01] [-9.73755873e-01 2.26532418e-01 -2.19673326e-02 -2.86573612e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:282.52, Y:33.06, Z:-286.65 [[-1.59615116e-01 -9.87085776e-01 -1.35899158e-02 2.82515962e+02] [-2.46160160e-02 -9.78239105e-03 9.99649117e-01 3.30638817e+01] [-9.86872366e-01 1.59893639e-01 -2.27367018e-02 -2.86645999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:282.34, Y:34.54, Z:-286.69 [[-2.43048094e-01 9.21620149e-01 3.02562266e-01 2.82343706e+02] [-1.47970042e-03 3.11562661e-01 -9.50224457e-01 3.45376974e+01] [-9.70013110e-01 -2.31397945e-01 -7.43609892e-02 -2.86694638e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:282.50, Y:34.56, Z:-286.81 [[-3.02218071e-01 9.49295396e-01 8.66169077e-02 2.82498061e+02] [-5.47494231e-03 8.91357928e-02 -9.96004435e-01 3.45637375e+01] [-9.53223092e-01 -3.01484762e-01 -2.17411099e-02 -2.86808342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.13864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:282.55, Y:34.56, Z:-286.90 [[-3.64252044e-01 9.31285418e-01 -5.28383606e-03 2.82553142e+02] [-4.37143630e-03 -7.38328554e-03 -9.99963188e-01 3.45622582e+01] [-9.31290148e-01 -3.64215537e-01 6.76043173e-03 -2.86903322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:282.34, Y:33.08, Z:-286.85 [[-2.97178909e-01 -9.40448728e-01 1.65048131e-01 2.82335277e+02] [-6.33653402e-02 1.91901422e-01 9.79366468e-01 3.30842983e+01] [-9.52716920e-01 2.80588727e-01 -1.16620909e-01 -2.86850414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.19864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:282.34, Y:33.08, Z:-286.93 [[-2.31716413e-01 -9.65438909e-01 1.19311429e-01 2.82340789e+02] [-7.28187351e-02 1.39519845e-01 9.87538174e-01 3.30756234e+01] [-9.70054089e-01 2.20140696e-01 -1.02631078e-01 -2.86925290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:282.50, Y:34.56, Z:-287.12 [[-2.97011438e-01 9.54199757e-01 -3.58751830e-02 2.82500852e+02] [-2.49915961e-02 -4.53258192e-02 -9.98659597e-01 3.45550787e+01] [-9.54546817e-01 -2.95716745e-01 3.73092617e-02 -2.87116210e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.25864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:283.15, Y:33.90, Z:-287.32 [[-2.76467486e-01 1.53051188e-01 -9.48757642e-01 2.83152447e+02] [-2.85884881e-02 -9.88109784e-01 -1.51068705e-01 3.38964981e+01] [-9.60597953e-01 -1.46420385e-02 2.77555730e-01 -2.87324896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:282.40, Y:34.55, Z:-287.19 [[-3.65130017e-01 9.28923364e-01 6.14935261e-02 2.82398471e+02] [-1.42311766e-02 6.04770011e-02 -9.98068137e-01 3.45525932e+01] [-9.30847756e-01 -3.65299761e-01 -8.86229596e-03 -2.87187285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.31864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:282.35, Y:33.06, Z:-287.19 [[-2.99254285e-01 -9.53527062e-01 3.51143080e-02 2.82348161e+02] [-6.18339994e-02 5.61030667e-02 9.96508406e-01 3.30559355e+01] [-9.52167753e-01 2.96038152e-01 -7.57494749e-02 -2.87188154e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:282.44, Y:34.54, Z:-287.37 [[-3.61101958e-01 9.30714762e-01 -5.80982548e-02 2.82439410e+02] [-3.31648482e-02 -7.50800533e-02 -9.96625847e-01 3.45446557e+01] [-9.31936408e-01 -3.57956725e-01 5.79785681e-02 -2.87374793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.37864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:283.07, Y:33.89, Z:-287.60 [[-3.42636686e-01 1.48279893e-01 -9.27692392e-01 2.83070045e+02] [-2.33660491e-02 -9.88505255e-01 -1.49369973e-01 3.38920516e+01] [-9.39177368e-01 -2.95031264e-02 3.42162880e-01 -2.87597907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:282.15, Y:33.08, Z:-287.30 [[-3.04635146e-01 -9.23238760e-01 2.34152984e-01 2.82147394e+02] [-6.89720275e-02 2.66575299e-01 9.61343055e-01 3.30809663e+01] [-9.49968572e-01 2.76708876e-01 -1.44885854e-01 -2.87295579e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.43864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:282.37, Y:34.54, Z:-287.52 [[-3.65127020e-01 9.30193557e-01 -3.77121441e-02 2.82370085e+02] [-3.68251985e-02 -5.49084735e-02 -9.97812089e-01 3.45398875e+01] [-9.30229092e-01 -3.62939397e-01 5.43031297e-02 -2.87523521e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:283.01, Y:33.93, Z:-287.77 [[-3.63697795e-01 2.06694128e-01 -9.08295905e-01 2.83005046e+02] [-3.18184148e-02 -9.77259301e-01 -2.09646956e-01 3.39333524e+01] [-9.30973417e-01 -4.73475998e-02 3.62003732e-01 -2.87766661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.49864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:282.34, Y:33.04, Z:-287.55 [[-2.92540451e-01 -9.50988708e-01 -1.00202605e-01 2.82339526e+02] [-4.91005919e-02 -8.97101297e-02 9.94756867e-01 3.30428501e+01] [-9.54991736e-01 2.95926629e-01 -2.04502667e-02 -2.87551829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:282.22, Y:34.53, Z:-287.63 [[-3.71749214e-01 9.24487275e-01 8.44144498e-02 2.82217187e+02] [-1.00281923e-02 8.69267592e-02 -9.96164230e-01 3.45312661e+01] [-9.28279030e-01 -3.71169794e-01 -2.30440183e-02 -2.87634570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.55864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:282.10, Y:33.05, Z:-287.63 [[-2.96413833e-01 -9.43583787e-01 1.47609201e-01 2.82102895e+02] [-5.43916694e-02 1.70982362e-01 9.83771609e-01 3.30540539e+01] [-9.53509510e-01 2.83574802e-01 -1.02004635e-01 -2.87625896e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:281.52, Y:34.00, Z:-287.57 [[-3.39062866e-01 1.96376603e-01 9.20039457e-01 2.81524521e+02] [-1.17577161e-01 9.61457039e-01 -2.48547728e-01 3.39965847e+01] [-9.33387371e-01 -1.92448932e-01 -3.02904976e-01 -2.87565903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.61864 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:282.26, Y:33.04, Z:-287.78 [[-2.43977978e-01 -9.59377901e-01 -1.41664354e-01 2.82260184e+02] [-1.14946965e-01 -1.16440764e-01 9.86523565e-01 3.30423857e+01] [-9.62944412e-01 2.56973912e-01 -8.18685962e-02 -2.87784682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:281.44, Y:33.67, Z:-287.72 [[-2.41956564e-01 -2.28676828e-01 9.42954893e-01 2.81442788e+02] [-1.87943507e-01 9.64470876e-01 1.85669513e-01 3.36689540e+01] [-9.51910846e-01 -1.32298292e-01 -2.76338384e-01 -2.87716562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67864 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:282.69, Y:34.25, Z:-288.17 [[-2.35432421e-01 6.68596171e-01 -7.05372763e-01 2.82685259e+02] [-1.49411350e-01 -7.42044914e-01 -6.53487257e-01 3.42509772e+01] [-9.60337349e-01 -4.84613899e-02 2.74597287e-01 -2.88167759e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:282.72, Y:34.18, Z:-288.22 [[-2.53782024e-01 5.91835264e-01 -7.65065817e-01 2.82723002e+02] [-1.50498197e-01 -8.05488402e-01 -5.73182979e-01 3.41815687e+01] [-9.55481542e-01 -3.03225107e-02 2.93488617e-01 -2.88215510e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:282.50, Y:33.12, Z:-288.05 [[-1.73978385e-01 -8.17743171e-01 -5.48659847e-01 2.82495152e+02] [-1.38853823e-01 -5.31218936e-01 8.35778714e-01 3.31162233e+01] [-9.74910836e-01 2.21590948e-01 -2.11261532e-02 -2.88049542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76864 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:282.73, Y:34.12, Z:-288.25 [[-1.87373601e-01 5.32728858e-01 -8.25282435e-01 2.82731911e+02] [-9.57831686e-02 -8.46067919e-01 -5.24399334e-01 3.41196500e+01] [-9.77607651e-01 -1.92104247e-02 2.09557250e-01 -2.88253819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79864 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:282.74, Y:34.09, Z:-288.29 [[-1.93355104e-01 5.03356069e-01 -8.42167722e-01 2.82736119e+02] [-8.34802604e-02 -8.63693713e-01 -4.97055547e-01 3.40918296e+01] [-9.77570893e-01 -2.58038461e-02 2.09019883e-01 -2.88294239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82864 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:282.75, Y:34.05, Z:-288.33 [[-1.97462608e-01 4.51186500e-01 -8.70309865e-01 2.82748292e+02] [-7.39389550e-02 -8.92115933e-01 -4.45715373e-01 3.40475508e+01] [-9.77518056e-01 -2.36623178e-02 2.09519797e-01 -2.88330558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85864 meters Centerline goodness : 0.997114 Centerline is valid? [True, True] Translation: X:282.76, Y:34.01, Z:-288.36 [[-2.01399551e-01 4.02130359e-01 -8.93156983e-01 2.82757445e+02] [-6.36533088e-02 -9.15287113e-01 -3.97740816e-01 3.40066599e+01] [-9.77438733e-01 -2.32524247e-02 2.09935342e-01 -2.88363478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.88864 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:282.10, Y:34.47, Z:-288.33 [[-2.93745180e-01 9.55881013e-01 2.29332260e-03 2.82098549e+02] [-5.69409705e-02 -1.51031306e-02 -9.98263303e-01 3.44747789e+01] [-9.54186300e-01 -2.93365617e-01 5.88652644e-02 -2.88332680e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91864 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:282.76, Y:33.90, Z:-288.51 [[-2.68073758e-01 2.68793463e-01 -9.25141359e-01 2.82763436e+02] [-5.72824690e-02 -9.63037682e-01 -2.63205514e-01 3.38952371e+01] [-9.61693911e-01 -1.75641100e-02 2.73562284e-01 -2.88514880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.94864 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:281.73, Y:34.40, Z:-288.30 [[-3.67351145e-01 8.03988926e-01 4.67605542e-01 2.81728066e+02] [-7.55874555e-02 4.75287055e-01 -8.76577864e-01 3.44006994e+01] [-9.27005757e-01 -3.57356995e-01 -1.13825767e-01 -2.88303369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97864 meters Centerline goodness : 0.997512 Centerline is valid? [True, True] Translation: X:282.69, Y:34.01, Z:-288.66 [[-3.36486246e-01 4.22175431e-01 -8.41751099e-01 2.82688945e+02] [-7.51055360e-02 -9.03058275e-01 -4.22900591e-01 3.40115858e+01] [-9.38688535e-01 -7.90800646e-02 3.35574401e-01 -2.88656459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.00864 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:282.14, Y:34.45, Z:-288.58 [[-4.18777319e-01 9.01881535e-01 -1.05996481e-01 2.82137778e+02] [-5.97595326e-02 -1.43842273e-01 -9.87794614e-01 3.44493233e+01] [-9.06120497e-01 -4.07331680e-01 1.14133900e-01 -2.88575222e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03864 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:282.03, Y:34.45, Z:-288.61 [[-4.83474993e-01 8.75279057e-01 1.17687630e-02 2.82029080e+02] [-5.78327553e-02 -1.85239760e-02 -9.98154414e-01 3.44532280e+01] [-8.73445650e-01 -4.83263318e-01 5.95756787e-02 -2.88613295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.06864 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:281.93, Y:32.96, Z:-288.51 [[-4.01053931e-01 -9.16023827e-01 -7.48954334e-03 2.81930137e+02] [-1.08959434e-01 3.95836453e-02 9.93257759e-01 3.29635929e+01] [-9.09551310e-01 3.99165985e-01 -1.15684614e-01 -2.88512689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09864 meters Centerline goodness : 0.997217 Centerline is valid? [True, True] Translation: X:281.95, Y:34.44, Z:-288.75 [[-4.85569549e-01 8.73770033e-01 2.73522017e-02 2.81954534e+02] [-5.98853804e-02 -2.03195582e-03 -9.98203192e-01 3.44416953e+01] [-8.72144457e-01 -4.86335071e-01 5.33127067e-02 -2.88748511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.12864 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:281.94, Y:34.43, Z:-288.83 [[-5.43305401e-01 8.39462677e-01 1.10297230e-02 2.81941026e+02] [-5.87563458e-02 -2.49152261e-02 -9.97961384e-01 3.44346715e+01] [-8.37476527e-01 -5.42845876e-01 6.28603363e-02 -2.88829148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15864 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:281.91, Y:34.43, Z:-288.91 [[-5.98345463e-01 8.01008584e-01 1.91821549e-02 2.81906090e+02] [-7.33206715e-02 -3.08982333e-02 -9.96829664e-01 3.44285751e+01] [-7.97876423e-01 -5.97854955e-01 7.72183050e-02 -2.88911233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.18864 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:282.48, Y:33.74, Z:-289.27 [[-5.72306976e-01 1.50367791e-01 -8.06135381e-01 2.82482176e+02] [-5.90760652e-02 -9.88050449e-01 -1.42359859e-01 3.37397164e+01] [-8.17908763e-01 -3.38502342e-02 5.74351301e-01 -2.89270265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21864 meters Centerline goodness : 0.997509 Centerline is valid? [True, True] Translation: X:281.86, Y:32.93, Z:-288.83 [[-5.22368790e-01 -8.46962624e-01 -9.89199739e-02 2.81855183e+02] [-9.30747240e-02 -5.86803261e-02 9.93928426e-01 3.29302918e+01] [-8.47624883e-01 5.28404138e-01 -4.81780415e-02 -2.88825838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.24864 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:282.43, Y:33.70, Z:-289.33 [[-5.18528512e-01 1.05049321e-01 -8.48582832e-01 2.82429810e+02] [-2.06093898e-02 -9.93671645e-01 -1.10417005e-01 3.36988315e+01] [-8.54811930e-01 -3.97655910e-02 5.17412082e-01 -2.89332232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27864 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:282.41, Y:33.65, Z:-289.37 [[-5.19585526e-01 4.38549128e-02 -8.53292229e-01 2.82405482e+02] [-3.39143755e-03 -9.98779879e-01 -4.92671340e-02 3.36497100e+01] [-8.54411715e-01 -2.27046025e-02 5.19100301e-01 -2.89372239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.30864 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:281.54, Y:32.95, Z:-288.90 [[-4.83426578e-01 -8.57492549e-01 1.76083141e-01 2.81544466e+02] [-4.83736089e-02 2.27010079e-01 9.72690299e-01 3.29501957e+01] [-8.74047331e-01 4.61706566e-01 -1.51222715e-01 -2.88899379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33864 meters Centerline goodness : 0.997367 Centerline is valid? [True, True] Translation: X:281.52, Y:32.94, Z:-288.97 [[-4.23986426e-01 -8.94013260e-01 1.44830252e-01 2.81524940e+02] [-6.35157778e-02 1.88873631e-01 9.79945150e-01 3.29437018e+01] [-9.03438574e-01 4.06284436e-01 -1.36863803e-01 -2.88969294e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.36864 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:281.53, Y:32.93, Z:-289.06 [[-3.59807100e-01 -9.29070682e-01 8.58284222e-02 2.81527060e+02] [-7.22221972e-02 1.19446508e-01 9.90210324e-01 3.29315160e+01] [-9.30227287e-01 3.50085988e-01 -1.10077228e-01 -2.89055235e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39864 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:281.58, Y:34.41, Z:-289.22 [[-4.30415773e-01 8.95201936e-01 1.15567102e-01 2.81579598e+02] [-1.52857283e-02 1.20786334e-01 -9.92560833e-01 3.44111698e+01] [-9.02501307e-01 -4.28980366e-01 -3.83045298e-02 -2.89222267e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42864 meters Centerline goodness : 0.997218 Centerline is valid? [True, True] Translation: X:282.29, Y:33.77, Z:-289.55 [[-4.02175922e-01 2.12626813e-01 -8.90530385e-01 2.82288206e+02] [-3.36946847e-02 -9.75437809e-01 -2.17682681e-01 3.37734269e+01] [-9.14942182e-01 -5.75405925e-02 3.99461994e-01 -2.89549571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45864 meters Centerline goodness : 0.997122 Centerline is valid? [True, True] Translation: X:281.49, Y:32.92, Z:-289.22 [[-3.57900444e-01 -9.32703713e-01 4.43965777e-02 2.81491582e+02] [-7.24110111e-02 7.51258626e-02 9.94541477e-01 3.29191679e+01] [-9.30947860e-01 3.52732036e-01 -9.44255985e-02 -2.89219599e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48864 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:281.59, Y:34.40, Z:-289.41 [[-4.28531358e-01 9.03383864e-01 1.60769914e-02 2.81592003e+02] [-1.60459774e-02 1.01815895e-02 -9.99819415e-01 3.44031904e+01] [-9.03384416e-01 -4.28711942e-01 1.01325467e-02 -2.89412828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51864 meters Centerline goodness : 0.997068 Centerline is valid? [True, True] Translation: X:282.22, Y:33.77, Z:-289.72 [[-4.21545313e-01 2.13921196e-01 -8.81213522e-01 2.82218774e+02] [-3.10213795e-02 -9.74609070e-01 -2.21753997e-01 3.37692816e+01] [-9.06276571e-01 -6.61428989e-02 4.17478016e-01 -2.89716946e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:281.57, Y:32.90, Z:-289.45 [[-3.54374755e-01 -9.23438352e-01 -1.47241787e-01 2.81570635e+02] [-4.86747815e-02 -1.39030857e-01 9.89091091e-01 3.29031765e+01] [-9.33835799e-01 3.57675875e-01 4.32086600e-03 -2.89449696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:281.45, Y:34.39, Z:-289.52 [[-4.30641927e-01 8.94864116e-01 1.17327512e-01 2.81445998e+02] [-1.30796114e-02 1.23797815e-01 -9.92221258e-01 3.43948608e+01] [-9.02428088e-01 -4.28826673e-01 -4.16080549e-02 -2.89524157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60864 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:281.42, Y:34.39, Z:-289.59 [[-4.90133174e-01 8.62954688e-01 1.22795266e-01 2.81420651e+02] [-2.05945062e-02 1.29372934e-01 -9.91382121e-01 3.43923194e+01] [-8.71404233e-01 -4.88438174e-01 -4.56378414e-02 -2.89592369e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.63864 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:281.38, Y:34.39, Z:-289.66 [[-5.48224571e-01 8.25671761e-01 1.33101323e-01 2.81383272e+02] [-3.06082145e-02 1.39234137e-01 -9.89786337e-01 3.43897139e+01] [-8.35770876e-01 -5.46699184e-01 -5.10592368e-02 -2.89660333e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:281.33, Y:34.39, Z:-289.73 [[-5.99208916e-01 7.84135537e-01 1.61493449e-01 2.81330579e+02] [-5.60595988e-02 1.60126552e-01 -9.85503328e-01 3.43872960e+01] [-7.98627570e-01 -5.99575639e-01 -5.19909342e-02 -2.89726907e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.69864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:282.01, Y:33.69, Z:-290.19 [[-5.80340272e-01 1.34163279e-01 -8.03246776e-01 2.82008861e+02] [-4.88979816e-02 -9.90297387e-01 -1.30077181e-01 3.36901074e+01] [-8.12904765e-01 -3.62118805e-02 5.81269768e-01 -2.90186306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72864 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:281.41, Y:34.38, Z:-289.89 [[-6.54791744e-01 7.55768009e-01 -7.90497741e-03 2.81408033e+02] [-3.20540249e-02 -3.82178761e-02 -9.98755192e-01 3.43808366e+01] [-7.55129334e-01 -6.53723268e-01 4.92501563e-02 -2.89886070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.75864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:281.27, Y:32.89, Z:-289.77 [[-5.90478075e-01 -8.06986301e-01 -1.04284970e-02 2.81272482e+02] [-7.99597623e-02 4.56392906e-02 9.95752726e-01 3.28928093e+01] [-8.03082860e-01 5.88804013e-01 -9.14754332e-02 -2.89770815e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:281.21, Y:32.89, Z:-289.82 [[-5.32977138e-01 -8.46129020e-01 1.02588672e-03 2.81206897e+02] [-8.45661685e-02 5.44745735e-02 9.94927678e-01 3.28903416e+01] [-8.41893066e-01 5.30186951e-01 -1.00587592e-01 -2.89823080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.81864 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:281.16, Y:32.88, Z:-289.89 [[-4.71364322e-01 -8.81810996e-01 -1.50014109e-02 2.81161467e+02] [-8.82726965e-02 3.02475704e-02 9.95636990e-01 3.28845136e+01] [-8.77509890e-01 4.70631970e-01 -9.20974599e-02 -2.89894772e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84864 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:281.12, Y:32.88, Z:-289.97 [[-4.08214728e-01 -9.12352912e-01 -3.11913495e-02 2.81123623e+02] [-8.90757460e-02 5.80389392e-03 9.96007945e-01 3.28778149e+01] [-9.08529718e-01 4.09363505e-01 -8.36377512e-02 -2.89966710e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.87864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:280.99, Y:32.89, Z:-290.00 [[-3.47630421e-01 -9.33148733e-01 9.15780125e-02 2.80987242e+02] [-8.49962660e-02 1.28629393e-01 9.88043579e-01 3.28854511e+01] [-9.33771238e-01 3.35690216e-01 -1.24029648e-01 -2.90001641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:280.41, Y:33.84, Z:-289.94 [[-3.93710860e-01 1.32966101e-01 9.09566806e-01 2.80411234e+02] [-1.56357942e-01 9.65376925e-01 -2.08805142e-01 3.38357167e+01] [-9.05838812e-01 -2.24426846e-01 -3.59289073e-01 -2.89939577e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.93864 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:281.72, Y:33.80, Z:-290.56 [[-3.94922103e-01 3.42426123e-01 -8.52514447e-01 2.81717576e+02] [-6.06037328e-02 -9.35631399e-01 -3.47737074e-01 3.37976576e+01] [-9.16713543e-01 -8.56634986e-02 3.90253821e-01 -2.90560806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:281.20, Y:32.86, Z:-290.35 [[-3.05108130e-01 -8.91322237e-01 -3.35341169e-01 2.81202848e+02] [-7.24206730e-02 -3.29395549e-01 9.41410547e-01 3.28636933e+01] [-9.49560043e-01 3.11517645e-01 3.59511037e-02 -2.90347285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.99864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:280.83, Y:34.32, Z:-290.39 [[-4.23205812e-01 8.55210351e-01 2.99185722e-01 2.80834863e+02] [-5.29386799e-02 3.06310234e-01 -9.50458593e-01 3.43196160e+01] [-9.04485675e-01 -4.18078098e-01 -8.43585645e-02 -2.90389129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:281.66, Y:33.74, Z:-290.73 [[-3.84665372e-01 2.97496235e-01 -8.73801202e-01 2.81663603e+02] [-3.78320711e-02 -9.50925128e-01 -3.07099552e-01 3.37416149e+01] [-9.22280481e-01 -8.50728544e-02 3.77042867e-01 -2.90731116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.05864 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:281.00, Y:32.83, Z:-290.47 [[-3.07387198e-01 -9.37161969e-01 -1.65047127e-01 2.80997423e+02] [-7.54200530e-02 -1.48905462e-01 9.85971084e-01 3.28306983e+01] [-9.48591022e-01 3.15522752e-01 -2.49091728e-02 -2.90467092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08864 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:280.77, Y:32.85, Z:-290.48 [[-2.47190204e-01 -9.65925194e-01 7.67171657e-02 2.80773341e+02] [-8.90225262e-02 1.01478299e-01 9.90846681e-01 3.28452849e+01] [-9.64868899e-01 2.38098037e-01 -1.11073542e-01 -2.90477250e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.11864 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:280.90, Y:32.82, Z:-290.60 [[-1.77364217e-01 -9.73840610e-01 -1.42043661e-01 2.80901430e+02] [-7.43750883e-02 -1.30655604e-01 9.88634138e-01 3.28201260e+01] [-9.81330872e-01 1.85912830e-01 -4.92558525e-02 -2.90598520e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14864 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:280.83, Y:34.32, Z:-290.75 [[-2.94048810e-01 9.39738872e-01 1.74430931e-01 2.80829386e+02] [-4.96767069e-02 1.67226110e-01 -9.84666265e-01 3.43153302e+01] [-9.54498571e-01 -2.98205098e-01 -2.48950632e-03 -2.90752720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17864 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:280.73, Y:32.82, Z:-290.71 [[-1.81455844e-01 -9.83030132e-01 2.69357703e-02 2.80734214e+02] [-9.41987853e-02 4.46394733e-02 9.94552113e-01 3.28232883e+01] [-9.78877094e-01 1.77929976e-01 -1.00700338e-01 -2.90707245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20864 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:280.90, Y:34.30, Z:-290.93 [[-2.87870232e-01 9.56862310e-01 3.93096565e-02 2.80901666e+02] [-5.31867623e-02 2.50096779e-02 -9.98271348e-01 3.43040983e+01] [-9.56191350e-01 -2.89463358e-01 4.36928664e-02 -2.90929011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:280.83, Y:34.30, Z:-291.00 [[-3.53092157e-01 9.27296288e-01 1.24288066e-01 2.80827285e+02] [-6.25324526e-02 1.09157086e-01 -9.92055655e-01 3.43031151e+01] [-9.33496449e-01 -3.58059109e-01 1.94436003e-02 -2.90995738e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26864 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:280.93, Y:32.80, Z:-290.98 [[-2.43103903e-01 -9.21090046e-01 -3.04127636e-01 2.80929542e+02] [-8.76419536e-02 -2.91393657e-01 9.52579983e-01 3.28010625e+01] [-9.66032805e-01 2.58230252e-01 -9.88719577e-03 -2.90981792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:280.06, Y:33.40, Z:-290.87 [[-2.55397544e-01 -3.56397144e-01 8.98750895e-01 2.80061560e+02] [-1.55953295e-01 9.32592356e-01 3.25499719e-01 3.34024500e+01] [-9.54175385e-01 -5.70313344e-02 -2.93763106e-01 -2.90872963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:281.45, Y:33.80, Z:-291.30 [[-2.40654228e-01 4.70682925e-01 -8.48848117e-01 2.81447529e+02] [-1.02677848e-01 -8.81988596e-01 -4.59949320e-01 3.37977675e+01] [-9.65164650e-01 -2.35308501e-02 2.60582995e-01 -2.91303032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35864 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:281.45, Y:33.78, Z:-291.33 [[-2.44064890e-01 4.50073082e-01 -8.58991590e-01 2.81446477e+02] [-9.34088150e-02 -8.92570461e-01 -4.41126701e-01 3.37769761e+01] [-9.65249772e-01 -2.74261530e-02 2.59885904e-01 -2.91334518e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.38864 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:281.44, Y:33.77, Z:-291.37 [[-2.61534177e-01 4.51984770e-01 -8.52824508e-01 2.81439054e+02] [-9.68698389e-02 -8.91408532e-01 -4.42726849e-01 3.37720528e+01] [-9.60320836e-01 -3.31752294e-02 2.76917489e-01 -2.91365027e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:280.97, Y:32.81, Z:-291.21 [[-1.70841395e-01 -8.72305641e-01 -4.58144177e-01 2.80967510e+02] [-9.09038458e-02 -4.49042580e-01 8.88874149e-01 3.28109306e+01] [-9.81096177e-01 1.93503567e-01 -2.58087685e-03 -2.91205453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.44864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:281.43, Y:33.70, Z:-291.41 [[-1.87966974e-01 3.80659864e-01 -9.05409568e-01 2.81434711e+02] [-4.78905319e-02 -9.24296711e-01 -3.78658271e-01 3.36997348e+01] [-9.81007092e-01 -2.78147037e-02 1.91967259e-01 -2.91408555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47864 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:280.68, Y:34.27, Z:-291.38 [[-2.80354104e-01 9.40634735e-01 1.91331837e-01 2.80677009e+02] [-6.50910097e-02 1.80237205e-01 -9.81467121e-01 3.42710136e+01] [-9.57687181e-01 -2.87612318e-01 1.06966245e-02 -2.91376447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.50864 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:280.57, Y:32.77, Z:-291.30 [[-1.86147453e-01 -9.82521060e-01 -1.22190339e-03 2.80568715e+02] [-1.04817931e-01 1.86221264e-02 9.94317061e-01 3.27728113e+01] [-9.76914698e-01 1.85217665e-01 -1.06452286e-01 -2.91300494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53864 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:280.53, Y:32.77, Z:-291.37 [[-1.20816011e-01 -9.92633390e-01 9.07985769e-03 2.80533177e+02] [-1.05984478e-01 2.19931461e-02 9.94124535e-01 3.27681891e+01] [-9.87000903e-01 1.19143837e-01 -1.07860856e-01 -2.91374950e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.56864 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:281.34, Y:33.80, Z:-291.62 [[-1.30386503e-01 5.44472748e-01 -8.28582396e-01 2.81338016e+02] [-5.16997481e-02 -8.38313478e-01 -5.42731654e-01 3.38044282e+01] [-9.90114385e-01 -2.79273814e-02 1.37453867e-01 -2.91621138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:281.37, Y:33.70, Z:-291.65 [[-1.33274664e-01 4.24699083e-01 -8.95471134e-01 2.81370052e+02] [-4.36247961e-02 -9.05169560e-01 -4.22806038e-01 3.37028698e+01] [-9.90118549e-01 -1.72845869e-02 1.39163580e-01 -2.91651206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.62864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:280.48, Y:32.76, Z:-291.54 [[-7.73735241e-02 -9.96539983e-01 3.03545855e-02 2.80481574e+02] [-7.66396775e-02 3.63007259e-02 9.96397821e-01 3.27553537e+01] [-9.94052160e-01 7.47684451e-02 -7.91832180e-02 -2.91542798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65864 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:281.31, Y:33.82, Z:-291.70 [[-7.18981790e-02 5.85949472e-01 -8.07151701e-01 2.81305654e+02] [-3.73402829e-02 -8.10260025e-01 -5.84879812e-01 3.38244656e+01] [-9.96712775e-01 -1.19125205e-02 8.01357393e-02 -2.91698291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.68864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:281.33, Y:33.76, Z:-291.72 [[-7.46891376e-02 5.10432304e-01 -8.56668195e-01 2.81330277e+02] [-3.30351832e-02 -8.59862657e-01 -5.09455482e-01 3.37593677e+01] [-9.96659525e-01 -9.75059979e-03 8.10846250e-02 -2.91723482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:280.77, Y:32.74, Z:-291.70 [[-2.11379470e-02 -9.28058419e-01 -3.71834316e-01 2.80766770e+02] [-3.80851312e-02 -3.70900007e-01 9.27891539e-01 3.27444095e+01] [-9.99050905e-01 3.37750809e-02 -2.75051620e-02 -2.91704304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.74864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:280.51, Y:34.24, Z:-291.81 [[-9.42089759e-02 9.45540127e-01 3.11574287e-01 2.80506653e+02] [-2.01255535e-02 3.11093461e-01 -9.50166207e-01 3.42354486e+01] [-9.95349000e-01 -9.57847902e-02 -1.02782779e-02 -2.91809784e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:281.35, Y:33.66, Z:-291.95 [[-9.85148867e-02 3.97694158e-01 -9.12213886e-01 2.81345924e+02] [ 2.34162559e-02 -9.15492745e-01 -4.01652477e-01 3.36564708e+01] [-9.94860038e-01 -6.09293820e-02 8.08771559e-02 -2.91952542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.80864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:280.51, Y:32.72, Z:-291.96 [[-5.79360913e-02 -9.96710831e-01 -5.66650504e-02 2.80508857e+02] [ 5.38193006e-03 -5.70713955e-02 9.98355593e-01 3.27222657e+01] [-9.98305787e-01 5.75358535e-02 8.67072156e-03 -2.91962315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:281.20, Y:33.03, Z:-292.07 [[-2.01618868e-02 -4.47666298e-01 -8.93973369e-01 2.81199988e+02] [ 4.20200545e-02 -8.93744475e-01 4.46603994e-01 3.30276686e+01] [-9.98913316e-01 -2.85604304e-02 3.68305372e-02 -2.92066812e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.86864 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:280.84, Y:32.76, Z:-292.08 [[-3.01326370e-02 -8.75179350e-01 -4.82859326e-01 2.80839739e+02] [ 4.01123530e-02 -4.83748324e-01 8.74287458e-01 3.27613924e+01] [-9.98740719e-01 6.97596282e-03 4.96821157e-02 -2.92084561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:280.80, Y:32.75, Z:-292.10 [[-2.72433407e-02 -9.02569645e-01 -4.29681088e-01 2.80797489e+02] [ 4.34547753e-02 -4.30503603e-01 9.01542195e-01 3.27493421e+01] [-9.98683875e-01 5.88932606e-03 5.09493174e-02 -2.92104530e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:280.75, Y:32.74, Z:-292.12 [[-2.07228487e-02 -9.32344471e-01 -3.60976940e-01 2.80745210e+02] [ 4.73364859e-02 -3.61564531e-01 9.31144644e-01 3.27367234e+01] [-9.98664018e-01 2.20858972e-03 5.16265580e-02 -2.92121899e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:280.67, Y:32.73, Z:-292.14 [[-1.83629210e-02 -9.62940076e-01 -2.69089601e-01 2.80673894e+02] [ 4.91703225e-02 -2.69679069e-01 9.61694067e-01 3.27266263e+01] [-9.98621591e-01 4.42828969e-03 5.23001695e-02 -2.92136828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:280.83, Y:34.20, Z:-292.11 [[-7.41461638e-02 9.83444580e-01 -1.65345410e-01 2.80831956e+02] [ 9.46850238e-02 -1.58110300e-01 -9.82871242e-01 3.41967577e+01] [-9.92742209e-01 -8.85318663e-02 -8.13942013e-02 -2.92114420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:281.05, Y:32.88, Z:-292.25 [[-6.83048162e-02 -6.94144167e-01 -7.16587976e-01 2.81051176e+02] [ 6.85111117e-02 -7.19833466e-01 6.90757562e-01 3.28825724e+01] [-9.95309339e-01 -1.91217056e-03 9.67246811e-02 -2.92249058e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:281.02, Y:32.86, Z:-292.26 [[-6.33770375e-02 -7.26704195e-01 -6.84020733e-01 2.81022485e+02] [ 7.26915152e-02 -6.86939466e-01 7.23069923e-01 3.28634445e+01] [-9.95338784e-01 -3.89647390e-03 9.63614174e-02 -2.92261208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:280.99, Y:32.85, Z:-292.28 [[-5.66790476e-02 -7.58069649e-01 -6.49706005e-01 2.80991465e+02] [ 7.66713487e-02 -6.52135327e-01 7.54215500e-01 3.28460814e+01] [-9.95444117e-01 -7.06561943e-03 9.50846316e-02 -2.92280047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:280.96, Y:32.83, Z:-292.30 [[-5.27033493e-02 -7.88859232e-01 -6.12309945e-01 2.80958681e+02] [ 7.84656894e-02 -6.14537682e-01 7.84975524e-01 3.28290056e+01] [-9.95522723e-01 -6.67448276e-03 9.42865776e-02 -2.92296135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.13864 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:280.93, Y:32.82, Z:-292.32 [[-4.66170428e-02 -8.12285557e-01 -5.81394037e-01 2.80931497e+02] [ 8.16806106e-02 -5.83177426e-01 8.08227918e-01 3.28162914e+01] [-9.95567742e-01 -9.81142449e-03 9.35339873e-02 -2.92316676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:280.89, Y:32.80, Z:-292.33 [[-4.37513660e-02 -8.43610477e-01 -5.35170236e-01 2.80891739e+02] [ 8.40581017e-02 -5.36892136e-01 8.39452839e-01 3.27991232e+01] [-9.95499901e-01 -8.25818575e-03 9.44020595e-02 -2.92334046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.19864 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:280.86, Y:32.79, Z:-292.35 [[-4.24896349e-02 -8.63586815e-01 -5.02406652e-01 2.80864389e+02] [ 8.54013047e-02 -5.04159658e-01 8.59377482e-01 3.27882646e+01] [-9.95440228e-01 -6.39154808e-03 9.51730005e-02 -2.92345497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:280.84, Y:32.78, Z:-292.36 [[-4.24888776e-02 -8.81390562e-01 -4.70473561e-01 2.80837596e+02] [ 8.72854201e-02 -4.72372985e-01 8.77066142e-01 3.27799789e+01] [-9.95276821e-01 -3.79992648e-03 9.70031434e-02 -2.92355809e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.25864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:280.81, Y:32.77, Z:-292.38 [[-3.70505047e-02 -8.97708914e-01 -4.39028435e-01 2.80811075e+02] [ 8.96782654e-02 -4.40544339e-01 8.93240446e-01 3.27735777e+01] [-9.95281402e-01 -6.27629916e-03 9.68273683e-02 -2.92380880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28864 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:280.79, Y:32.77, Z:-292.41 [[-4.20191682e-02 -9.08606841e-01 -4.15533390e-01 2.80792325e+02] [ 1.06803164e-01 -4.17602456e-01 9.02331022e-01 3.27705170e+01] [-9.93391903e-01 -6.46508156e-03 1.14589393e-01 -2.92409549e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.31864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:279.86, Y:33.27, Z:-292.39 [[-2.64585053e-02 -4.59320582e-01 8.87876427e-01 2.79860805e+02] [ 4.00832563e-02 8.86985602e-01 4.60054208e-01 3.32681952e+01] [-9.98845974e-01 4.77613251e-02 -5.05724866e-03 -2.92391934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:280.59, Y:32.76, Z:-292.46 [[ 1.51808265e-03 -9.85798297e-01 -1.67926808e-01 2.80591463e+02] [ 2.67576595e-02 -1.67826831e-01 9.85453288e-01 3.27591000e+01] [-9.99640797e-01 -5.98932788e-03 2.61228802e-02 -2.92460234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.37864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:280.40, Y:32.78, Z:-292.52 [[-4.17808553e-04 -9.96669664e-01 8.15438922e-02 2.80403037e+02] [ 3.01665347e-02 8.14942257e-02 9.96217181e-01 3.27813515e+01] [-9.99544799e-01 2.87612471e-03 3.00320210e-02 -2.92517617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:280.34, Y:32.80, Z:-292.58 [[ 2.10252896e-03 -9.85366312e-01 1.70437114e-01 2.80337825e+02] [ 3.13908021e-02 1.70418531e-01 9.84871637e-01 3.28013662e+01] [-9.99504976e-01 3.27943656e-03 3.12897488e-02 -2.92578891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.43864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:280.26, Y:32.83, Z:-292.64 [[ 4.41122640e-03 -9.61913016e-01 2.73320123e-01 2.80263210e+02] [ 3.09901175e-02 2.73323001e-01 9.61422982e-01 3.28322014e+01] [-9.99509957e-01 4.22916830e-03 3.10154871e-02 -2.92640939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:280.19, Y:32.87, Z:-292.70 [[ 6.39301009e-03 -9.27493272e-01 3.73785178e-01 2.80192680e+02] [ 3.09377012e-02 3.73797332e-01 9.26994290e-01 3.28721741e+01] [-9.99500869e-01 5.63777031e-03 3.10841999e-02 -2.92697083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.49864 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:280.14, Y:32.91, Z:-292.75 [[ 6.92238242e-03 -8.91159894e-01 4.53636554e-01 2.80141379e+02] [ 3.16984256e-02 4.53615000e-01 8.90633842e-01 3.29106503e+01] [-9.99473507e-01 8.21425652e-03 3.13884621e-02 -2.92753587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:280.09, Y:32.95, Z:-292.83 [[ 1.09730400e-02 -8.47667301e-01 5.30414686e-01 2.80088750e+02] [ 2.88429386e-02 5.30494221e-01 8.47197714e-01 3.29544698e+01] [-9.99523725e-01 6.00238381e-03 3.02703502e-02 -2.92829973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.55864 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:281.22, Y:33.16, Z:-292.96 [[ 4.21254465e-02 -3.33448555e-01 -9.41826687e-01 2.81219426e+02] [ 8.96990036e-02 -9.37594528e-01 3.35962185e-01 3.31560909e+01] [-9.95077653e-01 -9.86334724e-02 -9.58658502e-03 -2.92958092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:280.29, Y:32.80, Z:-293.11 [[ 4.18828949e-02 -9.71811803e-01 2.32007850e-01 2.80293930e+02] [ 8.02498323e-02 2.34733450e-01 9.68741540e-01 3.27986332e+01] [-9.95894466e-01 -2.19551090e-02 8.78190506e-02 -2.93114797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.61864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:280.07, Y:32.94, Z:-293.19 [[ 4.31025977e-02 -8.26326017e-01 5.61540274e-01 2.80065098e+02] [ 8.48327799e-02 5.63059822e-01 8.22050507e-01 3.29443844e+01] [-9.95462488e-01 1.22045102e-02 9.43688741e-02 -2.93192410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:280.69, Y:34.27, Z:-293.20 [[ 2.51598742e-02 9.99679972e-01 -2.63338966e-03 2.80692408e+02] [ 1.13626132e-01 -5.47686690e-03 -9.93508483e-01 3.42700375e+01] [-9.93204955e-01 2.46973266e-02 -1.13727566e-01 -2.93201933e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67864 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:280.52, Y:32.79, Z:-293.39 [[-1.56771390e-02 -9.99220155e-01 3.62395942e-02 2.80517106e+02] [ 7.11441701e-02 3.50374437e-02 9.96850483e-01 3.27902608e+01] [-9.97342837e-01 1.82059994e-02 7.05394018e-02 -2.93394443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:280.49, Y:32.80, Z:-293.45 [[-1.22077975e-02 -9.96731991e-01 7.98517855e-02 2.80486400e+02] [ 7.35194130e-02 7.87468816e-02 9.94179976e-01 3.27997931e+01] [-9.97219066e-01 1.80074042e-02 7.23178249e-02 -2.93451598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:280.54, Y:32.80, Z:-293.50 [[-6.09835557e-03 -9.99876251e-01 1.45014906e-02 2.80541930e+02] [ 1.07427397e-01 1.37627608e-02 9.94117669e-01 3.28004945e+01] [-9.94194229e-01 7.62034042e-03 1.07330173e-01 -2.93503729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:279.87, Y:33.67, Z:-293.61 [[-4.83322878e-03 9.42065264e-03 9.99943944e-01 2.79867053e+02] [ 3.34676800e-02 9.99396960e-01 -9.25373338e-03 3.36693386e+01] [-9.99428114e-01 3.34210785e-02 -5.14560153e-03 -2.93607787e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79864 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:281.12, Y:34.17, Z:-293.76 [[-1.57756090e-02 8.33870179e-01 -5.51735130e-01 2.81115551e+02] [ 5.52925647e-02 -5.50231892e-01 -8.33179211e-01 3.41745426e+01] [-9.98345563e-01 -4.36507598e-02 -3.74265777e-02 -2.93757341e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:281.11, Y:32.98, Z:-293.85 [[-3.27368478e-02 -7.63095519e-01 -6.45456062e-01 2.81106671e+02] [ 3.25246742e-02 -6.46273551e-01 7.62412384e-01 3.29833129e+01] [-9.98934655e-01 3.96573007e-03 4.59763920e-02 -2.93848511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:280.99, Y:32.91, Z:-293.86 [[-3.22639169e-02 -8.67916354e-01 -4.95661420e-01 2.80992614e+02] [ 3.46953498e-02 -4.96593281e-01 8.67289655e-01 3.29131568e+01] [-9.98877006e-01 1.07850150e-02 4.61347058e-02 -2.93858590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.88864 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:280.96, Y:32.90, Z:-293.87 [[-2.63243838e-02 -8.95069460e-01 -4.45149062e-01 2.80958142e+02] [ 3.87037609e-02 -4.45882073e-01 8.94254548e-01 3.28972166e+01] [-9.98903922e-01 6.31175703e-03 4.63801252e-02 -2.93865493e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:280.92, Y:32.88, Z:-293.88 [[-2.27721707e-02 -9.20544964e-01 -3.89972304e-01 2.80917790e+02] [ 4.08099011e-02 -3.90604264e-01 9.19653663e-01 3.28816663e+01] [-9.98907393e-01 5.02777898e-03 4.64622559e-02 -2.93878079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.94864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:280.88, Y:32.87, Z:-293.89 [[-1.83762224e-02 -9.42764465e-01 -3.32952668e-01 2.80875951e+02] [ 4.34040321e-02 -3.33447170e-01 9.41769120e-01 3.28685681e+01] [-9.98888585e-01 2.85467051e-03 4.70472784e-02 -2.93885842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:280.83, Y:32.86, Z:-293.90 [[-1.46508201e-02 -9.61354691e-01 -2.74922736e-01 2.80833625e+02] [ 4.52877890e-02 -2.75308079e-01 9.60288747e-01 3.28580845e+01] [-9.98866542e-01 1.61837477e-03 4.75711175e-02 -2.93897542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.00864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:280.79, Y:32.85, Z:-293.91 [[-1.03595304e-02 -9.75934379e-01 -2.17818201e-01 2.80793793e+02] [ 4.62772898e-02 -2.18064413e-01 9.74836563e-01 3.28517509e+01] [-9.98874913e-01 1.88129746e-05 4.74226430e-02 -2.93907392e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03864 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:280.78, Y:32.85, Z:-293.93 [[-7.57290242e-03 -9.80308188e-01 -1.97328428e-01 2.80779883e+02] [ 6.21324134e-02 -1.97414082e-01 9.78349244e-01 3.28500947e+01] [-9.98039185e-01 -4.85154810e-03 6.24039111e-02 -2.93929604e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.06864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:280.04, Y:33.18, Z:-294.07 [[ 5.71141519e-02 -6.28962910e-01 7.75334529e-01 2.80036812e+02] [-7.36754434e-03 7.76315537e-01 6.30301441e-01 3.31769171e+01] [-9.98340469e-01 -4.17114438e-02 3.97046914e-02 -2.94073748e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:279.90, Y:33.52, Z:-294.15 [[ 6.28350991e-02 -1.83978753e-01 9.80919757e-01 2.79897322e+02] [-2.57466322e-02 9.82236039e-01 1.85874892e-01 3.35151778e+01] [-9.97691767e-01 -3.69348475e-02 5.69820655e-02 -2.94150717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.12864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:279.91, Y:33.81, Z:-294.24 [[ 4.84243567e-02 2.05959759e-01 9.77361581e-01 2.79914268e+02] [-4.39143041e-02 9.78002337e-01 -2.03919008e-01 3.38074212e+01] [-9.97861020e-01 -3.30455069e-02 5.64037136e-02 -2.94236659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15864 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:280.02, Y:34.04, Z:-294.32 [[ 3.68889357e-02 5.25357065e-01 8.50081855e-01 2.80022873e+02] [-5.84414840e-02 8.50339068e-01 -5.22979982e-01 3.40416745e+01] [-9.97609041e-01 -3.03878702e-02 6.20707498e-02 -2.94323692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.18864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:280.13, Y:34.16, Z:-294.39 [[ 2.01961226e-02 6.92662268e-01 7.20979264e-01 2.80127906e+02] [-5.83296537e-02 7.20714350e-01 -6.90773825e-01 3.41607423e+01] [-9.98093066e-01 -2.81035180e-02 5.49583856e-02 -2.94391391e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21864 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:281.20, Y:34.13, Z:-294.54 [[-3.23439186e-02 7.40530200e-01 -6.71244288e-01 2.81200831e+02] [ 2.49223871e-02 -6.70789287e-01 -7.41229119e-01 3.41343311e+01] [-9.99166025e-01 -4.07032643e-02 3.24017375e-03 -2.94540221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.24864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:280.84, Y:34.32, Z:-294.59 [[-1.08931297e-01 9.78372824e-01 -1.75842516e-01 2.80840796e+02] [ 4.13190635e-02 -1.72285809e-01 -9.84180032e-01 3.43222626e+01] [-9.93190167e-01 -1.14473655e-01 -2.16581323e-02 -2.94590996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27864 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:280.73, Y:34.34, Z:-294.65 [[-1.79653287e-01 9.83296869e-01 -2.91884153e-02 2.80733217e+02] [ 4.28712956e-02 -2.18170699e-02 -9.98842364e-01 3.43364050e+01] [-9.82795375e-01 -1.80696659e-01 -3.82357024e-02 -2.94652421e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.30864 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:280.60, Y:34.33, Z:-294.71 [[-2.46159913e-01 9.58688863e-01 1.42551612e-01 2.80601259e+02] [ 1.80747146e-02 1.51592320e-01 -9.88277832e-01 3.43337012e+01] [-9.69060680e-01 -2.40697805e-01 -5.46439798e-02 -2.94712583e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33864 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:281.42, Y:33.64, Z:-294.93 [[-2.19878546e-01 6.81223809e-02 -9.73145809e-01 2.81415941e+02] [ 1.70174192e-02 -9.97139172e-01 -7.36469902e-02 3.36427037e+01] [-9.75378815e-01 -3.27538233e-02 2.18090245e-01 -2.94933755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.36864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:280.65, Y:32.85, Z:-294.83 [[-1.81723463e-01 -9.83234859e-01 1.50264660e-02 2.80646117e+02] [-9.19964663e-03 1.69801295e-02 9.99813503e-01 3.28517204e+01] [-9.83306641e-01 1.81551334e-01 -1.21311012e-02 -2.94832920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:280.68, Y:34.35, Z:-294.88 [[-2.41793022e-01 9.70001995e-01 -2.51448803e-02 2.80681520e+02] [ 4.62383573e-02 -1.43662347e-02 -9.98827125e-01 3.43452113e+01] [-9.69225541e-01 -2.42672087e-01 -4.13776435e-02 -2.94883345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:281.38, Y:33.69, Z:-295.11 [[-2.40217014e-01 1.15195050e-01 -9.63859890e-01 2.81377251e+02] [ 2.66996303e-02 -9.91774042e-01 -1.25185379e-01 3.36907942e+01] [-9.70351955e-01 -5.58063607e-02 2.35165333e-01 -2.95106546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45864 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:281.37, Y:33.53, Z:-295.14 [[-2.04603169e-01 -1.02170139e-01 -9.73498231e-01 2.81370214e+02] [ 4.90225001e-02 -9.94359193e-01 9.40563170e-02 3.35269970e+01] [-9.77616662e-01 -2.84790966e-02 2.08457678e-01 -2.95144819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48864 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:280.73, Y:32.86, Z:-295.10 [[-1.62342115e-01 -9.75227376e-01 -1.50255127e-01 2.80727368e+02] [ 2.62361703e-02 -1.56487449e-01 9.87331424e-01 3.28612899e+01] [-9.86385676e-01 1.56343352e-01 5.09907348e-02 -2.95097630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51864 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:279.91, Y:33.35, Z:-295.02 [[-1.53618816e-01 -3.43154370e-01 9.26631716e-01 2.79907472e+02] [-1.14597739e-02 9.38318424e-01 3.45582420e-01 3.33525105e+01] [-9.88063729e-01 4.24689722e-02 -1.48075837e-01 -2.95020160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:280.26, Y:34.29, Z:-295.15 [[-2.14653219e-01 8.72988470e-01 4.37967038e-01 2.80262302e+02] [-2.94328011e-02 4.42434084e-01 -8.96317908e-01 3.42852700e+01] [-9.76246744e-01 -2.05288121e-01 -6.92754042e-02 -2.95152762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:281.28, Y:33.88, Z:-295.36 [[-1.88470178e-01 3.30176194e-01 -9.24912251e-01 2.81280125e+02] [-2.41929544e-02 -9.43065280e-01 -3.31726663e-01 3.38750067e+01] [-9.81780878e-01 -4.01442234e-02 1.85727619e-01 -2.95364469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:280.70, Y:32.88, Z:-295.26 [[-1.37504364e-01 -9.77312841e-01 -1.61096746e-01 2.80702485e+02] [-6.60861535e-02 -1.53227120e-01 9.85978737e-01 3.28760355e+01] [-9.88294071e-01 1.46222644e-01 -4.35174487e-02 -2.95262086e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.63864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:279.89, Y:33.29, Z:-295.23 [[-1.51558131e-01 -4.33189167e-01 8.88469064e-01 2.79893510e+02] [-1.12166223e-01 9.00583479e-01 4.19962066e-01 3.32898278e+01] [-9.82063578e-01 -3.60075531e-02 -1.85079942e-01 -2.95229992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:280.10, Y:34.22, Z:-295.44 [[-1.83610505e-01 7.97900581e-01 5.74144447e-01 2.80103504e+02] [-1.26469026e-01 5.60045641e-01 -8.18751773e-01 3.42200597e+01] [-9.74829610e-01 -2.22942915e-01 -1.92055362e-03 -2.95437687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.69864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:281.01, Y:34.19, Z:-295.61 [[-1.76741027e-01 7.48786771e-01 -6.38812164e-01 2.81010106e+02] [-1.19771299e-01 -6.60568132e-01 -7.41150847e-01 3.41908151e+01] [-9.76942908e-01 -5.44803993e-02 2.06432654e-01 -2.95612613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:281.25, Y:33.39, Z:-295.63 [[-1.49294485e-01 -3.08390762e-01 -9.39471285e-01 2.81246714e+02] [-6.40417182e-02 -9.45108826e-01 3.20418422e-01 3.33869948e+01] [-9.86716684e-01 1.08002058e-01 1.21349661e-01 -2.95629515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.75864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:280.39, Y:32.86, Z:-295.53 [[-8.75385106e-02 -9.73896603e-01 2.09433559e-01 2.80386980e+02] [-8.96189247e-02 2.17087440e-01 9.72029573e-01 3.28572499e+01] [-9.92121695e-01 6.63208107e-02 -1.06283078e-01 -2.95533041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78864 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:279.76, Y:33.63, Z:-295.61 [[-1.05262273e-01 7.23830090e-02 9.91806712e-01 2.79756335e+02] [-1.55585546e-01 9.83866557e-01 -8.83161094e-02 3.36266252e+01] [-9.82198041e-01 -1.63607143e-01 -9.23022799e-02 -2.95612356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.81864 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:280.72, Y:34.30, Z:-295.83 [[-1.02029854e-01 9.30648709e-01 -3.51401323e-01 2.80720882e+02] [-1.26043592e-01 -3.62492039e-01 -9.23424352e-01 3.43024139e+01] [-9.86763863e-01 -4.99249668e-02 1.54287316e-01 -2.95829670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84864 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:280.85, Y:34.24, Z:-295.85 [[-1.07297984e-01 8.45662657e-01 -5.22821014e-01 2.80849877e+02] [-1.35697978e-01 -5.33392229e-01 -8.34912444e-01 3.42442931e+01] [-9.84922942e-01 -1.86386672e-02 1.71986624e-01 -2.95854644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.87864 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:281.18, Y:33.29, Z:-295.82 [[-5.83999131e-02 -4.36038438e-01 -8.98031141e-01 2.81179972e+02] [-8.15708114e-02 -8.94474145e-01 4.39615977e-01 3.32901258e+01] [-9.94955101e-01 9.89266637e-02 1.66692031e-02 -2.95824685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90864 meters Centerline goodness : 0.997993 Centerline is valid? [True, True] Translation: X:280.14, Y:32.91, Z:-295.79 [[-1.17709034e-02 -8.61901627e-01 5.06938884e-01 2.80138163e+02] [-1.47004096e-01 5.02957031e-01 8.51718276e-01 3.29056964e+01] [-9.89065843e-01 -6.44965988e-02 -1.32623328e-01 -2.95788162e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.93864 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:280.46, Y:34.31, Z:-296.01 [[-3.55491282e-02 9.97806527e-01 -5.58425766e-02 2.80457601e+02] [-1.08902821e-01 -5.94129307e-02 -9.92275304e-01 3.43117755e+01] [-9.93416547e-01 -2.91931079e-02 1.10776024e-01 -2.96010570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96864 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:281.21, Y:33.48, Z:-296.00 [[ 1.53613511e-02 -1.62028333e-01 -9.86666533e-01 2.81213862e+02] [-3.83861988e-02 -9.86151079e-01 1.61346054e-01 3.34793661e+01] [-9.99144899e-01 3.53958843e-02 -2.13682647e-02 -2.95996696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.99864 meters Centerline goodness : 0.997998 Centerline is valid? [True, True] Translation: X:280.57, Y:34.29, Z:-296.05 [[-2.68141379e-02 9.75896202e-01 -2.16581636e-01 2.80573490e+02] [-2.26691684e-02 -2.17197452e-01 -9.75864425e-01 3.42851412e+01] [-9.99383365e-01 -2.12572377e-02 2.79467178e-02 -2.96047925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02864 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:280.63, Y:34.27, Z:-296.07 [[-3.14182165e-02 9.57167377e-01 -2.87825482e-01 2.80628964e+02] [-2.04389984e-02 -2.88522688e-01 -9.57254880e-01 3.42735553e+01] [-9.99297325e-01 -2.41923765e-02 2.86284108e-02 -2.96068020e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.05864 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:280.70, Y:34.25, Z:-296.14 [[-5.36294041e-02 9.23092244e-01 -3.80820950e-01 2.80704609e+02] [-9.48551405e-03 -3.81823504e-01 -9.24186581e-01 3.42473438e+01] [-9.98515855e-01 -4.59512931e-02 2.92329714e-02 -2.96135785e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08864 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:280.98, Y:34.08, Z:-296.17 [[-4.64162858e-02 6.88582902e-01 -7.23670585e-01 2.80975606e+02] [ 5.75463141e-04 -7.24432858e-01 -6.89345127e-01 3.40841957e+01] [-9.98922018e-01 -3.24132862e-02 3.32292285e-02 -2.96166995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11863999999997 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:281.04, Y:34.01, Z:-296.19 [[-4.62548638e-02 5.95465023e-01 -8.02048561e-01 2.81038195e+02] [ 6.41528204e-03 -8.02714303e-01 -5.96329265e-01 3.40147423e+01] [-9.98909071e-01 -3.27284967e-02 3.33093646e-02 -2.96191299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14864 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:281.09, Y:33.94, Z:-296.23 [[-4.72619460e-02 4.94449845e-01 -8.67920307e-01 2.81091561e+02] [ 1.48754442e-02 -8.68446515e-01 -4.95559655e-01 3.39386450e+01] [-9.98771761e-01 -3.63318137e-02 3.36893113e-02 -2.96225190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17864 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:280.40, Y:34.28, Z:-296.26 [[-1.47459788e-01 9.87914044e-01 4.77645577e-02 2.80400042e+02] [-1.09677071e-03 4.81291326e-02 -9.98840520e-01 3.42771641e+01] [-9.89067444e-01 -1.47341198e-01 -6.01359651e-03 -2.96264514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20864 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:280.46, Y:32.79, Z:-296.31 [[-3.65122733e-02 -9.98931674e-01 2.83260403e-02 2.80463377e+02] [-4.86037779e-02 3.00865011e-02 9.98364901e-01 3.27855349e+01] [-9.98150553e-01 3.50758196e-02 -4.96503798e-02 -2.96308825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:280.28, Y:34.26, Z:-296.40 [[-1.44417791e-01 9.70147091e-01 1.94828447e-01 2.80279915e+02] [-1.88341251e-02 1.94161850e-01 -9.80788689e-01 3.42591547e+01] [-9.89337545e-01 -1.45312759e-01 -9.76855393e-03 -2.96404930e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26864 meters Centerline goodness : 0.997603 Centerline is valid? [True, True] Translation: X:280.33, Y:34.27, Z:-296.48 [[-2.05119594e-01 9.69844632e-01 1.31633359e-01 2.80331895e+02] [-2.51648016e-02 1.29222617e-01 -9.91296246e-01 3.42675173e+01] [-9.78413351e-01 -2.06646811e-01 -2.10014291e-03 -2.96477189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29864 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:280.48, Y:32.78, Z:-296.51 [[-1.10193913e-01 -9.93623632e-01 -2.38616723e-02 2.80482553e+02] [-7.06639484e-02 -1.61149339e-02 9.97369999e-01 3.27845067e+01] [-9.91394930e-01 1.11590262e-01 -6.84376015e-02 -2.96505692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32864 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:280.32, Y:34.27, Z:-296.61 [[-2.03585401e-01 9.72054870e-01 1.16885906e-01 2.80323380e+02] [-8.68409169e-03 1.17588634e-01 -9.93024420e-01 3.42660749e+01] [-9.79018678e-01 -2.03180323e-01 -1.54979156e-02 -2.96608356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:281.03, Y:33.96, Z:-296.76 [[-1.79803424e-01 5.46145092e-01 -8.18166406e-01 2.81030606e+02] [-1.99632958e-02 -8.33575910e-01 -5.52044083e-01 3.39598028e+01] [-9.83499972e-01 -8.29261183e-02 1.60782659e-01 -2.96763132e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.38864 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:280.42, Y:32.77, Z:-296.66 [[-1.20995597e-01 -9.92326194e-01 2.54713710e-02 2.80422350e+02] [-6.22747003e-02 3.31975817e-02 9.97506783e-01 3.27746677e+01] [-9.90697697e-01 1.19107707e-01 -6.58135776e-02 -2.96663690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41864 meters Centerline goodness : 0.997755 Centerline is valid? [True, True] Translation: X:280.38, Y:34.27, Z:-296.79 [[-1.99485704e-01 9.79895388e-01 3.23769263e-03 2.80383035e+02] [-2.09382764e-02 -9.59189608e-04 -9.99780310e-01 3.42663741e+01] [-9.79677009e-01 -1.99509671e-01 2.07086651e-02 -2.96791438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.44864 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:280.57, Y:32.79, Z:-296.85 [[-1.23367717e-01 -9.69959733e-01 -2.09662881e-01 2.80571917e+02] [-3.46578981e-02 -2.06936610e-01 9.77740287e-01 3.27874388e+01] [-9.91755633e-01 1.27888062e-01 -8.08746835e-03 -2.96850625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:279.65, Y:33.38, Z:-296.81 [[-1.37409559e-01 -1.67108528e-01 9.76316216e-01 2.79653144e+02] [-1.07094104e-01 9.82394295e-01 1.53076133e-01 3.33796506e+01] [-9.84707807e-01 -8.35235861e-02 -1.52886705e-01 -2.96813275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.50864 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:280.40, Y:32.77, Z:-296.91 [[-4.44131001e-02 -9.98777973e-01 -2.16803527e-02 2.80402093e+02] [-1.21858728e-01 -1.61235190e-02 9.92416486e-01 3.27747340e+01] [-9.91553290e-01 4.67182329e-02 -1.20993718e-01 -2.96911129e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53864 meters Centerline goodness : 0.996877 Centerline is valid? [True, True] Translation: X:280.61, Y:34.22, Z:-297.07 [[-4.23630235e-02 9.25311146e-01 -3.76835052e-01 2.80613489e+02] [-6.27212802e-02 -3.78892717e-01 -9.23312704e-01 3.42154008e+01] [-9.97131594e-01 -1.54787409e-02 7.40877408e-02 -2.97067524e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.56864 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:281.06, Y:33.25, Z:-297.08 [[-3.67501454e-03 -3.63796288e-01 -9.31471285e-01 2.81056390e+02] [-3.60977109e-02 -9.30822229e-01 3.63685212e-01 3.32513841e+01] [-9.99341508e-01 3.49605296e-02 -9.71142799e-03 -2.97079476e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59864 meters Centerline goodness : 0.998195 Centerline is valid? [True, True] Translation: X:280.79, Y:34.10, Z:-297.14 [[-3.08699182e-02 7.87121685e-01 -6.16024757e-01 2.80791404e+02] [-1.86821841e-02 -6.16665201e-01 -7.87003815e-01 3.41014999e+01] [-9.99348800e-01 -1.27860555e-02 3.37415566e-02 -2.97137165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.62864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:280.93, Y:33.02, Z:-297.18 [[ 2.97175009e-02 -6.49416804e-01 -7.59851752e-01 2.80925529e+02] [ 1.80438311e-02 -7.59715092e-01 6.50005692e-01 3.30184338e+01] [-9.99395462e-01 -3.30271814e-02 -1.08588668e-02 -2.97177590e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:280.92, Y:33.03, Z:-297.32 [[ 4.27375134e-02 -5.99985635e-01 -7.98868414e-01 2.80915950e+02] [ 9.46550783e-02 -7.93570722e-01 6.01070649e-01 3.30265593e+01] [-9.94592339e-01 -1.01305217e-01 2.28764479e-02 -2.97324313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.68864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:280.43, Y:32.73, Z:-297.46 [[ 8.79444805e-02 -9.87244180e-01 -1.32720373e-01 2.80426834e+02] [ 5.04091461e-02 -1.28655132e-01 9.90407378e-01 3.27294407e+01] [-9.94849077e-01 -9.37911830e-02 3.84516274e-02 -2.97463297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71864 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:280.59, Y:32.79, Z:-297.60 [[ 1.38420040e-01 -9.02574521e-01 -4.07675272e-01 2.80593802e+02] [ 1.16359723e-01 -3.93965534e-01 9.11729989e-01 3.27898366e+01] [-9.83514264e-01 -1.73638683e-01 5.04905966e-02 -2.97595412e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.74864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:279.82, Y:32.90, Z:-297.77 [[ 1.42117983e-01 -7.51607808e-01 6.44118143e-01 2.79816489e+02] [ 6.65015799e-02 6.56502870e-01 7.51386400e-01 3.28959785e+01] [-9.87613294e-01 -6.39506453e-02 1.43283970e-01 -2.97770614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:279.65, Y:33.12, Z:-297.90 [[ 1.45861890e-01 -4.68796798e-01 8.71179586e-01 2.79653626e+02] [ 5.51461038e-02 8.83081289e-01 4.65968180e-01 3.31232753e+01] [-9.87766782e-01 -1.99248395e-02 1.54660223e-01 -2.97896372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.80864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:280.36, Y:32.76, Z:-297.97 [[ 2.34605482e-01 -9.68143245e-01 -8.75152842e-02 2.80362210e+02] [ 5.06328017e-02 -7.77355397e-02 9.95687454e-01 3.27562526e+01] [-9.70771130e-01 -2.38024879e-01 3.07826212e-02 -2.97965104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:280.27, Y:32.76, Z:-298.15 [[ 3.00512591e-01 -9.53579679e-01 1.94416617e-02 2.80273124e+02] [ 4.91563362e-02 3.58415250e-02 9.98147805e-01 3.27640498e+01] [-9.52510282e-01 -2.99000302e-01 5.76453128e-02 -2.98148188e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86863999999997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:280.31, Y:32.78, Z:-298.29 [[ 3.65107300e-01 -9.29622766e-01 -4.99817314e-02 2.80313910e+02] [ 9.27592943e-02 -1.70948992e-02 9.95541801e-01 3.27813178e+01] [-9.26332755e-01 -3.68115849e-01 7.99896792e-02 -2.98291060e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:279.63, Y:33.29, Z:-298.59 [[ 3.48952134e-01 -2.93068272e-01 8.90136729e-01 2.79628568e+02] [ 4.23913648e-02 9.53807397e-01 2.97412880e-01 3.32864177e+01] [-9.36181275e-01 -6.60487483e-02 3.45256691e-01 -2.98591984e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:280.33, Y:32.79, Z:-298.51 [[ 4.32013624e-01 -9.01834986e-01 -7.60828102e-03 2.80332747e+02] [ 3.69004840e-02 9.24641212e-03 9.99276167e-01 3.27930857e+01] [-9.01111859e-01 -4.31981668e-01 3.72727235e-02 -2.98514911e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:280.34, Y:32.80, Z:-298.68 [[ 4.92669956e-01 -8.70036946e-01 1.76642929e-02 2.80338112e+02] [ 3.40584076e-02 3.95612653e-02 9.98636536e-01 3.28036740e+01] [-8.69549504e-01 -4.91396601e-01 4.91227197e-02 -2.98682077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:280.35, Y:32.82, Z:-298.85 [[ 5.50753920e-01 -8.33442199e-01 4.52130603e-02 2.80353057e+02] [ 2.66455332e-02 7.16975194e-02 9.97070450e-01 3.28160126e+01] [-8.34242252e-01 -5.47935733e-01 6.16952016e-02 -2.98851208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:280.49, Y:34.31, Z:-298.86 [[ 4.76238709e-01 8.78198384e-01 -4.43203172e-02 2.80494392e+02] [ 7.43698183e-02 -9.04501690e-02 -9.93120283e-01 3.43141691e+01] [-8.76165408e-01 4.69666228e-01 -1.08387326e-01 -2.98860315e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:280.60, Y:34.32, Z:-298.98 [[ 4.14291539e-01 9.09772945e-01 -2.59943959e-02 2.80598085e+02] [ 7.94519931e-02 -6.46029703e-02 -9.94743101e-01 3.43206396e+01] [-9.06669676e-01 4.10048344e-01 -9.90477378e-02 -2.98980687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:280.63, Y:32.84, Z:-299.23 [[ 4.96223844e-01 -8.67817646e-01 2.55818330e-02 2.80633902e+02] [ 3.45898093e-02 4.92036649e-02 9.98189634e-01 3.28351220e+01] [-8.67505298e-01 -4.94440627e-01 5.44336787e-02 -2.99232989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:280.65, Y:32.85, Z:-299.40 [[ 5.53913780e-01 -8.30952954e-01 5.19298862e-02 2.80647245e+02] [ 2.83569611e-02 8.11657371e-02 9.96297147e-01 3.28479597e+01] [-8.32090985e-01 -5.50390145e-01 6.85221208e-02 -2.99403965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.13864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:280.68, Y:32.86, Z:-299.57 [[ 6.08627133e-01 -7.90278669e-01 7.09410952e-02 2.80677563e+02] [ 2.10067336e-02 1.05425196e-01 9.94205334e-01 3.28614608e+01] [-7.93178246e-01 -6.03610101e-01 8.07658080e-02 -2.99568851e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:280.74, Y:32.88, Z:-299.70 [[ 6.65158865e-01 -7.46376866e-01 2.20285572e-02 2.80743866e+02] [ 5.23661483e-02 7.60557450e-02 9.95727528e-01 3.28774718e+01] [-7.44863390e-01 -6.61163442e-01 8.96740347e-02 -2.99701156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.19864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:280.23, Y:33.54, Z:-300.20 [[ 6.37528348e-01 -7.50937472e-02 7.66758459e-01 2.80234476e+02] [-7.94283637e-05 9.95232022e-01 9.75357217e-02 3.35378317e+01] [-7.70426894e-01 -6.22426899e-02 6.34482662e-01 -3.00195891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:280.27, Y:33.60, Z:-300.24 [[ 6.36045816e-01 -1.65088196e-02 7.71474678e-01 2.80266418e+02] [-4.78060013e-03 9.99667629e-01 2.53333178e-02 3.35971338e+01] [-7.71636486e-01 -1.98012627e-02 6.35755491e-01 -3.00241573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.25864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:280.98, Y:34.38, Z:-299.82 [[ 5.80347249e-01 8.14339136e-01 -6.98868300e-03 2.80977974e+02] [ 4.15090455e-02 -3.81502332e-02 -9.98409515e-01 3.43825235e+01] [-8.13310562e-01 5.79134122e-01 -5.59428231e-02 -2.99820008e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28864 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:281.11, Y:34.38, Z:-299.92 [[ 5.23012173e-01 8.52310580e-01 -4.99432720e-03 2.81114528e+02] [ 4.25417303e-02 -3.19567727e-02 -9.98583480e-01 3.43825997e+01] [-8.51262867e-01 5.22058848e-01 -5.29725479e-02 -2.99916769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.31864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:281.16, Y:32.89, Z:-300.12 [[ 6.16926052e-01 -7.86754217e-01 2.04950818e-02 2.81156658e+02] [-8.54564514e-04 2.53716766e-02 9.99677722e-01 3.28914296e+01] [-7.87020658e-01 -6.16744745e-01 1.49801160e-02 -3.00118902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34864 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:281.24, Y:32.90, Z:-300.25 [[ 6.67839966e-01 -7.43142839e-01 -4.15752314e-02 2.81236557e+02] [ 3.92749599e-02 -2.05948846e-02 9.99016180e-01 3.29014213e+01] [-7.43267958e-01 -6.68815797e-01 1.54328181e-02 -3.00246283e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.37864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:280.69, Y:33.59, Z:-300.78 [[ 6.36593682e-01 -4.98491383e-02 7.69586608e-01 2.80687868e+02] [-1.43904878e-02 9.96967177e-01 7.64811233e-02 3.35918480e+01] [-7.71065106e-01 -5.97621266e-02 6.33945652e-01 -3.00784689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:281.40, Y:32.91, Z:-300.38 [[ 7.15469019e-01 -6.91930860e-01 -9.66217726e-02 2.81401051e+02] [-1.87925061e-05 -1.38317978e-01 9.90387872e-01 3.29051239e+01] [-6.98644460e-01 -7.08590024e-01 -9.89752309e-02 -3.00384556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.43864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:281.37, Y:34.40, Z:-300.59 [[ 6.36376848e-01 7.60394979e-01 1.29707299e-01 2.81374984e+02] [ 2.22626923e-02 1.49975088e-01 -9.88439096e-01 3.43962668e+01] [-7.71056988e-01 6.31907390e-01 7.85122343e-02 -3.00592682e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:281.54, Y:34.40, Z:-300.65 [[ 5.87002365e-01 8.06765028e-01 6.75160150e-02 2.81536844e+02] [-2.15909146e-02 9.89664428e-02 -9.94856510e-01 3.43997154e+01] [-8.09297260e-01 5.82525392e-01 7.55123308e-02 -3.00649487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.49864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:282.27, Y:33.79, Z:-300.29 [[ 5.66057018e-01 2.42555764e-01 -7.87874453e-01 2.82270665e+02] [ 8.49040139e-02 -9.67804951e-01 -2.36949118e-01 3.37851895e+01] [-8.19982171e-01 6.72330077e-02 -5.68426743e-01 -3.00288692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52864 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:281.82, Y:32.88, Z:-300.89 [[ 6.57822967e-01 -7.47162669e-01 -9.49573071e-02 2.81823851e+02] [ 6.41462731e-02 -7.00398647e-02 9.95479620e-01 3.28764631e+01] [-7.50436006e-01 -6.60940514e-01 1.85386900e-03 -3.00894700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.55864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:281.81, Y:34.38, Z:-300.95 [[ 5.85710207e-01 8.02042577e-01 1.16924154e-01 2.81805208e+02] [ 9.53558094e-02 7.50696420e-02 -9.92608593e-01 3.43827158e+01] [-8.04891808e-01 5.92530382e-01 -3.25103635e-02 -3.00949035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:281.98, Y:32.91, Z:-301.14 [[ 6.53503433e-01 -7.52435145e-01 -8.23080529e-02 2.81977362e+02] [ 9.95177375e-02 -2.23853807e-02 9.94783954e-01 3.29132312e+01] [-7.50352905e-01 -6.58285841e-01 6.02517200e-02 -3.01142378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61863999999997 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:281.43, Y:33.54, Z:-301.66 [[ 6.37908985e-01 -1.63327670e-01 7.52592983e-01 2.81427200e+02] [ 4.21678809e-02 9.83193418e-01 1.77630436e-01 3.35394884e+01] [-7.68956433e-01 -8.15768000e-02 6.34075098e-01 -3.01658063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:281.45, Y:33.63, Z:-301.70 [[ 6.36736601e-01 -7.29986765e-02 7.67618196e-01 2.81446603e+02] [ 4.24425528e-02 9.97317456e-01 5.96365847e-02 3.36307869e+01] [-7.69912418e-01 -5.39312034e-03 6.38126777e-01 -3.01696969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:282.02, Y:32.95, Z:-301.45 [[ 7.01690273e-01 -7.06749421e-01 9.01998761e-02 2.82018489e+02] [ 2.00399947e-02 1.46127059e-01 9.89062830e-01 3.29470481e+01] [-7.12200224e-01 -6.92208162e-01 1.16699190e-01 -3.01453915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:282.08, Y:32.96, Z:-301.60 [[ 7.47821825e-01 -6.55629996e-01 1.04459687e-01 2.82081049e+02] [ 7.76219990e-03 1.65966370e-01 9.86100863e-01 3.29625512e+01] [-6.63854100e-01 -7.36616910e-01 1.29202404e-01 -3.01603919e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:282.34, Y:34.43, Z:-301.46 [[ 6.92633288e-01 7.14941800e-01 -9.54848179e-02 2.82342033e+02] [ 1.46863348e-02 -1.46331926e-01 -9.89126523e-01 3.44283846e+01] [-7.21140375e-01 6.83699634e-01 -1.11854237e-01 -3.01459879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:282.91, Y:33.46, Z:-301.18 [[ 7.23030840e-01 -8.90322436e-02 -6.85054497e-01 2.82911078e+02] [ 1.26156847e-01 -9.57966717e-01 2.57651351e-01 3.34608289e+01] [-6.79198686e-01 -2.72714188e-01 -6.81407453e-01 -3.01177708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:282.53, Y:32.93, Z:-301.89 [[ 7.63976663e-01 -6.40985235e-01 -7.40107281e-02 2.82526248e+02] [ 1.06514050e-01 1.21532444e-02 9.94236921e-01 3.29291968e+01] [-6.36391716e-01 -7.67456988e-01 7.75587286e-02 -3.01887879e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:282.60, Y:32.95, Z:-302.03 [[ 8.07406453e-01 -5.86165211e-01 -6.71205253e-02 2.82604087e+02] [ 1.03904831e-01 2.92838179e-02 9.94156046e-01 3.29486782e+01] [-5.80774143e-01 -8.09662154e-01 8.45493409e-02 -3.02026576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.69, Y:32.98, Z:-302.14 [[ 8.44948915e-01 -5.25352583e-01 -1.00329427e-01 2.82690974e+02] [ 1.33571224e-01 2.56279613e-02 9.90707795e-01 3.29773611e+01] [-5.17899660e-01 -8.50498602e-01 9.18263059e-02 -3.02139354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.88864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:282.29, Y:33.67, Z:-302.74 [[ 8.31466706e-01 -1.19417139e-01 5.42588853e-01 2.82294052e+02] [ 7.74679985e-02 9.92005746e-01 9.96158065e-02 3.36692423e+01] [-5.50147095e-01 -4.07939541e-02 8.34070757e-01 -3.02744009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:282.77, Y:34.49, Z:-302.13 [[ 7.86056518e-01 6.05878977e-01 1.22579834e-01 2.82767514e+02] [ 1.10877856e-01 5.68892448e-02 -9.92204472e-01 3.44935466e+01] [-6.08129305e-01 7.93520182e-01 -2.24604004e-02 -3.02130016e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.94864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:282.43, Y:33.72, Z:-302.78 [[ 7.92372668e-01 -9.91893623e-02 6.01919450e-01 2.82428018e+02] [ 7.05905438e-02 9.94972941e-01 7.10339464e-02 3.37183621e+01] [-6.05939378e-01 -1.37955364e-02 7.95391195e-01 -3.02776225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:282.51, Y:33.74, Z:-302.84 [[ 7.93273964e-01 -8.60779037e-02 6.02749543e-01 2.82514940e+02] [ 5.47595419e-02 9.96030674e-01 7.01732819e-02 3.37406316e+01] [-6.06397403e-01 -2.26603486e-02 7.94838788e-01 -3.02842363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.00864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:282.94, Y:34.51, Z:-302.41 [[ 7.54272676e-01 6.18157602e-01 2.21255301e-01 2.82938553e+02] [ 3.53898123e-02 2.98222647e-01 -9.53840036e-01 3.45111802e+01] [-6.55606811e-01 7.27285660e-01 2.03064712e-01 -3.02413050e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.57, Y:34.24, Z:-301.90 [[ 7.06931721e-01 5.30069906e-01 -4.68266416e-01 2.83565838e+02] [ 1.13498679e-01 -7.38503877e-01 -6.64627771e-01 3.42361296e+01] [-6.98115744e-01 4.16698834e-01 -5.82234051e-01 -3.01897081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.06864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:283.80, Y:33.45, Z:-301.99 [[ 7.40112900e-01 -9.47182493e-02 -6.65778753e-01 2.83796030e+02] [ 2.12612245e-01 -9.06290540e-01 3.65285491e-01 3.34455725e+01] [-6.37988188e-01 -4.11905219e-01 -6.50619061e-01 -3.01990182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:282.94, Y:33.55, Z:-303.10 [[ 7.58037992e-01 -3.23870310e-01 5.66115205e-01 2.82944724e+02] [ 1.51746174e-01 9.31754331e-01 3.29859007e-01 3.35508229e+01] [-6.34311833e-01 -1.64139843e-01 7.55451263e-01 -3.03100606e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.12864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:283.48, Y:34.52, Z:-302.42 [[ 7.04502527e-01 7.03765427e-01 9.15991953e-02 2.83480154e+02] [ 2.00736927e-01 -7.38029606e-02 -9.76861203e-01 3.45184647e+01] [-6.80720850e-01 7.06588527e-01 -1.93266081e-01 -3.02419659e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.62, Y:34.55, Z:-302.50 [[ 6.56407572e-01 7.47397927e-01 1.02593560e-01 2.83617306e+02] [ 2.04789657e-01 -4.56457529e-02 -9.77741101e-01 3.45452017e+01] [-7.26078712e-01 6.62806763e-01 -1.83021583e-01 -3.02497077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.18864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:283.76, Y:34.56, Z:-302.57 [[ 6.09622849e-01 7.89751772e-01 6.82064550e-02 2.83761810e+02] [ 1.72278799e-01 -4.80129358e-02 -9.83877418e-01 3.45639746e+01] [-7.73744142e-01 6.11544681e-01 -1.65327269e-01 -3.02566321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:284.47, Y:33.64, Z:-302.42 [[ 6.33233182e-01 2.02832455e-02 -7.73695242e-01 2.84474925e+02] [ 2.66445615e-01 -9.44264138e-01 1.93318319e-01 3.36412324e+01] [-7.26651548e-01 -3.28563279e-01 -6.03343766e-01 -3.02424296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.24864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.68, Y:34.55, Z:-302.98 [[ 5.62334451e-01 6.66087822e-01 4.90007121e-01 2.83676375e+02] [ 2.49437800e-01 4.28334968e-01 -8.68510184e-01 3.45494248e+01] [-7.88391241e-01 6.10619495e-01 7.47200280e-02 -3.02979744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:283.51, Y:33.73, Z:-303.48 [[ 5.66400421e-01 -3.68168269e-01 7.37321293e-01 2.83510484e+02] [ 2.13058455e-01 9.29666383e-01 3.00543693e-01 3.37250439e+01] [-7.96113470e-01 -1.31355384e-02 6.05004793e-01 -3.03484310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.30864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:284.15, Y:33.22, Z:-303.35 [[ 6.34676014e-01 -7.69148944e-01 -7.48081530e-02 2.84154514e+02] [ 1.97598603e-01 6.79377602e-02 9.77925995e-01 3.32222244e+01] [-7.47088448e-01 -6.35448159e-01 1.95101224e-01 -3.03352003e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.49, Y:33.29, Z:-303.25 [[ 6.66596548e-01 -5.93629460e-01 -4.50836008e-01 2.84485933e+02] [ 2.57343743e-01 -3.84353367e-01 8.86592741e-01 3.32852711e+01] [-6.99587907e-01 -7.07019486e-01 -1.03441801e-01 -3.03253487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36863999999997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.73, Y:33.81, Z:-303.89 [[ 6.65382987e-01 -3.63154031e-01 6.52215172e-01 2.83729748e+02] [ 2.28676562e-01 9.30848893e-01 2.85004155e-01 3.38089020e+01] [-7.10614178e-01 -4.04905931e-02 7.02415832e-01 -3.03893641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.78, Y:33.88, Z:-303.97 [[ 6.68904888e-01 -3.15002767e-01 6.73304914e-01 2.83784963e+02] [ 2.16381063e-01 9.49060958e-01 2.29047010e-01 3.38832405e+01] [-7.11157849e-01 -7.52023171e-03 7.02992148e-01 -3.03967127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.33, Y:34.78, Z:-303.38 [[ 6.34697503e-01 7.50631112e-01 1.83608312e-01 2.84331533e+02] [ 2.34171148e-01 3.96028717e-02 -9.71388432e-01 3.47835018e+01] [-7.36425796e-01 6.59533582e-01 -1.50640306e-01 -3.03375578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:283.93, Y:33.92, Z:-304.05 [[ 6.22267140e-01 -3.20772470e-01 7.14064863e-01 2.83930675e+02] [ 2.10778437e-01 9.47156281e-01 2.41800393e-01 3.39206983e+01] [-7.53893930e-01 4.50368205e-05 6.56996150e-01 -3.04046847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:284.51, Y:34.83, Z:-303.50 [[ 5.89263012e-01 7.95581297e-01 1.40781755e-01 2.84514262e+02] [ 1.85683940e-01 3.62285533e-02 -9.81941427e-01 3.48269452e+01] [-7.86314554e-01 6.04762674e-01 -1.26378523e-01 -3.03495691e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.27, Y:34.23, Z:-303.29 [[ 5.44483278e-01 3.60697938e-01 -7.57254883e-01 2.85273910e+02] [ 2.72582882e-01 -9.29902584e-01 -2.46940796e-01 3.42302742e+01] [-7.93244308e-01 -7.19595839e-02 -6.04636491e-01 -3.03287322e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:285.15, Y:33.47, Z:-303.84 [[ 5.93082822e-01 -5.74777395e-01 -5.63811770e-01 2.85151514e+02] [ 3.29933641e-01 -4.65269912e-01 8.21381581e-01 3.34724618e+01] [-7.34436218e-01 -6.73167776e-01 -8.63051940e-02 -3.03843172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:284.34, Y:33.82, Z:-304.45 [[ 6.25288322e-01 -5.37358067e-01 5.65915915e-01 2.84344189e+02] [ 3.17760958e-01 8.37643933e-01 4.44275381e-01 3.38181813e+01] [-7.12770993e-01 -9.79742241e-02 6.94520384e-01 -3.04450804e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60864 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:284.55, Y:34.85, Z:-304.06 [[ 5.59400633e-01 6.37689903e-01 5.29549355e-01 2.84550250e+02] [ 2.89583584e-01 4.48253977e-01 -8.45700728e-01 3.48484316e+01] [-7.76667419e-01 6.26434322e-01 6.60890305e-02 -3.04063274e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.63864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:285.18, Y:33.52, Z:-304.26 [[ 6.04816534e-01 -7.21272076e-01 -3.37584883e-01 2.85181949e+02] [ 3.10650135e-01 -1.76641763e-01 9.33966906e-01 3.35221087e+01] [-7.33275838e-01 -6.69749416e-01 1.17227409e-01 -3.04260009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:284.51, Y:34.02, Z:-304.73 [[ 6.10997059e-01 -4.44044343e-01 6.55368000e-01 2.84508713e+02] [ 2.65966484e-01 8.94891148e-01 3.58373635e-01 3.40150461e+01] [-7.45616808e-01 -4.46593145e-02 6.64876772e-01 -3.04727922e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.69864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:285.38, Y:33.60, Z:-304.35 [[ 6.70942331e-01 -6.04151428e-01 -4.29927250e-01 2.85384694e+02] [ 2.78432100e-01 -3.32107243e-01 9.01210489e-01 3.35970559e+01] [-6.87249558e-01 -7.24365813e-01 -5.46096565e-02 -3.04353540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:284.62, Y:34.11, Z:-304.94 [[ 6.56956801e-01 -4.00284374e-01 6.38889804e-01 2.84619466e+02] [ 2.85308290e-01 9.16388399e-01 2.80769444e-01 3.41094882e+01] [-6.97858826e-01 -2.17283816e-03 7.16232042e-01 -3.04944831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.75864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:284.68, Y:34.09, Z:-304.99 [[ 6.88707351e-01 -4.32372920e-01 5.82010174e-01 2.84682152e+02] [ 2.92166038e-01 9.00170310e-01 3.23005294e-01 3.40904659e+01] [-6.63567021e-01 -5.24125140e-02 7.46278592e-01 -3.04986388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.00, Y:35.07, Z:-304.49 [[ 6.11083912e-01 6.84927824e-01 3.96800111e-01 2.85000581e+02] [ 2.79824951e-01 2.81996831e-01 -9.17701359e-01 3.50678600e+01] [-7.40455569e-01 6.71827108e-01 -1.93361685e-02 -3.04491233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.81864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:285.61, Y:33.70, Z:-304.68 [[ 6.76508507e-01 -6.34194508e-01 -3.74344182e-01 2.85610404e+02] [ 2.67203398e-01 -2.62296981e-01 9.27255433e-01 3.37018297e+01] [-6.86249651e-01 -7.27322226e-01 -7.98721143e-03 -3.04681990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:285.68, Y:33.73, Z:-304.83 [[ 7.18212112e-01 -5.87090904e-01 -3.73491142e-01 2.85682724e+02] [ 2.84621764e-01 -2.41930614e-01 9.27609848e-01 3.37332285e+01] [-6.34950245e-01 -7.72524335e-01 -6.65864804e-03 -3.04825658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.87864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:285.77, Y:33.78, Z:-304.93 [[ 7.38858882e-01 -5.23592634e-01 -4.24191355e-01 2.85771045e+02] [ 3.41320792e-01 -2.51980452e-01 9.05541809e-01 3.37770902e+01] [-5.81022950e-01 -8.13852939e-01 -7.46494271e-03 -3.04933394e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:285.12, Y:34.31, Z:-305.57 [[ 7.42279315e-01 -3.97000338e-01 5.39826038e-01 2.85122810e+02] [ 2.96414430e-01 9.17029571e-01 2.66824384e-01 3.43074294e+01] [-6.00965810e-01 -3.80459934e-02 7.98368710e-01 -3.05573786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.93864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:285.17, Y:34.36, Z:-305.62 [[ 7.44954876e-01 -3.68311174e-01 5.56227572e-01 2.85165771e+02] [ 2.90543195e-01 9.29675457e-01 2.26468976e-01 3.43632911e+01] [-6.00522176e-01 -7.10103272e-03 7.99576570e-01 -3.05618445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:285.20, Y:34.38, Z:-305.64 [[ 7.46181468e-01 -3.64451903e-01 5.57124786e-01 2.85197266e+02] [ 2.90195828e-01 9.31217831e-01 2.20498828e-01 3.43781358e+01] [-5.99165752e-01 -2.85685094e-03 8.00619910e-01 -3.05644515e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.99864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:285.25, Y:34.40, Z:-305.68 [[ 7.48385993e-01 -3.58670272e-01 5.57919386e-01 2.85247302e+02] [ 2.83960261e-01 9.33447470e-01 2.19185745e-01 3.44009992e+01] [-5.99403850e-01 -5.60860696e-03 8.00427116e-01 -3.05684792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:285.30, Y:34.37, Z:-305.71 [[ 7.72793102e-01 -3.87902390e-01 5.02317188e-01 2.85296169e+02] [ 2.92092806e-01 9.20054021e-01 2.61117580e-01 3.43722096e+01] [-5.63447082e-01 -5.50666277e-02 8.24314898e-01 -3.05705368e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.05864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:285.46, Y:35.26, Z:-305.30 [[ 7.30762779e-01 4.95109642e-01 4.69949150e-01 2.85459785e+02] [ 2.36515571e-01 4.62155878e-01 -8.54676740e-01 3.52565223e+01] [-6.40348456e-01 7.35716241e-01 2.20625174e-01 -3.05295041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:286.23, Y:35.09, Z:-304.72 [[ 0.66488381 0.63993828 -0.38523826 286.22756807] [ 0.30517702 -0.70347256 -0.64186708 35.08882913] [ -0.68175986 0.30920116 -0.66302197 -304.71751795] [ 0. 0. 0. 1. ]] SLAMing on 403.11863999999997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:286.55, Y:34.22, Z:-305.02 [[ 6.79533461e-01 -1.66000131e-01 -7.14617543e-01 2.86553490e+02] [ 3.89955019e-01 -7.43344407e-01 5.43483372e-01 3.42192918e+01] [-6.21425264e-01 -6.47983834e-01 -4.40394814e-01 -3.05018321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:285.70, Y:34.40, Z:-305.98 [[ 6.97821115e-01 -4.99388604e-01 5.13475134e-01 2.85696071e+02] [ 3.50803278e-01 8.63290217e-01 3.62859560e-01 3.44001501e+01] [-6.24485990e-01 -7.30823025e-02 7.77609302e-01 -3.05981010e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:285.74, Y:34.43, Z:-306.02 [[ 7.26773628e-01 -4.88570259e-01 4.82803474e-01 2.85737837e+02] [ 3.59762307e-01 8.69530855e-01 3.38359533e-01 3.44273927e+01] [-5.85124923e-01 -7.22162938e-02 8.07721259e-01 -3.06015978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:285.92, Y:35.43, Z:-305.46 [[ 6.48177729e-01 6.19649733e-01 4.42605739e-01 2.85919976e+02] [ 3.48685901e-01 2.75205128e-01 -8.95924260e-01 3.54262258e+01] [-6.76966598e-01 7.35048533e-01 -3.76812910e-02 -3.05459736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:286.64, Y:34.11, Z:-305.64 [[ 7.16575156e-01 -5.53068169e-01 -4.25012525e-01 2.86643843e+02] [ 3.47188852e-01 -2.45664356e-01 9.05046366e-01 3.41144874e+01] [-6.04962765e-01 -7.96093352e-01 1.59821288e-02 -3.05639983e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26864 meters Centerline goodness : 0.999609 Centerline is valid? [True, True] Translation: X:286.72, Y:34.16, Z:-305.77 [[ 7.52872445e-01 -5.03446484e-01 -4.23939523e-01 2.86722438e+02] [ 3.63615311e-01 -2.18738217e-01 9.05504002e-01 3.41577298e+01] [-5.48604582e-01 -8.35879913e-01 1.83788737e-02 -3.05772009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:286.05, Y:34.66, Z:-306.40 [[ 7.38988823e-01 -4.37569712e-01 5.12277530e-01 2.86053149e+02] [ 3.52629879e-01 8.99117444e-01 2.59306750e-01 3.46568702e+01] [-5.74062443e-01 -1.09804266e-02 8.18737896e-01 -3.06397306e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:286.12, Y:34.70, Z:-306.45 [[ 7.44969363e-01 -4.25638458e-01 5.13665797e-01 2.86124467e+02] [ 3.38718913e-01 9.04703636e-01 2.58419868e-01 3.47008406e+01] [-5.74708749e-01 -1.85265642e-02 8.18148288e-01 -3.06452163e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:286.21, Y:34.63, Z:-306.46 [[ 7.76700205e-01 -4.86674204e-01 3.99856237e-01 2.86205379e+02] [ 3.59055690e-01 8.63676712e-01 3.53753513e-01 3.46283215e+01] [-5.17509230e-01 -1.31189769e-01 8.45561022e-01 -3.06461959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.38864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:286.18, Y:34.80, Z:-306.51 [[ 7.69280237e-01 -3.73966108e-01 5.18032109e-01 2.86184026e+02] [ 3.35752521e-01 9.26445205e-01 1.70204369e-01 3.47991066e+01] [-5.43579029e-01 4.29957294e-02 8.38256051e-01 -3.06505792e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:286.35, Y:35.64, Z:-306.02 [[ 7.08618177e-01 5.26460319e-01 4.69786986e-01 2.86346818e+02] [ 2.96527518e-01 3.81960634e-01 -8.75315660e-01 3.56443526e+01] [-6.40259096e-01 7.59569357e-01 1.14554276e-01 -3.06019533e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.44864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:287.26, Y:35.21, Z:-305.45 [[ 6.72953305e-01 4.86156336e-01 -5.57481717e-01 2.87261990e+02] [ 4.18099760e-01 -8.71730084e-01 -2.55498044e-01 3.52130318e+01] [-6.10185578e-01 -6.11447189e-02 -7.89895489e-01 -3.05453467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:286.57, Y:35.72, Z:-306.12 [[ 6.14482019e-01 5.76901388e-01 5.38141837e-01 2.86568432e+02] [ 3.80619304e-01 3.80698811e-01 -8.42732081e-01 3.57181134e+01] [-6.91043265e-01 7.22670882e-01 1.43527691e-02 -3.06121464e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.50864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:287.44, Y:34.49, Z:-306.21 [[ 6.90888971e-01 -5.09506759e-01 -5.12908658e-01 2.87435876e+02] [ 3.87792224e-01 -3.37584751e-01 8.57702587e-01 3.44948752e+01] [-6.10155407e-01 -7.91479247e-01 -3.56508225e-02 -3.06206665e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:286.67, Y:34.90, Z:-306.85 [[ 6.72664002e-01 -4.93443033e-01 5.51395606e-01 2.86673186e+02] [ 3.71295463e-01 8.69663964e-01 3.25306422e-01 3.48992131e+01] [-6.40049076e-01 -1.40912327e-02 7.68204802e-01 -3.06846439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.56864 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:287.43, Y:34.52, Z:-306.51 [[ 7.33235108e-01 -5.76584508e-01 -3.60439428e-01 2.87428463e+02] [ 3.85751045e-01 -8.38063689e-02 9.18788672e-01 3.45216277e+01] [-5.59966434e-01 -8.12727997e-01 1.60968305e-01 -3.06514535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:286.99, Y:35.95, Z:-306.32 [[ 6.53784085e-01 6.54710388e-01 3.79368789e-01 2.86992627e+02] [ 4.09340430e-01 1.15649611e-01 -9.05022420e-01 3.59450346e+01] [-6.36401432e-01 7.46980238e-01 -1.92389557e-01 -3.06319698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.62864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:287.12, Y:36.01, Z:-306.39 [[ 6.10109045e-01 6.92631923e-01 3.84744034e-01 2.87118386e+02] [ 3.99383781e-01 1.50543752e-01 -9.04339081e-01 3.60088632e+01] [-6.84294928e-01 7.05405981e-01 -1.84777851e-01 -3.06385989e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:287.77, Y:34.71, Z:-306.75 [[ 6.88038241e-01 -6.22570201e-01 -3.72840078e-01 2.87772850e+02] [ 3.82200596e-01 -1.25856901e-01 9.15468593e-01 3.47068234e+01] [-6.16867963e-01 -7.72377100e-01 1.51352341e-01 -3.06748668e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.68864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:287.85, Y:34.77, Z:-306.85 [[ 7.08915713e-01 -5.69408757e-01 -4.16187674e-01 2.87846283e+02] [ 4.30107594e-01 -1.18642658e-01 8.94947695e-01 3.47669122e+01] [-5.58968666e-01 -8.13447962e-01 1.60799386e-01 -3.06854552e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:287.23, Y:35.22, Z:-307.41 [[ 7.16808043e-01 -4.86358159e-01 4.99641843e-01 2.87232313e+02] [ 3.76659628e-01 8.73110373e-01 3.09525123e-01 3.52197798e+01] [-5.86782544e-01 -3.36751870e-02 8.09044021e-01 -3.07412389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.74864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:287.27, Y:35.27, Z:-307.45 [[ 7.19965640e-01 -4.64817841e-01 5.15357984e-01 2.87268941e+02] [ 3.72200814e-01 8.85363188e-01 2.78565217e-01 3.52709879e+01] [-5.85761070e-01 -8.74072378e-03 8.10436653e-01 -3.07453205e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:287.31, Y:35.30, Z:-307.49 [[ 7.21666276e-01 -4.58912212e-01 5.18263801e-01 2.87313742e+02] [ 3.67839880e-01 8.88450307e-01 2.74499315e-01 3.52999137e+01] [-5.86422721e-01 -7.45880432e-03 8.09970838e-01 -3.07490762e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.80864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:287.38, Y:35.26, Z:-307.51 [[ 7.46500410e-01 -4.95903564e-01 4.43640386e-01 2.87375219e+02] [ 3.80270727e-01 8.65089240e-01 3.27131137e-01 3.52640464e+01] [-5.46014021e-01 -7.55000756e-02 8.34367082e-01 -3.07506095e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:287.49, Y:36.27, Z:-306.96 [[ 6.75142803e-01 5.78756513e-01 4.57409109e-01 2.87487422e+02] [ 3.69295643e-01 2.71598634e-01 -8.88737819e-01 3.62658421e+01] [-6.38594490e-01 7.68944133e-01 -3.03643954e-02 -3.06957233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86863999999997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:287.52, Y:35.42, Z:-307.61 [[ 6.94081656e-01 -4.36678839e-01 5.72330539e-01 2.87515293e+02] [ 3.20461269e-01 8.99320756e-01 2.97534456e-01 3.54222915e+01] [-6.44635734e-01 -2.31034373e-02 7.64140695e-01 -3.07607311e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:287.54, Y:35.45, Z:-307.64 [[ 6.95648807e-01 -4.22007395e-01 5.81362620e-01 2.87538985e+02] [ 3.17480916e-01 9.06548369e-01 2.78165279e-01 3.54540223e+01] [-6.44421140e-01 -8.93380753e-03 7.64618586e-01 -3.07637312e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.44, Y:35.10, Z:-307.06 [[ 7.25727456e-01 -4.21598357e-01 -5.43667624e-01 2.88435548e+02] [ 3.84913985e-01 -4.06162160e-01 8.28778332e-01 3.51046765e+01] [-5.70228800e-01 -8.10732462e-01 -1.32483927e-01 -3.07062012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:287.70, Y:35.51, Z:-307.83 [[ 7.33713133e-01 -4.37564331e-01 5.19810057e-01 2.87703416e+02] [ 3.35014823e-01 8.98549114e-01 2.83504070e-01 3.55061068e+01] [-5.91126135e-01 -3.38665851e-02 8.05867822e-01 -3.07830616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:288.45, Y:35.10, Z:-307.39 [[ 7.84633877e-01 -5.01769767e-01 -3.64110943e-01 2.88447853e+02] [ 3.49672886e-01 -1.26794357e-01 9.28252155e-01 3.50992287e+01] [-5.11936081e-01 -8.55657812e-01 7.59681346e-02 -3.07388190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:288.00, Y:36.53, Z:-307.34 [[ 7.20269867e-01 5.77258940e-01 3.84686152e-01 2.87998600e+02] [ 3.63729316e-01 1.57929178e-01 -9.18019259e-01 3.65267569e+01] [-5.90687992e-01 8.01143240e-01 -9.62143717e-02 -3.07340285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:287.94, Y:35.65, Z:-308.01 [[ 7.34350357e-01 -4.20220222e-01 5.33052078e-01 2.87939532e+02] [ 3.33540389e-01 9.07366418e-01 2.55806552e-01 3.56487716e+01] [-5.91168641e-01 -1.00572355e-02 8.06485270e-01 -3.08014416e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.11, Y:36.58, Z:-307.49 [[ 6.83086013e-01 5.68954310e-01 4.57913192e-01 2.88108049e+02] [ 3.38590930e-01 3.08830223e-01 -8.88808233e-01 3.65834954e+01] [-6.47108709e-01 7.62177726e-01 1.83148366e-02 -3.07489681e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.88, Y:35.30, Z:-307.55 [[ 7.50520663e-01 -4.95914439e-01 -4.36792404e-01 2.88875676e+02] [ 3.42830400e-01 -2.72883241e-01 8.98889345e-01 3.52973179e+01] [-5.64965532e-01 -8.24380741e-01 -3.47899653e-02 -3.07554296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.13864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.23, Y:35.81, Z:-308.26 [[ 7.42500313e-01 -4.02848795e-01 5.35169258e-01 2.88232529e+02] [ 3.12365455e-01 9.14991136e-01 2.55380194e-01 3.58092971e+01] [-5.92554730e-01 -2.24514852e-02 8.05217252e-01 -3.08264090e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:288.26, Y:35.84, Z:-308.29 [[ 7.42383194e-01 -3.92583969e-01 5.42904247e-01 2.88257233e+02] [ 3.08341579e-01 9.19620492e-01 2.43359040e-01 3.58369494e+01] [-5.94804728e-01 -1.32657090e-02 8.03760758e-01 -3.08288319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.19864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.29, Y:35.85, Z:-308.31 [[ 7.43558529e-01 -3.89854700e-01 5.43262393e-01 2.88287746e+02] [ 3.05785403e-01 9.20770044e-01 2.42235035e-01 3.58548254e+01] [-5.94656205e-01 -1.39942166e-02 8.03858296e-01 -3.08314233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:288.33, Y:35.88, Z:-308.35 [[ 7.45414990e-01 -3.84979183e-01 5.44194378e-01 2.88328151e+02] [ 3.00705650e-01 9.22787631e-01 2.40913053e-01 3.58790306e+01] [-5.94922352e-01 -1.59378770e-02 8.03625148e-01 -3.08347747e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.25864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:288.42, Y:35.80, Z:-308.36 [[ 7.74162794e-01 -4.54570625e-01 4.40496896e-01 2.88417460e+02] [ 3.11591923e-01 8.79420653e-01 3.59902472e-01 3.58030229e+01] [-5.50983159e-01 -1.41367829e-01 8.22455285e-01 -3.08364995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:288.57, Y:36.81, Z:-307.87 [[ 6.83483586e-01 5.74696621e-01 4.50082194e-01 2.88573357e+02] [ 3.06900815e-01 3.33202807e-01 -8.91508710e-01 3.68114409e+01] [-6.62315694e-01 7.47462162e-01 5.13637876e-02 -3.07869975e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.30, Y:35.51, Z:-307.92 [[ 7.63629854e-01 -4.91351949e-01 -4.18858817e-01 2.89301059e+02] [ 3.07064923e-01 -2.94292749e-01 9.05043044e-01 3.55061290e+01] [-5.67961777e-01 -8.19734737e-01 -7.38537803e-02 -3.07917539e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:288.97, Y:36.93, Z:-307.83 [[ 6.75711154e-01 6.98392702e-01 2.35928103e-01 2.88966200e+02] [ 3.41841712e-01 -1.33066553e-02 -9.39663332e-01 3.69251052e+01] [-6.53114599e-01 7.15591061e-01 -2.47731213e-01 -3.07832108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.37864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:289.37, Y:35.57, Z:-308.32 [[ 7.61970057e-01 -6.10269898e-01 -2.16730903e-01 2.89368489e+02] [ 2.98048188e-01 3.33449137e-02 9.53968236e-01 3.55673940e+01] [-5.74951225e-01 -7.91491483e-01 2.07297663e-01 -3.08316017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.19, Y:37.02, Z:-308.02 [[ 6.76377627e-01 6.96503212e-01 2.39575835e-01 2.89185828e+02] [ 3.45730678e-01 -1.30136017e-02 -9.38243542e-01 3.70220169e+01] [-6.50371896e-01 7.17435657e-01 -2.49604637e-01 -3.08015778e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.43864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.59, Y:35.67, Z:-308.51 [[ 7.59972909e-01 -6.12922448e-01 -2.16257373e-01 2.89585476e+02] [ 2.98244041e-01 3.32294780e-02 9.53911051e-01 3.56650067e+01] [-5.77487377e-01 -7.89444029e-01 2.08053970e-01 -3.08506831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.05, Y:36.22, Z:-308.96 [[ 7.37633178e-01 -3.81802051e-01 5.56888220e-01 2.89045154e+02] [ 2.96329332e-01 9.24155258e-01 2.41093313e-01 3.62231641e+01] [-6.06701098e-01 -1.28161125e-02 7.94826726e-01 -3.08961511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.49864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:289.73, Y:35.73, Z:-308.62 [[ 7.97338477e-01 -5.44320447e-01 -2.60704057e-01 2.89733637e+02] [ 3.01406364e-01 -1.51126089e-02 9.53376008e-01 3.57258515e+01] [-5.22881973e-01 -8.38741236e-01 1.52011782e-01 -3.08620263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.82, Y:35.77, Z:-308.75 [[ 8.32229633e-01 -4.92819810e-01 -2.54012741e-01 2.89818828e+02] [ 3.00403230e-01 1.57400025e-02 9.53682417e-01 3.57730857e+01] [-4.65995427e-01 -8.69989015e-01 1.61143959e-01 -3.08747152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.55864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:289.58, Y:37.23, Z:-308.49 [[ 7.67355700e-01 5.74348553e-01 2.85112204e-01 2.89578582e+02] [ 3.43137393e-01 7.80709696e-03 -9.39252777e-01 3.72277285e+01] [-5.41684372e-01 8.18573631e-01 -1.91089645e-01 -3.08487071e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:289.43, Y:36.40, Z:-309.29 [[ 7.77190905e-01 -3.67681231e-01 5.10670941e-01 2.89426696e+02] [ 3.01948962e-01 9.29908250e-01 2.09993980e-01 3.64015010e+01] [-5.52087966e-01 -9.00885066e-03 8.33737200e-01 -3.09285905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61863999999997 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:289.72, Y:37.29, Z:-308.61 [[ 7.28690617e-01 5.98696391e-01 3.32524610e-01 2.89716261e+02] [ 3.32393501e-01 1.15336620e-01 -9.36061977e-01 3.72931530e+01] [-5.98769192e-01 7.92628599e-01 -1.14958077e-01 -3.08605196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.25, Y:35.93, Z:-308.91 [[ 7.97334601e-01 -5.22292017e-01 -3.02437734e-01 2.90254766e+02] [ 3.00836007e-01 -9.04847053e-02 9.49373591e-01 3.59283797e+01] [-5.23216237e-01 -8.47952574e-01 8.49776586e-02 -3.08908492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:289.94, Y:37.39, Z:-308.77 [[ 7.28645090e-01 5.98203558e-01 3.33509874e-01 2.89941815e+02] [ 3.33493221e-01 1.15434309e-01 -9.35658694e-01 3.73855585e+01] [-5.98212841e-01 7.92986396e-01 -1.15386189e-01 -3.08771284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:290.08, Y:37.44, Z:-308.83 [[ 6.87074119e-01 6.43600761e-01 3.37205004e-01 2.90078345e+02] [ 3.25837825e-01 1.41884523e-01 -9.34718404e-01 3.74375558e+01] [-6.49429647e-01 7.52094969e-01 -1.12224289e-01 -3.08827372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:290.21, Y:37.49, Z:-308.89 [[ 6.42340251e-01 6.85889984e-01 3.41985280e-01 2.90211170e+02] [ 3.16256349e-01 1.69245271e-01 -9.33454852e-01 3.74904233e+01] [-6.98126725e-01 7.07750640e-01 -1.08204012e-01 -3.08894187e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:290.73, Y:36.13, Z:-309.19 [[ 7.05733849e-01 -6.32239034e-01 -3.19708521e-01 2.90732172e+02] [ 3.16363922e-01 -1.22544945e-01 9.40689431e-01 3.61271639e+01] [-6.33919240e-01 -7.65020614e-01 1.13533505e-01 -3.09192437e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:290.14, Y:36.60, Z:-309.71 [[ 7.21516421e-01 -4.41559409e-01 5.33328549e-01 2.90140332e+02] [ 2.92349911e-01 8.92515689e-01 3.43434528e-01 3.65986343e+01] [-6.27650845e-01 -9.18750976e-02 7.73054580e-01 -3.09709287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:290.42, Y:37.60, Z:-309.18 [[ 6.47110127e-01 6.62627122e-01 3.77059386e-01 2.90419207e+02] [ 2.96674291e-01 2.36730182e-01 -9.25171976e-01 3.75965889e+01] [-7.02305381e-01 7.10551981e-01 -4.33939339e-02 -3.09180354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85864 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:291.00, Y:36.24, Z:-309.38 [[ 7.01723161e-01 -6.18335293e-01 -3.53901217e-01 2.91002204e+02] [ 3.02001905e-01 -1.91741080e-01 9.33825577e-01 3.62413516e+01] [-6.45274713e-01 -7.62165877e-01 5.21892799e-02 -3.09376136e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.88864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:290.35, Y:36.76, Z:-309.94 [[ 6.93252410e-01 -3.86791192e-01 6.08106627e-01 2.90348719e+02] [ 2.71328770e-01 9.21771371e-01 2.76980575e-01 3.67567957e+01] [-6.67668926e-01 -2.70206287e-02 7.43967803e-01 -3.09942867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:291.06, Y:36.29, Z:-309.60 [[ 7.48076033e-01 -6.01563448e-01 -2.80185058e-01 2.91057888e+02] [ 2.98758370e-01 -7.17110126e-02 9.51630688e-01 3.62881319e+01] [-5.92558593e-01 -7.95599741e-01 1.26076825e-01 -3.09598081e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.94864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:290.52, Y:36.79, Z:-310.13 [[ 7.65603091e-01 -4.01026242e-01 5.03020735e-01 2.90515884e+02] [ 2.78631992e-01 9.11484995e-01 3.02587701e-01 3.67858573e+01] [-5.79841461e-01 -9.15044097e-02 8.09574470e-01 -3.10134688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:290.52, Y:37.36, Z:-310.09 [[ 7.54326941e-01 9.49184597e-02 6.49600918e-01 2.90519491e+02] [ 2.07143876e-01 9.04533335e-01 -3.72707474e-01 3.73636286e+01] [-6.22962504e-01 4.15704140e-01 6.62652086e-01 -3.10087706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.00864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:291.27, Y:37.74, Z:-309.32 [[ 6.90617407e-01 7.09222461e-01 -1.41601902e-01 2.91267279e+02] [ 2.72705726e-01 -4.36712792e-01 -8.57270975e-01 3.77442168e+01] [-6.69835192e-01 5.53430608e-01 -4.95010482e-01 -3.09315967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03864 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:290.74, Y:36.90, Z:-310.26 [[ 7.07693510e-01 -3.74939736e-01 5.98823922e-01 2.90741300e+02] [ 2.47278172e-01 9.25406445e-01 2.87187076e-01 3.68992610e+01] [-6.61833363e-01 -5.51643452e-02 7.47618549e-01 -3.10256548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.06864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:291.08, Y:37.87, Z:-309.77 [[ 6.31784147e-01 6.97713866e-01 3.37704237e-01 2.91081957e+02] [ 2.50806846e-01 2.28229481e-01 -9.40748229e-01 3.78675489e+01] [-7.33447147e-01 6.79048352e-01 -3.07996459e-02 -3.09773631e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:291.61, Y:36.49, Z:-309.94 [[ 6.89886357e-01 -6.52180015e-01 -3.14194274e-01 2.91614886e+02] [ 2.61045751e-01 -1.80697134e-01 9.48263498e-01 3.64916982e+01] [-6.75212508e-01 -7.36213130e-01 4.55883346e-02 -3.09939805e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.12864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:290.97, Y:37.01, Z:-310.50 [[ 6.82857659e-01 -3.45532139e-01 6.43671468e-01 2.90965569e+02] [ 2.18213853e-01 9.37324720e-01 2.71670912e-01 3.70093370e+01] [-6.97200210e-01 -4.50545312e-02 7.15459263e-01 -3.10504695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:291.62, Y:36.53, Z:-310.21 [[ 7.41776041e-01 -6.46026796e-01 -1.80049118e-01 2.91623145e+02] [ 2.50269258e-01 1.75738445e-02 9.68016766e-01 3.65326247e+01] [-6.22200614e-01 -7.63112403e-01 1.74716503e-01 -3.10207242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.18864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:291.13, Y:37.03, Z:-310.70 [[ 7.59964959e-01 -3.55793247e-01 5.43934211e-01 2.91129468e+02] [ 2.17457461e-01 9.27823890e-01 3.03076033e-01 3.70335514e+01] [-6.12507562e-01 -1.12044613e-01 7.82483541e-01 -3.10699175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:291.43, Y:38.01, Z:-310.25 [[ 6.84239284e-01 6.42357088e-01 3.45244802e-01 2.91426829e+02] [ 2.16051809e-01 2.73607597e-01 -9.37262236e-01 3.80088420e+01] [-6.96518641e-01 7.15902405e-01 4.84306551e-02 -3.10245635e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.24864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:292.00, Y:36.63, Z:-310.28 [[ 7.51171613e-01 -5.82891826e-01 -3.09803690e-01 2.91999604e+02] [ 1.96977123e-01 -2.50010031e-01 9.47995252e-01 3.66313382e+01] [-6.30032714e-01 -7.73131362e-01 -7.29840834e-02 -3.10282106e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:291.64, Y:38.07, Z:-310.44 [[ 6.84278871e-01 6.42915375e-01 3.44125337e-01 2.91642314e+02] [ 2.15039465e-01 2.73018676e-01 -9.37666695e-01 3.80717832e+01] [-6.96792979e-01 7.15626035e-01 4.85687330e-02 -3.10444284e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.30864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:292.21, Y:36.69, Z:-310.48 [[ 7.52147607e-01 -5.81826907e-01 -3.09437276e-01 2.92212992e+02] [ 1.97167721e-01 -2.49363310e-01 9.48125956e-01 3.66934869e+01] [-6.28807496e-01 -7.74141712e-01 -7.28405315e-02 -3.10481769e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33864 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:291.86, Y:38.13, Z:-310.64 [[ 6.82065722e-01 6.45465302e-01 3.43745392e-01 2.91862285e+02] [ 2.14723719e-01 2.72567551e-01 -9.37870276e-01 3.81339734e+01] [-6.99056561e-01 7.13499456e-01 4.73122730e-02 -3.10638672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36863999999997 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:292.42, Y:36.75, Z:-310.69 [[ 7.54883658e-01 -5.78904724e-01 -3.08253116e-01 2.92423516e+02] [ 1.97232414e-01 -2.47867988e-01 9.48504526e-01 3.67547953e+01] [-6.25499831e-01 -7.76808072e-01 -7.29327170e-02 -3.10686566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:292.23, Y:38.21, Z:-310.66 [[ 6.76867064e-01 7.20931219e-01 1.48691478e-01 2.92230844e+02] [ 2.39328127e-01 -2.45085941e-02 -9.70629371e-01 3.82069846e+01] [-6.96112797e-01 6.92573105e-01 -1.89128178e-01 -3.10659443e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:292.50, Y:36.80, Z:-311.06 [[ 7.54763870e-01 -6.43481434e-01 -1.27527034e-01 2.92502323e+02] [ 1.92992457e-01 3.20146008e-02 9.80677815e-01 3.67951854e+01] [-6.26965239e-01 -7.64791939e-01 1.48350527e-01 -3.11056633e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:292.45, Y:38.27, Z:-310.86 [[ 6.75468977e-01 7.21911703e-01 1.50283580e-01 2.92452831e+02] [ 2.39924510e-01 -2.24494889e-02 -9.70531942e-01 3.82724138e+01] [-6.97264578e-01 6.91620932e-01 -1.88368245e-01 -3.10855485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:292.68, Y:36.87, Z:-311.30 [[ 7.54441523e-01 -6.51733930e-01 -7.78516015e-02 2.92676794e+02] [ 1.88911482e-01 1.02014790e-01 9.76680825e-01 3.68672798e+01] [-6.28594018e-01 -7.51555631e-01 2.00084216e-01 -3.11301257e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51864 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:292.23, Y:37.38, Z:-311.72 [[ 7.63740425e-01 -3.47969844e-01 5.43707229e-01 2.92225151e+02] [ 2.01916592e-01 9.28784717e-01 3.10787129e-01 3.73792014e+01] [-6.13131514e-01 -1.27577184e-01 7.79611319e-01 -3.11720739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:292.53, Y:38.34, Z:-311.29 [[ 6.73213618e-01 6.37757885e-01 3.74230282e-01 2.92529875e+02] [ 1.97652270e-01 3.32478190e-01 -9.22166923e-01 3.83357399e+01] [-7.12542633e-01 6.94782795e-01 9.77745514e-02 -3.11290838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:293.11, Y:36.96, Z:-311.30 [[ 7.50399087e-01 -5.67815278e-01 -3.38359305e-01 2.93109269e+02] [ 1.91199801e-01 -3.03549672e-01 9.33434643e-01 3.69580059e+01] [-6.32727308e-01 -7.65142736e-01 -1.19217228e-01 -3.11302300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:293.19, Y:36.97, Z:-311.44 [[ 7.85376066e-01 -5.14654830e-01 -3.43969246e-01 2.93194647e+02] [ 2.12346205e-01 -2.97960645e-01 9.30660273e-01 3.69736445e+01] [-5.81458102e-01 -8.03958867e-01 -1.24726159e-01 -3.11438246e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.63864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:292.82, Y:38.40, Z:-311.62 [[ 7.34365178e-01 5.73053716e-01 3.63754346e-01 2.92816743e+02] [ 1.81204016e-01 3.50944269e-01 -9.18696481e-01 3.84017914e+01] [-6.54119936e-01 7.40572453e-01 1.53881616e-01 -3.11621708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66864 meters Centerline goodness : 0.998097 Centerline is valid? [True, True] Translation: X:293.50, Y:38.17, Z:-311.13 [[ 6.75079499e-01 6.25433804e-01 -3.91280240e-01 2.93502103e+02] [ 2.57481777e-01 -6.96764901e-01 -6.69493695e-01 3.81735678e+01] [-6.91354326e-01 3.51213937e-01 -6.31409508e-01 -3.11129700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.69864 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:293.74, Y:37.18, Z:-311.51 [[ 7.32452853e-01 -3.00450565e-01 -6.10935574e-01 2.93741956e+02] [ 3.15659505e-01 -6.45206364e-01 6.95749829e-01 3.71835882e+01] [-6.03217949e-01 -7.02451569e-01 -3.77743165e-01 -3.11507504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72864 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:292.92, Y:37.61, Z:-312.39 [[ 7.17355699e-01 -3.94654587e-01 5.74150293e-01 2.92916887e+02] [ 3.00729077e-01 9.18765695e-01 2.55796052e-01 3.76072627e+01] [-6.28460678e-01 -1.08330681e-02 7.77765917e-01 -3.12390232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.75864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:293.73, Y:37.10, Z:-311.94 [[ 7.67976063e-01 -4.85640571e-01 -4.17571553e-01 2.93731772e+02] [ 3.17696297e-01 -2.77262022e-01 9.06749598e-01 3.71040701e+01] [-5.56131126e-01 -8.29022923e-01 -5.86443846e-02 -3.11938285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78864 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:293.28, Y:38.53, Z:-311.98 [[ 7.15036605e-01 5.40973036e-01 4.42798857e-01 2.93278169e+02] [ 3.24652008e-01 3.03997067e-01 -8.95648847e-01 3.85314959e+01] [-6.19131430e-01 7.84177249e-01 4.17410483e-02 -3.11983948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.81864 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:293.18, Y:37.74, Z:-312.61 [[ 7.16232394e-01 -3.89441859e-01 5.79090836e-01 2.93181873e+02] [ 2.99941647e-01 9.21041288e-01 2.48430986e-01 3.77360791e+01] [-6.30115995e-01 -4.24086035e-03 7.76489439e-01 -3.12606113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84864 meters Centerline goodness : 0.997561 Centerline is valid? [True, True] Translation: X:293.82, Y:37.22, Z:-312.36 [[ 7.71667964e-01 -6.06669237e-01 -1.90999975e-01 2.93819029e+02] [ 2.85875418e-01 6.25754813e-02 9.56221499e-01 3.72196466e+01] [-5.68158252e-01 -7.92487695e-01 2.21719316e-01 -3.12363336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.87864 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:293.38, Y:37.86, Z:-312.84 [[ 7.68839829e-01 -3.48135548e-01 5.36364575e-01 2.93383236e+02] [ 2.78044557e-01 9.37364676e-01 2.09853971e-01 3.78648888e+01] [-5.75826833e-01 -1.22108407e-02 8.17480491e-01 -3.12839297e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90864 meters Centerline goodness : 0.997708 Centerline is valid? [True, True] Translation: X:294.19, Y:37.33, Z:-312.25 [[ 7.94529075e-01 -3.92039425e-01 -4.63711805e-01 2.94191270e+02] [ 3.21572021e-01 -3.76126432e-01 8.68976606e-01 3.73338384e+01] [-5.15087356e-01 -8.39543921e-01 -1.72774476e-01 -3.12248745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.93864 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:293.57, Y:37.90, Z:-313.02 [[ 7.98461971e-01 -3.68193729e-01 4.76331668e-01 2.93565124e+02] [ 2.99317785e-01 9.29254065e-01 2.16554256e-01 3.78991529e+01] [-5.22367058e-01 -3.03357981e-02 8.52180964e-01 -3.13015753e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96864 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:293.95, Y:38.76, Z:-312.19 [[ 7.73280566e-01 6.00751362e-01 2.02817572e-01 2.93954198e+02] [ 3.16631291e-01 -8.87323403e-02 -9.44389325e-01 3.87567143e+01] [-5.49346695e-01 7.94496302e-01 -2.58831673e-01 -3.12194576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.99864 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:294.10, Y:38.80, Z:-312.25 [[ 7.32609933e-01 6.47558319e-01 2.09644721e-01 2.94096781e+02] [ 3.20582718e-01 -5.65769042e-02 -9.45529362e-01 3.88024396e+01] [-6.00424355e-01 7.59912677e-01 -2.49044808e-01 -3.12250920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02864 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:294.13, Y:38.86, Z:-312.44 [[ 6.90953166e-01 6.35380494e-01 3.44783048e-01 2.94133384e+02] [ 3.11290203e-01 1.68947671e-01 -9.35176504e-01 3.88562911e+01] [-6.52443202e-01 7.53490752e-01 -8.10527944e-02 -3.12435331e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.05864 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:294.67, Y:37.49, Z:-312.73 [[ 7.20658225e-01 -6.10818673e-01 -3.27951631e-01 2.94672042e+02] [ 2.90859192e-01 -1.63018491e-01 9.42775637e-01 3.74904066e+01] [-6.29327143e-01 -7.74806763e-01 6.01816092e-02 -3.12725344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08864 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:294.06, Y:38.02, Z:-313.27 [[ 7.34934361e-01 -4.27585061e-01 5.26348269e-01 2.94060085e+02] [ 3.26375963e-01 9.03385576e-01 2.78160441e-01 3.80154700e+01] [-5.94432684e-01 -3.26422423e-02 8.03482587e-01 -3.13266807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11863999999997 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:294.32, Y:38.95, Z:-312.75 [[ 6.90857300e-01 5.91903173e-01 4.15170838e-01 2.94321279e+02] [ 3.00863635e-01 2.86792472e-01 -9.09522485e-01 3.89507255e+01] [-6.57417116e-01 7.53260056e-01 2.00505328e-02 -3.12745732e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:294.47, Y:39.01, Z:-312.80 [[ 6.60598268e-01 6.51659918e-01 3.72759009e-01 2.94470496e+02] [ 2.48162076e-01 2.79064663e-01 -9.27652143e-01 3.90062998e+01] [-7.08537587e-01 7.05310049e-01 2.26323546e-02 -3.12795316e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:295.38, Y:38.46, Z:-312.40 [[ 6.29153667e-01 3.74800723e-01 -6.80947929e-01 2.95381910e+02] [ 3.30307010e-01 -9.21946768e-01 -2.02265757e-01 3.84569846e+01] [-7.03607094e-01 -9.76656314e-02 -7.03845495e-01 -3.12403934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:294.44, Y:38.05, Z:-313.47 [[ 6.26050170e-01 -5.17363596e-01 5.83434738e-01 2.94443606e+02] [ 3.50289520e-01 8.55049836e-01 3.82344125e-01 3.80531746e+01] [-6.96676709e-01 -3.49955301e-02 7.16531141e-01 -3.13469536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:294.58, Y:39.00, Z:-313.11 [[ 5.90565359e-01 5.66758694e-01 5.74471182e-01 2.94581193e+02] [ 2.86878243e-01 5.17925279e-01 -8.05887262e-01 3.89994644e+01] [-7.54276759e-01 6.40732384e-01 1.43277990e-01 -3.13112670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:295.61, Y:38.69, Z:-312.66 [[ 5.48788875e-01 5.28388159e-01 -6.47793736e-01 2.95613546e+02] [ 3.67583077e-01 -8.48500748e-01 -3.80695631e-01 3.86895252e+01] [-7.50808532e-01 -2.91964874e-02 -6.59874316e-01 -3.12657445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:295.51, Y:37.80, Z:-313.36 [[ 5.72893437e-01 -6.67037902e-01 -4.76291452e-01 2.95510520e+02] [ 4.01614770e-01 -2.78110418e-01 8.72559552e-01 3.77971261e+01] [-7.14491908e-01 -6.91169322e-01 1.08564641e-01 -3.13358727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:294.78, Y:38.15, Z:-313.84 [[ 5.97010751e-01 -5.80707627e-01 5.53495090e-01 2.94779883e+02] [ 3.88061417e-01 8.12895822e-01 4.34291054e-01 3.81538220e+01] [-7.02129974e-01 -4.44863391e-02 7.10657770e-01 -3.13843625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:294.94, Y:39.18, Z:-313.38 [[ 5.52420996e-01 6.58585147e-01 5.10976171e-01 2.94937287e+02] [ 3.38294677e-01 3.83115888e-01 -8.59522500e-01 3.91839851e+01] [-7.61831842e-01 6.47678794e-01 -1.11545890e-02 -3.13380496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.38864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:296.00, Y:38.64, Z:-313.08 [[ 5.30446588e-01 3.44425492e-01 -7.74595054e-01 2.96001983e+02] [ 4.18127313e-01 -9.01160183e-01 -1.14367284e-01 3.86448922e+01] [-7.37425228e-01 -2.63213613e-01 -6.22031050e-01 -3.13077240e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:295.03, Y:38.21, Z:-314.06 [[ 5.29580662e-01 -6.55749013e-01 5.38086939e-01 2.95033503e+02] [ 4.28354671e-01 7.54256111e-01 4.97604255e-01 3.82090170e+01] [-7.32158861e-01 -3.30295366e-02 6.80332604e-01 -3.14059152e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.44864 meters Centerline goodness : 0.999414 Centerline is valid? [True, True] Translation: X:295.01, Y:39.17, Z:-313.73 [[ 4.89203482e-01 4.89306147e-01 7.21982997e-01 2.95007854e+02] [ 3.71215281e-01 6.32263977e-01 -6.80030499e-01 3.91661889e+01] [-7.89226944e-01 6.00684409e-01 1.27667820e-01 -3.13730128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:296.08, Y:39.08, Z:-313.31 [[ 4.39431728e-01 6.88620773e-01 -5.76802556e-01 2.96080249e+02] [ 4.44434682e-01 -7.24692302e-01 -5.26591760e-01 3.90819172e+01] [-7.80626396e-01 -2.49499333e-02 -6.24499744e-01 -3.13312230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.50864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:295.25, Y:38.30, Z:-314.26 [[ 4.17405149e-01 -7.15357316e-01 5.60389910e-01 2.95253448e+02] [ 4.27251748e-01 6.98758833e-01 5.73752593e-01 3.82980593e+01] [-8.02015515e-01 -5.97176991e-05 5.97303198e-01 -3.14257245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53864 meters Centerline goodness : 0.999413 Centerline is valid? [True, True] Translation: X:295.29, Y:38.31, Z:-314.30 [[ 4.40275169e-01 -7.29514190e-01 5.23418401e-01 2.95292756e+02] [ 4.40500832e-01 6.83482414e-01 5.82074572e-01 3.83071776e+01] [-7.82378932e-01 -2.57067395e-02 6.22271943e-01 -3.14301232e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.56864 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:295.40, Y:39.44, Z:-313.82 [[ 3.86680259e-01 7.54790865e-01 5.29876521e-01 2.95395518e+02] [ 3.97888941e-01 3.81795498e-01 -8.34216152e-01 3.94357489e+01] [-8.31963201e-01 5.33406925e-01 -1.52690156e-01 -3.13820348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:296.53, Y:38.82, Z:-313.79 [[ 3.58699218e-01 1.68774868e-01 -9.18068579e-01 2.96528013e+02] [ 4.71546002e-01 -8.81562628e-01 2.21743408e-02 3.88161463e+01] [-8.05592477e-01 -4.40865486e-01 -3.95800939e-01 -3.13790978e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.62864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:295.53, Y:38.39, Z:-314.58 [[ 3.65953274e-01 -8.08750472e-01 4.60435527e-01 2.95531377e+02] [ 4.57456322e-01 5.87182622e-01 6.67795090e-01 3.83860251e+01] [-8.10439335e-01 -3.37526567e-02 5.84849419e-01 -3.14579953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:295.53, Y:38.50, Z:-314.70 [[ 3.92489694e-01 -7.65971087e-01 5.09156297e-01 2.95533027e+02] [ 4.36013465e-01 6.42373923e-01 6.30276131e-01 3.84983698e+01] [-8.09842021e-01 -2.53778844e-02 5.86098852e-01 -3.14699921e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.68864 meters Centerline goodness : 0.999804 Centerline is valid? [True, True] Translation: X:295.55, Y:38.59, Z:-314.80 [[ 4.05957780e-01 -7.31443876e-01 5.47894275e-01 2.95548289e+02] [ 4.23421368e-01 6.81825819e-01 5.96513117e-01 3.85889667e+01] [-8.09884329e-01 -1.01689975e-02 5.86501462e-01 -3.14802887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:295.56, Y:38.64, Z:-314.86 [[ 4.10382525e-01 -7.12666103e-01 5.68940427e-01 2.95561326e+02] [ 4.18926441e-01 7.01501239e-01 5.76538506e-01 3.86371814e+01] [-8.09991864e-01 1.74286009e-03 5.86438524e-01 -3.14859897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.74864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:296.13, Y:38.46, Z:-314.85 [[ 4.83788777e-01 -8.58055158e-01 -1.72307179e-01 2.96133370e+02] [ 4.02221376e-01 4.31333843e-02 9.14525820e-01 3.84563866e+01] [-7.77281406e-01 -5.11742959e-01 3.65995573e-01 -3.14849223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:295.61, Y:38.79, Z:-315.10 [[ 4.75215036e-01 -6.53579899e-01 5.89070442e-01 2.95605450e+02] [ 4.09599688e-01 7.56857157e-01 5.09308688e-01 3.87918420e+01] [-7.78716101e-01 -7.48077455e-04 6.27376024e-01 -3.15097791e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.80864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:295.62, Y:38.82, Z:-315.14 [[ 4.79236805e-01 -6.45736530e-01 5.94437901e-01 2.95623005e+02] [ 4.06651352e-01 7.63559127e-01 5.01609547e-01 3.88185548e+01] [-7.77796093e-01 1.33921982e-03 6.28515269e-01 -3.15136525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:295.65, Y:38.85, Z:-315.18 [[ 4.83268061e-01 -6.40826623e-01 5.96484049e-01 2.95648594e+02] [ 4.02545913e-01 7.67685165e-01 4.98614355e-01 3.88476332e+01] [-7.77437309e-01 -8.52176114e-04 6.28959859e-01 -3.15181200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86863999999997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:296.74, Y:38.82, Z:-314.70 [[ 5.33287091e-01 -3.02553441e-01 -7.89978667e-01 2.96735283e+02] [ 4.44356798e-01 -6.94450986e-01 5.65937155e-01 3.88206269e+01] [-7.19827698e-01 -6.52839370e-01 -2.35900068e-01 -3.14695535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:295.77, Y:38.91, Z:-315.41 [[ 5.06343718e-01 -6.62680896e-01 5.51788065e-01 2.95768868e+02] [ 4.49567784e-01 7.48900289e-01 4.86864627e-01 3.89110790e+01] [-7.35870129e-01 1.54529252e-03 6.77120939e-01 -3.15405829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:295.86, Y:38.87, Z:-315.43 [[ 5.27144921e-01 -7.23479478e-01 4.45752932e-01 2.95856425e+02] [ 4.68274898e-01 6.85037144e-01 5.58070544e-01 3.88662009e+01] [-7.09109901e-01 -8.54491441e-02 6.99901130e-01 -3.15430258e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:295.78, Y:39.90, Z:-315.05 [[ 4.72160920e-01 5.18688173e-01 7.12759878e-01 2.95782341e+02] [ 4.30952287e-01 5.69531541e-01 -6.99938533e-01 3.99019295e+01] [-7.68989071e-01 6.37649122e-01 4.53806819e-02 -3.15051741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:295.91, Y:39.00, Z:-315.51 [[ 4.86853553e-01 -6.80359665e-01 5.47799547e-01 2.95913415e+02] [ 4.23687199e-01 7.32365405e-01 5.33038526e-01 3.90008303e+01] [-7.63847350e-01 -2.74160444e-02 6.44814381e-01 -3.15508323e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01864 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:295.97, Y:40.07, Z:-315.11 [[ 4.32717356e-01 6.52596541e-01 6.21991515e-01 2.95974285e+02] [ 3.96611221e-01 4.81776419e-01 -7.81403238e-01 4.00663998e+01] [-8.09601895e-01 5.84815558e-01 -5.03540928e-02 -3.15110289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04864 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:296.00, Y:39.12, Z:-315.62 [[ 4.24538002e-01 -6.48939693e-01 6.31383211e-01 2.96002363e+02] [ 3.63883693e-01 7.60838088e-01 5.37321191e-01 3.91221432e+01] [-8.29069444e-01 1.63679036e-03 5.59143254e-01 -3.15620904e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:296.02, Y:39.15, Z:-315.67 [[ 4.27459987e-01 -6.39500828e-01 6.38996597e-01 2.96021861e+02] [ 3.60089185e-01 7.68779032e-01 5.28502204e-01 3.91496559e+01] [-8.29224782e-01 4.18221832e-03 5.58899606e-01 -3.15666757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10864 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:296.04, Y:39.17, Z:-315.71 [[ 4.30207100e-01 -6.32781644e-01 6.43823922e-01 2.96042959e+02] [ 3.54136211e-01 7.74326577e-01 5.24410046e-01 3.91702140e+01] [-8.30367024e-01 2.39643965e-03 5.57211685e-01 -3.15705882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.13864 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:296.08, Y:39.27, Z:-315.83 [[ 4.72089126e-01 -5.97606852e-01 6.48072455e-01 2.96080755e+02] [ 2.98474888e-01 8.00086773e-01 5.20359392e-01 3.92678482e+01] [-8.29484538e-01 -5.22226572e-02 5.56082903e-01 -3.15834715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16864 meters Centerline goodness : 0.998730 Centerline is valid? [True, True] Translation: X:296.37, Y:40.38, Z:-315.42 [[ 4.38835858e-01 8.19633204e-01 3.68272319e-01 2.96371873e+02] [ 2.83025186e-01 2.62903187e-01 -9.22376636e-01 4.03827335e+01] [-8.52830483e-01 5.09002284e-01 -1.16605494e-01 -3.15423576e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.19864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:297.32, Y:39.96, Z:-315.26 [[ 3.93728134e-01 4.59244115e-01 -7.96287009e-01 2.97316831e+02] [ 3.59929078e-01 -8.74111642e-01 -3.26159312e-01 3.99623658e+01] [-8.45830489e-01 -1.58188752e-01 -5.09457656e-01 -3.15263089e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22864 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:296.36, Y:39.28, Z:-316.12 [[ 4.06833860e-01 -7.09229695e-01 5.75742520e-01 2.96364368e+02] [ 3.34673553e-01 7.02157277e-01 6.28465410e-01 3.92829050e+01] [-8.49988131e-01 -6.29952140e-02 5.23021777e-01 -3.16120453e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.25864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:296.33, Y:39.36, Z:-316.16 [[ 4.07758194e-01 -6.42217657e-01 6.49068360e-01 2.96329191e+02] [ 3.30846432e-01 7.66460450e-01 5.50526128e-01 3.93586933e+01] [-8.51042827e-01 -9.73958889e-03 5.25005949e-01 -3.16164556e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28864 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:296.35, Y:39.38, Z:-316.21 [[ 4.11049325e-01 -6.37237076e-01 6.51895207e-01 2.96347654e+02] [ 3.27514621e-01 7.70585943e-01 5.46746264e-01 3.93817743e+01] [-8.50748274e-01 -1.12344708e-02 5.25453292e-01 -3.16208763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.31864 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:296.37, Y:39.41, Z:-316.26 [[ 4.14870456e-01 -6.30797130e-01 6.55726685e-01 2.96370927e+02] [ 3.22251434e-01 7.75826207e-01 5.42446043e-01 3.94106705e+01] [-8.50903354e-01 -1.37359726e-02 5.25142652e-01 -3.16264398e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34864 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:296.39, Y:39.44, Z:-316.31 [[ 4.18665488e-01 -6.22815902e-01 6.60923264e-01 2.96386254e+02] [ 3.20197207e-01 7.82275098e-01 5.34340172e-01 3.94354458e+01] [-8.49819368e-01 -1.20840060e-02 5.26935498e-01 -3.16308708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.37864 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:296.41, Y:39.47, Z:-316.37 [[ 4.22989298e-01 -6.15582540e-01 6.64934726e-01 2.96412053e+02] [ 3.13335503e-01 7.87912356e-01 5.30108462e-01 3.94677285e+01] [-8.50235801e-01 -1.58825495e-02 5.26162359e-01 -3.16371377e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40864 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:296.43, Y:39.49, Z:-316.41 [[ 4.24444400e-01 -6.06230824e-01 6.72555677e-01 2.96426508e+02] [ 3.11361435e-01 7.95206665e-01 5.20288782e-01 3.94926447e+01] [-8.50235854e-01 -1.14257592e-02 5.26277915e-01 -3.16412719e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.43864 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:296.45, Y:39.52, Z:-316.47 [[ 4.28991383e-01 -5.99985054e-01 6.75266116e-01 2.96451977e+02] [ 3.05799478e-01 7.99869710e-01 5.16425335e-01 3.95204058e+01] [-8.49972395e-01 -1.50459926e-02 5.26612330e-01 -3.16468880e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46864 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:296.47, Y:39.55, Z:-316.52 [[ 4.32135044e-01 -5.91398018e-01 6.80813990e-01 2.96472932e+02] [ 3.02423611e-01 8.06261569e-01 5.08411488e-01 3.95486886e+01] [-8.49587702e-01 -1.38081954e-02 5.27266603e-01 -3.16521088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.49864 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:296.98, Y:40.67, Z:-316.01 [[ 3.67933916e-01 9.21584909e-01 1.23716970e-01 2.96981381e+02] [ 3.46670154e-01 -1.24970418e-02 -9.37903848e-01 4.06725397e+01] [-8.62811937e-01 3.87975617e-01 -3.24084068e-01 -3.16007197e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52864 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:296.61, Y:39.57, Z:-316.64 [[ 3.73138758e-01 -6.45025548e-01 6.66865436e-01 2.96613522e+02] [ 3.01810462e-01 7.64074653e-01 5.70175735e-01 3.95720329e+01] [-8.77312893e-01 -1.14877002e-02 4.79781326e-01 -3.16641695e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.55864 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:297.64, Y:39.49, Z:-316.40 [[ 4.44994542e-01 -5.80225686e-01 -6.82142222e-01 2.97639734e+02] [ 3.49692740e-01 -5.88659359e-01 7.28831357e-01 3.94910072e+01] [-8.24436077e-01 -5.62866159e-01 -5.90494917e-02 -3.16400850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58864 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:296.81, Y:40.70, Z:-316.49 [[ 3.54028552e-01 7.43388382e-01 5.67483478e-01 2.96806534e+02] [ 3.50045132e-01 4.57350671e-01 -8.17495425e-01 4.06962090e+01] [-8.67255550e-01 4.88061551e-01 -9.83042883e-02 -3.16486501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61863999999997 meters Centerline goodness : 0.998100 Centerline is valid? [True, True] Translation: X:297.17, Y:40.84, Z:-316.45 [[ 3.00742078e-01 9.32109241e-01 2.01808240e-01 2.97174758e+02] [ 3.50217669e-01 8.88835772e-02 -9.32441577e-01 4.08399925e+01] [-8.87074849e-01 3.51101228e-01 -2.99710094e-01 -3.16453223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64864 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:296.90, Y:39.68, Z:-317.03 [[ 3.01558399e-01 -7.23308989e-01 6.21197745e-01 2.96900214e+02] [ 3.07432233e-01 6.90494200e-01 6.54754292e-01 3.96826621e+01] [-9.02523105e-01 -6.47044593e-03 4.30592822e-01 -3.17033958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:296.92, Y:39.71, Z:-317.09 [[ 3.04763149e-01 -7.17178722e-01 6.26716924e-01 2.96915184e+02] [ 3.04202241e-01 6.96851083e-01 6.49507170e-01 3.97092179e+01] [-9.02541090e-01 -7.29715771e-03 4.30541905e-01 -3.17090736e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70864 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:297.46, Y:40.92, Z:-316.63 [[ 2.53064894e-01 9.67157515e-01 -2.37592285e-02 2.97464811e+02] [ 3.52805111e-01 -1.15126136e-01 -9.28587382e-01 4.09247022e+01] [-9.00825573e-01 2.26610490e-01 -3.70352497e-01 -3.16632867e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73864 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:297.08, Y:39.72, Z:-317.26 [[ 2.45868606e-01 -7.91309747e-01 5.59801315e-01 2.97078822e+02] [ 3.06658883e-01 6.11367031e-01 7.29514004e-01 3.97199296e+01] [-9.19515611e-01 -7.69654558e-03 3.92978123e-01 -3.17257915e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:297.08, Y:39.75, Z:-317.32 [[ 2.50356085e-01 -7.79807018e-01 5.73779439e-01 2.97083399e+02] [ 3.03568170e-01 6.25994450e-01 7.18315609e-01 3.97496637e+01] [-9.19330298e-01 -5.65350935e-03 3.93446109e-01 -3.17316948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79864 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:297.09, Y:39.78, Z:-317.37 [[ 2.54908365e-01 -7.70709520e-01 5.83976508e-01 2.97090729e+02] [ 3.00043863e-01 6.37160727e-01 7.09929495e-01 3.97763005e+01] [-9.19236316e-01 -5.74840005e-03 3.93664261e-01 -3.17373679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82864 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:297.11, Y:39.84, Z:-317.50 [[ 2.76964703e-01 -7.56000749e-01 5.93088039e-01 2.97107676e+02] [ 2.82836693e-01 6.54031182e-01 7.01602891e-01 3.98357195e+01] [-9.18310382e-01 -2.65721768e-02 3.94968304e-01 -3.17498243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85864 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:297.09, Y:39.88, Z:-317.55 [[ 2.82444166e-01 -7.17429665e-01 6.36804498e-01 2.97091254e+02] [ 2.79990740e-01 6.96581733e-01 6.60589945e-01 3.98831385e+01] [-9.17513203e-01 -8.28041323e-03 3.97619110e-01 -3.17554269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.88864 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:297.15, Y:39.90, Z:-317.65 [[ 3.24208682e-01 -7.44416931e-01 5.83722676e-01 2.97149417e+02] [ 2.94686361e-01 6.65824380e-01 6.85447185e-01 3.98986017e+01] [-8.98915279e-01 -5.02128172e-02 4.35235561e-01 -3.17652696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91864 meters Centerline goodness : 0.997849 Centerline is valid? [True, True] Translation: X:297.13, Y:41.02, Z:-317.48 [[ 2.35984158e-01 6.94270216e-01 6.79926719e-01 2.97132101e+02] [ 2.47005193e-01 6.33852343e-01 -7.32952687e-01 4.10223894e+01] [-9.39840365e-01 3.40910654e-01 -2.19092372e-02 -3.17477079e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.94864 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:297.16, Y:40.02, Z:-317.78 [[ 2.49813310e-01 -6.77025598e-01 6.92264148e-01 2.97164942e+02] [ 2.11667956e-01 7.35823228e-01 6.43242453e-01 4.00221512e+01] [-9.44875646e-01 -1.41603889e-02 3.27123061e-01 -3.17777947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97864 meters Centerline goodness : 0.997658 Centerline is valid? [True, True] Translation: X:297.17, Y:40.04, Z:-317.83 [[ 2.52083032e-01 -6.68505429e-01 6.99681810e-01 2.97171285e+02] [ 2.07475166e-01 7.43554442e-01 6.35673538e-01 4.00418756e+01] [-9.45202730e-01 -1.50759131e-02 3.26135733e-01 -3.17827023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.00864 meters Centerline goodness : 0.997365 Centerline is valid? [True, True] Translation: X:297.18, Y:40.07, Z:-317.90 [[ 2.60239043e-01 -6.58538146e-01 7.06118368e-01 2.97182550e+02] [ 1.99800692e-01 7.52216292e-01 6.27893568e-01 4.00707315e+01] [-9.44645607e-01 -2.23194824e-02 3.27332426e-01 -3.17901449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03864 meters Centerline goodness : 0.997414 Centerline is valid? [True, True] Translation: X:297.45, Y:41.26, Z:-317.71 [[ 1.83487927e-01 8.89006016e-01 4.19524117e-01 2.97452007e+02] [ 2.13256319e-01 3.80607556e-01 -8.99810886e-01 4.12559518e+01] [-9.59611339e-01 2.54570603e-01 -1.19749259e-01 -3.17712617e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.06864 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:297.84, Y:41.35, Z:-317.78 [[ 1.22697909e-01 9.92443919e-01 5.39719232e-04 2.97840581e+02] [ 2.21846816e-01 -2.68973088e-02 -9.74710483e-01 4.13478936e+01] [-9.67330974e-01 1.19714673e-01 -2.23470767e-01 -3.17777744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09864 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:297.47, Y:40.04, Z:-318.16 [[ 1.45420539e-01 -8.20601819e-01 5.52689354e-01 2.97465591e+02] [ 1.73960230e-01 5.71132122e-01 8.02213150e-01 4.00430844e+01] [-9.73956213e-01 -2.05123015e-02 2.25806422e-01 -3.18157272e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.12864 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:297.89, Y:41.39, Z:-317.98 [[ 5.47665971e-02 9.97530097e-01 4.39809720e-02 2.97887933e+02] [ 2.17491144e-01 3.10719060e-02 -9.75567598e-01 4.13925193e+01] [-9.74524613e-01 6.29939895e-02 -2.15252259e-01 -3.17984263e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15864 meters Centerline goodness : 0.998340 Centerline is valid? [True, True] Translation: X:297.69, Y:40.01, Z:-318.35 [[ 9.16967710e-02 -9.34075996e-01 3.45099603e-01 2.97687606e+02] [ 1.68414804e-01 3.56114542e-01 9.19140298e-01 4.00089269e+01] [-9.81441876e-01 -2.61623155e-02 1.89966779e-01 -3.18345564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.18864 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:297.67, Y:40.03, Z:-318.40 [[ 9.48715265e-02 -9.24603597e-01 3.68927610e-01 2.97670826e+02] [ 1.66387758e-01 3.80113783e-01 9.09850881e-01 4.00283918e+01] [-9.81485867e-01 -2.49339042e-02 1.89904694e-01 -3.18400564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21864 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:297.66, Y:40.05, Z:-318.48 [[ 1.01974672e-01 -9.16151714e-01 3.87643139e-01 2.97655638e+02] [ 1.62928935e-01 3.99793985e-01 9.02008277e-01 4.00541777e+01] [-9.81353824e-01 -2.88237147e-02 1.90036484e-01 -3.18482051e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.24864 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:297.63, Y:40.08, Z:-318.53 [[ 1.02396484e-01 -8.98035438e-01 4.27840287e-01 2.97628730e+02] [ 1.62142825e-01 4.39416869e-01 8.83528449e-01 4.00784902e+01] [-9.81440097e-01 -2.10989740e-02 1.90604746e-01 -3.18533611e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27864 meters Centerline goodness : 0.998138 Centerline is valid? [True, True] Translation: X:297.62, Y:40.10, Z:-318.58 [[ 1.03584230e-01 -8.90674096e-01 4.42684948e-01 2.97621112e+02] [ 1.61383082e-01 4.54231955e-01 8.76144299e-01 4.00950054e+01] [-9.81440680e-01 -1.93128714e-02 1.90790997e-01 -3.18584342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.30864 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:297.61, Y:40.11, Z:-318.64 [[ 1.02273468e-01 -8.83213948e-01 4.57682489e-01 2.97611836e+02] [ 1.60350426e-01 4.68715626e-01 8.68673358e-01 4.01128218e+01] [-9.81747360e-01 -1.54526549e-02 1.89560906e-01 -3.18638842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33864 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:297.60, Y:40.14, Z:-318.72 [[ 1.08154962e-01 -8.73054508e-01 4.75476950e-01 2.97601413e+02] [ 1.57149097e-01 4.87283497e-01 8.58987168e-01 4.01383417e+01] [-9.81634690e-01 -1.81829517e-02 1.89901856e-01 -3.18715217e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36863999999997 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:297.58, Y:40.17, Z:-318.80 [[ 1.14003120e-01 -8.52014424e-01 5.10954705e-01 2.97578002e+02] [ 1.52544609e-01 5.23221016e-01 8.38433009e-01 4.01726935e+01] [-9.81699257e-01 -1.76405936e-02 1.89619035e-01 -3.18796529e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39864 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:297.55, Y:40.20, Z:-318.85 [[ 1.15780148e-01 -8.27697554e-01 5.49100826e-01 2.97553737e+02] [ 1.50897553e-01 5.61059125e-01 8.13905760e-01 4.02020690e+01] [-9.81745836e-01 -1.13761586e-02 1.89857044e-01 -3.18848127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42864 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:298.61, Y:40.44, Z:-318.84 [[ 1.74335254e-01 -4.15357536e-01 -8.92796358e-01 2.98614332e+02] [ 2.30582531e-01 -8.64251426e-01 4.47103086e-01 4.04420406e+01] [-9.57308161e-01 -2.83809074e-01 -5.48952999e-02 -3.18838406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45864 meters Centerline goodness : 0.996582 Centerline is valid? [True, True] Translation: X:297.57, Y:40.20, Z:-319.11 [[ 1.48244213e-01 -8.38743632e-01 5.23958751e-01 2.97570595e+02] [ 2.08671244e-01 5.44413251e-01 8.12447244e-01 4.02045717e+01] [-9.66685039e-01 -1.11054777e-02 2.55727791e-01 -3.19114357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48864 meters Centerline goodness : 0.996241 Centerline is valid? [True, True] Translation: X:297.57, Y:40.23, Z:-319.17 [[ 1.51160322e-01 -8.31447143e-01 5.34645870e-01 2.97570541e+02] [ 2.07513455e-01 5.55499482e-01 8.05207111e-01 4.02260454e+01] [-9.66482655e-01 -1.07691548e-02 2.56505950e-01 -3.19173624e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51864 meters Centerline goodness : 0.995559 Centerline is valid? [True, True] Translation: X:297.57, Y:40.25, Z:-319.22 [[ 1.51794436e-01 -8.21184446e-01 5.50104131e-01 2.97567474e+02] [ 2.06904157e-01 5.70622166e-01 7.94720714e-01 4.02470021e+01] [-9.66513900e-01 -6.81535101e-03 2.56523746e-01 -3.19223484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54864 meters Centerline goodness : 0.994659 Centerline is valid? [True, True] Translation: X:297.59, Y:40.25, Z:-319.29 [[ 1.76553317e-01 -8.35703865e-01 5.20026899e-01 2.97593938e+02] [ 2.34357635e-01 5.48823414e-01 8.02414705e-01 4.02520114e+01] [-9.55984009e-01 -1.97967035e-02 2.92750176e-01 -3.19285928e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57864 meters Centerline goodness : 0.995806 Centerline is valid? [True, True] Translation: X:297.60, Y:41.48, Z:-319.17 [[ 1.00557555e-01 7.71576069e-01 6.28138955e-01 2.97598049e+02] [ 1.99815072e-01 6.02814252e-01 -7.72456416e-01 4.14784047e+01] [-9.74660000e-01 2.03187959e-01 -9.35550007e-02 -3.19165721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60864 meters Centerline goodness : 0.995611 Centerline is valid? [True, True] Translation: X:297.67, Y:40.30, Z:-319.44 [[ 9.88063551e-02 -8.50966115e-01 5.15842976e-01 2.97669398e+02] [ 1.62323112e-01 5.25219231e-01 8.35341826e-01 4.03049666e+01] [-9.81778239e-01 1.19615610e-03 1.90026466e-01 -3.19437183e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.63864 meters Centerline goodness : 0.995021 Centerline is valid? [True, True] Translation: X:297.66, Y:40.32, Z:-319.49 [[ 1.01390706e-01 -8.37903881e-01 5.36318013e-01 2.97661176e+02] [ 1.61550727e-01 5.45807957e-01 8.22189173e-01 4.03243213e+01] [-9.81642138e-01 3.28022399e-03 1.90703835e-01 -3.19492937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66864 meters Centerline goodness : 0.994583 Centerline is valid? [True, True] Translation: X:297.65, Y:40.34, Z:-319.55 [[ 1.06381329e-01 -8.26282244e-01 5.53119034e-01 2.97653893e+02] [ 1.59120554e-01 5.63253555e-01 8.10818156e-01 4.03444424e+01] [-9.81510908e-01 1.75669403e-03 1.91398150e-01 -3.19548221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.69864 meters Centerline goodness : 0.994382 Centerline is valid? [True, True] Translation: X:297.65, Y:40.36, Z:-319.60 [[ 1.12351620e-01 -8.13771106e-01 5.70222501e-01 2.97646778e+02] [ 1.53754625e-01 5.81181679e-01 7.99116619e-01 4.03639620e+01] [-9.81700886e-01 -2.10769999e-03 1.90417774e-01 -3.19599869e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72864 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:297.64, Y:40.38, Z:-319.65 [[ 1.16641264e-01 -8.03129278e-01 5.84275773e-01 2.97643311e+02] [ 1.50371597e-01 5.95790250e-01 7.88937488e-01 4.03816716e+01] [-9.81724604e-01 -4.16418511e-03 1.90261560e-01 -3.19650727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.75864 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:298.26, Y:41.69, Z:-319.51 [[ 6.32817463e-02 9.86262084e-01 -1.52586116e-01 2.98259001e+02] [ 2.01184696e-01 -1.62360615e-01 -9.66004011e-01 4.16858424e+01] [-9.77507104e-01 3.04324294e-02 -2.08695300e-01 -3.19507233e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78864 meters Centerline goodness : 0.995656 Centerline is valid? [True, True] Translation: X:297.90, Y:40.30, Z:-319.84 [[ 6.04414493e-02 -9.44639203e-01 3.22495902e-01 2.97903301e+02] [ 1.56694587e-01 3.28060144e-01 9.31570367e-01 4.03030884e+01] [-9.85795941e-01 -5.77210111e-03 1.67848280e-01 -3.19836175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.81864 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:297.89, Y:40.32, Z:-319.90 [[ 6.94398005e-02 -9.37733248e-01 3.40344633e-01 2.97891726e+02] [ 1.54762612e-01 3.47163976e-01 9.24946327e-01 4.03207899e+01] [-9.85508320e-01 -1.15554642e-02 1.69233044e-01 -3.19895219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84864 meters Centerline goodness : 0.994535 Centerline is valid? [True, True] Translation: X:297.87, Y:40.35, Z:-319.98 [[ 8.09587439e-02 -9.27181157e-01 3.65760556e-01 2.97872994e+02] [ 1.49656809e-01 3.74112821e-01 9.15228079e-01 4.03465745e+01] [-9.85417943e-01 -1.93571582e-02 1.69046677e-01 -3.19981270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.87864 meters Centerline goodness : 0.993805 Centerline is valid? [True, True] Translation: X:297.84, Y:40.38, Z:-320.08 [[ 9.40081417e-02 -9.03302052e-01 4.18578394e-01 2.97835347e+02] [ 1.41867017e-01 4.28304226e-01 8.92428843e-01 4.03849435e+01] [-9.85411700e-01 -2.45131089e-02 1.68412852e-01 -3.20075059e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90864 meters Centerline goodness : 0.994534 Centerline is valid? [True, True] Translation: X:297.80, Y:40.42, Z:-320.13 [[ 9.68426418e-02 -8.72959676e-01 4.78082531e-01 2.97795495e+02] [ 1.38655140e-01 4.87489232e-01 8.62049303e-01 4.04179234e+01] [-9.85594366e-01 -1.71945318e-02 1.68250091e-01 -3.20126407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.93864 meters Centerline goodness : 0.993846 Centerline is valid? [True, True] Translation: X:297.79, Y:40.44, Z:-320.18 [[ 1.00897552e-01 -8.63216490e-01 4.94648334e-01 2.97786949e+02] [ 1.34633670e-01 5.04458849e-01 8.52874577e-01 4.04363462e+01] [-9.85745129e-01 -1.94566364e-02 1.67116667e-01 -3.20182364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96864 meters Centerline goodness : 0.993894 Centerline is valid? [True, True] Translation: X:297.77, Y:40.46, Z:-320.23 [[ 1.06236023e-01 -8.51020275e-01 5.14274634e-01 2.97774586e+02] [ 1.30975192e-01 5.24671575e-01 8.41168971e-01 4.04559519e+01] [-9.85677131e-01 -2.20052275e-02 1.67201565e-01 -3.20234447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.99864 meters Centerline goodness : 0.993941 Centerline is valid? [True, True] Translation: X:297.76, Y:40.47, Z:-320.30 [[ 1.10826982e-01 -8.40382198e-01 5.30542309e-01 2.97764955e+02] [ 1.27793201e-01 5.41449523e-01 8.30964086e-01 4.04749405e+01] [-9.85589305e-01 -2.42935424e-02 1.67402348e-01 -3.20295694e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02864 meters Centerline goodness : 0.993549 Centerline is valid? [True, True] Translation: X:297.75, Y:40.50, Z:-320.35 [[ 1.16684504e-01 -8.24904809e-01 5.53097443e-01 2.97750821e+02] [ 1.23530392e-01 5.64631456e-01 8.16046298e-01 4.04985802e+01] [-9.85456731e-01 -2.68956136e-02 1.67784556e-01 -3.20350940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.05864 meters Centerline goodness : 0.992533 Centerline is valid? [True, True] Translation: X:297.74, Y:40.52, Z:-320.40 [[ 1.19236496e-01 -8.11842872e-01 5.71571351e-01 2.97741091e+02] [ 1.20466910e-01 5.83254689e-01 8.03306723e-01 4.05188888e+01] [-9.85530508e-01 -2.69280444e-02 1.67345448e-01 -3.20402319e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08864 meters Centerline goodness : 0.992961 Centerline is valid? [True, True] Translation: X:297.73, Y:40.54, Z:-320.45 [[ 1.21554402e-01 -8.00741348e-01 5.86547373e-01 2.97733639e+02] [ 1.17905927e-01 5.98393667e-01 7.92479156e-01 4.05373197e+01] [-9.85557061e-01 -2.71719186e-02 1.67149535e-01 -3.20453451e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11863999999997 meters Centerline goodness : 0.992729 Centerline is valid? [True, True] Translation: X:297.73, Y:40.56, Z:-320.51 [[ 1.24008149e-01 -7.89421956e-01 6.01194606e-01 2.97726676e+02] [ 1.15743193e-01 6.13243050e-01 7.81368335e-01 4.05567542e+01] [-9.85507733e-01 -2.73118577e-02 1.67417353e-01 -3.20508721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14864 meters Centerline goodness : 0.993016 Centerline is valid? [True, True] Translation: X:297.72, Y:40.58, Z:-320.56 [[ 1.25960999e-01 -7.75417487e-01 6.18758069e-01 2.97718603e+02] [ 1.12888169e-01 6.30878208e-01 7.67625526e-01 4.05774714e+01] [-9.85591238e-01 -2.68404128e-02 1.67001510e-01 -3.20564223e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17864 meters Centerline goodness : 0.992235 Centerline is valid? [True, True] Translation: X:297.71, Y:40.60, Z:-320.62 [[ 1.27695434e-01 -7.61075575e-01 6.35970003e-01 2.97710725e+02] [ 1.11107410e-01 6.48160265e-01 7.53354773e-01 4.06005806e+01] [-9.85570403e-01 -2.55389848e-02 1.67328242e-01 -3.20619261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20864 meters Centerline goodness : 0.992438 Centerline is valid? [True, True] Translation: X:297.70, Y:40.62, Z:-320.67 [[ 1.28269515e-01 -7.46367307e-01 6.53056487e-01 2.97702621e+02] [ 1.08762507e-01 6.65110884e-01 7.38781584e-01 4.06205312e+01] [-9.85757398e-01 -2.37350945e-02 1.66490230e-01 -3.20672176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23864 meters Centerline goodness : 0.992387 Centerline is valid? [True, True] Translation: X:298.28, Y:41.88, Z:-320.58 [[ 4.31745876e-02 9.98931993e-01 1.64568735e-02 2.98278676e+02] [ 1.64199986e-01 9.15331578e-03 -9.86384601e-01 4.18848054e+01] [-9.85481770e-01 4.52889667e-02 -1.63629428e-01 -3.20583342e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26864 meters Centerline goodness : 0.992246 Centerline is valid? [True, True] Translation: X:297.95, Y:40.52, Z:-320.85 [[ 7.17282159e-02 -9.14649457e-01 3.97833424e-01 2.97953804e+02] [ 1.09672873e-01 4.03674717e-01 9.08305336e-01 4.05224356e+01] [-9.91376278e-01 -2.15195866e-02 1.29267101e-01 -3.20854544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29864 meters Centerline goodness : 0.993070 Centerline is valid? [True, True] Translation: X:297.93, Y:40.55, Z:-320.93 [[ 7.94496524e-02 -9.02422688e-01 4.23463157e-01 2.97933884e+02] [ 1.07118235e-01 4.30075098e-01 8.96415693e-01 4.05451019e+01] [-9.91066817e-01 -2.58592893e-02 1.30835242e-01 -3.20928813e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32864 meters Centerline goodness : 0.993014 Centerline is valid? [True, True] Translation: X:298.42, Y:41.92, Z:-320.87 [[-1.18469615e-02 9.96778780e-01 -7.93203250e-02 2.98415039e+02] [ 1.64649083e-01 -7.62985346e-02 -9.83396773e-01 4.19187202e+01] [-9.86281060e-01 -2.47102825e-02 -1.63214806e-01 -3.20872548e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35864 meters Centerline goodness : 0.992391 Centerline is valid? [True, True] Translation: X:298.27, Y:40.49, Z:-321.13 [[ 2.76716257e-02 -9.98967859e-01 3.60207855e-02 2.98270817e+02] [ 1.18907926e-01 3.90682309e-02 9.92136371e-01 4.04894250e+01] [-9.92519615e-01 -2.31708695e-02 1.19866277e-01 -3.21130018e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.38864 meters Centerline goodness : 0.993849 Centerline is valid? [True, True] Translation: X:298.25, Y:40.50, Z:-321.18 [[ 3.27652628e-02 -9.97577753e-01 6.13601124e-02 2.98249215e+02] [ 1.16887203e-01 6.47964537e-02 9.91029163e-01 4.04987725e+01] [-9.92604563e-01 -2.52991190e-02 1.18727146e-01 -3.21181561e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41864 meters Centerline goodness : 0.993498 Centerline is valid? [True, True] Translation: X:298.23, Y:40.51, Z:-321.23 [[ 3.66729682e-02 -9.95573875e-01 8.65317975e-02 2.98227206e+02] [ 1.15114526e-01 9.02222022e-02 9.89246481e-01 4.05089426e+01] [-9.92675042e-01 -2.63175378e-02 1.17913731e-01 -3.21233553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.44864 meters Centerline goodness : 0.994678 Centerline is valid? [True, True] Translation: X:298.21, Y:40.52, Z:-321.29 [[ 3.97129183e-02 -9.92959177e-01 1.11601774e-01 2.98206759e+02] [ 1.12686405e-01 1.15427975e-01 9.86903317e-01 4.05190407e+01] [-9.92836673e-01 -2.66168080e-02 1.16476982e-01 -3.21285625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47864 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:298.54, Y:41.95, Z:-321.25 [[-6.53260472e-02 9.81860412e-01 -1.77996174e-01 2.98537579e+02] [ 1.80082142e-01 -1.63848241e-01 -9.69909365e-01 4.19496718e+01] [-9.81479969e-01 -9.54142771e-02 -1.66111968e-01 -3.21245677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.50864 meters Centerline goodness : 0.995211 Centerline is valid? [True, True] Translation: X:298.55, Y:40.55, Z:-321.48 [[-1.50301137e-02 -9.55204755e-01 -2.95563819e-01 2.98554329e+02] [ 1.35793216e-01 -2.94808532e-01 9.45858410e-01 4.05509057e+01] [-9.90623187e-01 -2.59192021e-02 1.34141331e-01 -3.21476011e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53864 meters Centerline goodness : 0.995706 Centerline is valid? [True, True] Translation: X:298.53, Y:40.55, Z:-321.49 [[-1.26228361e-02 -9.64368201e-01 -2.64262441e-01 2.98529708e+02] [ 1.35850565e-01 -2.63487003e-01 9.55049330e-01 4.05453565e+01] [-9.90648923e-01 -2.38447707e-02 1.34335918e-01 -3.21486935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.56864 meters Centerline goodness : 0.994782 Centerline is valid? [True, True] Translation: X:298.51, Y:40.54, Z:-321.50 [[-1.07601277e-02 -9.70316790e-01 -2.41597904e-01 2.98512799e+02] [ 1.37867260e-01 -2.40744004e-01 9.60747075e-01 4.05433515e+01] [-9.90392265e-01 -2.29706798e-02 1.36365353e-01 -3.21501198e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59864 meters Centerline goodness : 0.995314 Centerline is valid? [True, True] Translation: X:298.49, Y:40.54, Z:-321.52 [[-5.71980481e-03 -9.76380510e-01 -2.15982366e-01 2.98493060e+02] [ 1.38149996e-01 -2.14686364e-01 9.66863146e-01 4.05422112e+01] [-9.90394801e-01 -2.43076945e-02 1.36114928e-01 -3.21519452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.62864 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:298.46, Y:40.54, Z:-321.53 [[-3.41804345e-03 -9.84108172e-01 -1.77537103e-01 2.98463002e+02] [ 1.38544110e-01 -1.76292019e-01 9.74539201e-01 4.05408435e+01] [-9.90350366e-01 -2.12657027e-02 1.36944965e-01 -3.21533982e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65864 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:298.44, Y:40.54, Z:-321.55 [[ 2.90826939e-03 -9.88057362e-01 -1.54059054e-01 2.98441801e+02] [ 1.38045797e-01 -1.52188019e-01 9.78663458e-01 4.05418089e+01] [-9.90421577e-01 -2.41134219e-02 1.35954562e-01 -3.21552165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.68864 meters Centerline goodness : 0.995310 Centerline is valid? [True, True] Translation: X:298.41, Y:40.55, Z:-321.62 [[ 3.05593818e-02 -9.91804225e-01 -1.24058465e-01 2.98414768e+02] [ 1.40911203e-01 -1.18602007e-01 9.82892465e-01 4.05499722e+01] [-9.89550482e-01 -4.75178136e-02 1.36131922e-01 -3.21618806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71864 meters Centerline goodness : 0.996092 Centerline is valid? [True, True] Translation: X:298.28, Y:40.56, Z:-321.68 [[ 2.86734352e-02 -9.98327403e-01 5.02018973e-02 2.98284301e+02] [ 1.37690757e-01 5.36885020e-02 9.89019110e-01 4.05609002e+01] [-9.90060144e-01 -2.14462381e-02 1.38999890e-01 -3.21675542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.74864 meters Centerline goodness : 0.996086 Centerline is valid? [True, True] Translation: X:298.26, Y:40.57, Z:-321.73 [[ 3.00256122e-02 -9.96577861e-01 7.70131761e-02 2.98263349e+02] [ 1.37421879e-01 8.04320345e-02 9.87241569e-01 4.05731063e+01] [-9.90057417e-01 -1.90592372e-02 1.39366623e-01 -3.21727492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77864 meters Centerline goodness : 0.996725 Centerline is valid? [True, True] Translation: X:298.24, Y:40.59, Z:-321.79 [[ 3.16587658e-02 -9.94551878e-01 9.93191043e-02 2.98243599e+02] [ 1.37386878e-01 1.02755838e-01 9.85173124e-01 4.05861976e+01] [-9.90011398e-01 -1.75442235e-02 1.39891500e-01 -3.21787017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.80864 meters Centerline goodness : 0.996581 Centerline is valid? [True, True] Translation: X:298.43, Y:42.05, Z:-321.71 [[-5.89800962e-02 9.97508358e-01 3.87094940e-02 2.98432120e+02] [ 1.78837879e-01 4.87079798e-02 -9.82672146e-01 4.20474906e+01] [-9.82109139e-01 -5.10353738e-02 -1.81265080e-01 -3.21713048e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83864 meters Centerline goodness : 0.996922 Centerline is valid? [True, True] Translation: X:298.57, Y:40.62, Z:-321.97 [[-2.60383722e-02 -9.59596563e-01 -2.80172160e-01 2.98571743e+02] [ 1.41777721e-01 -2.80979050e-01 9.49183782e-01 4.06246415e+01] [-9.89556002e-01 -1.50069696e-02 1.43365651e-01 -3.21965496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86863999999997 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:298.55, Y:40.62, Z:-321.98 [[-2.18526159e-02 -9.66072657e-01 -2.57344292e-01 2.98550200e+02] [ 1.43514265e-01 -2.57771088e-01 9.55488211e-01 4.06220661e+01] [-9.89406953e-01 -1.60526600e-02 1.44278180e-01 -3.21979194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:298.56, Y:40.62, Z:-321.99 [[-1.70785435e-02 -9.60472276e-01 -2.77851274e-01 2.98562798e+02] [ 1.41014010e-01 -2.77427978e-01 9.50341395e-01 4.06230299e+01] [-9.89860279e-01 -2.29504755e-02 1.40178113e-01 -3.21987499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92864 meters Centerline goodness : 0.998146 Centerline is valid? [True, True] Translation: X:297.69, Y:41.21, Z:-321.94 [[-3.18724675e-02 -2.68307328e-01 9.62805964e-01 2.97686573e+02] [ 7.78926071e-02 9.59698879e-01 2.70020005e-01 4.12142008e+01] [-9.96452150e-01 8.36016705e-02 -9.68881408e-03 -3.21943954e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95864 meters Centerline goodness : 0.998632 Centerline is valid? [True, True] Translation: X:298.48, Y:40.63, Z:-322.02 [[ 7.85949322e-04 -9.85031170e-01 -1.72374522e-01 2.98476061e+02] [ 7.69493164e-02 -1.71803913e-01 9.82121285e-01 4.06296806e+01] [-9.97034696e-01 -1.40359992e-02 7.56624460e-02 -3.22024242e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98864 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:298.44, Y:40.63, Z:-322.03 [[ 3.16376546e-04 -9.91938095e-01 -1.26722991e-01 2.98440925e+02] [ 7.54996070e-02 -1.26337615e-01 9.89110012e-01 4.06289308e+01] [-9.97145781e-01 -9.88046722e-03 7.48509660e-02 -3.22033696e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01864 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:298.42, Y:40.63, Z:-322.05 [[-1.46553064e-03 -9.94760236e-01 -1.02224874e-01 2.98420741e+02] [ 9.55945815e-02 -1.01896191e-01 9.90191316e-01 4.06286056e+01] [-9.95419273e-01 -8.32098829e-03 9.52430205e-02 -3.22048647e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04864 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:297.68, Y:41.48, Z:-322.03 [[-2.83080892e-02 6.01669380e-02 9.97786847e-01 2.97679590e+02] [ 2.52142011e-02 9.97912247e-01 -5.94591507e-02 4.14802875e+01] [-9.99281190e-01 2.34752233e-02 -2.97660502e-02 -3.22033852e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07864 meters Centerline goodness : 0.998241 Centerline is valid? [True, True] Translation: X:298.57, Y:40.66, Z:-322.07 [[-4.06705596e-04 -9.53149336e-01 -3.02499881e-01 2.98570013e+02] [ 7.99134971e-03 -3.02493345e-01 9.53117996e-01 4.06618666e+01] [-9.99967986e-01 -2.02974392e-03 7.73997540e-03 -3.22072670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10864 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:298.46, Y:40.65, Z:-322.10 [[ 3.34463927e-03 -9.87190375e-01 -1.59511684e-01 2.98462798e+02] [ 8.44885728e-03 -1.59478986e-01 9.87165168e-01 4.06464460e+01] [-9.99958714e-01 -4.64940285e-03 7.80723090e-03 -3.22101153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.13864 meters Centerline goodness : 0.997409 Centerline is valid? [True, True] Translation: X:298.28, Y:40.66, Z:-322.17 [[ 5.92484212e-03 -9.95847415e-01 9.08450450e-02 2.98275393e+02] [ 4.20606464e-02 9.10144194e-02 9.94960943e-01 4.06584281e+01] [-9.99097492e-01 -2.07398519e-03 4.24252320e-02 -3.22167573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16864 meters Centerline goodness : 0.997995 Centerline is valid? [True, True] Translation: X:297.70, Y:41.61, Z:-322.32 [[-1.90813078e-02 1.56669712e-01 9.87466711e-01 2.97698507e+02] [-3.24186993e-02 9.87030257e-01 -1.57226908e-01 4.16077005e+01] [-9.99292215e-01 -3.50124814e-02 -1.37547999e-02 -3.22315110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.19864 meters Centerline goodness : 0.997852 Centerline is valid? [True, True] Translation: X:298.49, Y:42.16, Z:-322.36 [[ 4.92494035e-03 9.99425644e-01 -3.35280037e-02 2.98494165e+02] [-2.45806462e-02 -3.33972878e-02 -9.99139837e-01 4.21628798e+01] [-9.99685719e-01 5.74484409e-03 2.44020485e-02 -3.22361351e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22864 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:298.55, Y:42.15, Z:-322.39 [[ 1.70732907e-03 9.94342435e-01 -1.06208321e-01 2.98548160e+02] [-3.82968264e-02 -1.06065546e-01 -9.93621383e-01 4.21549259e+01] [-9.99264949e-01 5.76388029e-03 3.78990708e-02 -3.22388399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.25864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:299.12, Y:41.22, Z:-322.43 [[ 1.91305437e-02 -1.92401038e-01 -9.81129891e-01 2.99115003e+02] [ 1.13905501e-02 -9.81203850e-01 1.92637640e-01 4.12176436e+01] [-9.99752108e-01 -1.48608720e-02 -1.65794094e-02 -3.22428366e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28864 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:298.24, Y:40.70, Z:-322.50 [[-6.74745055e-03 -9.89769747e-01 1.42514281e-01 2.98241853e+02] [ 1.07949124e-02 1.42437124e-01 9.89744985e-01 4.07045821e+01] [-9.99918968e-01 8.21668452e-03 9.72339026e-03 -3.22502607e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.31864 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:298.13, Y:40.74, Z:-322.56 [[-5.45403208e-03 -9.55267489e-01 2.95692878e-01 2.98129961e+02] [ 1.19744027e-02 2.95613686e-01 9.55232517e-01 4.07411563e+01] [-9.99913430e-01 8.75061441e-03 9.82647111e-03 -3.22559253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34864 meters Centerline goodness : 0.997651 Centerline is valid? [True, True] Translation: X:298.03, Y:40.79, Z:-322.62 [[-3.90271643e-03 -8.99246048e-01 4.37425781e-01 2.98028215e+02] [ 1.53406305e-02 4.37323799e-01 8.99173265e-01 4.07918446e+01] [-9.99874709e-01 1.02196055e-02 1.20882505e-02 -3.22616072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.37864 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:297.94, Y:40.86, Z:-322.67 [[-1.68451811e-03 -8.22409612e-01 5.68893306e-01 2.97935485e+02] [ 1.58165112e-02 5.68801038e-01 8.22323061e-01 4.08580999e+01] [-9.99873492e-01 1.03831254e-02 1.20494951e-02 -3.22673887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40864 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:298.77, Y:42.07, Z:-322.80 [[-2.37000455e-02 9.33322241e-01 -3.58256753e-01 2.98771369e+02] [ 5.45413739e-02 -3.56616579e-01 -9.32657415e-01 4.20748532e+01] [-9.98230207e-01 -4.16438388e-02 -4.24528482e-02 -3.22804903e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.43864 meters Centerline goodness : 0.997459 Centerline is valid? [True, True] Translation: X:298.93, Y:40.85, Z:-322.89 [[-3.91435596e-02 -7.13101382e-01 -6.99967285e-01 2.98925697e+02] [ 2.71453095e-02 -7.01004499e-01 7.12640039e-01 4.08506257e+01] [-9.98864813e-01 8.89443921e-03 4.67971691e-02 -3.22887581e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46864 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:298.48, Y:40.68, Z:-322.96 [[ 1.51075146e-02 -9.91072046e-01 -1.32468726e-01 2.98481335e+02] [ 3.94437104e-02 -1.31790011e-01 9.90492598e-01 4.06820998e+01] [-9.99107580e-01 -2.01889394e-02 3.71005392e-02 -3.22959109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.49864 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:298.07, Y:40.78, Z:-323.02 [[ 1.22001395e-02 -9.01039539e-01 4.33565342e-01 2.98072502e+02] [ 4.54017701e-02 4.33649590e-01 8.99937060e-01 4.07845455e+01] [-9.98894307e-01 8.70527633e-03 4.61993755e-02 -3.23021535e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52864 meters Centerline goodness : 0.995847 Centerline is valid? [True, True] Translation: X:298.03, Y:40.81, Z:-323.08 [[ 1.79526567e-02 -8.70670765e-01 4.91538525e-01 2.98033004e+02] [ 4.11372620e-02 4.91844686e-01 8.69710601e-01 4.08137769e+01] [-9.98992206e-01 4.60693319e-03 4.46469302e-02 -3.23078940e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.55864 meters Centerline goodness : 0.997313 Centerline is valid? [True, True] Translation: X:297.99, Y:40.86, Z:-323.21 [[ 3.65333042e-02 -8.35054787e-01 5.48952475e-01 2.97987675e+02] [ 2.87841469e-02 5.49970567e-01 8.34687875e-01 4.08554358e+01] [-9.98917810e-01 -1.46927774e-02 4.41285817e-02 -3.23209145e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58864 meters Centerline goodness : 0.996437 Centerline is valid? [True, True] Translation: X:297.83, Y:41.04, Z:-323.31 [[ 4.18575938e-02 -6.17918124e-01 7.85127464e-01 2.97827862e+02] [ 2.40155329e-02 7.86211366e-01 6.17490844e-01 4.10351421e+01] [-9.98834919e-01 -6.99142645e-03 4.77485490e-02 -3.23308742e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61863999999997 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:297.77, Y:41.16, Z:-323.43 [[ 5.07681736e-02 -4.63358179e-01 8.84715655e-01 2.97765336e+02] [ 8.58859543e-03 8.86027802e-01 4.63552554e-01 4.11641787e+01] [-9.98673535e-01 -1.59352517e-02 4.89616092e-02 -3.23430765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64864 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:298.35, Y:40.73, Z:-323.56 [[ 1.37954848e-01 -9.90409748e-01 7.54925923e-03 2.98347515e+02] [-4.18860191e-03 7.03867068e-03 9.99966456e-01 4.07319739e+01] [-9.90429662e-01 -1.37981842e-01 -3.17741341e-03 -3.23562973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67864 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:298.37, Y:42.21, Z:-323.70 [[ 6.86967004e-02 9.80206190e-01 1.85678726e-01 2.98373854e+02] [ 2.17097280e-02 1.84605542e-01 -9.82572889e-01 4.22063490e+01] [-9.97401349e-01 7.15305500e-02 -8.59821816e-03 -3.23703030e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70864 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:298.49, Y:42.22, Z:-323.86 [[ 1.53375222e-03 9.93917869e-01 1.10113205e-01 2.98489711e+02] [ 1.47753321e-02 1.10078791e-01 -9.93813035e-01 4.22166863e+01] [-9.99889663e-01 3.15122213e-03 -1.45166330e-02 -3.23860221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73864 meters Centerline goodness : 0.996873 Centerline is valid? [True, True] Translation: X:298.03, Y:40.94, Z:-324.02 [[ 4.91157033e-02 -8.07841952e-01 5.87349154e-01 2.98025405e+02] [-6.18843546e-02 5.84467672e-01 8.09053686e-01 4.09419813e+01] [-9.96874102e-01 -7.60849641e-02 -2.12862370e-02 -3.24021251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76864 meters Centerline goodness : 0.996483 Centerline is valid? [True, True] Translation: X:297.93, Y:41.98, Z:-324.14 [[ 3.83737983e-02 6.01374920e-01 7.98044896e-01 2.97934363e+02] [-3.98434532e-02 7.98918848e-01 -6.00117633e-01 4.19827222e+01] [-9.98468803e-01 -8.76807151e-03 5.46184042e-02 -3.24142463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79864 meters Centerline goodness : 0.996682 Centerline is valid? [True, True] Translation: X:297.97, Y:42.01, Z:-324.26 [[ 5.08052008e-02 6.43517705e-01 7.63743278e-01 2.97972722e+02] [-7.72854391e-02 7.64970945e-01 -6.39410990e-01 4.20139826e+01] [-9.95713710e-01 -2.65408309e-02 8.85990509e-02 -3.24259588e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82864 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:299.10, Y:41.95, Z:-324.36 [[-1.72425835e-02 6.95798000e-01 -7.18030526e-01 2.99098379e+02] [-1.63242155e-02 -7.18237473e-01 -6.95606535e-01 4.19523126e+01] [-9.99718067e-01 -2.72768708e-04 2.37426261e-02 -3.24364679e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85864 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:298.90, Y:40.82, Z:-324.41 [[ 5.06722131e-02 -8.40929814e-01 -5.38766531e-01 2.98897555e+02] [ 1.28096706e-03 -5.39404386e-01 8.42045882e-01 4.08218344e+01] [-9.98714517e-01 -4.33584705e-02 -2.62556106e-02 -3.24410063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.88864 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:298.41, Y:42.19, Z:-324.57 [[-3.81191747e-02 9.58779289e-01 2.81583387e-01 2.98412948e+02] [ 1.41672358e-02 2.82278405e-01 -9.59227914e-01 4.21900411e+01] [-9.99172767e-01 -3.25757182e-02 -2.43434721e-02 -3.24569920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91864 meters Centerline goodness : 0.997265 Centerline is valid? [True, True] Translation: X:298.62, Y:42.21, Z:-324.65 [[-1.01269150e-01 9.94712330e-01 1.70862331e-02 2.98616711e+02] [ 1.45654764e-02 1.86551224e-02 -9.99719877e-01 4.22110449e+01] [-9.94752435e-01 -1.00991913e-01 -1.63776473e-02 -3.24652630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.94864 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:298.54, Y:40.74, Z:-324.72 [[-2.61431619e-02 -9.99643889e-01 -5.35067564e-03 2.98542578e+02] [-1.11217570e-02 -5.06132067e-03 9.99925342e-01 4.07383560e+01] [-9.99596339e-01 2.62007190e-02 -1.09854775e-02 -3.24717914e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97864 meters Centerline goodness : 0.997850 Centerline is valid? [True, True] Translation: X:297.87, Y:41.68, Z:-324.78 [[-6.31911835e-02 2.09093888e-01 9.75851741e-01 2.97865525e+02] [-7.57438731e-02 9.73980923e-01 -2.13597818e-01 4.16765409e+01] [-9.95122977e-01 -8.74122894e-02 -4.57094263e-02 -3.24777118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.00864 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:298.97, Y:42.10, Z:-324.88 [[-4.54472319e-02 8.64551561e-01 -5.00484912e-01 2.98972637e+02] [-4.97947274e-02 -5.02340341e-01 -8.63235001e-01 4.20989272e+01] [-9.97724929e-01 -1.43101315e-02 6.58800873e-02 -3.24883330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03864 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:299.03, Y:42.06, Z:-324.90 [[-4.84816519e-02 8.16023136e-01 -5.75982439e-01 2.99025988e+02] [-4.67134938e-02 -5.77881983e-01 -8.14782341e-01 4.20582301e+01] [-9.97731116e-01 -1.25958417e-02 6.61359649e-02 -3.24903308e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.06864 meters Centerline goodness : 0.997311 Centerline is valid? [True, True] Translation: X:299.05, Y:42.03, Z:-324.92 [[-5.21239333e-02 7.87223506e-01 -6.14460940e-01 2.99051522e+02] [-4.35638569e-02 -6.16504066e-01 -7.86145614e-01 4.20345550e+01] [-9.97689975e-01 -1.42087131e-02 6.64291090e-02 -3.24919942e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09864 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:299.08, Y:42.00, Z:-324.94 [[-5.52756274e-02 7.49242487e-01 -6.59985076e-01 2.99082897e+02] [-4.14373436e-02 -6.62147564e-01 -7.48226938e-01 4.20043561e+01] [-9.97610922e-01 -1.40106851e-02 6.76472404e-02 -3.24937958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.12864 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:299.11, Y:41.97, Z:-324.97 [[-6.24107174e-02 7.08211908e-01 -7.03235946e-01 2.99113003e+02] [-3.42334568e-02 -7.05713970e-01 -7.07669318e-01 4.19704130e+01] [-9.97463269e-01 -2.00919525e-02 6.82886569e-02 -3.24972407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15864 meters Centerline goodness : 0.997656 Centerline is valid? [True, True] Translation: X:299.18, Y:41.88, Z:-325.00 [[-6.39151427e-02 5.95645655e-01 -8.00700386e-01 2.99179214e+02] [-2.98676502e-02 -8.03123228e-01 -5.95063865e-01 4.18820638e+01] [-9.97508285e-01 -1.41185528e-02 6.91222718e-02 -3.24995661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.18864 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:299.21, Y:41.82, Z:-325.06 [[-8.04174035e-02 5.20585360e-01 -8.50014073e-01 2.99210077e+02] [-1.97815128e-03 -8.52857652e-01 -5.22139744e-01 4.18201004e+01] [-9.96759313e-01 -4.03076661e-02 6.96143945e-02 -3.25055542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21864 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:298.63, Y:40.74, Z:-325.06 [[-2.03086519e-02 -9.85751638e-01 -1.66976845e-01 2.98633506e+02] [-2.28716340e-02 -1.66509520e-01 9.85774552e-01 4.07363708e+01] [-9.99532114e-01 2.38387855e-02 -1.91641668e-02 -3.25061304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.24864 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:298.50, Y:42.20, Z:-325.13 [[-9.85933859e-02 9.85367761e-01 1.39031362e-01 2.98495658e+02] [ 3.72736020e-03 1.40076757e-01 -9.90133632e-01 4.22001772e+01] [-9.95120822e-01 -9.71024073e-02 -1.74834623e-02 -3.25134405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:298.60, Y:42.20, Z:-325.22 [[-1.63098357e-01 9.86609778e-01 -2.67799423e-04 2.98601086e+02] [ 4.39978703e-03 4.55905913e-04 -9.99990217e-01 4.22018467e+01] [-9.86600004e-01 -1.63097940e-01 -4.41523041e-03 -3.25219169e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.30864 meters Centerline goodness : 0.998096 Centerline is valid? [True, True] Translation: X:298.56, Y:40.73, Z:-325.26 [[-9.24105074e-02 -9.92511949e-01 -7.98769575e-02 2.98558640e+02] [-2.66503077e-02 -7.77261013e-02 9.96618490e-01 4.07292893e+01] [-9.95364285e-01 9.42267658e-02 -1.92680404e-02 -3.25264767e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33864 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:298.65, Y:42.19, Z:-325.36 [[-1.61471384e-01 9.82235057e-01 -9.56100645e-02 2.98654245e+02] [ 1.58196107e-02 -9.42927479e-02 -9.95418815e-01 4.21913239e+01] [-9.86750593e-01 -1.62244168e-01 -3.12995685e-04 -3.25362850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36863999999997 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:298.59, Y:42.20, Z:-325.43 [[-2.30600532e-01 9.72932337e-01 -1.50353732e-02 2.98594321e+02] [ 1.64933365e-02 -1.15413517e-02 -9.99797363e-01 4.21977485e+01] [-9.72908713e-01 -2.30801787e-01 -1.33854586e-02 -3.25432099e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39864 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:298.46, Y:40.73, Z:-325.47 [[-1.60785573e-01 -9.86829853e-01 1.77437721e-02 2.98455751e+02] [-2.03089362e-02 2.12817609e-02 9.99567223e-01 4.07285018e+01] [-9.86780394e-01 1.60355632e-01 -2.34632647e-02 -3.25474654e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42864 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:298.50, Y:40.72, Z:-325.54 [[-9.16278781e-02 -9.92454571e-01 -8.14754921e-02 2.98504816e+02] [-3.97393273e-02 -7.81101508e-02 9.96152393e-01 4.07227309e+01] [-9.95000059e-01 9.45131113e-02 -3.22824097e-02 -3.25539269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45864 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:297.75, Y:41.48, Z:-325.57 [[-1.06936976e-01 -6.27342162e-02 9.92284688e-01 2.97750235e+02] [-7.45917510e-02 9.95701155e-01 5.49115752e-02 4.14813996e+01] [-9.91463844e-01 -6.81441746e-02 -1.11156726e-01 -3.25567457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48864 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:299.07, Y:41.91, Z:-325.75 [[-7.56804001e-02 6.52320095e-01 -7.54155800e-01 2.99067983e+02] [-6.84287555e-02 -7.57939439e-01 -6.48725915e-01 4.19103919e+01] [-9.94781374e-01 2.51010600e-03 1.01998612e-01 -3.25745147e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51864 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:299.08, Y:41.89, Z:-325.78 [[-7.70145623e-02 6.23184627e-01 -7.78273524e-01 2.99080434e+02] [-6.74261950e-02 -7.82060256e-01 -6.19544562e-01 4.18863654e+01] [-9.94747438e-01 4.76206912e-03 1.02248996e-01 -3.25775672e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54864 meters Centerline goodness : 0.996630 Centerline is valid? [True, True] Translation: X:299.09, Y:41.85, Z:-325.85 [[-8.48544526e-02 5.79286721e-01 -8.10695145e-01 2.99094167e+02] [-5.80717906e-02 -8.15121800e-01 -5.76371510e-01 4.18492701e+01] [-9.94699648e-01 -1.82917033e-03 1.02806931e-01 -3.25850382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57864 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:298.50, Y:40.72, Z:-325.82 [[-6.38423405e-02 -9.90767718e-01 -1.19597177e-01 2.98496448e+02] [-6.07842483e-02 -1.15758634e-01 9.91415762e-01 4.07216614e+01] [-9.96107138e-01 7.05639272e-02 -5.28327688e-02 -3.25817939e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60864 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:298.40, Y:40.72, Z:-325.91 [[-5.29911731e-03 -9.99976024e-01 -4.45759526e-03 2.98402833e+02] [-5.51715293e-02 -4.15850655e-03 9.98468231e-01 4.07157795e+01] [-9.98462829e-01 5.53693264e-03 -5.51481701e-02 -3.25913600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.63864 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:298.09, Y:42.10, Z:-326.06 [[ 4.28192988e-02 8.51936024e-01 5.21892247e-01 2.98085240e+02] [-1.88182187e-02 5.22966415e-01 -8.52145530e-01 4.20964192e+01] [-9.98905592e-01 2.66671916e-02 3.84249736e-02 -3.26055340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66864 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:298.18, Y:42.14, Z:-326.11 [[ 4.48254985e-02 9.15810351e-01 3.99101586e-01 2.98176713e+02] [-2.47616856e-02 4.00398967e-01 -9.16006292e-01 4.21356797e+01] [-9.98687906e-01 3.11780107e-02 4.06250913e-02 -3.26110935e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.69864 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:298.23, Y:42.15, Z:-326.16 [[ 4.28405174e-02 9.44218172e-01 3.26522179e-01 2.98227232e+02] [-2.84661602e-02 3.27843137e-01 -9.44303211e-01 4.21502345e+01] [-9.98676308e-01 3.11596055e-02 4.09232354e-02 -3.26164780e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72864 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:298.28, Y:42.16, Z:-326.22 [[ 3.92053728e-02 9.64609873e-01 2.60750323e-01 2.98275175e+02] [-3.12037668e-02 2.62005558e-01 -9.64561772e-01 4.21610070e+01] [-9.98743843e-01 2.96796116e-02 4.03714872e-02 -3.26218966e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.75864 meters Centerline goodness : 0.998534 Centerline is valid? [True, True] Translation: X:298.32, Y:42.17, Z:-326.28 [[ 3.19629769e-02 9.80561990e-01 1.93588614e-01 2.98321347e+02] [-3.20981862e-02 1.94594713e-01 -9.80358406e-01 4.21672950e+01] [-9.98973510e-01 2.51213297e-02 3.76940876e-02 -3.26277743e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78864 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:298.10, Y:40.78, Z:-326.38 [[ 3.76239465e-02 -9.14612905e-01 4.02576295e-01 2.98103441e+02] [-8.01012653e-02 3.98804893e-01 9.13530757e-01 4.07842458e+01] [-9.96076416e-01 -6.66175030e-02 -5.82570369e-02 -3.26377546e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.81864 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:298.52, Y:40.71, Z:-326.51 [[ 1.13430170e-01 -9.71090660e-01 -2.10039346e-01 2.98517001e+02] [-8.23174873e-02 -2.19862450e-01 9.72051611e-01 4.07111619e+01] [-9.90130006e-01 -9.29700682e-02 -1.04876778e-01 -3.26513837e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:298.23, Y:40.70, Z:-326.72 [[ 1.79288472e-01 -9.73837011e-01 1.39632091e-01 2.98234891e+02] [-8.39498778e-02 1.26269923e-01 9.88437314e-01 4.06965002e+01] [-9.80208173e-01 -1.88937512e-01 -5.91147566e-02 -3.26719811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.87864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:298.13, Y:40.72, Z:-326.90 [[ 2.61033551e-01 -9.30349301e-01 2.57510513e-01 2.98128454e+02] [-6.03375075e-02 2.50512969e-01 9.66231151e-01 4.07245855e+01] [-9.63442199e-01 -2.67756291e-01 9.25733189e-03 -3.26901531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90864 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:297.64, Y:41.52, Z:-327.18 [[ 2.49660497e-01 1.31335324e-01 9.59385568e-01 2.97643929e+02] [-9.87722632e-02 9.89045833e-01 -1.09692210e-01 4.15187329e+01] [-9.63282760e-01 -6.73748723e-02 2.59897961e-01 -3.27184463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.93864 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:298.41, Y:42.15, Z:-327.22 [[ 1.93208581e-01 9.79269766e-01 6.08372386e-02 2.98407203e+02] [-1.02220458e-01 8.17585536e-02 -9.91396246e-01 4.21492575e+01] [-9.75818335e-01 1.85327452e-01 1.15897858e-01 -3.27215540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:297.84, Y:41.79, Z:-327.37 [[ 1.77111799e-01 5.05978637e-01 8.44166470e-01 2.97842426e+02] [-1.19112838e-01 8.62441569e-01 -4.91941737e-01 4.17894257e+01] [-9.76956264e-01 -1.34223775e-02 2.13017129e-01 -3.27365243e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.99864 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:297.92, Y:41.84, Z:-327.52 [[ 1.31915832e-01 5.48897472e-01 8.25414913e-01 2.97918450e+02] [-1.80542282e-01 8.32068312e-01 -5.24468120e-01 4.18391700e+01] [-9.74680818e-01 -7.98366434e-02 2.08862186e-01 -3.27523374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02864 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:298.08, Y:41.99, Z:-327.58 [[ 1.25057489e-01 7.60217761e-01 6.37518298e-01 2.98075480e+02] [-1.79136683e-01 6.49303524e-01 -7.39131235e-01 4.19860375e+01] [-9.75843570e-01 -2.17690165e-02 2.17383156e-01 -3.27583042e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.05864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:298.14, Y:41.99, Z:-327.74 [[ 7.72893753e-02 7.78251902e-01 6.23177607e-01 2.98144813e+02] [-2.15042606e-01 6.23347858e-01 -7.51793939e-01 4.19937662e+01] [-9.73541489e-01 -7.59040524e-02 2.15535483e-01 -3.27735839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:298.66, Y:40.68, Z:-327.55 [[ 1.93000866e-01 -9.56149073e-01 -2.20294382e-01 2.98663433e+02] [-1.77061546e-01 -2.54768509e-01 9.50653573e-01 4.06773702e+01] [-9.65090604e-01 -1.44471299e-01 -2.18467776e-01 -3.27551204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11863999999997 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:298.01, Y:41.82, Z:-327.99 [[ 1.38220813e-01 5.94214950e-01 7.92340583e-01 2.98008306e+02] [-2.24284574e-01 7.98015738e-01 -5.59345432e-01 4.18164705e+01] [-9.64671673e-01 -1.00396590e-01 2.43575631e-01 -3.27988838e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:298.17, Y:41.94, Z:-328.05 [[ 1.33380505e-01 7.87499013e-01 6.01710018e-01 2.98172499e+02] [-2.20121787e-01 6.15509802e-01 -7.56765540e-01 4.19432071e+01] [-9.66310530e-01 -3.15117143e-02 2.55442698e-01 -3.28051128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:298.21, Y:41.93, Z:-328.17 [[ 1.19102689e-01 8.00453888e-01 5.87442016e-01 2.98213904e+02] [-2.31128117e-01 5.97751607e-01 -7.67641069e-01 4.19331214e+01] [-9.65605687e-01 -4.43462517e-02 2.56201224e-01 -3.28167400e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20864 meters Centerline goodness : 0.999267 Centerline is valid? [True, True] Translation: X:298.14, Y:40.76, Z:-328.06 [[ 2.29581542e-01 -8.05402637e-01 5.46460344e-01 2.98136514e+02] [-2.68888188e-01 4.87120414e-01 8.30910853e-01 4.07556670e+01] [-9.35409781e-01 -3.37698526e-01 -1.04729400e-01 -3.28063355e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23864 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:298.04, Y:41.72, Z:-328.44 [[ 1.93960760e-01 5.39651916e-01 8.19240522e-01 2.98037353e+02] [-3.03308014e-01 8.27171554e-01 -4.73066030e-01 4.17173481e+01] [-9.32943446e-01 -1.56725969e-01 3.24119574e-01 -3.28436564e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26864 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:299.15, Y:41.80, Z:-328.41 [[ 1.30763286e-01 8.07468577e-01 -5.75235135e-01 2.99151472e+02] [-2.12601327e-01 -5.43880767e-01 -8.11784692e-01 4.18016018e+01] [-9.68349957e-01 2.28447387e-01 1.00549255e-01 -3.28407374e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29864 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:298.40, Y:41.88, Z:-328.59 [[ 1.08334258e-01 8.72900613e-01 4.75718623e-01 2.98396599e+02] [-2.32236491e-01 4.87516245e-01 -8.41661525e-01 4.18822796e+01] [-9.66607418e-01 -1.92984471e-02 2.55534086e-01 -3.28587774e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32864 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:298.42, Y:41.88, Z:-328.64 [[ 1.07823193e-01 8.79082299e-01 4.64315056e-01 2.98417286e+02] [-2.32088028e-01 4.76390475e-01 -8.48049092e-01 4.18750769e+01] [-9.66700215e-01 -1.63226049e-02 2.55390420e-01 -3.28643835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35864 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:298.42, Y:41.84, Z:-328.76 [[ 1.10593046e-01 8.65212091e-01 4.89057477e-01 2.98421575e+02] [-2.74340599e-01 4.99533521e-01 -8.21707671e-01 4.18406163e+01] [-9.55252016e-01 -4.32931671e-02 2.92607737e-01 -3.28758504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.38864 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:299.45, Y:41.35, Z:-328.68 [[ 9.32562060e-02 3.99889756e-01 -9.11806703e-01 2.99453512e+02] [-1.69852038e-01 -8.95983352e-01 -4.10321968e-01 4.13476716e+01] [-9.81047178e-01 1.93137297e-01 -1.56339181e-02 -3.28683981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41864 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:298.55, Y:41.78, Z:-329.00 [[ 4.81104859e-02 9.06461240e-01 4.19539512e-01 2.98554289e+02] [-2.26391050e-01 4.18990795e-01 -8.79314395e-01 4.17787251e+01] [-9.72847611e-01 -5.26757479e-02 2.25372563e-01 -3.28996569e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.44864 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:298.72, Y:41.79, Z:-329.11 [[ 2.20844025e-02 9.74233766e-01 2.24456787e-01 2.98718467e+02] [-2.22633541e-01 2.23666393e-01 -9.48898125e-01 4.17938567e+01] [-9.74652033e-01 -2.90157611e-02 2.21836652e-01 -3.29107121e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47864 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:298.83, Y:41.77, Z:-329.24 [[-1.46940026e-02 9.94046399e-01 1.07962227e-01 2.98832002e+02] [-2.15859389e-01 1.02274150e-01 -9.71053409e-01 4.17677804e+01] [-9.76313889e-01 -3.75733217e-02 2.13071432e-01 -3.29236409e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.50864 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:299.57, Y:40.95, Z:-329.14 [[-1.10213714e-03 2.25480093e-02 -9.99745154e-01 2.99568940e+02] [-1.72576843e-01 -9.84749903e-01 -2.20195583e-02 4.09538941e+01] [-9.84995441e-01 1.72508594e-01 4.97659370e-03 -3.29143757e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53864 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:298.97, Y:41.73, Z:-329.29 [[-1.21378315e-02 9.96165181e-01 -8.66464387e-02 2.98973770e+02] [-1.56349879e-01 -8.74777342e-02 -9.83820289e-01 4.17265495e+01] [-9.87627150e-01 1.60571535e-03 1.56812096e-01 -3.29287854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.56864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:298.99, Y:41.72, Z:-329.31 [[-1.20305723e-02 9.93883750e-01 -1.09774113e-01 2.98988082e+02] [-1.56168311e-01 -1.10302460e-01 -9.81552253e-01 4.17201741e+01] [-9.87657189e-01 5.33460245e-03 1.56540148e-01 -3.29307801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59864 meters Centerline goodness : 0.997455 Centerline is valid? [True, True] Translation: X:299.00, Y:41.71, Z:-329.32 [[-1.56376208e-02 9.91054598e-01 -1.32537724e-01 2.99004391e+02] [-1.55894090e-01 -1.33349496e-01 -9.78731293e-01 4.17140645e+01] [-9.87649987e-01 5.35681914e-03 1.56584824e-01 -3.29321160e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.62864 meters Centerline goodness : 0.998244 Centerline is valid? [True, True] Translation: X:299.02, Y:41.71, Z:-329.34 [[-1.86396152e-02 9.87714575e-01 -1.55153097e-01 2.99018047e+02] [-1.53557962e-01 -1.56167002e-01 -9.75721179e-01 4.17074751e+01] [-9.87963824e-01 5.63792600e-03 1.54582330e-01 -3.29336228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65864 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:299.03, Y:41.70, Z:-329.35 [[-2.20984478e-02 9.83862271e-01 -1.77557571e-01 2.99031707e+02] [-1.54010279e-01 -1.78831087e-01 -9.71751139e-01 4.17009621e+01] [-9.87822096e-01 5.87149918e-03 1.55476792e-01 -3.29351115e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.68864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:299.03, Y:41.70, Z:-329.38 [[-2.70582959e-02 9.83524217e-01 -1.78739930e-01 2.99030210e+02] [-1.71126499e-01 -1.80723344e-01 -9.68532289e-01 4.16965269e+01] [-9.84877439e-01 4.38030512e-03 1.73197121e-01 -3.29380629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71864 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:299.46, Y:40.61, Z:-329.28 [[-7.40315741e-04 -4.27791974e-01 -9.03876916e-01 2.99459924e+02] [-1.19888011e-01 -8.97319906e-01 4.24786829e-01 4.06057949e+01] [-9.92787146e-01 1.08678482e-01 -5.06228289e-02 -3.29280976e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.74864 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:298.95, Y:41.70, Z:-329.40 [[-1.41000538e-03 9.96244586e-01 -8.65721489e-02 2.98948619e+02] [-9.00188412e-02 -8.63472070e-02 -9.92189885e-01 4.16971328e+01] [-9.95939064e-01 6.39413145e-03 8.98025332e-02 -3.29402614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77864 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:298.97, Y:41.69, Z:-329.41 [[-7.15505989e-03 9.92039322e-01 -1.25725050e-01 2.98972077e+02] [-8.90521708e-02 -1.25860853e-01 -9.88042892e-01 4.16918525e+01] [-9.96001263e-01 4.12658254e-03 8.92437972e-02 -3.29411728e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.80864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:299.00, Y:41.68, Z:-329.42 [[-1.19431936e-02 9.86546321e-01 -1.63045138e-01 2.98996141e+02] [-8.69699623e-02 -1.63463717e-01 -9.82708420e-01 4.16833043e+01] [-9.96139341e-01 2.44335256e-03 8.77521752e-02 -3.29423494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:299.02, Y:41.68, Z:-329.43 [[-1.80387517e-02 9.79557404e-01 -2.00354426e-01 2.99020575e+02] [-8.41941119e-02 -2.01163493e-01 -9.75932682e-01 4.16751302e+01] [-9.96286081e-01 -7.35944375e-04 8.61017040e-02 -3.29433891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86863999999997 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:299.04, Y:41.67, Z:-329.46 [[-2.76142349e-02 9.73740676e-01 -2.25979092e-01 2.99036837e+02] [-9.73497804e-02 -2.27610367e-01 -9.68873852e-01 4.16695214e+01] [-9.94867064e-01 -4.75569515e-03 1.01078727e-01 -3.29455650e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:299.52, Y:40.74, Z:-329.45 [[-9.05723059e-03 -2.24154646e-01 -9.74511499e-01 2.99523299e+02] [-3.33060557e-02 -9.73943122e-01 2.24333460e-01 4.07389903e+01] [-9.99404159e-01 3.44889741e-02 1.35552033e-03 -3.29449685e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:298.48, Y:40.29, Z:-329.60 [[ 7.10593207e-02 -9.37635878e-01 3.40278612e-01 2.98483256e+02] [-8.21690891e-02 3.34478992e-01 9.38814170e-01 4.02856913e+01] [-9.94081895e-01 -9.46718807e-02 -5.32768361e-02 -3.29600172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95864 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:298.26, Y:41.47, Z:-329.76 [[ 4.88407328e-02 6.55620699e-01 7.53509178e-01 2.98263211e+02] [-6.27474926e-02 7.54933376e-01 -6.52792731e-01 4.14724191e+01] [-9.96833655e-01 -1.53979362e-02 7.80100543e-02 -3.29757525e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98864 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:298.63, Y:40.23, Z:-329.81 [[ 1.45944534e-01 -9.85064431e-01 9.13688088e-02 2.98630642e+02] [-9.51227047e-02 7.79568631e-02 9.92408383e-01 4.02256148e+01] [-9.84709025e-01 -1.53527827e-01 -8.23246150e-02 -3.29813676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:298.12, Y:41.30, Z:-330.02 [[ 1.40846146e-01 4.19232028e-01 8.96887323e-01 2.98119304e+02] [-9.73830566e-02 9.07391337e-01 -4.08848997e-01 4.12967746e+01] [-9.85230381e-01 -2.97568234e-02 1.68628669e-01 -3.30023797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:299.26, Y:41.50, Z:-330.05 [[ 7.42401638e-02 8.36104335e-01 -5.43523632e-01 2.99260822e+02] [-1.15398000e-02 -5.44270929e-01 -8.38830131e-01 4.14963206e+01] [-9.97173621e-01 6.85470404e-02 -3.07582861e-02 -3.30049627e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07864 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:299.29, Y:41.49, Z:-330.21 [[ 1.50638539e-02 8.64329635e-01 -5.02700072e-01 2.99287074e+02] [ 2.12851452e-02 -5.02920389e-01 -8.64070613e-01 4.14860708e+01] [-9.99659954e-01 2.31618945e-03 -2.59733010e-02 -3.30213794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10864 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:298.18, Y:41.13, Z:-330.36 [[-1.35615846e-02 2.48554688e-01 9.68522922e-01 2.98177178e+02] [-2.89539884e-02 9.68108212e-01 -2.48853683e-01 4.11325128e+01] [-9.99488744e-01 -3.14174517e-02 -5.93243188e-03 -3.30359614e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.13864 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:298.65, Y:40.19, Z:-330.49 [[ 8.50047864e-02 -9.82181369e-01 1.67612481e-01 2.98645852e+02] [-2.83154931e-02 1.65772139e-01 9.85757491e-01 4.01853091e+01] [-9.95978122e-01 -8.85401350e-02 -1.37195245e-02 -3.30491407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:298.10, Y:40.95, Z:-330.62 [[ 8.73442928e-02 -7.19510424e-03 9.96152200e-01 2.98100101e+02] [-4.99756363e-02 9.98683125e-01 1.15953323e-02 4.09527131e+01] [-9.94923821e-01 -5.07961261e-02 8.68696914e-02 -3.30624344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.19864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:298.21, Y:41.27, Z:-330.73 [[ 7.69735931e-02 4.32328576e-01 8.98424771e-01 2.98210793e+02] [-6.55298010e-02 9.01343535e-01 -4.28118764e-01 4.12715514e+01] [-9.94877335e-01 -2.59197569e-02 9.77100561e-02 -3.30729717e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22864 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:299.32, Y:41.47, Z:-330.84 [[ 1.46206511e-02 8.63494775e-01 -5.04145822e-01 2.99320459e+02] [-5.76088987e-03 -5.04118600e-01 -8.63615221e-01 4.14731008e+01] [-9.99876517e-01 1.55309454e-02 -2.39604387e-03 -3.30835570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.25864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:298.90, Y:41.60, Z:-330.91 [[ 1.79837630e-03 9.97096940e-01 7.61213352e-02 2.98901632e+02] [-3.71151413e-03 7.61275893e-02 -9.97091177e-01 4.16044034e+01] [-9.99991495e-01 1.51061973e-03 3.83764544e-03 -3.30909902e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28864 meters Centerline goodness : 0.998584 Centerline is valid? [True, True] Translation: X:299.10, Y:41.58, Z:-330.94 [[ 1.03445393e-03 9.79675197e-01 -2.00587731e-01 2.99102511e+02] [-2.15896868e-02 -2.00519204e-01 -9.79451854e-01 4.15774090e+01] [-9.99766380e-01 5.34382410e-03 2.09434528e-02 -3.30938821e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.31864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:299.60, Y:40.63, Z:-331.00 [[ 2.27151522e-02 -2.37937685e-01 -9.71014768e-01 2.99601516e+02] [ 3.08514714e-02 -9.70635964e-01 2.38566578e-01 4.06310909e+01] [-9.99265835e-01 -3.53763105e-02 -1.47074159e-02 -3.30996063e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:298.73, Y:40.14, Z:-331.14 [[ 1.01290266e-02 -9.87132384e-01 1.59584017e-01 2.98726692e+02] [ 2.68432738e-02 1.59803115e-01 9.86783868e-01 4.01427379e+01] [-9.99588336e-01 -5.71140255e-03 2.81165149e-02 -3.31140755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.37864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:298.50, Y:40.24, Z:-331.21 [[ 9.97439903e-03 -8.77898889e-01 4.78742157e-01 2.98498096e+02] [ 2.94810235e-02 4.78816029e-01 8.77420127e-01 4.02414949e+01] [-9.99515573e-01 5.36207032e-03 3.06572599e-02 -3.31206108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40864 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:298.44, Y:40.29, Z:-331.27 [[ 1.38003752e-02 -8.22187098e-01 5.69050021e-01 2.98435831e+02] [ 2.58648745e-02 5.69207317e-01 8.21787101e-01 4.02887638e+01] [-9.99570187e-01 3.37743698e-03 2.91210406e-02 -3.31267566e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.43864 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:298.41, Y:40.32, Z:-331.36 [[ 4.76583818e-02 -7.92149640e-01 6.08463332e-01 2.98406470e+02] [ 4.59497712e-02 6.10249305e-01 7.90875720e-01 4.03206968e+01] [-9.97806242e-01 -9.73310615e-03 6.54825891e-02 -3.31361824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46864 meters Centerline goodness : 0.997803 Centerline is valid? [True, True] Translation: X:298.30, Y:41.32, Z:-331.50 [[ 1.89263312e-02 5.00391824e-01 8.65592177e-01 2.98302215e+02] [-3.57574131e-02 8.65532169e-01 -4.99575291e-01 4.13211103e+01] [-9.99181266e-01 -2.14962097e-02 3.42740656e-02 -3.31495613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.49864 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:298.50, Y:41.53, Z:-331.54 [[ 7.10800729e-03 7.92635511e-01 6.09654348e-01 2.98502960e+02] [-4.26719300e-02 6.09354825e-01 -7.91748574e-01 4.15258131e+01] [-9.99063853e-01 -2.03873730e-02 3.81545856e-02 -3.31539224e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52864 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:299.58, Y:41.25, Z:-331.58 [[-1.11826087e-02 5.15302379e-01 -8.56935474e-01 2.99577826e+02] [ 2.10449600e-02 -8.56677954e-01 -5.15422151e-01 4.12539964e+01] [-9.99715989e-01 -2.37979370e-02 -1.26462360e-03 -3.31581794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.55864 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:299.60, Y:40.61, Z:-331.63 [[-2.74477395e-02 -3.57036192e-01 -9.33687196e-01 2.99602300e+02] [ 1.44291530e-02 -9.34083302e-01 3.56763485e-01 4.06075520e+01] [-9.99519095e-01 -3.67996423e-03 3.07902050e-02 -3.31627740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58864 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:298.58, Y:40.26, Z:-331.67 [[ 2.56735943e-02 -9.14735605e-01 4.03236456e-01 2.98583204e+02] [-2.71283313e-02 4.02583344e-01 9.14981259e-01 4.02551816e+01] [-9.99302217e-01 -3.44299898e-02 -1.44794890e-02 -3.31666662e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61863999999997 meters Centerline goodness : 0.998289 Centerline is valid? [True, True] Translation: X:298.68, Y:40.21, Z:-331.83 [[ 9.37392580e-02 -9.74170059e-01 2.05440134e-01 2.98681002e+02] [-4.30697065e-02 2.02187652e-01 9.78399281e-01 4.02103419e+01] [-9.94664743e-01 -1.00562669e-01 -2.30042980e-02 -3.31830407e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64864 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:298.73, Y:40.19, Z:-331.99 [[ 1.62106829e-01 -9.82849011e-01 8.79158541e-02 2.98733046e+02] [-4.93411403e-02 8.09093225e-02 9.95499439e-01 4.01933520e+01] [-9.85538851e-01 -1.65715126e-01 -3.53789372e-02 -3.31992964e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67864 meters Centerline goodness : 0.997608 Centerline is valid? [True, True] Translation: X:298.93, Y:40.18, Z:-332.13 [[ 2.31895820e-01 -9.50989965e-01 -2.04554185e-01 2.98928342e+02] [-3.55014073e-02 -2.18420458e-01 9.75208774e-01 4.01792054e+01] [-9.72092577e-01 -2.18884877e-01 -8.44122734e-02 -3.32128172e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70864 meters Centerline goodness : 0.996825 Centerline is valid? [True, True] Translation: X:298.62, Y:40.21, Z:-332.37 [[ 2.94639377e-01 -9.35852720e-01 1.93306294e-01 2.98618575e+02] [-1.09118198e-02 1.98978036e-01 9.79943199e-01 4.02054550e+01] [-9.55546215e-01 -2.90839177e-01 4.84149083e-02 -3.32370788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73864 meters Centerline goodness : 0.997022 Centerline is valid? [True, True] Translation: X:298.12, Y:40.95, Z:-332.62 [[ 2.79892079e-01 -5.58424378e-03 9.60015229e-01 2.98122479e+02] [-2.99768789e-02 9.99444639e-01 1.45533456e-02 4.09510760e+01] [-9.59563344e-01 -3.28516264e-02 2.79569240e-01 -3.32616065e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76864 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:298.83, Y:41.65, Z:-332.60 [[ 2.38779294e-01 9.52222037e-01 1.90414394e-01 2.98827177e+02] [-3.46740872e-02 2.04321933e-01 -9.78289454e-01 4.16517757e+01] [-9.70454613e-01 2.26992820e-01 8.18052768e-02 -3.32600645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79864 meters Centerline goodness : 0.996532 Centerline is valid? [True, True] Translation: X:298.99, Y:41.66, Z:-332.73 [[ 1.74571925e-01 9.80789506e-01 8.70435991e-02 2.98990241e+02] [-4.25453080e-02 9.58319999e-02 -9.94487871e-01 4.16551146e+01] [-9.83724829e-01 1.69906365e-01 5.84575683e-02 -3.32732836e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82864 meters Centerline goodness : 0.996568 Centerline is valid? [True, True] Translation: X:299.19, Y:41.63, Z:-332.87 [[ 1.11151755e-01 9.90097904e-01 -8.57404690e-02 2.99194566e+02] [-3.73216638e-02 -8.20555475e-02 -9.95928703e-01 4.16346786e+01] [-9.93102402e-01 1.13899200e-01 2.78314830e-02 -3.32867714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85864 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:299.29, Y:41.62, Z:-333.03 [[ 4.52512048e-02 9.91621643e-01 -1.20991101e-01 2.99285086e+02] [-2.99266190e-02 -1.19715183e-01 -9.92357129e-01 4.16157806e+01] [-9.98527279e-01 4.85262103e-02 2.42586268e-02 -3.33026302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.88864 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:298.74, Y:41.49, Z:-333.09 [[ 4.87150253e-02 7.86914172e-01 6.15136516e-01 2.98737392e+02] [-5.85301521e-02 6.17058456e-01 -7.84737589e-01 4.14912805e+01] [-9.97096318e-01 2.22447769e-03 7.61182245e-02 -3.33093043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91864 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:299.82, Y:41.23, Z:-333.21 [[ 6.56927948e-03 5.67455426e-01 -8.23377911e-01 2.99818414e+02] [ 1.18233790e-02 -8.23382198e-01 -5.67364049e-01 4.12285918e+01] [-9.99908522e-01 -6.00793608e-03 -1.21182683e-02 -3.33212436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.94864 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:299.71, Y:40.32, Z:-333.26 [[ 1.65090447e-03 -6.74592165e-01 -7.38188787e-01 2.99707747e+02] [ 1.54277801e-03 -7.38187197e-01 6.74594161e-01 4.03172157e+01] [-9.99997447e-01 -2.25255194e-03 -1.77930583e-04 -3.33259741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97864 meters Centerline goodness : 0.996531 Centerline is valid? [True, True] Translation: X:299.32, Y:40.11, Z:-333.31 [[-3.20238619e-03 -9.73649312e-01 -2.28027985e-01 2.99320404e+02] [ 1.96059505e-02 -2.28046455e-01 9.73452835e-01 4.01139875e+01] [-9.99802656e-01 -1.35333347e-03 1.98196130e-02 -3.33309244e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.00864 meters Centerline goodness : 0.996535 Centerline is valid? [True, True] Translation: X:298.45, Y:40.80, Z:-333.49 [[ 2.66716771e-03 -1.59325573e-01 9.87222492e-01 2.98449509e+02] [-7.24631485e-02 9.84599864e-01 1.59098086e-01 4.08029315e+01] [-9.97367524e-01 -7.19615913e-02 -8.91913968e-03 -3.33489410e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03864 meters Centerline goodness : 0.996144 Centerline is valid? [True, True] Translation: X:298.97, Y:41.58, Z:-333.60 [[ 3.70534240e-02 9.41792273e-01 3.34147209e-01 2.98974838e+02] [-9.58525800e-02 3.36184615e-01 -9.36905645e-01 4.15825863e+01] [-9.94705648e-01 2.68668996e-03 1.02730010e-01 -3.33601304e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.06864 meters Centerline goodness : 0.996238 Centerline is valid? [True, True] Translation: X:299.08, Y:41.59, Z:-333.73 [[ 6.15545468e-03 9.74771961e-01 2.23118209e-01 2.99075322e+02] [-8.64695594e-02 2.22805549e-01 -9.71020444e-01 4.15893574e+01] [-9.96235477e-01 -1.33158609e-02 8.56595714e-02 -3.33734441e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09864 meters Centerline goodness : 0.996388 Centerline is valid? [True, True] Translation: X:299.94, Y:40.90, Z:-333.76 [[ 2.64660625e-03 1.11496392e-01 -9.93761314e-01 2.99944879e+02] [-6.23899383e-02 -9.91810368e-01 -1.11443661e-01 4.09015594e+01] [-9.98048341e-01 6.22956545e-02 4.33132150e-03 -3.33755625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.12864 meters Centerline goodness : 0.996875 Centerline is valid? [True, True] Translation: X:299.52, Y:41.51, Z:-333.81 [[ 5.65608479e-03 9.18353756e-01 -3.95720088e-01 2.99522765e+02] [-3.26023020e-02 -3.95346693e-01 -9.17953203e-01 4.15118291e+01] [-9.99452399e-01 1.80934070e-02 2.77043321e-02 -3.33805352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15864 meters Centerline goodness : 0.996487 Centerline is valid? [True, True] Translation: X:299.63, Y:41.45, Z:-333.83 [[ 6.81708320e-03 8.38822576e-01 -5.44362209e-01 2.99625506e+02] [-3.70903012e-02 -5.43788162e-01 -8.38402496e-01 4.14512883e+01] [-9.99288665e-01 2.59060178e-02 2.74051328e-02 -3.33831843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.18864 meters Centerline goodness : 0.996387 Centerline is valid? [True, True] Translation: X:299.67, Y:41.41, Z:-333.85 [[ 3.65551465e-03 7.87286535e-01 -6.16576475e-01 2.99674897e+02] [-3.86168825e-02 -6.16009536e-01 -7.86791578e-01 4.14123916e+01] [-9.99247404e-01 2.66863895e-02 2.81507198e-02 -3.33852359e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21864 meters Centerline goodness : 0.997170 Centerline is valid? [True, True] Translation: X:299.07, Y:40.12, Z:-333.87 [[-8.67946843e-04 -9.86554906e-01 1.63427858e-01 2.99066398e+02] [-5.69748269e-02 1.63211236e-01 9.84944649e-01 4.01169648e+01] [-9.98375238e-01 -8.45639435e-03 -5.63504537e-02 -3.33873683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.24864 meters Centerline goodness : 0.995901 Centerline is valid? [True, True] Translation: X:298.75, Y:41.42, Z:-334.00 [[ 4.75257269e-02 7.84505663e-01 6.18297800e-01 2.98745205e+02] [-1.20474713e-02 6.19402431e-01 -7.84981201e-01 4.14219994e+01] [-9.98797359e-01 2.98578772e-02 3.88888602e-02 -3.34002417e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27864 meters Centerline goodness : 0.995757 Centerline is valid? [True, True] Translation: X:298.79, Y:41.45, Z:-334.07 [[ 4.49176622e-02 8.30037379e-01 5.55895992e-01 2.98792168e+02] [-1.79304155e-02 5.57037847e-01 -8.30293524e-01 4.14518345e+01] [-9.98829767e-01 2.73273979e-02 3.99037530e-02 -3.34072855e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.30864 meters Centerline goodness : 0.995805 Centerline is valid? [True, True] Translation: X:298.86, Y:41.49, Z:-334.13 [[ 4.45659943e-02 8.87086329e-01 4.59447186e-01 2.98858264e+02] [-2.21321231e-02 4.60667962e-01 -8.87296567e-01 4.14886014e+01] [-9.98761253e-01 2.93747121e-02 4.01632296e-02 -3.34132393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33864 meters Centerline goodness : 0.996192 Centerline is valid? [True, True] Translation: X:298.91, Y:41.51, Z:-334.19 [[ 4.30268948e-02 9.19580414e-01 3.90538794e-01 2.98907479e+02] [-2.67326537e-02 3.91820526e-01 -9.19653218e-01 4.15092536e+01] [-9.98716202e-01 2.91296839e-02 4.14416453e-02 -3.34186220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36863999999997 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:298.95, Y:41.52, Z:-334.27 [[ 3.23156960e-02 9.42461958e-01 3.32747884e-01 2.98949098e+02] [-3.20695875e-02 3.33728087e-01 -9.42123721e-01 4.15206306e+01] [-9.98963081e-01 1.97742964e-02 4.10090216e-02 -3.34274967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39864 meters Centerline goodness : 0.994523 Centerline is valid? [True, True] Translation: X:299.07, Y:41.55, Z:-334.33 [[ 3.10007913e-02 9.86466386e-01 1.61006275e-01 2.99073269e+02] [-3.70853101e-02 1.62107988e-01 -9.86075900e-01 4.15528401e+01] [-9.98831132e-01 2.45981656e-02 4.16088878e-02 -3.34332688e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42864 meters Centerline goodness : 0.994248 Centerline is valid? [True, True] Translation: X:299.12, Y:41.56, Z:-334.39 [[ 2.68954831e-02 9.95576774e-01 9.00195498e-02 2.99122872e+02] [-3.87493080e-02 9.10227673e-02 -9.95094642e-01 4.15580548e+01] [-9.98886943e-01 2.32753559e-02 4.10260124e-02 -3.34386302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45864 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:299.17, Y:41.56, Z:-334.44 [[ 2.29480266e-02 9.99315129e-01 2.90286343e-02 2.99165906e+02] [-3.98341580e-02 2.99271932e-02 -9.98758030e-01 4.15587287e+01] [-9.98942755e-01 2.17631946e-02 4.04936467e-02 -3.34439383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48864 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:299.21, Y:41.56, Z:-334.46 [[ 1.99116254e-02 9.99299637e-01 -3.16822219e-02 2.99210729e+02] [-4.12444251e-02 -3.08405356e-02 -9.98672999e-01 4.15599520e+01] [-9.98950662e-01 2.11919177e-02 4.06014539e-02 -3.34455479e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51864 meters Centerline goodness : 0.993552 Centerline is valid? [True, True] Translation: X:299.20, Y:41.56, Z:-334.46 [[ 1.41820466e-02 9.99525818e-01 -2.73314598e-02 2.99200968e+02] [-3.11425194e-02 -2.68794038e-02 -9.99153462e-01 4.15625206e+01] [-9.99414335e-01 1.50212115e-02 3.07465473e-02 -3.34458720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54864 meters Centerline goodness : 0.993752 Centerline is valid? [True, True] Translation: X:299.96, Y:40.78, Z:-334.50 [[ 1.26441658e-02 -9.89673146e-02 -9.95010350e-01 2.99960729e+02] [-8.06235846e-03 -9.95067641e-01 9.88705600e-02 4.07814551e+01] [-9.99887555e-01 6.77199436e-03 -1.33797102e-02 -3.34501842e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57864 meters Centerline goodness : 0.993893 Centerline is valid? [True, True] Translation: X:299.42, Y:40.09, Z:-334.53 [[-1.18474202e-02 -9.81106343e-01 -1.93106142e-01 2.99419619e+02] [-5.17832966e-03 -1.93056907e-01 9.81173897e-01 4.00941879e+01] [-9.99916408e-01 1.26243467e-02 -2.79326578e-03 -3.34525338e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60864 meters Centerline goodness : 0.992879 Centerline is valid? [True, True] Translation: X:299.13, Y:40.08, Z:-334.60 [[-1.14947496e-02 -9.79295764e-01 2.02108081e-01 2.99127898e+02] [-3.00152567e-04 2.02124805e-01 9.79359726e-01 4.00754750e+01] [-9.99933888e-01 1.11968316e-02 -2.61731216e-03 -3.34596019e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.63864 meters Centerline goodness : 0.992683 Centerline is valid? [True, True] Translation: X:298.84, Y:40.17, Z:-334.65 [[-1.11264323e-02 -8.15626265e-01 5.78472124e-01 2.98843638e+02] [ 4.18079548e-03 5.78464932e-01 8.15696539e-01 4.01721462e+01] [-9.99929359e-01 1.14942660e-02 -3.02628433e-03 -3.34653287e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66864 meters Centerline goodness : 0.992189 Centerline is valid? [True, True] Translation: X:298.70, Y:40.28, Z:-334.74 [[-4.37208958e-03 -6.54812559e-01 7.55778670e-01 2.98702690e+02] [ 3.93883793e-04 7.55784707e-01 6.54820068e-01 4.02826695e+01] [-9.99990365e-01 3.16062096e-03 -3.04643839e-03 -3.34743228e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.69864 meters Centerline goodness : 0.992538 Centerline is valid? [True, True] Translation: X:299.42, Y:40.11, Z:-334.89 [[ 7.82139785e-02 -9.67512217e-01 -2.40421886e-01 2.99416810e+02] [-4.92248372e-03 -2.41532511e-01 9.70380243e-01 4.01082691e+01] [-9.96924442e-01 -7.47138266e-02 -2.36537818e-02 -3.34887330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72864 meters Centerline goodness : 0.992443 Centerline is valid? [True, True] Translation: X:299.39, Y:40.10, Z:-335.05 [[ 1.43913774e-01 -9.60221953e-01 -2.39296108e-01 2.99385069e+02] [ 1.32172032e-02 -2.39926657e-01 9.70701038e-01 4.00995327e+01] [-9.89501961e-01 -1.42860075e-01 -2.18373019e-02 -3.35048597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.75864 meters Centerline goodness : 0.991516 Centerline is valid? [True, True] Translation: X:299.39, Y:40.10, Z:-335.21 [[ 2.10446250e-01 -9.39697280e-01 -2.69594877e-01 2.99388515e+02] [ 3.26930253e-02 -2.68851561e-01 9.62626617e-01 4.01014945e+01] [-9.77058617e-01 -2.11395034e-01 -2.58572558e-02 -3.35206068e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78864 meters Centerline goodness : 0.989449 Centerline is valid? [True, True] Translation: X:299.39, Y:40.10, Z:-335.36 [[ 2.77376606e-01 -9.17389579e-01 -2.85409494e-01 2.99391342e+02] [ 5.29410894e-02 -2.82020266e-01 9.57946664e-01 4.01021654e+01] [-9.59301548e-01 -2.80821884e-01 -2.96582204e-02 -3.35363676e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.81864 meters Centerline goodness : 0.991264 Centerline is valid? [True, True] Translation: X:299.40, Y:40.10, Z:-335.52 [[ 3.41326106e-01 -8.90884405e-01 -2.99702295e-01 2.99401117e+02] [ 7.37692504e-02 -2.92477482e-01 9.53422792e-01 4.01028401e+01] [-9.37045670e-01 -3.47536903e-01 -3.41103254e-02 -3.35519220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84864 meters Centerline goodness : 0.991796 Centerline is valid? [True, True] Translation: X:299.42, Y:40.11, Z:-335.67 [[ 4.04018547e-01 -8.59252619e-01 -3.13773723e-01 2.99420323e+02] [ 9.55981459e-02 -3.01475994e-01 9.48669183e-01 4.01060145e+01] [-9.09741726e-01 -4.13276132e-01 -3.96589361e-02 -3.35674765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.87864 meters Centerline goodness : 0.991269 Centerline is valid? [True, True] Translation: X:298.90, Y:41.48, Z:-335.90 [[ 3.32090771e-01 8.80777343e-01 3.37560354e-01 2.98902356e+02] [ 1.10967914e-01 3.18904085e-01 -9.41268456e-01 4.14824543e+01] [-9.36697305e-01 3.50044936e-01 8.16707907e-03 -3.35895602e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90864 meters Centerline goodness : 0.992661 Centerline is valid? [True, True] Translation: X:299.00, Y:41.51, Z:-336.02 [[ 2.67725671e-01 9.06713656e-01 3.25873152e-01 2.99004603e+02] [ 8.85453097e-02 3.13634504e-01 -9.45406329e-01 4.15143958e+01] [-9.59417893e-01 2.81964083e-01 3.68276662e-03 -3.36018509e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.93864 meters Centerline goodness : 0.991611 Centerline is valid? [True, True] Translation: X:299.10, Y:41.54, Z:-336.15 [[ 2.04176283e-01 9.28033448e-01 3.11554111e-01 2.99100856e+02] [ 6.92422808e-02 3.03770427e-01 -9.50225781e-01 4.15445234e+01] [-9.76482233e-01 2.15586285e-01 -2.23643589e-03 -3.36148637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96864 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:299.67, Y:40.18, Z:-336.25 [[ 2.91997919e-01 -9.16219070e-01 -2.74371703e-01 2.99672403e+02] [ 5.17724165e-02 -2.71311433e-01 9.61098186e-01 4.01783513e+01] [-9.55016666e-01 -2.94843556e-01 -3.17874984e-02 -3.36252388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.99864 meters Centerline goodness : 0.992809 Centerline is valid? [True, True] Translation: X:299.68, Y:40.18, Z:-336.41 [[ 3.54550492e-01 -8.89375087e-01 -2.88627621e-01 2.99680588e+02] [ 7.10997236e-02 -2.82143506e-01 9.56733961e-01 4.01796357e+01] [-9.32329758e-01 -3.59731841e-01 -3.67997960e-02 -3.36412683e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02864 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:299.19, Y:41.56, Z:-336.63 [[ 2.65995792e-01 9.09638588e-01 3.19067199e-01 2.99187267e+02] [ 8.55660723e-02 3.07404949e-01 -9.47723928e-01 4.15635105e+01] [-9.60169092e-01 2.79391904e-01 3.93422159e-03 -3.36627012e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.05864 meters Centerline goodness : 0.990726 Centerline is valid? [True, True] Translation: X:299.78, Y:40.21, Z:-336.72 [[ 3.55933505e-01 -8.89623341e-01 -2.86149700e-01 2.99775404e+02] [ 7.15763809e-02 -2.79350748e-01 9.57517614e-01 4.02052501e+01] [-9.31766152e-01 -3.61294160e-01 -3.57542715e-02 -3.36715487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08864 meters Centerline goodness : 0.991069 Centerline is valid? [True, True] Translation: X:299.79, Y:40.21, Z:-336.88 [[ 4.15954280e-01 -8.58575883e-01 -2.99715682e-01 2.99793066e+02] [ 9.24091936e-02 -2.87967915e-01 9.53171035e-01 4.02078464e+01] [-9.04678163e-01 -4.24172056e-01 -4.04411815e-02 -3.36875179e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11863999999997 meters Centerline goodness : 0.991314 Centerline is valid? [True, True] Translation: X:299.31, Y:41.59, Z:-337.09 [[ 3.25936103e-01 8.88204640e-01 3.23818120e-01 2.99306973e+02] [ 1.02528450e-01 3.07292608e-01 -9.46075668e-01 4.15920048e+01] [-9.39815712e-01 3.41560787e-01 9.09151026e-03 -3.37094700e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14864 meters Centerline goodness : 0.991448 Centerline is valid? [True, True] Translation: X:299.41, Y:41.62, Z:-337.22 [[ 2.64977137e-01 9.11919093e-01 3.13353928e-01 2.99412643e+02] [ 8.34979666e-02 3.02049545e-01 -9.49628434e-01 4.16236030e+01] [-9.60632711e-01 2.77794240e-01 3.89283380e-03 -3.37220290e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17864 meters Centerline goodness : 0.991612 Centerline is valid? [True, True] Translation: X:299.98, Y:40.26, Z:-337.31 [[ 3.57099581e-01 -8.90490617e-01 -2.81968705e-01 2.99984775e+02] [ 6.76208992e-02 -2.76434300e-01 9.58650871e-01 4.02589278e+01] [-9.31615427e-01 -3.61400802e-01 -3.84987965e-02 -3.37310372e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20864 meters Centerline goodness : 0.991161 Centerline is valid? [True, True] Translation: X:299.73, Y:40.22, Z:-337.57 [[ 4.10006003e-01 -9.09115417e-01 7.35135038e-02 2.99732745e+02] [ 5.59342631e-02 1.05510054e-01 9.92843888e-01 4.02243746e+01] [-9.10366100e-01 -4.02960031e-01 9.41104565e-02 -3.37572487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23864 meters Centerline goodness : 0.989901 Centerline is valid? [True, True] Translation: X:299.77, Y:40.24, Z:-337.73 [[ 4.69662555e-01 -8.81130318e-01 5.50131580e-02 2.99765337e+02] [ 4.96132041e-02 8.85572350e-02 9.94834733e-01 4.02404259e+01] [-8.81450857e-01 -4.64507244e-01 8.53077156e-02 -3.37725364e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26864 meters Centerline goodness : 0.989939 Centerline is valid? [True, True] Translation: X:299.84, Y:41.72, Z:-337.73 [[ 4.04650008e-01 9.11657541e-01 -7.16861180e-02 2.99841834e+02] [ 1.01634846e-01 -1.22739711e-01 -9.87221009e-01 4.17206861e+01] [-9.08806211e-01 3.92193182e-01 -1.42322799e-01 -3.37734708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29864 meters Centerline goodness : 0.991561 Centerline is valid? [True, True] Translation: X:299.91, Y:40.26, Z:-338.00 [[ 4.67252555e-01 -8.83069565e-01 4.31647223e-02 2.99910440e+02] [ 5.63931254e-02 7.84903984e-02 9.95318579e-01 4.02611126e+01] [-8.82323560e-01 -4.62630955e-01 8.64738919e-02 -3.38001363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32864 meters Centerline goodness : 0.992325 Centerline is valid? [True, True] Translation: X:300.03, Y:40.28, Z:-338.11 [[ 5.28195821e-01 -8.45030790e-01 -8.32594714e-02 3.00031516e+02] [ 6.10586988e-02 -6.00012281e-02 9.96329106e-01 4.02793730e+01] [-8.46924442e-01 -5.31340585e-01 1.99040826e-02 -3.38107613e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35864 meters Centerline goodness : 0.990998 Centerline is valid? [True, True] Translation: X:299.90, Y:41.75, Z:-338.23 [[ 4.62692153e-01 8.81850391e-01 9.08617630e-02 2.99898930e+02] [ 9.95096349e-02 5.01824363e-02 -9.93770374e-01 4.17520970e+01] [-8.80916457e-01 4.68851374e-01 -6.45335909e-02 -3.38226404e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.38864 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:300.08, Y:40.30, Z:-338.43 [[ 5.26532582e-01 -8.48305376e-01 5.60484433e-02 3.00082005e+02] [ 4.73554727e-02 9.50901682e-02 9.94341651e-01 4.03030350e+01] [-8.48835025e-01 -5.20899077e-01 9.02399739e-02 -3.38429321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41864 meters Centerline goodness : 0.991852 Centerline is valid? [True, True] Translation: X:300.10, Y:40.32, Z:-338.60 [[ 5.83029172e-01 -8.08442799e-01 8.06053704e-02 3.00101609e+02] [ 3.87353970e-02 1.26759794e-01 9.91176838e-01 4.03208164e+01] [-8.11527297e-01 -5.74762730e-01 1.05220011e-01 -3.38595057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.44864 meters Centerline goodness : 0.991753 Centerline is valid? [True, True] Translation: X:300.23, Y:41.79, Z:-338.58 [[ 5.24056858e-01 8.48060561e-01 -7.84709782e-02 3.00231348e+02] [ 9.63843999e-02 -1.50599306e-01 -9.83885103e-01 4.17939840e+01] [-8.46211827e-01 5.08048358e-01 -1.60662408e-01 -3.38575170e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47864 meters Centerline goodness : 0.991719 Centerline is valid? [True, True] Translation: X:300.27, Y:40.34, Z:-338.86 [[ 5.83987786e-01 -8.07993709e-01 7.81308709e-02 3.00272481e+02] [ 4.16842568e-02 1.25970195e-01 9.91157875e-01 4.03396179e+01] [-8.10691488e-01 -5.75567265e-01 1.07245672e-01 -3.38855396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.50864 meters Centerline goodness : 0.992471 Centerline is valid? [True, True] Translation: X:300.30, Y:40.36, Z:-339.02 [[ 6.36772201e-01 -7.64565903e-01 9.98005203e-02 3.00302581e+02] [ 3.15251601e-02 1.55142003e-01 9.87389043e-01 4.03574460e+01] [-7.70407249e-01 -6.25595667e-01 1.22893177e-01 -3.39019204e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53864 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:300.48, Y:41.83, Z:-338.97 [[ 5.81802346e-01 8.08247207e-01 -9.07881243e-02 3.00477139e+02] [ 8.96470705e-02 -1.74671816e-01 -9.80537179e-01 4.18280375e+01] [-8.08374562e-01 5.62339942e-01 -1.74081466e-01 -3.38967110e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.56864 meters Centerline goodness : 0.992183 Centerline is valid? [True, True] Translation: X:300.59, Y:41.83, Z:-339.07 [[ 5.27089717e-01 8.46960328e-01 -6.95315228e-02 3.00594687e+02] [ 9.93046165e-02 -1.42646186e-01 -9.84779498e-01 4.18311681e+01] [-8.43987573e-01 5.12162345e-01 -1.59294408e-01 -3.39070447e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59864 meters Centerline goodness : 0.993265 Centerline is valid? [True, True] Translation: X:300.70, Y:41.84, Z:-339.18 [[ 4.68990030e-01 8.82013536e-01 -4.58309272e-02 3.00698654e+02] [ 1.06773014e-01 -1.08132271e-01 -9.88386026e-01 4.18381028e+01] [-8.76725656e-01 4.58649685e-01 -1.44888200e-01 -3.39184206e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.62864 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:300.76, Y:40.38, Z:-339.46 [[ 5.20033610e-01 -8.53241302e-01 3.92979122e-02 3.00764141e+02] [ 5.68259234e-02 8.04674597e-02 9.95136072e-01 4.03830400e+01] [-8.52253401e-01 -5.15271064e-01 9.03320084e-02 -3.39462104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65864 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:300.79, Y:40.40, Z:-339.63 [[ 5.73816356e-01 -8.16342925e-01 6.57192403e-02 3.00785535e+02] [ 4.97883636e-02 1.14867852e-01 9.92132297e-01 4.04008570e+01] [-8.17469209e-01 -5.66029686e-01 1.06557431e-01 -3.39628545e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.68864 meters Centerline goodness : 0.993017 Centerline is valid? [True, True] Translation: X:300.82, Y:40.42, Z:-339.79 [[ 6.25529529e-01 -7.75581812e-01 8.47682778e-02 3.00821661e+02] [ 4.17481001e-02 1.41767288e-01 9.89019278e-01 4.04202278e+01] [-7.79082733e-01 -6.15121848e-01 1.21058692e-01 -3.39791507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71864 meters Centerline goodness : 0.993558 Centerline is valid? [True, True] Translation: X:300.83, Y:41.90, Z:-339.87 [[ 5.91561252e-01 7.95172306e-01 1.33252722e-01 3.00830633e+02] [ 7.61874391e-02 1.09402325e-01 -9.91073461e-01 4.18951034e+01] [-8.02652327e-01 5.96432842e-01 4.13603499e-03 -3.39865037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.74864 meters Centerline goodness : 0.993562 Centerline is valid? [True, True] Translation: X:301.15, Y:40.45, Z:-339.92 [[ 6.27162548e-01 -7.71748552e-01 -1.05220298e-01 3.01150618e+02] [ 3.85925789e-02 -1.04134441e-01 9.93814183e-01 4.04485913e+01] [-7.77931714e-01 -6.27343758e-01 -3.55254546e-02 -3.39921292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77864 meters Centerline goodness : 0.993608 Centerline is valid? [True, True] Translation: X:301.02, Y:41.91, Z:-340.11 [[ 5.91864058e-01 7.94942199e-01 1.33281047e-01 3.01021629e+02] [ 7.68172705e-02 1.08971165e-01 -9.91072345e-01 4.19129059e+01] [-8.02369020e-01 5.96818386e-01 3.43082621e-03 -3.40113072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.80864 meters Centerline goodness : 0.992296 Centerline is valid? [True, True] Translation: X:301.34, Y:40.47, Z:-340.17 [[ 6.27690456e-01 -7.71474585e-01 -1.04075242e-01 3.01343469e+02] [ 3.78576892e-02 -1.03283665e-01 9.93931225e-01 4.04680786e+01] [-7.77541952e-01 -6.27821192e-01 -3.56239256e-02 -3.40168531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83864 meters Centerline goodness : 0.993170 Centerline is valid? [True, True] Translation: X:301.21, Y:41.93, Z:-340.36 [[ 5.91174158e-01 7.95480033e-01 1.33133887e-01 3.01210210e+02] [ 7.59502377e-02 1.09427878e-01 -9.91088846e-01 4.19305356e+01] [-8.02959947e-01 5.96017664e-01 4.27403614e-03 -3.40362562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86863999999997 meters Centerline goodness : 0.992530 Centerline is valid? [True, True] Translation: X:301.54, Y:40.49, Z:-340.41 [[ 6.30253085e-01 -7.69261625e-01 -1.04964757e-01 3.01537333e+02] [ 3.78920572e-02 -1.04557465e-01 9.93796724e-01 4.04857907e+01] [-7.75464532e-01 -6.30320782e-01 -3.67487592e-02 -3.40411847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89864 meters Centerline goodness : 0.993950 Centerline is valid? [True, True] Translation: X:301.40, Y:41.95, Z:-340.61 [[ 5.87083005e-01 7.98512189e-01 1.33085797e-01 3.01398523e+02] [ 7.80983066e-02 1.07765032e-01 -9.91104108e-01 4.19478512e+01] [-8.05750706e-01 5.92254153e-01 9.04568955e-04 -3.40608041e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92864 meters Centerline goodness : 0.992140 Centerline is valid? [True, True] Translation: X:301.72, Y:40.50, Z:-340.66 [[ 6.33661264e-01 -7.66897203e-01 -1.01696027e-01 3.01724517e+02] [ 3.55268934e-02 -1.02470255e-01 9.94101447e-01 4.05045309e+01] [-7.72794437e-01 -6.33536524e-01 -3.76859559e-02 -3.40656969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95864 meters Centerline goodness : 0.992632 Centerline is valid? [True, True] Translation: X:301.59, Y:41.97, Z:-340.85 [[ 5.80710418e-01 8.03145312e-01 1.33165375e-01 3.01587905e+02] [ 7.89445012e-02 1.07247595e-01 -9.91093194e-01 4.19659339e+01] [-8.10273519e-01 5.86050817e-01 -1.12411052e-03 -3.40850872e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98864 meters Centerline goodness : 0.992780 Centerline is valid? [True, True] Translation: X:301.72, Y:41.98, Z:-340.94 [[ 5.22950246e-01 8.42668755e-01 1.28188961e-01 3.01718721e+02] [ 7.10754879e-02 1.06757678e-01 -9.91741435e-01 4.19811390e+01] [-8.49394676e-01 5.27742520e-01 -4.06413882e-03 -3.40942833e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01864 meters Centerline goodness : 0.993074 Centerline is valid? [True, True] Translation: X:302.03, Y:40.53, Z:-341.01 [[ 5.87233859e-01 -8.03596000e-01 -9.69013144e-02 3.02031410e+02] [ 2.78392898e-02 -9.95943409e-02 9.94638598e-01 4.05304582e+01] [-8.08938421e-01 -5.86783126e-01 -3.61136273e-02 -3.41007477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04864 meters Centerline goodness : 0.991748 Centerline is valid? [True, True] Translation: X:302.08, Y:40.53, Z:-341.16 [[ 6.41561798e-01 -7.60939325e-01 -9.67977445e-02 3.02082492e+02] [ 3.41713795e-02 -9.77143148e-02 9.94627684e-01 4.05344345e+01] [-7.66309844e-01 -6.41422837e-01 -3.66874250e-02 -3.41157354e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07864 meters Centerline goodness : 0.991324 Centerline is valid? [True, True] Translation: X:301.95, Y:42.00, Z:-341.35 [[ 5.76380207e-01 8.06636895e-01 1.30854027e-01 3.01946906e+02] [ 7.86950600e-02 1.04594707e-01 -9.91396507e-01 4.20015046e+01] [-8.13383639e-01 5.81718889e-01 -3.19201982e-03 -3.41351070e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10864 meters Centerline goodness : 0.992383 Centerline is valid? [True, True] Translation: X:302.08, Y:42.02, Z:-341.44 [[ 5.19349234e-01 8.45227819e-01 1.25961531e-01 3.02076937e+02] [ 7.12214189e-02 1.04074988e-01 -9.92016082e-01 4.20160113e+01] [-8.51589034e-01 5.24173951e-01 -6.14705919e-03 -3.41444262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.13864 meters Centerline goodness : 0.992097 Centerline is valid? [True, True] Translation: X:302.20, Y:42.03, Z:-341.55 [[ 4.59101200e-01 8.79873952e-01 1.22669948e-01 3.02200371e+02] [ 6.48774368e-02 1.04507076e-01 -9.92405758e-01 4.20283126e+01] [-8.86011855e-01 4.63573186e-01 -9.10464276e-03 -3.41546993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16864 meters Centerline goodness : 0.990906 Centerline is valid? [True, True] Translation: X:302.32, Y:42.04, Z:-341.66 [[ 3.96404496e-01 9.10395328e-01 1.18506632e-01 3.02318221e+02] [ 5.79948226e-02 1.03992343e-01 -9.92885791e-01 4.20396058e+01] [-9.16242368e-01 4.00457162e-01 -1.15751834e-02 -3.41658962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.19864 meters Centerline goodness : 0.990371 Centerline is valid? [True, True] Translation: X:302.43, Y:42.05, Z:-341.78 [[ 3.29135297e-01 9.37515093e-01 1.12851255e-01 3.02430393e+02] [ 5.09887906e-02 1.01690599e-01 -9.93508513e-01 4.20497897e+01] [-9.42905138e-01 3.32752869e-01 -1.43327951e-02 -3.41779413e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22864 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:302.71, Y:40.59, Z:-341.88 [[ 4.25330465e-01 -9.00708987e-01 -8.84155937e-02 3.02711215e+02] [ 5.61017904e-03 -9.50668564e-02 9.95455081e-01 4.05921642e+01] [-9.05020730e-01 -4.23893400e-01 -3.53816916e-02 -3.41883209e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.25864 meters Centerline goodness : 0.990245 Centerline is valid? [True, True] Translation: X:302.56, Y:42.06, Z:-342.07 [[ 3.22147132e-01 9.40869397e-01 1.04814138e-01 3.02562834e+02] [ 5.58591247e-02 9.16322468e-02 -9.94224969e-01 4.20598471e+01] [-9.45040202e-01 3.26141549e-01 -2.30370754e-02 -3.42072829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28864 meters Centerline goodness : 0.991348 Centerline is valid? [True, True] Translation: X:302.82, Y:40.60, Z:-342.19 [[ 4.31323025e-01 -8.98837376e-01 -7.77934428e-02 3.02823914e+02] [ 9.68253633e-04 -8.57653869e-02 9.96314890e-01 4.06018789e+01] [-9.02197047e-01 -4.29808876e-01 -3.61222835e-02 -3.42188557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.31864 meters Centerline goodness : 0.990954 Centerline is valid? [True, True] Translation: X:302.69, Y:42.07, Z:-342.38 [[ 3.19568327e-01 9.41827609e-01 1.04100142e-01 3.02688652e+02] [ 5.67477310e-02 9.06412175e-02 -9.94265490e-01 4.20684551e+01] [-9.45862453e-01 3.23643206e-01 -2.44805176e-02 -3.42375117e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34864 meters Centerline goodness : 0.990434 Centerline is valid? [True, True] Translation: X:302.94, Y:40.61, Z:-342.50 [[ 4.32830857e-01 -8.98752613e-01 -7.00085012e-02 3.02937953e+02] [ 2.37792224e-03 -7.65213858e-02 9.97065105e-01 4.06105173e+01] [-9.01472016e-01 -4.31727018e-01 -3.09836531e-02 -3.42496085e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.37864 meters Centerline goodness : 0.990687 Centerline is valid? [True, True] Translation: X:302.82, Y:42.08, Z:-342.68 [[ 3.19380053e-01 9.42716752e-01 9.63405821e-02 3.02821213e+02] [ 5.26045325e-02 8.38708310e-02 -9.95087155e-01 4.20796484e+01] [-9.46165496e-01 3.22878939e-01 -2.28045036e-02 -3.42675885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40864 meters Centerline goodness : 0.990687 Centerline is valid? [True, True] Translation: X:303.06, Y:40.62, Z:-342.80 [[ 4.32329996e-01 -8.98894987e-01 -7.12641340e-02 3.03060984e+02] [ 3.11406075e-03 -7.75428849e-02 9.96984154e-01 4.06194118e+01] [-9.01710085e-01 -4.31248076e-01 -3.07249015e-02 -3.42799698e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.43864 meters Centerline goodness : 0.991095 Centerline is valid? [True, True] Translation: X:302.95, Y:42.09, Z:-342.98 [[ 3.18980203e-01 9.42898436e-01 9.58862355e-02 3.02948535e+02] [ 5.22316889e-02 8.35285407e-02 -9.95135586e-01 4.20891545e+01] [-9.46321024e-01 3.22436851e-01 -2.26052269e-02 -3.42978310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46864 meters Centerline goodness : 0.991481 Centerline is valid? [True, True] Translation: X:303.18, Y:40.63, Z:-343.11 [[ 4.33045522e-01 -8.98458241e-01 -7.24179912e-02 3.03179550e+02] [ 2.34410154e-03 -7.92191470e-02 9.96854469e-01 4.06298442e+01] [-9.01369004e-01 -4.31853119e-01 -3.21994196e-02 -3.43105180e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.49864 meters Centerline goodness : 0.990719 Centerline is valid? [True, True] Translation: X:303.20, Y:40.63, Z:-343.27 [[ 4.93083233e-01 -8.67123921e-01 -7.04629740e-02 3.03196088e+02] [ 6.79912262e-03 -7.71502080e-02 9.96996298e-01 4.06299807e+01] [-8.69955572e-01 -4.92081244e-01 -3.21457921e-02 -3.43274123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52864 meters Centerline goodness : 0.991209 Centerline is valid? [True, True] Translation: X:303.11, Y:42.10, Z:-343.44 [[ 3.81656376e-01 9.18908831e-01 9.97244761e-02 3.03110846e+02] [ 5.89802775e-02 8.34600062e-02 -9.94764170e-01 4.20998018e+01] [-9.22420586e-01 3.85539865e-01 -2.23444544e-02 -3.43442251e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.55864 meters Centerline goodness : 0.991453 Centerline is valid? [True, True] Translation: X:303.23, Y:42.10, Z:-343.55 [[ 3.18927188e-01 9.44579482e-01 7.78142119e-02 3.03233401e+02] [ 3.69894921e-02 6.96341499e-02 -9.96886585e-01 4.21042731e+01] [-9.47057140e-01 3.20812544e-01 -1.27312916e-02 -3.43552541e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58864 meters Centerline goodness : 0.991454 Centerline is valid? [True, True] Translation: X:304.07, Y:41.37, Z:-343.44 [[ 3.69693398e-01 5.61240301e-02 -9.27457214e-01 3.04070292e+02] [ 1.33908956e-01 -9.90971726e-01 -6.59013687e-03 4.13668710e+01] [-9.19453742e-01 -1.21758497e-01 -3.73871215e-01 -3.43439144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61863999999997 meters Centerline goodness : 0.992539 Centerline is valid? [True, True] Translation: X:303.45, Y:42.08, Z:-343.76 [[ 2.50625520e-01 9.67905274e-01 1.86072531e-02 3.03452243e+02] [ 1.37750675e-01 -1.66303088e-02 -9.90327312e-01 4.20840392e+01] [-9.58233583e-01 2.50764459e-01 -1.37497585e-01 -3.43758715e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64864 meters Centerline goodness : 0.991068 Centerline is valid? [True, True] Translation: X:303.50, Y:42.10, Z:-343.91 [[ 1.83187745e-01 9.79620323e-01 8.23788329e-02 3.03500614e+02] [ 1.30628641e-01 5.87979183e-02 -9.89686295e-01 4.21015560e+01] [-9.74360512e-01 1.92059436e-01 -1.17195413e-01 -3.43914195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67864 meters Centerline goodness : 0.991109 Centerline is valid? [True, True] Translation: X:303.70, Y:40.65, Z:-344.20 [[ 3.02816570e-01 -9.38993231e-01 -1.63076170e-01 3.03699308e+02] [ 9.28306306e-02 -1.41235841e-01 9.85613977e-01 4.06537148e+01] [-9.48517053e-01 -3.13598707e-01 4.43987808e-02 -3.44196201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70864 meters Centerline goodness : 0.990869 Centerline is valid? [True, True] Translation: X:302.95, Y:41.13, Z:-344.50 [[ 2.71795307e-01 -3.69230341e-01 8.88704825e-01 3.02945176e+02] [ 6.24696856e-02 9.28290253e-01 3.66571610e-01 4.11310255e+01] [-9.60325387e-01 -4.41153324e-02 2.75370638e-01 -3.44500605e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73864 meters Centerline goodness : 0.990821 Centerline is valid? [True, True] Translation: X:303.63, Y:40.69, Z:-344.51 [[ 3.65479622e-01 -9.30385136e-01 -2.84278947e-02 3.03625486e+02] [ 6.67630697e-02 -4.26024433e-03 9.97759762e-01 4.06867287e+01] [-9.28421962e-01 -3.66558794e-01 6.05583352e-02 -3.44508463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76864 meters Centerline goodness : 0.990288 Centerline is valid? [True, True] Translation: X:303.71, Y:42.17, Z:-344.51 [[ 2.75224528e-01 9.61300839e-01 -1.23351849e-02 3.03705982e+02] [ 1.20308020e-01 -4.71688730e-02 -9.91615388e-01 4.21703998e+01] [-9.53822541e-01 2.71432855e-01 -1.28634231e-01 -3.44505347e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79864 meters Centerline goodness : 0.989217 Centerline is valid? [True, True] Translation: X:303.74, Y:40.71, Z:-344.81 [[ 3.61840578e-01 -9.31199608e-01 -4.40305110e-02 3.03735241e+02] [ 7.15217804e-02 -1.93621139e-02 9.97251093e-01 4.07138479e+01] [-9.29492351e-01 -3.63995053e-01 5.95950554e-02 -3.44808547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82864 meters Centerline goodness : 0.990331 Centerline is valid? [True, True] Translation: X:303.80, Y:42.20, Z:-344.80 [[ 2.79269343e-01 9.60203479e-01 4.23235812e-03 3.03800529e+02] [ 1.22595512e-01 -3.12838098e-02 -9.91963540e-01 4.21977083e+01] [-9.52354438e-01 2.77543874e-01 -1.26453246e-01 -3.44801345e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85864 meters Centerline goodness : 0.989795 Centerline is valid? [True, True] Translation: X:303.82, Y:40.74, Z:-345.12 [[ 3.57663958e-01 -9.33363678e-01 -3.01452895e-02 3.03819613e+02] [ 7.52735351e-02 -3.36092340e-03 9.97157259e-01 4.07420524e+01] [-9.30811683e-01 -3.58916354e-01 6.90555024e-02 -3.45115482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.88864 meters Centerline goodness : 0.988174 Centerline is valid? [True, True] Translation: X:303.92, Y:42.22, Z:-345.09 [[ 2.83289397e-01 9.58857408e-01 -1.84279447e-02 3.03918633e+02] [ 1.28639444e-01 -5.70332750e-02 -9.90050049e-01 4.22237367e+01] [-9.50367829e-01 2.78100121e-01 -1.39503806e-01 -3.45091439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91864 meters Centerline goodness : 0.988532 Centerline is valid? [True, True] Translation: X:303.93, Y:40.77, Z:-345.41 [[ 3.54903090e-01 -9.33617931e-01 -4.90036262e-02 3.03934222e+02] [ 7.95755580e-02 -2.20589747e-02 9.96584734e-01 4.07716685e+01] [-9.31510347e-01 -3.57590492e-01 6.64643695e-02 -3.45413078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.94864 meters Centerline goodness : 0.988427 Centerline is valid? [True, True] Translation: X:304.01, Y:42.25, Z:-345.39 [[ 2.85412432e-01 9.58380223e-01 -6.86233514e-03 3.04010090e+02] [ 1.34052065e-01 -4.70093879e-02 -9.89858657e-01 4.22518051e+01] [-9.48983555e-01 2.81598056e-01 -1.41889911e-01 -3.45388139e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97864 meters Centerline goodness : 0.987935 Centerline is valid? [True, True] Translation: X:304.06, Y:42.27, Z:-345.54 [[ 2.19525923e-01 9.74388675e-01 4.87347895e-02 3.04060928e+02] [ 1.31703655e-01 1.98977760e-02 -9.91089414e-01 4.22714766e+01] [-9.66676014e-01 2.23988368e-01 -1.23962472e-01 -3.45538768e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.00864 meters Centerline goodness : 0.989109 Centerline is valid? [True, True] Translation: X:304.06, Y:42.29, Z:-345.70 [[ 1.52427360e-01 9.76077990e-01 1.55040827e-01 3.04061164e+02] [ 1.21277437e-01 1.37215379e-01 -9.83088868e-01 4.22890987e+01] [-9.80845392e-01 1.68652595e-01 -9.74608586e-02 -3.45701629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03864 meters Centerline goodness : 0.989452 Centerline is valid? [True, True] Translation: X:304.37, Y:40.86, Z:-345.95 [[ 2.11077317e-01 -9.29855962e-01 -3.01354037e-01 3.04371405e+02] [ 1.41006831e-01 -2.76109323e-01 9.50726415e-01 4.08649458e+01] [-9.67245284e-01 -2.43169759e-01 7.28356274e-02 -3.45945438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.06864 meters Centerline goodness : 0.990492 Centerline is valid? [True, True] Translation: X:303.63, Y:41.10, Z:-346.16 [[ 2.08522214e-01 -6.53790578e-01 7.27376359e-01 3.03633721e+02] [ 8.45075940e-02 7.52988235e-01 6.52585002e-01 4.10977209e+01] [-9.74359766e-01 -7.46096432e-02 2.12265042e-01 -3.46160207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09864 meters Centerline goodness : 0.990305 Centerline is valid? [True, True] Translation: X:304.24, Y:42.32, Z:-346.05 [[ 1.62057914e-01 9.86774962e-01 3.52225694e-03 3.04238274e+02] [ 9.36711976e-02 -1.18300896e-02 -9.95532900e-01 4.23239551e+01] [-9.82325272e-01 1.61663919e-01 -9.43495522e-02 -3.46049839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.12864 meters Centerline goodness : 0.991842 Centerline is valid? [True, True] Translation: X:305.00, Y:41.54, Z:-346.17 [[ 1.82882957e-01 -7.48980833e-03 -9.83106163e-01 3.05004187e+02] [ 1.79363292e-01 -9.82934232e-01 4.08546704e-02 4.15414856e+01] [-9.66634695e-01 -1.83804781e-01 -1.78418522e-01 -3.46173111e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15864 meters Centerline goodness : 0.991743 Centerline is valid? [True, True] Translation: X:304.15, Y:42.31, Z:-346.34 [[ 9.67516466e-02 9.64637689e-01 2.45180031e-01 3.04152411e+02] [ 1.90666403e-01 2.23810441e-01 -9.55800821e-01 4.23065888e+01] [-9.76875346e-01 1.39222898e-01 -1.62269970e-01 -3.46335053e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.18864 meters Centerline goodness : 0.991160 Centerline is valid? [True, True] Translation: X:304.01, Y:40.97, Z:-346.63 [[ 8.27611586e-02 -8.70455170e-01 4.85240546e-01 3.04009282e+02] [ 1.53070208e-01 4.92236245e-01 8.56897305e-01 4.09702981e+01] [-9.84743673e-01 3.35805764e-03 1.73978796e-01 -3.46634620e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21864 meters Centerline goodness : 0.990979 Centerline is valid? [True, True] Translation: X:304.09, Y:40.95, Z:-346.68 [[ 1.02735707e-01 -9.17853397e-01 3.83393422e-01 3.04092441e+02] [ 1.85771088e-01 3.96355840e-01 8.99105751e-01 4.09464028e+01] [-9.77207489e-01 -2.11468522e-02 2.11230522e-01 -3.46679074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.24864 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:304.02, Y:41.00, Z:-346.75 [[ 1.09623144e-01 -8.64207250e-01 4.91048466e-01 3.04020206e+02] [ 1.72391978e-01 5.03069421e-01 8.46877892e-01 4.10007139e+01] [-9.78909481e-01 -8.18460049e-03 2.04130449e-01 -3.46753496e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27864 meters Centerline goodness : 0.991853 Centerline is valid? [True, True] Translation: X:303.76, Y:42.07, Z:-346.77 [[ 5.20951808e-02 5.29496327e-01 8.46711127e-01 3.03761299e+02] [ 1.02630535e-01 8.40534418e-01 -5.31948180e-01 4.20699352e+01] [-9.93354451e-01 1.14610352e-01 -1.05546986e-02 -3.46773554e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.30864 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:303.99, Y:41.10, Z:-346.90 [[ 5.25407568e-02 -8.03769988e-01 5.92615622e-01 3.03990435e+02] [ 7.23654275e-02 5.94939597e-01 8.00506165e-01 4.10990297e+01] [-9.95993330e-01 8.25683089e-04 8.94237355e-02 -3.46900547e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33864 meters Centerline goodness : 0.993163 Centerline is valid? [True, True] Translation: X:303.97, Y:41.12, Z:-346.96 [[ 5.65027339e-02 -7.78373040e-01 6.25254230e-01 3.03968378e+02] [ 6.88692264e-02 6.27801603e-01 7.75320693e-01 4.11226798e+01] [-9.96024332e-01 -7.46963673e-04 8.90784561e-02 -3.46961856e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36863999999997 meters Centerline goodness : 0.993853 Centerline is valid? [True, True] Translation: X:303.98, Y:41.12, Z:-347.02 [[ 8.61198364e-02 -7.83469953e-01 6.15433348e-01 3.03978925e+02] [ 9.11476032e-02 6.21333619e-01 7.78226605e-01 4.11239165e+01] [-9.92106591e-01 -1.09254733e-02 1.24920558e-01 -3.47023720e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39864 meters Centerline goodness : 0.993464 Centerline is valid? [True, True] Translation: X:303.80, Y:42.13, Z:-347.11 [[ 5.02906501e-02 5.34990630e-01 8.43359873e-01 3.03802362e+02] [ 1.05120105e-02 8.44098074e-01 -5.36085757e-01 4.21335880e+01] [-9.98679302e-01 3.58255091e-02 3.68264138e-02 -3.47108910e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42864 meters Centerline goodness : 0.993789 Centerline is valid? [True, True] Translation: X:304.92, Y:42.34, Z:-347.22 [[-7.20645301e-03 7.71986876e-01 -6.35597617e-01 3.04922919e+02] [ 7.83823400e-02 -6.33222385e-01 -7.69990662e-01 4.23380305e+01] [-9.96897325e-01 -5.53685300e-02 -5.59468505e-02 -3.47220522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45864 meters Centerline goodness : 0.993507 Centerline is valid? [True, True] Translation: X:304.77, Y:41.06, Z:-347.31 [[-1.68328936e-02 -9.43194842e-01 -3.31813418e-01 3.04769386e+02] [ 4.69399981e-02 -3.32239990e-01 9.42026128e-01 4.10637522e+01] [-9.98755871e-01 2.81704384e-04 4.98661245e-02 -3.47313692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48864 meters Centerline goodness : 0.993504 Centerline is valid? [True, True] Translation: X:304.73, Y:41.05, Z:-347.33 [[-1.10664069e-02 -9.60722439e-01 -2.77290333e-01 3.04729865e+02] [ 4.84169723e-02 -2.77496871e-01 9.59505749e-01 4.10505769e+01] [-9.98765904e-01 -2.80727730e-03 4.95861650e-02 -3.47331963e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51864 meters Centerline goodness : 0.993701 Centerline is valid? [True, True] Translation: X:304.66, Y:41.03, Z:-347.34 [[-5.93830939e-03 -9.82841808e-01 -1.84354865e-01 3.04663734e+02] [ 4.72708041e-02 -1.84427919e-01 9.81708620e-01 4.10318076e+01] [-9.98864459e-01 -2.88491321e-03 4.75549127e-02 -3.47339036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54864 meters Centerline goodness : 0.993708 Centerline is valid? [True, True] Translation: X:304.38, Y:41.02, Z:-347.41 [[ 5.45915011e-02 -9.81991279e-01 1.80867067e-01 3.04384639e+02] [ 3.34834849e-02 1.82835672e-01 9.82573139e-01 4.10217495e+01] [-9.97947205e-01 -4.75840829e-02 4.28617639e-02 -3.47406857e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57864 meters Centerline goodness : 0.993012 Centerline is valid? [True, True] Translation: X:303.99, Y:41.21, Z:-347.50 [[ 5.19995624e-02 -7.05860257e-01 7.06439907e-01 3.03986710e+02] [ 2.92760926e-02 7.08170376e-01 7.05434354e-01 4.12116768e+01] [-9.98217890e-01 -1.60004775e-02 5.74893799e-02 -3.47500660e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60864 meters Centerline goodness : 0.994771 Centerline is valid? [True, True] Translation: X:303.93, Y:41.28, Z:-347.57 [[ 5.49512157e-02 -6.18053703e-01 7.84212971e-01 3.03926837e+02] [ 2.58338784e-02 7.86016805e-01 6.17665114e-01 4.12772113e+01] [-9.98154785e-01 -1.36821863e-02 5.91593032e-02 -3.47566072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.63864 meters Centerline goodness : 0.995359 Centerline is valid? [True, True] Translation: X:303.89, Y:41.32, Z:-347.63 [[ 5.90645173e-02 -5.58660010e-01 8.27290987e-01 3.03894962e+02] [ 2.31310509e-02 8.29281239e-01 5.58352560e-01 4.13229968e+01] [-9.97986141e-01 -1.38427146e-02 6.19034892e-02 -3.47627945e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66864 meters Centerline goodness : 0.994327 Centerline is valid? [True, True] Translation: X:303.87, Y:41.38, Z:-347.77 [[ 7.12631413e-02 -5.02120141e-01 8.61856675e-01 3.03869140e+02] [-4.71624900e-04 8.64036429e-01 5.03429068e-01 4.13814285e+01] [-9.97457439e-01 -3.62824099e-02 6.13371378e-02 -3.47767161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.69864 meters Centerline goodness : 0.993020 Centerline is valid? [True, True] Translation: X:304.46, Y:41.06, Z:-347.88 [[ 1.60043097e-01 -9.86058435e-01 4.55518417e-02 3.04461751e+02] [-9.54659185e-03 4.45983443e-02 9.98959384e-01 4.10606904e+01] [-9.87063863e-01 -1.60311419e-01 -2.27584027e-03 -3.47879673e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72864 meters Centerline goodness : 0.993650 Centerline is valid? [True, True] Translation: X:304.34, Y:41.08, Z:-348.06 [[ 2.21634550e-01 -9.57885217e-01 1.82576114e-01 3.04337668e+02] [-2.20569265e-02 1.82260122e-01 9.83002920e-01 4.10762783e+01] [-9.74880310e-01 -2.21894478e-01 1.92671363e-02 -3.48058296e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.75864 meters Centerline goodness : 0.993461 Centerline is valid? [True, True] Translation: X:304.69, Y:42.51, Z:-348.14 [[ 1.56012585e-01 9.34600164e-01 -3.19660141e-01 3.04694964e+02] [ 4.87847955e-02 -3.30518667e-01 -9.42537774e-01 4.25051165e+01] [-9.86549602e-01 1.31453200e-01 -9.71593496e-02 -3.48135690e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78864 meters Centerline goodness : 0.993755 Centerline is valid? [True, True] Translation: X:304.42, Y:41.07, Z:-348.38 [[ 2.25700386e-01 -9.61832877e-01 1.54715395e-01 3.04416113e+02] [-8.27598722e-03 1.56914527e-01 9.87577510e-01 4.10686676e+01] [-9.74161611e-01 -2.24177048e-01 2.74555528e-02 -3.48375220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.81864 meters Centerline goodness : 0.994821 Centerline is valid? [True, True] Translation: X:304.75, Y:42.50, Z:-348.44 [[ 1.56060379e-01 9.37597299e-01 -3.10735359e-01 3.04746648e+02] [ 5.91762433e-02 -3.22899709e-01 -9.44581362e-01 4.25041474e+01] [-9.85973291e-01 1.29023574e-01 -1.05875337e-01 -3.48441017e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84864 meters Centerline goodness : 0.992824 Centerline is valid? [True, True] Translation: X:304.67, Y:41.07, Z:-348.67 [[ 2.37153839e-01 -9.64600456e-01 -1.15343045e-01 3.04672776e+02] [ 2.25929849e-02 -1.13221711e-01 9.93312842e-01 4.10656025e+01] [-9.71209356e-01 -2.38173897e-01 -5.05775990e-03 -3.48666598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.87864 meters Centerline goodness : 0.993606 Centerline is valid? [True, True] Translation: X:304.63, Y:41.06, Z:-348.84 [[ 3.00773737e-01 -9.50921078e-01 -7.26929347e-02 3.04630854e+02] [ 2.66049758e-02 -6.78265157e-02 9.97342338e-01 4.10632321e+01] [-9.53324359e-01 -3.01908376e-01 4.89879769e-03 -3.48839534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90864 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:304.60, Y:41.07, Z:-349.01 [[ 3.63122192e-01 -9.31040341e-01 -3.61407944e-02 3.04603795e+02] [ 2.79126927e-02 -2.79009598e-02 9.99220906e-01 4.10670647e+01] [-9.31323335e-01 -3.63848073e-01 1.58563853e-02 -3.49013203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.93864 meters Centerline goodness : 0.994389 Centerline is valid? [True, True] Translation: X:304.57, Y:42.55, Z:-349.11 [[ 2.83244820e-01 9.58820512e-01 2.08709991e-02 3.04568609e+02] [ 7.28211751e-02 1.97498759e-04 -9.97344994e-01 4.25466264e+01] [-9.56278960e-01 2.84012654e-01 -6.97664958e-02 -3.49114265e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96864 meters Centerline goodness : 0.995020 Centerline is valid? [True, True] Translation: X:304.63, Y:42.55, Z:-349.26 [[ 2.19107555e-01 9.74312221e-01 5.20343733e-02 3.04634558e+02] [ 6.93352863e-02 3.76473633e-02 -9.96882789e-01 4.25536476e+01] [-9.73234040e-01 2.22032369e-01 -5.93053950e-02 -3.49256229e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.99864 meters Centerline goodness : 0.993553 Centerline is valid? [True, True] Translation: X:304.83, Y:41.09, Z:-349.44 [[ 2.93414665e-01 -9.51329882e-01 -9.42299817e-02 3.04833905e+02] [ 3.41461071e-02 -8.80763307e-02 9.95528304e-01 4.10930685e+01] [-9.55375255e-01 -2.95320191e-01 6.64132499e-03 -3.49442511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02864 meters Centerline goodness : 0.993264 Centerline is valid? [True, True] Translation: X:304.81, Y:41.10, Z:-349.61 [[ 3.56671699e-01 -9.32231001e-01 -6.10791257e-02 3.04809482e+02] [ 3.83376769e-02 -5.07187491e-02 9.97976869e-01 4.10953765e+01] [-9.33442833e-01 -3.58291737e-01 1.76496286e-02 -3.49610986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.05864 meters Centerline goodness : 0.993066 Centerline is valid? [True, True] Translation: X:304.80, Y:41.10, Z:-349.78 [[ 4.18467940e-01 -9.07337599e-01 -4.02872829e-02 3.04804460e+02] [ 4.08517862e-02 -2.55091028e-02 9.98839535e-01 4.11008419e+01] [-9.07312358e-01 -4.19628130e-01 2.63916198e-02 -3.49777091e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08864 meters Centerline goodness : 0.993500 Centerline is valid? [True, True] Translation: X:304.80, Y:41.11, Z:-349.94 [[ 4.79115274e-01 -8.77678345e-01 -1.13699834e-02 3.04804709e+02] [ 3.92580651e-02 8.48640064e-03 9.99193067e-01 4.11077419e+01] [-8.76873628e-01 -4.79175023e-01 3.85219178e-02 -3.49944712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11863999999997 meters Centerline goodness : 0.992684 Centerline is valid? [True, True] Translation: X:304.80, Y:42.59, Z:-350.02 [[ 4.15110493e-01 9.09719173e-01 9.71104589e-03 3.04802476e+02] [ 8.20602728e-02 -2.68096895e-02 -9.96266707e-01 4.25899537e+01] [-9.06062575e-01 4.14357655e-01 -8.57807870e-02 -3.50018466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14864 meters Centerline goodness : 0.992094 Centerline is valid? [True, True] Translation: X:304.89, Y:42.60, Z:-350.14 [[ 3.52426396e-01 9.35437171e-01 2.74396625e-02 3.04893476e+02] [ 8.17560754e-02 -1.56635655e-03 -9.96651138e-01 4.25978474e+01] [-9.32261540e-01 3.53489528e-01 -7.70296972e-02 -3.50143849e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17864 meters Centerline goodness : 0.991807 Centerline is valid? [True, True] Translation: X:304.97, Y:42.61, Z:-350.28 [[ 2.87833910e-01 9.56295605e-01 5.14816131e-02 3.04973357e+02] [ 7.96294719e-02 2.96721350e-02 -9.96382814e-01 4.26079284e+01] [-9.54364075e-01 2.90892214e-01 -6.76086674e-02 -3.50277626e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20864 meters Centerline goodness : 0.992902 Centerline is valid? [True, True] Translation: X:305.06, Y:42.62, Z:-350.41 [[ 2.23389027e-01 9.73844261e-01 4.15294761e-02 3.05062902e+02] [ 5.09574365e-02 3.08800491e-02 -9.98223303e-01 4.26175199e+01] [-9.73396467e-01 2.25108368e-01 -4.27263430e-02 -3.50407452e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23864 meters Centerline goodness : 0.991016 Centerline is valid? [True, True] Translation: X:305.88, Y:41.68, Z:-350.43 [[ 2.64959714e-01 -2.78149583e-01 -9.23270903e-01 3.05883243e+02] [ 1.19224683e-01 -9.40694909e-01 3.17613859e-01 4.16801556e+01] [-9.56860400e-01 -1.94231558e-01 -2.16083958e-01 -3.50432037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26864 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:304.60, Y:41.47, Z:-350.88 [[ 2.29349632e-01 -4.60441474e-01 8.57550229e-01 3.04603097e+02] [ 1.09485606e-01 8.87647398e-01 4.47319795e-01 4.14724973e+01] [-9.67166815e-01 -8.70322397e-03 2.53993318e-01 -3.50876118e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29864 meters Centerline goodness : 0.990431 Centerline is valid? [True, True] Translation: X:305.39, Y:41.16, Z:-350.87 [[ 3.16485601e-01 -9.33916108e-01 -1.66245503e-01 3.05385672e+02] [ 1.04703006e-01 -1.39791217e-01 9.84629725e-01 4.11613993e+01] [-9.42801222e-01 -3.29027534e-01 5.35419169e-02 -3.50869985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32864 meters Centerline goodness : 0.991113 Centerline is valid? [True, True] Translation: X:304.59, Y:41.55, Z:-351.14 [[ 2.96102032e-01 -3.76197796e-01 8.77951482e-01 3.04594157e+02] [ 1.18095089e-01 9.26537038e-01 3.57187159e-01 4.15531973e+01] [-9.47827588e-01 -2.08208539e-03 3.18776612e-01 -3.51140648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35864 meters Centerline goodness : 0.991704 Centerline is valid? [True, True] Translation: X:304.85, Y:42.52, Z:-351.09 [[ 2.51733293e-01 8.10429485e-01 5.28993760e-01 3.04846606e+02] [ 1.08137945e-01 5.19619086e-01 -8.47527103e-01 4.25154480e+01] [-9.61736208e-01 2.70555087e-01 4.31672447e-02 -3.51090810e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.38864 meters Centerline goodness : 0.992181 Centerline is valid? [True, True] Translation: X:305.67, Y:41.28, Z:-351.14 [[ 3.16603407e-01 -8.50621608e-01 -4.19767988e-01 3.05672449e+02] [ 1.22222314e-01 -4.02261197e-01 9.07329948e-01 4.12840586e+01] [-9.40650833e-01 -3.38568767e-01 -2.33923244e-02 -3.51136302e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41864 meters Centerline goodness : 0.991073 Centerline is valid? [True, True] Translation: X:304.71, Y:41.58, Z:-351.49 [[ 3.01476856e-01 -3.89260497e-01 8.70395296e-01 3.04707607e+02] [ 1.01582041e-01 9.20785045e-01 3.76611193e-01 4.15781302e+01] [-9.48046831e-01 -2.51230280e-02 3.17137256e-01 -3.51490905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.44864 meters Centerline goodness : 0.991206 Centerline is valid? [True, True] Translation: X:304.71, Y:41.61, Z:-351.54 [[ 3.32870623e-01 -3.48220039e-01 8.76321832e-01 3.04709613e+02] [ 1.06119784e-01 9.37248376e-01 3.32120571e-01 4.16125001e+01] [-9.36982252e-01 -1.75580974e-02 3.48935486e-01 -3.51544024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47864 meters Centerline goodness : 0.990169 Centerline is valid? [True, True] Translation: X:305.41, Y:42.69, Z:-351.35 [[ 2.57600188e-01 9.62206590e-01 -8.83211241e-02 3.05405884e+02] [ 1.36913429e-01 -1.26831636e-01 -9.82429870e-01 4.26919732e+01] [-9.56502408e-01 2.40981771e-01 -1.64410857e-01 -3.51345636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.50864 meters Centerline goodness : 0.990958 Centerline is valid? [True, True] Translation: X:304.84, Y:41.59, Z:-351.72 [[ 2.39023370e-01 -4.03009354e-01 8.83431542e-01 3.04837930e+02] [ 9.28859956e-02 9.15120831e-01 3.92334114e-01 4.15935185e+01] [-9.66560924e-01 -1.17186039e-02 2.56169190e-01 -3.51721663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53864 meters Centerline goodness : 0.991655 Centerline is valid? [True, True] Translation: X:304.84, Y:41.63, Z:-351.78 [[ 2.40564132e-01 -3.63500247e-01 8.99998038e-01 3.04835707e+02] [ 8.93635639e-02 9.31583988e-01 3.52371148e-01 4.16278677e+01] [-9.66510761e-01 -4.34082731e-03 2.56589371e-01 -3.51776771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.56864 meters Centerline goodness : 0.990534 Centerline is valid? [True, True] Translation: X:304.84, Y:41.64, Z:-351.83 [[ 2.40252180e-01 -3.47960760e-01 9.06202074e-01 3.04843917e+02] [ 8.18083650e-02 9.37481923e-01 3.38282479e-01 4.16443015e+01] [-9.67257092e-01 -7.13819310e-03 2.53698177e-01 -3.51827080e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59864 meters Centerline goodness : 0.990683 Centerline is valid? [True, True] Translation: X:304.89, Y:41.62, Z:-351.92 [[ 2.69507009e-01 -4.00587324e-01 8.75725852e-01 3.04893278e+02] [ 7.10094677e-02 9.15165199e-01 3.96774890e-01 4.16210261e+01] [-9.60376815e-01 -4.47487872e-02 2.75088928e-01 -3.51922801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.62864 meters Centerline goodness : 0.989711 Centerline is valid? [True, True] Translation: X:305.27, Y:42.70, Z:-351.89 [[ 1.80694313e-01 9.34021040e-01 3.08146494e-01 3.05272762e+02] [ 8.08238472e-02 2.98142794e-01 -9.51093255e-01 4.27024237e+01] [-9.80212768e-01 1.96762727e-01 -2.16184667e-02 -3.51886876e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65864 meters Centerline goodness : 0.990681 Centerline is valid? [True, True] Translation: X:305.83, Y:41.33, Z:-352.01 [[ 2.72565620e-01 -9.32666101e-01 -2.36308964e-01 3.05832999e+02] [ 7.67705479e-02 -2.23742983e-01 9.71619967e-01 4.13326106e+01] [-9.59069479e-01 -2.82971767e-01 1.06166428e-02 -3.52010801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.68864 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:304.95, Y:41.70, Z:-352.29 [[ 2.40678274e-01 -3.41207507e-01 9.08653622e-01 3.04954373e+02] [ 4.40736282e-02 9.39048731e-01 3.40947204e-01 4.16971927e+01] [-9.69603777e-01 -4.20109227e-02 2.41046881e-01 -3.52288130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71864 meters Centerline goodness : 0.988921 Centerline is valid? [True, True] Translation: X:305.53, Y:42.78, Z:-352.23 [[ 1.86707882e-01 9.78580881e-01 8.67157758e-02 3.05526398e+02] [ 8.42011544e-02 7.20031706e-02 -9.93843906e-01 4.27769262e+01] [-9.78800456e-01 1.92860059e-01 -6.89540805e-02 -3.52225463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.74864 meters Centerline goodness : 0.989370 Centerline is valid? [True, True] Translation: X:305.86, Y:41.34, Z:-352.40 [[ 2.73470497e-01 -9.50876001e-01 -1.45081762e-01 3.05862198e+02] [ 4.08784524e-02 -1.39206007e-01 9.89419345e-01 4.13391180e+01] [-9.61011363e-01 -2.76507718e-01 8.01603464e-04 -3.52402326e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77864 meters Centerline goodness : 0.990853 Centerline is valid? [True, True] Translation: X:305.45, Y:42.75, Z:-352.57 [[ 1.94882226e-01 9.41189795e-01 2.76012116e-01 3.05454540e+02] [ 3.67292319e-02 2.74207384e-01 -9.60968925e-01 4.27549623e+01] [-9.80138705e-01 1.97413477e-01 1.88689674e-02 -3.52567841e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.80864 meters Centerline goodness : 0.990192 Centerline is valid? [True, True] Translation: X:306.49, Y:42.19, Z:-352.54 [[ 2.16796294e-01 1.06743425e-01 -9.70363441e-01 3.06491396e+02] [ 1.33420788e-01 -9.87916537e-01 -7.88657727e-02 4.21850733e+01] [-9.67056493e-01 -1.12368848e-01 -2.28418436e-01 -3.52543499e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83864 meters Centerline goodness : 0.988623 Centerline is valid? [True, True] Translation: X:305.40, Y:42.66, Z:-352.85 [[ 1.35163756e-01 8.49769184e-01 5.09532230e-01 3.05401997e+02] [ 8.06870924e-02 5.03103374e-01 -8.60451387e-01 4.26631376e+01] [-9.87532456e-01 1.57414516e-01 -5.64062833e-04 -3.52849047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86863999999997 meters Centerline goodness : 0.989804 Centerline is valid? [True, True] Translation: X:306.55, Y:42.36, Z:-352.88 [[ 1.32128255e-01 3.29800508e-01 -9.34758658e-01 3.06553968e+02] [ 1.77006599e-01 -9.35719360e-01 -3.05119557e-01 4.23554690e+01] [-9.75300358e-01 -1.25143537e-01 -1.82011833e-01 -3.52879871e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89864 meters Centerline goodness : 0.989301 Centerline is valid? [True, True] Translation: X:305.57, Y:41.40, Z:-353.20 [[ 1.00291606e-01 -8.36038952e-01 5.39426051e-01 3.05574375e+02] [ 1.39533431e-01 5.48620093e-01 8.24346053e-01 4.14028005e+01] [-9.85125381e-01 -7.40702192e-03 1.71677373e-01 -3.53203462e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92864 meters Centerline goodness : 0.990773 Centerline is valid? [True, True] Translation: X:305.64, Y:41.39, Z:-353.25 [[ 1.23331593e-01 -8.81711309e-01 4.55383889e-01 3.05640630e+02] [ 1.64601013e-01 4.70706434e-01 8.66799838e-01 4.13855620e+01] [-9.78619346e-01 -3.19471549e-02 2.03183549e-01 -3.53248497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95864 meters Centerline goodness : 0.990572 Centerline is valid? [True, True] Translation: X:305.53, Y:41.46, Z:-353.35 [[ 1.27734203e-01 -7.90654209e-01 5.98790360e-01 3.05534523e+02] [ 1.38869790e-01 6.12046166e-01 7.78533668e-01 4.14647121e+01] [-9.82038265e-01 -1.62914857e-02 1.87977214e-01 -3.53345429e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98864 meters Centerline goodness : 0.989942 Centerline is valid? [True, True] Translation: X:305.36, Y:42.58, Z:-353.37 [[ 4.37794031e-02 6.70728142e-01 7.40410105e-01 3.05357961e+02] [ 9.40590487e-02 7.35061421e-01 -6.71444416e-01 4.25829897e+01] [-9.94603569e-01 9.90377058e-02 -3.09075007e-02 -3.53367831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01864 meters Centerline goodness : 0.990251 Centerline is valid? [True, True] Translation: X:305.60, Y:41.51, Z:-353.50 [[ 8.83794176e-02 -8.11298040e-01 5.77913981e-01 3.05601611e+02] [ 8.65624356e-02 5.84244935e-01 8.06947830e-01 4.15098728e+01] [-9.92318509e-01 -2.12919375e-02 1.21863161e-01 -3.53497582e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04864 meters Centerline goodness : 0.991494 Centerline is valid? [True, True] Translation: X:305.30, Y:42.46, Z:-353.59 [[ 3.31442951e-02 4.39221480e-01 8.97767201e-01 3.05300861e+02] [ 5.73473337e-03 8.98162363e-01 -4.39626526e-01 4.24579904e+01] [-9.99434124e-01 1.97195669e-02 2.72501403e-02 -3.53590397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07864 meters Centerline goodness : 0.990723 Centerline is valid? [True, True] Translation: X:306.36, Y:42.86, Z:-353.71 [[-3.04195683e-02 8.52837409e-01 -5.21289750e-01 3.06358498e+02] [ 8.43834124e-02 -5.17478083e-01 -8.51525615e-01 4.28571947e+01] [-9.95968920e-01 -6.98912495e-02 -5.62238709e-02 -3.53706021e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10864 meters Centerline goodness : 0.991262 Centerline is valid? [True, True] Translation: X:306.49, Y:41.59, Z:-353.80 [[-1.08260019e-02 -8.61514965e-01 -5.07616749e-01 3.06486499e+02] [ 4.59298653e-02 -5.07539126e-01 8.60403674e-01 4.15937441e+01] [-9.98886002e-01 -1.40000370e-02 4.50638858e-02 -3.53802046e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.13864 meters Centerline goodness : 0.990529 Centerline is valid? [True, True] Translation: X:306.45, Y:41.57, Z:-353.81 [[-8.09573162e-03 -8.90501214e-01 -4.54908834e-01 3.06448014e+02] [ 4.68995072e-02 -4.54761250e-01 8.89377671e-01 4.15684497e+01] [-9.98866806e-01 -1.41348372e-02 4.54456931e-02 -3.53814887e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16864 meters Centerline goodness : 0.990912 Centerline is valid? [True, True] Translation: X:306.43, Y:41.56, Z:-353.86 [[-1.60896117e-03 -9.01684505e-01 -4.32391564e-01 3.06427310e+02] [ 6.15588525e-02 -4.31661379e-01 8.99932754e-01 4.15561720e+01] [-9.98102159e-01 -2.51695717e-02 5.62011899e-02 -3.53859729e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.19864 meters Centerline goodness : 0.991175 Centerline is valid? [True, True] Translation: X:305.35, Y:41.94, Z:-353.89 [[-1.89588405e-02 -2.67743894e-01 9.63303571e-01 3.05346405e+02] [-1.93423704e-02 9.63394648e-01 2.67388529e-01 4.19378005e+01] [-9.99633150e-01 -1.35631980e-02 -2.34436470e-02 -3.53888722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22864 meters Centerline goodness : 0.991249 Centerline is valid? [True, True] Translation: X:306.18, Y:41.48, Z:-354.05 [[ 8.91362330e-02 -9.82447731e-01 -1.63863321e-01 3.06178450e+02] [-1.30644946e-02 -1.65657284e-01 9.86096843e-01 4.14841846e+01] [-9.95933758e-01 -8.57561664e-02 -2.76012494e-02 -3.54046159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.25864 meters Centerline goodness : 0.990136 Centerline is valid? [True, True] Translation: X:305.30, Y:41.97, Z:-354.22 [[ 9.58141415e-02 -2.37818663e-01 9.66572260e-01 3.05298908e+02] [-2.04932670e-02 9.70362668e-01 2.40782719e-01 4.19674394e+01] [-9.95188262e-01 -4.28786129e-02 8.81007846e-02 -3.54217484e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28864 meters Centerline goodness : 0.990830 Centerline is valid? [True, True] Translation: X:305.88, Y:42.93, Z:-354.34 [[-2.47081300e-02 9.89811048e-01 1.40226947e-01 3.05884429e+02] [ 5.49737347e-03 1.40402178e-01 -9.90079293e-01 4.29343791e+01] [-9.99679592e-01 -2.36921280e-02 -8.91043626e-03 -3.54340371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.31864 meters Centerline goodness : 0.989004 Centerline is valid? [True, True] Translation: X:306.12, Y:42.95, Z:-354.36 [[-2.21027160e-02 9.83835307e-01 -1.77706381e-01 3.06121522e+02] [ 1.26413273e-02 -1.77460569e-01 -9.84046718e-01 4.29498788e+01] [-9.99675781e-01 -2.39965496e-02 -8.51462354e-03 -3.54358349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34864 meters Centerline goodness : 0.991018 Centerline is valid? [True, True] Translation: X:306.31, Y:42.91, Z:-354.39 [[-2.07947120e-02 9.02778795e-01 -4.29602174e-01 3.06313497e+02] [ 1.83531192e-02 -4.29277990e-01 -9.02985919e-01 4.29050381e+01] [-9.99615297e-01 -2.66618721e-02 -7.64209466e-03 -3.54385292e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.37864 meters Centerline goodness : 0.992228 Centerline is valid? [True, True] Translation: X:306.56, Y:42.75, Z:-354.41 [[-1.30223718e-02 6.76214585e-01 -7.36589610e-01 3.06557650e+02] [ 2.15047332e-02 -7.36292291e-01 -6.76321824e-01 4.27544614e+01] [-9.99683932e-01 -2.46474773e-02 -4.95354230e-03 -3.54405144e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40864 meters Centerline goodness : 0.991898 Centerline is valid? [True, True] Translation: X:306.68, Y:42.61, Z:-354.46 [[-1.65130224e-02 4.70176247e-01 -8.82418051e-01 3.06677535e+02] [ 3.80943473e-02 -8.81601770e-01 -4.70454184e-01 4.26073742e+01] [-9.99137699e-01 -4.13837602e-02 -3.35314744e-03 -3.54462109e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.43864 meters Centerline goodness : 0.991009 Centerline is valid? [True, True] Translation: X:305.98, Y:41.48, Z:-354.52 [[ 5.29365360e-02 -9.87981836e-01 1.45222640e-01 3.05984778e+02] [-2.64726476e-02 1.43987017e-01 9.89225423e-01 4.14769273e+01] [-9.98246924e-01 -5.62105950e-02 -1.85323211e-02 -3.54522744e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46864 meters Centerline goodness : 0.989900 Centerline is valid? [True, True] Translation: X:305.88, Y:42.93, Z:-354.69 [[-5.17070418e-02 9.74439094e-01 2.18620298e-01 3.05884296e+02] [ 5.07131838e-03 2.19166521e-01 -9.75674289e-01 4.29323717e+01] [-9.98649420e-01 -4.93405381e-02 -1.62741434e-02 -3.54688610e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.49864 meters Centerline goodness : 0.991465 Centerline is valid? [True, True] Translation: X:305.89, Y:42.93, Z:-354.76 [[-1.16676898e-01 9.67118040e-01 2.25984950e-01 3.05889914e+02] [-1.05669753e-02 2.26317342e-01 -9.73996304e-01 4.29326511e+01] [-9.93113710e-01 -1.16030845e-01 -1.61864931e-02 -3.54759472e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52864 meters Centerline goodness : 0.991403 Centerline is valid? [True, True] Translation: X:306.08, Y:42.96, Z:-354.84 [[-1.73356426e-01 9.84649422e-01 -2.03240006e-02 3.06079689e+02] [ 1.23475941e-03 -2.04191398e-02 -9.99790745e-01 4.29631366e+01] [-9.84858378e-01 -1.73345245e-01 2.32398395e-03 -3.54841270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.55864 meters Centerline goodness : 0.989895 Centerline is valid? [True, True] Translation: X:306.75, Y:42.58, Z:-354.96 [[-1.62650897e-01 4.30660760e-01 -8.87736445e-01 3.06745697e+02] [-4.80619500e-03 -9.00052504e-01 -4.35754966e-01 4.25826231e+01] [-9.86671975e-01 -6.66093017e-02 1.48464187e-01 -3.54959819e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58864 meters Centerline goodness : 0.991458 Centerline is valid? [True, True] Translation: X:306.40, Y:41.55, Z:-354.96 [[-8.30192694e-02 -9.19960455e-01 -3.83119515e-01 3.06400670e+02] [-8.23862567e-03 -3.83799922e-01 9.23379524e-01 4.15497607e+01] [-9.96513886e-01 7.98146717e-02 2.42835793e-02 -3.54955055e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61863999999997 meters Centerline goodness : 0.991354 Centerline is valid? [True, True] Translation: X:306.07, Y:41.48, Z:-354.99 [[-2.59952464e-02 -9.98550178e-01 4.71358557e-02 3.06067163e+02] [-1.51606011e-02 4.75401655e-02 9.98754269e-01 4.14779689e+01] [-9.99547099e-01 2.52482554e-02 -1.63744392e-02 -3.54987423e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64864 meters Centerline goodness : 0.990612 Centerline is valid? [True, True] Translation: X:306.13, Y:42.95, Z:-355.05 [[-1.01135028e-01 9.87111103e-01 -1.24029737e-01 3.06131194e+02] [ 3.29700934e-02 -1.21275005e-01 -9.92071240e-01 4.29523125e+01] [-9.94326244e-01 -1.04422424e-01 -2.02799943e-02 -3.55047488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67864 meters Centerline goodness : 0.992386 Centerline is valid? [True, True] Translation: X:306.20, Y:41.49, Z:-355.13 [[-2.52648557e-02 -9.87577145e-01 -1.55090521e-01 3.06202960e+02] [-9.79148356e-03 -1.54888137e-01 9.87883491e-01 4.14905519e+01] [-9.99632840e-01 2.64773002e-02 -5.75661894e-03 -3.55129442e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70864 meters Centerline goodness : 0.990725 Centerline is valid? [True, True] Translation: X:305.34, Y:42.04, Z:-355.18 [[-1.74391335e-02 -2.19488102e-01 9.75459302e-01 3.05336953e+02] [-5.31612375e-02 9.74431226e-01 2.18306365e-01 4.20369656e+01] [-9.98433653e-01 -4.80495498e-02 -2.86614953e-02 -3.55184445e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73864 meters Centerline goodness : 0.992289 Centerline is valid? [True, True] Translation: X:305.92, Y:42.96, Z:-355.26 [[-2.32505675e-02 9.90590537e-01 1.34869566e-01 3.05921012e+02] [-5.21076913e-02 1.33521880e-01 -9.89675046e-01 4.29550808e+01] [-9.98370773e-01 -3.00382482e-02 4.85129264e-02 -3.55259642e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76864 meters Centerline goodness : 0.991118 Centerline is valid? [True, True] Translation: X:306.78, Y:42.25, Z:-355.30 [[-3.54649569e-03 7.65335258e-03 -9.99964424e-01 3.06784552e+02] [ 1.75511227e-02 -9.99816206e-01 -7.71446537e-03 4.22507657e+01] [-9.99839677e-01 -1.75778576e-02 3.41151893e-03 -3.55300636e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79864 meters Centerline goodness : 0.991751 Centerline is valid? [True, True] Translation: X:306.67, Y:41.83, Z:-355.32 [[-3.45317946e-03 -5.64313334e-01 -8.25553473e-01 3.06673527e+02] [ 1.01029802e-02 -8.25535949e-01 5.64259095e-01 4.18259169e+01] [-9.99943001e-01 -6.39206247e-03 8.55197022e-03 -3.55321881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82864 meters Centerline goodness : 0.992098 Centerline is valid? [True, True] Translation: X:306.59, Y:41.72, Z:-355.34 [[-2.01882583e-03 -7.05518289e-01 -7.08688837e-01 3.06592393e+02] [ 1.00964191e-02 -7.08668540e-01 7.05469321e-01 4.17185400e+01] [-9.99946992e-01 -5.73099983e-03 8.55388669e-03 -3.55336955e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85864 meters Centerline goodness : 0.991356 Centerline is valid? [True, True] Translation: X:306.53, Y:41.66, Z:-355.37 [[-1.35018006e-02 -7.85867596e-01 -6.18247380e-01 3.06531326e+02] [ 2.42109562e-02 -6.18379405e-01 7.85506678e-01 4.16563487e+01] [-9.99615692e-01 -4.36260569e-03 2.73758414e-02 -3.55366397e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.88864 meters Centerline goodness : 0.991947 Centerline is valid? [True, True] Translation: X:305.49, Y:41.73, Z:-355.43 [[ 2.84884947e-02 -6.34462987e-01 7.72428070e-01 3.05493798e+02] [-2.66669575e-02 7.71984286e-01 6.35081992e-01 4.17281547e+01] [-9.99238349e-01 -3.86908365e-02 5.07347269e-03 -3.55425388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91864 meters Centerline goodness : 0.991993 Centerline is valid? [True, True] Translation: X:305.34, Y:42.44, Z:-355.52 [[-7.53220444e-03 3.47925391e-01 9.37491967e-01 3.05337809e+02] [-3.93023952e-02 9.36691156e-01 -3.47943962e-01 4.24425862e+01] [-9.99198973e-01 -3.94664648e-02 6.61895192e-03 -3.55520234e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.94864 meters Centerline goodness : 0.991456 Centerline is valid? [True, True] Translation: X:306.45, Y:42.83, Z:-355.69 [[-4.03067189e-02 8.38950649e-01 -5.42712795e-01 3.06447290e+02] [ 3.70743289e-03 -5.43024876e-01 -8.39708425e-01 4.28312134e+01] [-9.99180476e-01 -3.58579627e-02 1.87771978e-02 -3.55686485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97864 meters Centerline goodness : 0.992191 Centerline is valid? [True, True] Translation: X:306.08, Y:42.93, Z:-355.74 [[-1.18667427e-01 9.91982614e-01 -4.34572739e-02 3.06078832e+02] [ 1.13197733e-02 -4.24121302e-02 -9.99036072e-01 4.29260716e+01] [-9.92869530e-01 -1.19044966e-01 -6.19607993e-03 -3.55739993e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.00864 meters Centerline goodness : 0.991486 Centerline is valid? [True, True] Translation: X:306.09, Y:41.45, Z:-355.82 [[-4.04130302e-02 -9.98609938e-01 3.38375305e-02 3.06088986e+02] [-2.73719874e-02 3.49589412e-02 9.99013837e-01 4.14541645e+01] [-9.98808070e-01 3.94469760e-02 -2.87467354e-02 -3.55816350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03864 meters Centerline goodness : 0.991316 Centerline is valid? [True, True] Translation: X:306.13, Y:42.92, Z:-355.91 [[-1.26446185e-01 9.82715528e-01 -1.35209297e-01 3.06129251e+02] [ 2.02500817e-02 -1.33717763e-01 -9.90812542e-01 4.29196357e+01] [-9.91766755e-01 -1.28022465e-01 -2.99196886e-03 -3.55910039e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.06864 meters Centerline goodness : 0.992489 Centerline is valid? [True, True] Translation: X:306.14, Y:42.92, Z:-355.99 [[-1.95486524e-01 9.69866549e-01 -1.45409405e-01 3.06136750e+02] [ 3.16465598e-02 -1.41954395e-01 -9.89367194e-01 4.29175614e+01] [-9.80195651e-01 -1.98009662e-01 -2.94276842e-03 -3.55994273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09864 meters Centerline goodness : 0.992283 Centerline is valid? [True, True] Translation: X:306.15, Y:41.46, Z:-356.09 [[-9.48427297e-02 -9.92851529e-01 -7.24617013e-02 3.06147435e+02] [-6.72048916e-03 -7.21495823e-02 9.97371181e-01 4.14579063e+01] [-9.95469583e-01 9.50803834e-02 1.70415389e-04 -3.56091289e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.12864 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:305.92, Y:41.46, Z:-356.14 [[-3.42761376e-02 -9.76622048e-01 2.12213389e-01 3.05918017e+02] [-2.76324747e-02 2.13183062e-01 9.76621436e-01 4.14639977e+01] [-9.99030326e-01 2.76108296e-02 -3.42935760e-02 -3.56141497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15864 meters Centerline goodness : 0.993063 Centerline is valid? [True, True] Translation: X:305.91, Y:42.91, Z:-356.22 [[-1.41606720e-01 9.83941928e-01 1.08654585e-01 3.05913554e+02] [ 1.28635622e-02 1.11580368e-01 -9.93672154e-01 4.29147700e+01] [-9.89839414e-01 -1.39312970e-01 -2.84575281e-02 -3.56219895e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.18864 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:306.09, Y:41.46, Z:-356.30 [[-2.76266796e-02 -9.98757705e-01 -4.14706410e-02 3.06091164e+02] [-2.60092136e-02 -4.07542268e-02 9.98830623e-01 4.14581098e+01] [-9.99279884e-01 2.86729924e-02 -2.48509985e-02 -3.56302831e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21864 meters Centerline goodness : 0.992722 Centerline is valid? [True, True] Translation: X:305.97, Y:42.92, Z:-356.38 [[-1.38145365e-01 9.90329214e-01 1.28025937e-02 3.05970839e+02] [ 1.57100387e-02 1.51160034e-02 -9.99762322e-01 4.29213803e+01] [-9.90287359e-01 -1.37911401e-01 -1.76463161e-02 -3.56378793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.24864 meters Centerline goodness : 0.992714 Centerline is valid? [True, True] Translation: X:305.96, Y:41.46, Z:-356.44 [[-3.17110466e-02 -9.92887592e-01 1.14754695e-01 3.05962593e+02] [-3.80805010e-02 1.15929267e-01 9.92527219e-01 4.14565354e+01] [-9.98771388e-01 2.71041606e-02 -4.14858953e-02 -3.56443816e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27864 meters Centerline goodness : 0.991894 Centerline is valid? [True, True] Translation: X:305.99, Y:42.92, Z:-356.54 [[-1.37962015e-01 9.90075201e-01 -2.67876742e-02 3.05990278e+02] [ 1.19668278e-02 -2.53780321e-02 -9.99606298e-01 4.29206325e+01] [-9.90365224e-01 -1.38228263e-01 -8.34685501e-03 -3.56541466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.30864 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:306.02, Y:41.45, Z:-356.60 [[-3.16883419e-02 -9.99416911e-01 1.27156293e-02 3.06019240e+02] [-2.50510099e-02 1.35121813e-02 9.99594852e-01 4.14537931e+01] [-9.99183815e-01 3.13569640e-02 -2.54645815e-02 -3.56604773e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33864 meters Centerline goodness : 0.994421 Centerline is valid? [True, True] Translation: X:305.26, Y:42.28, Z:-356.65 [[-9.20186916e-02 1.42115376e-01 9.85563687e-01 3.05259729e+02] [-9.94373580e-02 9.83504064e-01 -1.51102509e-01 4.22751300e+01] [-9.90779881e-01 -1.11906104e-01 -7.63691796e-02 -3.56648947e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36863999999997 meters Centerline goodness : 0.995849 Centerline is valid? [True, True] Translation: X:306.18, Y:42.90, Z:-356.79 [[-8.55294369e-02 9.50490937e-01 -2.98750221e-01 3.06175696e+02] [-4.96105708e-02 -3.03539839e-01 -9.51526331e-01 4.29028285e+01] [-9.95099747e-01 -6.65623422e-02 7.31159894e-02 -3.56788708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39864 meters Centerline goodness : 0.995553 Centerline is valid? [True, True] Translation: X:306.42, Y:42.79, Z:-356.81 [[-7.32561199e-02 7.85524027e-01 -6.14479897e-01 3.06415504e+02] [-4.22144412e-02 -6.18025462e-01 -7.85023865e-01 4.27894633e+01] [-9.96419330e-01 -3.15678769e-02 7.84346052e-02 -3.56810528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42864 meters Centerline goodness : 0.996624 Centerline is valid? [True, True] Translation: X:306.46, Y:41.63, Z:-356.81 [[ 1.87116903e-02 -7.74631056e-01 -6.32136536e-01 3.06456308e+02] [-3.75278770e-02 -6.32345850e-01 7.73776702e-01 4.16301533e+01] [-9.99120379e-01 9.24407215e-03 -4.09025187e-02 -3.56806128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45864 meters Centerline goodness : 0.997165 Centerline is valid? [True, True] Translation: X:306.31, Y:42.83, Z:-356.88 [[-3.79702391e-02 8.73532570e-01 -4.85282505e-01 3.06305329e+02] [ 9.40077767e-03 -4.85298962e-01 -8.74297743e-01 4.28320794e+01] [-9.99234650e-01 -3.77593272e-02 1.02150321e-02 -3.56883661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48864 meters Centerline goodness : 0.996381 Centerline is valid? [True, True] Translation: X:306.50, Y:42.69, Z:-356.89 [[-2.60821799e-02 6.64816142e-01 -7.46551550e-01 3.06502120e+02] [ 1.24358810e-02 -7.46532040e-01 -6.65233239e-01 4.26851928e+01] [-9.99582447e-01 -2.66347592e-02 1.12036085e-02 -3.56894834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51864 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:306.58, Y:42.59, Z:-356.91 [[-2.22511364e-02 5.37545636e-01 -8.42941028e-01 3.06575503e+02] [ 1.40473253e-02 -8.42898444e-01 -5.37889288e-01 4.25940422e+01] [-9.99653720e-01 -2.38097148e-02 1.12043698e-02 -3.56907325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54864 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:306.63, Y:42.50, Z:-356.96 [[-2.52795887e-02 4.10992346e-01 -9.11288228e-01 3.06628239e+02] [ 3.02670282e-02 -9.10846974e-01 -4.11632963e-01 4.25007575e+01] [-9.99222122e-01 -3.79878985e-02 1.05863200e-02 -3.56960692e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57864 meters Centerline goodness : 0.994626 Centerline is valid? [True, True] Translation: X:306.01, Y:42.91, Z:-357.00 [[-1.24543254e-01 9.88962497e-01 -8.02630500e-02 3.06010171e+02] [ 3.74200012e-02 -7.61537335e-02 -9.96393673e-01 4.29090276e+01] [-9.91508306e-01 -1.27097554e-01 -2.75225440e-02 -3.57000486e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60864 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:305.95, Y:41.44, Z:-357.08 [[-3.54867314e-02 -9.97863997e-01 5.48464704e-02 3.05945839e+02] [-2.29907346e-02 5.56816626e-02 9.98183840e-01 4.14405911e+01] [-9.99105659e-01 3.41613212e-02 -2.49175865e-02 -3.57079402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.63864 meters Centerline goodness : 0.996533 Centerline is valid? [True, True] Translation: X:306.69, Y:42.12, Z:-357.16 [[-1.83651633e-02 -1.09956876e-01 -9.93766676e-01 3.06690464e+02] [ 3.03791952e-02 -9.93536765e-01 1.09370019e-01 4.21230461e+01] [-9.99369714e-01 -2.81812336e-02 2.15868664e-02 -3.57155637e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66864 meters Centerline goodness : 0.997168 Centerline is valid? [True, True] Translation: X:306.65, Y:41.93, Z:-357.19 [[-1.24110587e-02 -3.68145513e-01 -9.29685348e-01 3.06648489e+02] [ 3.21020878e-02 -9.29424383e-01 3.67613619e-01 4.19300187e+01] [-9.99407535e-01 -2.52823665e-02 2.33533802e-02 -3.57185094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.69864 meters Centerline goodness : 0.997705 Centerline is valid? [True, True] Translation: X:305.92, Y:42.91, Z:-357.22 [[-1.32312230e-01 9.91020677e-01 1.92740940e-02 3.05924521e+02] [ 4.95212843e-02 2.60299097e-02 -9.98433817e-01 4.29132615e+01] [-9.89970260e-01 -1.31150527e-01 -5.25206921e-02 -3.57215468e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72864 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:305.88, Y:41.45, Z:-357.33 [[-2.25420042e-02 -9.92839124e-01 1.17312966e-01 3.05877497e+02] [-1.41387247e-02 1.17647642e-01 9.92954747e-01 4.14477994e+01] [-9.99645915e-01 2.07245344e-02 -1.66894927e-02 -3.57326261e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.75864 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:306.65, Y:41.97, Z:-357.41 [[ 9.92817148e-03 -3.03338199e-01 -9.52831238e-01 3.06647226e+02] [ 6.17409617e-02 -9.50874171e-01 3.03358477e-01 4.19726619e+01] [-9.98042827e-01 -6.18405120e-02 9.28795029e-03 -3.57414052e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78864 meters Centerline goodness : 0.996924 Centerline is valid? [True, True] Translation: X:306.40, Y:41.61, Z:-357.56 [[ 6.63541763e-02 -7.82800125e-01 -6.18725374e-01 3.06397037e+02] [ 4.22182963e-02 -6.17334057e-01 7.85567487e-01 4.16069673e+01] [-9.96902572e-01 -7.82472147e-02 -7.91420530e-03 -3.57557269e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.81864 meters Centerline goodness : 0.997070 Centerline is valid? [True, True] Translation: X:305.54, Y:41.55, Z:-357.66 [[ 4.31821746e-02 -8.40796072e-01 5.39626969e-01 3.05542661e+02] [ 7.71783886e-03 5.40395416e-01 8.41375795e-01 4.15543265e+01] [-9.99037404e-01 -3.21676825e-02 2.98245778e-02 -3.57655885e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84864 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:305.46, Y:41.62, Z:-357.78 [[ 5.25686973e-02 -7.67090534e-01 6.39381454e-01 3.05461042e+02] [-3.60239829e-03 6.40116910e-01 7.68269071e-01 4.16213329e+01] [-9.98610812e-01 -4.26902109e-02 3.08867464e-02 -3.57778714e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.87864 meters Centerline goodness : 0.997999 Centerline is valid? [True, True] Translation: X:305.30, Y:41.82, Z:-357.92 [[ 5.53171571e-02 -5.23345376e-01 8.50323250e-01 3.05300317e+02] [-2.49991949e-02 8.50634310e-01 5.25163127e-01 4.18181524e+01] [-9.98155826e-01 -5.03079279e-02 3.39714587e-02 -3.57921186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90864 meters Centerline goodness : 0.998193 Centerline is valid? [True, True] Translation: X:305.80, Y:41.49, Z:-358.06 [[ 1.51878747e-01 -9.80956444e-01 1.21067344e-01 3.05800353e+02] [-2.63934114e-02 1.18419528e-01 9.92612816e-01 4.14867560e+01] [-9.88046676e-01 -1.53952171e-01 -7.90537752e-03 -3.58056036e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.93864 meters Centerline goodness : 0.996970 Centerline is valid? [True, True] Translation: X:305.88, Y:42.96, Z:-358.21 [[ 3.78700854e-02 9.94211381e-01 1.00546444e-01 3.05884870e+02] [ 1.51298869e-02 1.00036616e-01 -9.94868716e-01 4.29553887e+01] [-9.99168126e-01 3.91970196e-02 -1.12539105e-02 -3.58210399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96864 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:306.03, Y:42.96, Z:-358.37 [[-2.78791506e-02 9.99599918e-01 -4.77037969e-03 3.06028533e+02] [ 2.05481603e-02 -4.19814479e-03 -9.99780050e-01 4.29557848e+01] [-9.99400083e-01 -2.79710411e-02 -2.04228986e-02 -3.58367408e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.99864 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:306.40, Y:42.84, Z:-358.38 [[-1.37770887e-02 8.57062399e-01 -5.15028383e-01 3.06404537e+02] [ 3.10493702e-02 -5.14462183e-01 -8.56950756e-01 4.28434711e+01] [-9.99422898e-01 -2.77975935e-02 -1.95234566e-02 -3.58379494e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02864 meters Centerline goodness : 0.996928 Centerline is valid? [True, True] Translation: X:306.06, Y:41.49, Z:-358.45 [[ 8.73595146e-02 -9.91215581e-01 -9.92974641e-02 3.06058116e+02] [-2.11371326e-02 -1.01500494e-01 9.94610915e-01 4.14875849e+01] [-9.95952578e-01 -8.47898631e-02 -2.98184890e-02 -3.58453573e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.05864 meters Centerline goodness : 0.996780 Centerline is valid? [True, True] Translation: X:305.94, Y:41.49, Z:-358.63 [[ 1.50281189e-01 -9.88625744e-01 5.89089078e-03 3.05936110e+02] [-2.56390596e-02 2.05929636e-03 9.99669144e-01 4.14864105e+01] [-9.88310783e-01 -1.50382504e-01 -2.50379608e-02 -3.58627934e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08864 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:306.12, Y:42.95, Z:-358.77 [[ 4.24092744e-02 9.96304068e-01 -7.46971067e-02 3.06117799e+02] [ 3.90544142e-02 -7.63603501e-02 -9.96315136e-01 4.29462026e+01] [-9.98336720e-01 3.93357502e-02 -4.21484588e-02 -3.58767194e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11863999999997 meters Centerline goodness : 0.995655 Centerline is valid? [True, True] Translation: X:305.97, Y:41.48, Z:-358.96 [[ 1.49261335e-01 -9.88779220e-01 -6.05878401e-03 3.05965999e+02] [-2.05801520e-02 -9.23266113e-03 9.99745575e-01 4.14836313e+01] [-9.88583588e-01 -1.49098669e-01 -2.17273060e-02 -3.58955559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14864 meters Centerline goodness : 0.995402 Centerline is valid? [True, True] Translation: X:305.88, Y:41.49, Z:-359.13 [[ 2.13318177e-01 -9.74068591e-01 7.54038131e-02 3.05876478e+02] [-2.59946705e-02 7.14941181e-02 9.97102236e-01 4.14923298e+01] [-9.76636899e-01 -2.14660128e-01 -1.00695971e-02 -3.59134478e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17864 meters Centerline goodness : 0.994380 Centerline is valid? [True, True] Translation: X:306.06, Y:42.96, Z:-359.25 [[ 1.08673660e-01 9.93504145e-01 3.37572112e-02 3.06062203e+02] [-4.40405994e-05 3.39631419e-02 -9.99423085e-01 4.29585782e+01] [-9.94077479e-01 1.08609478e-01 3.73465345e-03 -3.59254703e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20864 meters Centerline goodness : 0.993023 Centerline is valid? [True, True] Translation: X:306.78, Y:42.04, Z:-359.33 [[ 1.65373145e-01 -1.13566047e-01 -9.79670595e-01 3.06776994e+02] [ 9.23956069e-02 -9.87194975e-01 1.30035120e-01 4.20350441e+01] [-9.81893464e-01 -1.12021576e-01 -1.52762534e-01 -3.59333405e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23864 meters Centerline goodness : 0.993194 Centerline is valid? [True, True] Translation: X:305.87, Y:42.90, Z:-359.56 [[ 5.55625352e-02 9.10599971e-01 4.09536931e-01 3.05869072e+02] [ 6.85052578e-02 4.05727206e-01 -9.11423318e-01 4.29012694e+01] [-9.96102321e-01 7.86964232e-02 -3.98376535e-02 -3.59557414e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26864 meters Centerline goodness : 0.992337 Centerline is valid? [True, True] Translation: X:305.49, Y:41.85, Z:-359.72 [[ 6.53733826e-02 -5.53286370e-01 8.30421889e-01 3.05488300e+02] [ 2.52396487e-02 8.32852664e-01 5.52918982e-01 4.18525868e+01] [-9.97541619e-01 -1.51866274e-02 6.84111495e-02 -3.59717817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29864 meters Centerline goodness : 0.992147 Centerline is valid? [True, True] Translation: X:305.46, Y:41.92, Z:-359.78 [[ 6.41191664e-02 -4.73888746e-01 8.78247226e-01 3.05460212e+02] [ 2.66865431e-02 8.80557667e-01 4.73187091e-01 4.19197234e+01] [-9.97585365e-01 -6.90297936e-03 6.91070761e-02 -3.59779124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32864 meters Centerline goodness : 0.991906 Centerline is valid? [True, True] Translation: X:305.45, Y:41.97, Z:-359.84 [[ 6.32191064e-02 -4.22915185e-01 9.03961333e-01 3.05446999e+02] [ 2.96956891e-02 9.06169254e-01 4.21871366e-01 4.19658139e+01] [-9.97557773e-01 1.73423881e-04 6.98459683e-02 -3.59844937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35864 meters Centerline goodness : 0.992249 Centerline is valid? [True, True] Translation: X:305.44, Y:42.02, Z:-359.91 [[ 6.35010146e-02 -3.63285065e-01 9.29511475e-01 3.05435038e+02] [ 2.91869927e-02 9.31668865e-01 3.62134293e-01 4.20158366e+01] [-9.97554881e-01 4.13374959e-03 6.97651167e-02 -3.59906371e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.38864 meters Centerline goodness : 0.993956 Centerline is valid? [True, True] Translation: X:305.43, Y:42.07, Z:-360.01 [[ 6.95739980e-02 -3.10172070e-01 9.48131186e-01 3.05430901e+02] [ 2.17722384e-02 9.50680023e-01 3.09408247e-01 4.20667423e+01] [-9.97339174e-01 -8.83830632e-04 7.28957503e-02 -3.60012336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41864 meters Centerline goodness : 0.992924 Centerline is valid? [True, True] Translation: X:305.91, Y:41.55, Z:-360.15 [[ 1.40284520e-01 -9.68779126e-01 2.04419320e-01 3.05908773e+02] [-1.51287351e-02 2.04339520e-01 9.78783164e-01 4.15457036e+01] [-9.89995644e-01 -1.40400732e-01 1.40092687e-02 -3.60147344e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.44864 meters Centerline goodness : 0.993112 Centerline is valid? [True, True] Translation: X:305.98, Y:41.53, Z:-360.31 [[ 2.08105040e-01 -9.75174798e-01 7.56730134e-02 3.05980282e+02] [-2.14045246e-02 7.28078737e-02 9.97116272e-01 4.15284714e+01] [-9.77872251e-01 -2.09124666e-01 -5.72146748e-03 -3.60308165e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47864 meters Centerline goodness : 0.994144 Centerline is valid? [True, True] Translation: X:305.95, Y:41.53, Z:-360.49 [[ 2.71544009e-01 -9.56985396e-01 1.02190036e-01 3.05951841e+02] [-2.67551249e-02 9.86324304e-02 9.94764197e-01 4.15345104e+01] [-9.62054060e-01 -2.72856365e-01 1.17878174e-03 -3.60489023e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.50864 meters Centerline goodness : 0.994292 Centerline is valid? [True, True] Translation: X:306.31, Y:42.98, Z:-360.57 [[ 2.45606541e-01 9.61656034e-01 -1.22045484e-01 3.06311374e+02] [ 1.37500591e-02 -1.29345336e-01 -9.91504271e-01 4.29826427e+01] [-9.69272079e-01 2.41841802e-01 -4.49908879e-02 -3.60573024e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53864 meters Centerline goodness : 0.994219 Centerline is valid? [True, True] Translation: X:306.37, Y:42.98, Z:-360.73 [[ 1.80777495e-01 9.79741499e-01 -8.61747748e-02 3.06369912e+02] [ 2.04965651e-02 -9.13522451e-02 -9.95607683e-01 4.29814234e+01] [-9.83310423e-01 1.78217176e-01 -3.65957654e-02 -3.60734825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.56864 meters Centerline goodness : 0.993416 Centerline is valid? [True, True] Translation: X:306.42, Y:42.98, Z:-360.90 [[ 1.14272711e-01 9.92233125e-01 -4.91444151e-02 3.06417307e+02] [ 2.53984556e-02 -5.23702039e-02 -9.98304703e-01 4.29839779e+01] [-9.93124698e-01 1.12830792e-01 -3.11856741e-02 -3.60900113e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59864 meters Centerline goodness : 0.993794 Centerline is valid? [True, True] Translation: X:306.43, Y:42.99, Z:-361.07 [[ 4.73265103e-02 9.98757688e-01 1.55975253e-02 3.06432501e+02] [ 2.54673026e-02 1.44034628e-02 -9.99571887e-01 4.29891409e+01] [-9.98554765e-01 4.77034761e-02 -2.47539986e-02 -3.61070723e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.62864 meters Centerline goodness : 0.994096 Centerline is valid? [True, True] Translation: X:306.39, Y:42.99, Z:-361.25 [[-1.85510237e-02 9.89530989e-01 1.43123306e-01 3.06385435e+02] [ 2.02737041e-02 1.43490796e-01 -9.89443969e-01 4.29940216e+01] [-9.99622347e-01 -1.54535589e-02 -2.27233596e-02 -3.61245542e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65864 meters Centerline goodness : 0.994183 Centerline is valid? [True, True] Translation: X:306.50, Y:43.00, Z:-361.33 [[-8.16838301e-02 9.96616909e-01 -9.08236463e-03 3.06501724e+02] [ 1.62592384e-02 -7.77908969e-03 -9.99837548e-01 4.29977021e+01] [-9.96525659e-01 -8.18182328e-02 -1.55688060e-02 -3.61334801e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.68864 meters Centerline goodness : 0.992921 Centerline is valid? [True, True] Translation: X:306.52, Y:43.00, Z:-361.42 [[-1.47497487e-01 9.88089095e-01 -4.38683457e-02 3.06522683e+02] [ 1.62135189e-02 -4.19319852e-02 -9.98988904e-01 4.29965156e+01] [-9.88929529e-01 -1.48059613e-01 -9.83553873e-03 -3.61422066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71864 meters Centerline goodness : 0.994577 Centerline is valid? [True, True] Translation: X:306.54, Y:42.99, Z:-361.50 [[-2.14880516e-01 9.73535564e-01 -7.78130397e-02 3.06541639e+02] [ 2.00419804e-02 -7.52618030e-02 -9.96962376e-01 4.29939855e+01] [-9.76434679e-01 -2.15787317e-01 -3.33928560e-03 -3.61504641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.74864 meters Centerline goodness : 0.994481 Centerline is valid? [True, True] Translation: X:306.56, Y:42.99, Z:-361.59 [[-2.81864317e-01 9.52730895e-01 -1.13385836e-01 3.06556098e+02] [ 2.81063760e-02 -1.09927599e-01 -9.93542125e-01 4.29905926e+01] [-9.59042511e-01 -2.83230937e-01 4.20685496e-03 -3.61585822e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77864 meters Centerline goodness : 0.994680 Centerline is valid? [True, True] Translation: X:306.56, Y:42.99, Z:-361.66 [[-3.50109023e-01 9.26130836e-01 -1.40375736e-01 3.06559110e+02] [ 3.80098940e-02 -1.35690804e-01 -9.90021845e-01 4.29851773e+01] [-9.35937455e-01 -3.51951248e-01 1.23044401e-02 -3.61656709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.80864 meters Centerline goodness : 0.993403 Centerline is valid? [True, True] Translation: X:306.56, Y:42.98, Z:-361.72 [[-4.16328202e-01 8.93769174e-01 -1.66875676e-01 3.06559974e+02] [ 5.12094946e-02 -1.60196532e-01 -9.85755882e-01 4.29825689e+01] [-9.07771125e-01 -4.18943593e-01 2.09248664e-02 -3.61724999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83864 meters Centerline goodness : 0.994529 Centerline is valid? [True, True] Translation: X:306.26, Y:41.54, Z:-361.71 [[-3.89912080e-01 -9.03612380e-01 1.77350603e-01 3.06263873e+02] [ 4.68487218e-04 1.92399337e-01 9.81316603e-01 4.15357032e+01] [-9.20851970e-01 3.82710285e-01 -7.45954947e-02 -3.61712639e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86863999999997 meters Centerline goodness : 0.994390 Centerline is valid? [True, True] Translation: X:306.49, Y:41.53, Z:-361.86 [[-3.14836368e-01 -9.31862593e-01 -1.80305766e-01 3.06492648e+02] [-1.60000869e-02 -1.84728662e-01 9.82659309e-01 4.15318505e+01] [-9.49011095e-01 3.12261796e-01 4.32494187e-02 -3.61863330e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89864 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:305.64, Y:42.17, Z:-361.66 [[-3.21054362e-01 -1.36002180e-01 9.37244634e-01 3.05641589e+02] [-4.07793346e-02 9.90702532e-01 1.29790363e-01 4.21708697e+01] [-9.46182404e-01 3.44954960e-03 -3.23615448e-01 -3.61658995e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92864 meters Centerline goodness : 0.995059 Centerline is valid? [True, True] Translation: X:306.25, Y:43.01, Z:-361.97 [[-3.58723914e-01 9.29287407e-01 8.79890298e-02 3.06250103e+02] [-3.20604185e-02 8.19411874e-02 -9.96121364e-01 4.30061941e+01] [-9.32892965e-01 -3.60153519e-01 3.99079709e-04 -3.61966388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95864 meters Centerline goodness : 0.994829 Centerline is valid? [True, True] Translation: X:306.25, Y:41.53, Z:-361.96 [[-3.06575633e-01 -9.50128770e-01 5.71550643e-02 3.06253807e+02] [-7.78488551e-02 8.48740818e-02 9.93345834e-01 4.15331948e+01] [-9.48657439e-01 3.00086171e-01 -9.99867623e-02 -3.61955182e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98864 meters Centerline goodness : 0.995019 Centerline is valid? [True, True] Translation: X:306.27, Y:43.00, Z:-362.13 [[-3.60631311e-01 9.32707662e-01 1.21465929e-03 3.06265727e+02] [-3.80393674e-02 -1.34066831e-02 -9.99186303e-01 4.30029261e+01] [-9.31932435e-01 -3.60384071e-01 4.03144791e-02 -3.62125431e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01864 meters Centerline goodness : 0.995212 Centerline is valid? [True, True] Translation: X:306.13, Y:41.54, Z:-362.05 [[-3.05388109e-01 -9.36892708e-01 1.70206217e-01 3.06125600e+02] [-9.28721692e-02 2.07198331e-01 9.73880697e-01 4.15403608e+01] [-9.47688168e-01 2.81604164e-01 -1.50287165e-01 -3.62046253e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04864 meters Centerline goodness : 0.995409 Centerline is valid? [True, True] Translation: X:306.28, Y:41.52, Z:-362.18 [[-2.35576543e-01 -9.68189435e-01 -8.43380653e-02 3.06280064e+02] [-7.77860014e-02 -6.77179286e-02 9.94667593e-01 4.15199949e+01] [-9.68737854e-01 2.40880674e-01 -5.93588292e-02 -3.62180864e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07864 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:305.48, Y:42.32, Z:-362.11 [[-2.63724911e-01 4.48584422e-02 9.63554301e-01 3.05478792e+02] [-1.41827675e-01 9.86258138e-01 -8.47336726e-02 4.23152520e+01] [-9.54114292e-01 -1.59005047e-01 -2.53738671e-01 -3.62113352e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10864 meters Centerline goodness : 0.994970 Centerline is valid? [True, True] Translation: X:306.79, Y:42.62, Z:-362.54 [[-2.31100017e-01 4.98403004e-01 -8.35575986e-01 3.06793546e+02] [-1.08565689e-01 -8.66671004e-01 -4.86923878e-01 4.26195577e+01] [-9.66853801e-01 -2.18132339e-02 2.54397149e-01 -3.62536733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.13864 meters Centerline goodness : 0.997071 Centerline is valid? [True, True] Translation: X:306.80, Y:42.56, Z:-362.61 [[-2.57075195e-01 4.27186626e-01 -8.66847121e-01 3.06803332e+02] [-5.41949048e-02 -9.01955021e-01 -4.28415746e-01 4.25594295e+01] [-9.64870591e-01 -6.31563642e-02 2.55021601e-01 -3.62608273e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16864 meters Centerline goodness : 0.996489 Centerline is valid? [True, True] Translation: X:306.04, Y:42.96, Z:-362.50 [[-3.48425007e-01 9.25711743e-01 1.47165834e-01 3.06040329e+02] [-5.72137356e-02 1.35707874e-01 -9.89095527e-01 4.29645321e+01] [-9.35588907e-01 -3.53045523e-01 5.67941016e-03 -3.62495597e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.19864 meters Centerline goodness : 0.996777 Centerline is valid? [True, True] Translation: X:306.15, Y:41.49, Z:-362.49 [[-2.72151387e-01 -9.61648223e-01 -3.41514075e-02 3.06149153e+02] [-8.81749538e-02 -1.04191852e-02 9.96050510e-01 4.14888184e+01] [-9.58206032e-01 2.74087827e-01 -8.19576919e-02 -3.62492961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22864 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:305.40, Y:42.34, Z:-362.42 [[-3.05376699e-01 9.74273196e-02 9.47234390e-01 3.05397645e+02] [-1.52331315e-01 9.76942780e-01 -1.49592700e-01 4.23391657e+01] [-9.39968214e-01 -1.89975585e-01 -2.83494329e-01 -3.62423814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.25864 meters Centerline goodness : 0.997317 Centerline is valid? [True, True] Translation: X:306.72, Y:42.56, Z:-362.87 [[-2.68817424e-01 4.64114819e-01 -8.43999187e-01 3.06718144e+02] [-1.28819461e-01 -8.85704563e-01 -4.46019028e-01 4.25562247e+01] [-9.54537972e-01 -1.11741663e-02 2.97879840e-01 -3.62870948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28864 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:306.70, Y:42.55, Z:-362.95 [[-3.09844478e-01 4.55192297e-01 -8.34743297e-01 3.06696052e+02] [-6.81972514e-02 -8.86328199e-01 -4.58008142e-01 4.25456092e+01] [-9.48338302e-01 -8.49840952e-02 3.05666761e-01 -3.62948181e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.31864 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:306.74, Y:42.38, Z:-362.99 [[-2.94101533e-01 2.54549673e-01 -9.21253902e-01 3.06742658e+02] [-5.20975396e-02 -9.66718901e-01 -2.50480365e-01 4.23787268e+01] [-9.54353255e-01 -2.56715977e-02 2.97574922e-01 -3.62991721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34864 meters Centerline goodness : 0.996828 Centerline is valid? [True, True] Translation: X:306.02, Y:42.94, Z:-362.87 [[-3.87279861e-01 9.20203218e-01 5.69240504e-02 3.06018976e+02] [-5.87744284e-02 3.69749850e-02 -9.97586296e-01 4.29350311e+01] [-9.20086885e-01 -3.89690760e-01 3.97647512e-02 -3.62873948e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.37864 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:306.71, Y:42.34, Z:-363.13 [[-3.59320851e-01 2.17688453e-01 -9.07469153e-01 3.06714052e+02] [-4.72368331e-02 -9.75408743e-01 -2.15282295e-01 4.23414672e+01] [-9.32017815e-01 -3.44894483e-02 3.60767613e-01 -3.63128621e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40864 meters Centerline goodness : 0.997410 Centerline is valid? [True, True] Translation: X:306.08, Y:42.93, Z:-362.99 [[-4.48476846e-01 8.92082998e-01 -5.52851030e-02 3.06081651e+02] [-3.57135526e-02 -7.96905645e-02 -9.96179681e-01 4.29255217e+01] [-8.93080657e-01 -4.44789094e-01 6.75988261e-02 -3.62988093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.43864 meters Centerline goodness : 0.996385 Centerline is valid? [True, True] Translation: X:306.04, Y:41.45, Z:-362.95 [[-3.70370303e-01 -9.24108892e-01 -9.40669660e-02 3.06035218e+02] [-7.57774907e-02 -7.08721072e-02 9.94602894e-01 4.14489247e+01] [-9.25788102e-01 3.75499534e-01 -4.37777292e-02 -3.62948186e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46864 meters Centerline goodness : 0.996580 Centerline is valid? [True, True] Translation: X:305.89, Y:42.92, Z:-363.04 [[-4.46541422e-01 8.84362466e-01 1.36028627e-01 3.05892996e+02] [-2.99334517e-02 1.37177481e-01 -9.90094100e-01 4.29213488e+01] [-8.94262124e-01 -4.46189834e-01 -3.47834062e-02 -3.63038200e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.49864 meters Centerline goodness : 0.997023 Centerline is valid? [True, True] Translation: X:306.62, Y:42.32, Z:-363.38 [[-4.26030396e-01 2.21355556e-01 -8.77211388e-01 3.06617881e+02] [-4.38419835e-02 -9.73518435e-01 -2.24365187e-01 4.23197154e+01] [-9.03645938e-01 -5.71277023e-02 4.24453112e-01 -3.63382677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52864 meters Centerline goodness : 0.996927 Centerline is valid? [True, True] Translation: X:306.61, Y:42.22, Z:-363.42 [[-4.27166676e-01 1.07956299e-01 -8.97704890e-01 3.06612462e+02] [-3.16755512e-02 -9.94023812e-01 -1.04466838e-01 4.22223487e+01] [-9.03617890e-01 -1.61894548e-02 4.28033423e-01 -3.63420709e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.55864 meters Centerline goodness : 0.994915 Centerline is valid? [True, True] Translation: X:305.94, Y:41.44, Z:-363.14 [[-3.79700725e-01 -9.20756506e-01 -8.96371364e-02 3.05938292e+02] [-4.90620157e-02 -7.67149964e-02 9.95845233e-01 4.14370003e+01] [-9.23807490e-01 3.82520936e-01 -1.60454304e-02 -3.63136850e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58864 meters Centerline goodness : 0.996290 Centerline is valid? [True, True] Translation: X:305.90, Y:41.43, Z:-363.20 [[-3.16680958e-01 -9.44372935e-01 -8.87295310e-02 3.05897322e+02] [-4.41968628e-02 -7.87513932e-02 9.95914080e-01 4.14334331e+01] [-9.47501878e-01 3.19308592e-01 -1.67992544e-02 -3.63199504e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61863999999997 meters Centerline goodness : 0.994538 Centerline is valid? [True, True] Translation: X:305.85, Y:41.43, Z:-363.27 [[-2.51205982e-01 -9.64148308e-01 -8.55195617e-02 3.05853123e+02] [-3.85968454e-02 -7.83046475e-02 9.96182044e-01 4.14319052e+01] [-9.67163812e-01 2.53547674e-01 -1.75424874e-02 -3.63267466e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64864 meters Centerline goodness : 0.995121 Centerline is valid? [True, True] Translation: X:305.99, Y:42.89, Z:-363.41 [[-3.16679023e-01 9.35680839e-01 -1.55614148e-01 3.05990177e+02] [ 1.18773649e-02 -1.60133213e-01 -9.87023952e-01 4.28857233e+01] [-9.48458394e-01 -3.14418067e-01 3.95974067e-02 -3.63407893e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67864 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:305.75, Y:41.43, Z:-363.39 [[-2.51731200e-01 -9.67759597e-01 -8.53028648e-03 3.05747263e+02] [-2.82908868e-02 -1.45197653e-03 9.99598678e-01 4.14293355e+01] [-9.67383600e-01 2.51871504e-01 -2.70132694e-02 -3.63394798e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70864 meters Centerline goodness : 0.994780 Centerline is valid? [True, True] Translation: X:305.68, Y:41.43, Z:-363.47 [[-1.90045865e-01 -9.81177340e-01 3.42577965e-02 3.05681303e+02] [-1.48596812e-02 3.77644221e-02 9.99176180e-01 4.14305194e+01] [-9.81662752e-01 1.89380242e-01 -2.17569548e-02 -3.63470028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73864 meters Centerline goodness : 0.993700 Centerline is valid? [True, True] Translation: X:305.08, Y:42.45, Z:-363.43 [[-2.24075429e-01 2.73337492e-01 9.35455406e-01 3.05083388e+02] [-7.27588712e-02 9.52492322e-01 -2.95744015e-01 4.24530839e+01] [-9.71852020e-01 -1.34331647e-01 -1.93542399e-01 -3.63433843e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76864 meters Centerline goodness : 0.993947 Centerline is valid? [True, True] Translation: X:306.44, Y:42.37, Z:-363.78 [[-1.97624956e-01 3.55556896e-01 -9.13522671e-01 3.06439574e+02] [-5.74858328e-02 -9.34501687e-01 -3.51286174e-01 4.23686830e+01] [-9.78590699e-01 -1.69083031e-02 2.05120339e-01 -3.63782844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79864 meters Centerline goodness : 0.992584 Centerline is valid? [True, True] Translation: X:305.60, Y:41.44, Z:-363.63 [[-1.56803410e-01 -9.84834359e-01 7.42561495e-02 3.05600628e+02] [-8.13295526e-02 8.78067864e-02 9.92811902e-01 4.14394297e+01] [-9.84275467e-01 1.49637073e-01 -9.38645413e-02 -3.63625124e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82864 meters Centerline goodness : 0.992585 Centerline is valid? [True, True] Translation: X:306.40, Y:42.40, Z:-363.87 [[-1.35317467e-01 3.98768456e-01 -9.07013176e-01 3.06400939e+02] [-5.00268340e-02 -9.17015247e-01 -3.95702355e-01 4.23951518e+01] [-9.89538528e-01 -8.17044275e-03 1.44037304e-01 -3.63865898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85864 meters Centerline goodness : 0.992244 Centerline is valid? [True, True] Translation: X:305.61, Y:42.89, Z:-363.85 [[-2.14495296e-01 9.53326361e-01 2.12510276e-01 3.05609501e+02] [-4.20526944e-02 2.08358746e-01 -9.77147995e-01 4.28910726e+01] [-9.75819317e-01 -2.18530278e-01 -4.60202865e-03 -3.63845538e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.88864 meters Centerline goodness : 0.993077 Centerline is valid? [True, True] Translation: X:305.72, Y:42.89, Z:-363.94 [[-2.75157688e-01 9.60054976e-01 5.08201790e-02 3.05723847e+02] [-3.43460377e-02 4.30106232e-02 -9.98484069e-01 4.28949169e+01] [-9.60785406e-01 -2.76486039e-01 2.11393808e-02 -3.63942943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91864 meters Centerline goodness : 0.991955 Centerline is valid? [True, True] Translation: X:306.38, Y:42.33, Z:-364.13 [[-2.68393986e-01 3.22140586e-01 -9.07849168e-01 3.06384760e+02] [-5.56835118e-02 -9.46039916e-01 -3.19230048e-01 4.23311536e+01] [-9.61698505e-01 -3.51271952e-02 2.71849343e-01 -3.64129806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.94864 meters Centerline goodness : 0.991460 Centerline is valid? [True, True] Translation: X:305.64, Y:41.41, Z:-363.93 [[-2.27950111e-01 -9.72914047e-01 -3.84318247e-02 3.05636579e+02] [-7.26521920e-02 -2.23653349e-02 9.97106539e-01 4.14133309e+01] [-9.70958499e-01 2.30082702e-01 -6.55861576e-02 -3.63930553e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97864 meters Centerline goodness : 0.991557 Centerline is valid? [True, True] Translation: X:305.68, Y:42.88, Z:-364.09 [[-2.86129277e-01 9.56910659e-01 4.95179483e-02 3.05681504e+02] [-3.60720220e-02 4.08847255e-02 -9.98512518e-01 4.28842646e+01] [-9.57511799e-01 -2.87489878e-01 2.28193854e-02 -3.64093961e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.00864 meters Centerline goodness : 0.993417 Centerline is valid? [True, True] Translation: X:305.56, Y:41.41, Z:-364.05 [[-2.25500849e-01 -9.73976262e-01 2.27949146e-02 3.05557436e+02] [-7.68084357e-02 4.10981543e-02 9.96198477e-01 4.14106226e+01] [-9.71210498e-01 2.22892761e-01 -8.40772618e-02 -3.64050749e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03864 meters Centerline goodness : 0.991964 Centerline is valid? [True, True] Translation: X:305.56, Y:42.88, Z:-364.24 [[-2.82887197e-01 9.46369043e-01 1.56078403e-01 3.05564589e+02] [-6.81039330e-02 1.42496026e-01 -9.87449612e-01 4.28775806e+01] [-9.56732297e-01 -2.89966406e-01 2.41411526e-02 -3.64237176e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.06864 meters Centerline goodness : 0.991694 Centerline is valid? [True, True] Translation: X:306.31, Y:42.30, Z:-364.43 [[-2.87845356e-01 2.94841607e-01 -9.11160512e-01 3.06310994e+02] [-6.39615647e-02 -9.55222248e-01 -2.88893362e-01 4.22978694e+01] [-9.55538576e-01 -2.48773605e-02 2.93814818e-01 -3.64434212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09864 meters Centerline goodness : 0.991074 Centerline is valid? [True, True] Translation: X:305.58, Y:41.40, Z:-364.22 [[-2.22077497e-01 -9.73288532e-01 -5.82324582e-02 3.05580052e+02] [-7.59259775e-02 -4.22800566e-02 9.96216665e-01 4.13974248e+01] [-9.72068326e-01 2.25658660e-01 -6.45084340e-02 -3.64218532e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.12864 meters Centerline goodness : 0.991462 Centerline is valid? [True, True] Translation: X:305.51, Y:42.87, Z:-364.37 [[-2.89682928e-01 9.42564667e-01 1.66299879e-01 3.05513580e+02] [-5.03226451e-02 1.58510489e-01 -9.86074062e-01 4.28663437e+01] [-9.55798845e-01 -2.94017472e-01 1.51456452e-03 -3.64366817e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15864 meters Centerline goodness : 0.992575 Centerline is valid? [True, True] Translation: X:305.63, Y:42.86, Z:-364.50 [[-3.49791887e-01 9.36814345e-01 -4.95158240e-03 3.05628347e+02] [-6.58665945e-02 -2.98652734e-02 -9.97381400e-01 4.28602600e+01] [-9.34509084e-01 -3.48549778e-01 7.21514010e-02 -3.64498973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.18864 meters Centerline goodness : 0.991806 Centerline is valid? [True, True] Translation: X:306.25, Y:42.22, Z:-364.70 [[-3.36310454e-01 2.04826699e-01 -9.19206888e-01 3.06253853e+02] [-5.29884800e-02 -9.78630680e-01 -1.98681183e-01 4.22157030e+01] [-9.40259273e-01 -1.81111831e-02 3.39977184e-01 -3.64697811e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21864 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:305.47, Y:41.38, Z:-364.44 [[-2.84019116e-01 -9.58757664e-01 1.08112594e-02 3.05466939e+02] [-6.51343117e-02 3.05422716e-02 9.97408989e-01 4.13835916e+01] [-9.56603713e-01 2.82579035e-01 -7.11226095e-02 -3.64439295e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.24864 meters Centerline goodness : 0.992730 Centerline is valid? [True, True] Translation: X:304.83, Y:42.36, Z:-364.40 [[-3.22586336e-01 1.87964137e-01 9.27689355e-01 3.04833843e+02] [-1.35455822e-01 9.60829662e-01 -2.41781061e-01 4.23588370e+01] [-9.36797617e-01 -2.03656191e-01 -2.84489683e-01 -3.64398159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27864 meters Centerline goodness : 0.991504 Centerline is valid? [True, True] Translation: X:306.16, Y:42.34, Z:-364.86 [[-2.92968566e-01 3.93119954e-01 -8.71565328e-01 3.06159304e+02] [-1.02877170e-01 -9.19231683e-01 -3.80038683e-01 4.23424630e+01] [-9.50571253e-01 -2.16752137e-02 3.09749056e-01 -3.64862275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.30864 meters Centerline goodness : 0.991319 Centerline is valid? [True, True] Translation: X:305.54, Y:41.38, Z:-364.62 [[-2.28139805e-01 -9.56518748e-01 -1.81725384e-01 3.05535801e+02] [-1.27153746e-01 -1.55778047e-01 9.79573951e-01 4.13774108e+01] [-9.65289674e-01 2.46586873e-01 -8.60857684e-02 -3.64624482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33864 meters Centerline goodness : 0.991696 Centerline is valid? [True, True] Translation: X:305.40, Y:42.83, Z:-364.84 [[-3.22082101e-01 9.34498343e-01 1.51578252e-01 3.05400907e+02] [-1.00786125e-01 1.25354121e-01 -9.86979484e-01 4.28337648e+01] [-9.41331651e-01 -3.33165411e-01 5.38101482e-02 -3.64841097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36863999999997 meters Centerline goodness : 0.991070 Centerline is valid? [True, True] Translation: X:306.11, Y:42.28, Z:-365.06 [[-3.00274741e-01 3.51320882e-01 -8.86796886e-01 3.06113672e+02] [-8.35037339e-02 -9.35812588e-01 -3.42464489e-01 4.22814291e+01] [-9.50190616e-01 -2.87825845e-02 3.10337488e-01 -3.65057075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39864 meters Centerline goodness : 0.990336 Centerline is valid? [True, True] Translation: X:305.41, Y:41.35, Z:-364.81 [[-2.30647625e-01 -9.67584921e-01 -1.02864441e-01 3.05409909e+02] [-1.17135429e-01 -7.73359481e-02 9.90100218e-01 4.13514015e+01] [-9.65961161e-01 2.40413335e-01 -9.55011224e-02 -3.64809225e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42864 meters Centerline goodness : 0.989174 Centerline is valid? [True, True] Translation: X:305.30, Y:41.35, Z:-364.87 [[-1.64806182e-01 -9.86324190e-01 -1.87479515e-03 3.05301574e+02] [-1.19822266e-01 1.81344765e-02 9.92629722e-01 4.13486716e+01] [-9.79020708e-01 1.63816157e-01 -1.21172274e-01 -3.64867765e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45864 meters Centerline goodness : 0.989364 Centerline is valid? [True, True] Translation: X:306.03, Y:42.35, Z:-365.16 [[-1.78729166e-01 4.78883232e-01 -8.59492138e-01 3.06034873e+02] [-6.22973005e-02 -8.77313082e-01 -4.75857965e-01 4.23521241e+01] [-9.81924097e-01 -3.15056573e-02 1.86634568e-01 -3.65155247e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48864 meters Centerline goodness : 0.990102 Centerline is valid? [True, True] Translation: X:306.04, Y:42.29, Z:-365.22 [[-1.89900601e-01 4.13033480e-01 -8.90696978e-01 3.06043434e+02] [-3.84148325e-02 -9.09636210e-01 -4.13625755e-01 4.22940182e+01] [-9.81051509e-01 -4.43318042e-02 1.88607075e-01 -3.65219340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51864 meters Centerline goodness : 0.989500 Centerline is valid? [True, True] Translation: X:305.39, Y:42.80, Z:-365.20 [[-2.83515741e-01 9.56926830e-01 6.25289272e-02 3.05388926e+02] [-4.80638072e-02 5.09427991e-02 -9.97544336e-01 4.27983953e+01] [-9.57762337e-01 -2.85824900e-01 3.15504613e-02 -3.65196861e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54864 meters Centerline goodness : 0.989220 Centerline is valid? [True, True] Translation: X:305.45, Y:42.78, Z:-365.30 [[-3.45291294e-01 9.38082395e-01 -2.78449664e-02 3.05445401e+02] [-4.36076027e-02 -4.56747899e-02 -9.98004103e-01 4.27846930e+01] [-9.37481893e-01 -3.43387877e-01 5.66786317e-02 -3.65299393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57864 meters Centerline goodness : 0.989616 Centerline is valid? [True, True] Translation: X:305.32, Y:41.31, Z:-365.24 [[-2.49283044e-01 -9.58798552e-01 -1.36247208e-01 3.05318926e+02] [-7.27116063e-02 -1.21761058e-01 9.89892553e-01 4.13082395e+01] [-9.65697150e-01 2.56670182e-01 -3.93628156e-02 -3.65239892e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60864 meters Centerline goodness : 0.991410 Centerline is valid? [True, True] Translation: X:305.38, Y:42.78, Z:-365.43 [[-3.44610208e-01 9.38740146e-01 3.27770951e-03 3.05384721e+02] [-3.37966477e-02 -8.91723144e-03 -9.99388948e-01 4.27794221e+01] [-9.38137299e-01 -3.44510409e-01 3.47992389e-02 -3.65425348e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.63864 meters Centerline goodness : 0.990825 Centerline is valid? [True, True] Translation: X:305.36, Y:42.78, Z:-365.50 [[-4.08373047e-01 9.12665983e-01 1.65002546e-02 3.05364111e+02] [-3.56129100e-02 2.13265063e-03 -9.99363384e-01 4.27769632e+01] [-9.12120154e-01 -4.08700692e-01 3.16317745e-02 -3.65504708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66864 meters Centerline goodness : 0.990437 Centerline is valid? [True, True] Translation: X:305.36, Y:42.77, Z:-365.60 [[-4.69837614e-01 8.82731761e-01 -6.10367715e-03 3.05358203e+02] [-3.45343834e-02 -2.52892627e-02 -9.99083495e-01 4.27695400e+01] [-8.82077090e-01 -4.69196219e-01 4.23664440e-02 -3.65596699e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.69864 meters Centerline goodness : 0.990333 Centerline is valid? [True, True] Translation: X:305.20, Y:41.29, Z:-365.52 [[-3.78077327e-01 -9.18773397e-01 -1.13635294e-01 3.05201011e+02] [-6.26871922e-02 -9.70572676e-02 9.93302674e-01 4.12887686e+01] [-9.23649203e-01 3.82668698e-01 -2.09001722e-02 -3.65523492e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72864 meters Centerline goodness : 0.989887 Centerline is valid? [True, True] Translation: X:305.15, Y:41.28, Z:-365.60 [[-3.12587952e-01 -9.42614690e-01 -1.17329959e-01 3.05152727e+02] [-5.66832205e-02 -1.04789174e-01 9.92877758e-01 4.12830908e+01] [-9.48196069e-01 3.17012265e-01 -2.06746031e-02 -3.65596074e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.75864 meters Centerline goodness : 0.991506 Centerline is valid? [True, True] Translation: X:305.19, Y:42.77, Z:-365.77 [[-4.14946337e-01 9.03483977e-01 1.07406894e-01 3.05186449e+02] [-2.87073585e-02 1.04989975e-01 -9.94058848e-01 4.27691266e+01] [-9.09392888e-01 -4.15564445e-01 -1.76285669e-02 -3.65766793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78864 meters Centerline goodness : 0.991072 Centerline is valid? [True, True] Translation: X:305.17, Y:42.77, Z:-365.84 [[-4.73937885e-01 8.74480214e-01 1.03282309e-01 3.05172428e+02] [-3.44807235e-02 9.87716267e-02 -9.94512567e-01 4.27670075e+01] [-8.79882924e-01 -4.74898432e-01 -1.66589054e-02 -3.65844288e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.81864 meters Centerline goodness : 0.991128 Centerline is valid? [True, True] Translation: X:305.15, Y:42.76, Z:-365.92 [[-5.30557172e-01 8.41516832e-01 1.01776765e-01 3.05146983e+02] [-4.11003164e-02 9.43889850e-02 -9.94686626e-01 4.27630854e+01] [-8.46652143e-01 -5.31921180e-01 -1.54921449e-02 -3.65922559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84864 meters Centerline goodness : 0.990690 Centerline is valid? [True, True] Translation: X:305.12, Y:42.76, Z:-365.99 [[-5.82905435e-01 8.05995702e-01 1.02918323e-01 3.05121044e+02] [-4.83765295e-02 9.20126144e-02 -9.94582018e-01 4.27582550e+01] [-8.11098616e-01 -5.84726096e-01 -1.46433782e-02 -3.65993891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.87864 meters Centerline goodness : 0.991709 Centerline is valid? [True, True] Translation: X:304.80, Y:41.35, Z:-365.75 [[-5.11253224e-01 -8.40644602e-01 1.78708688e-01 3.04801995e+02] [-1.05673866e-01 2.67849371e-01 9.57648030e-01 4.13450951e+01] [-8.52908656e-01 4.70715804e-01 -2.25773019e-01 -3.65752363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90864 meters Centerline goodness : 0.992053 Centerline is valid? [True, True] Translation: X:304.84, Y:41.30, Z:-365.87 [[-4.50124555e-01 -8.91699240e-01 4.75431308e-02 3.04844446e+02] [-1.11866589e-01 1.09131915e-01 9.87712555e-01 4.12976122e+01] [-8.85931008e-01 4.39275187e-01 -1.48874307e-01 -3.65868834e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.93864 meters Centerline goodness : 0.991592 Centerline is valid? [True, True] Translation: X:305.08, Y:42.73, Z:-366.24 [[-5.21994018e-01 8.52835415e-01 1.39283845e-02 3.05083610e+02] [-8.84668333e-02 -3.78917506e-02 -9.95358144e-01 4.27309067e+01] [-8.48348905e-01 -5.20803197e-01 9.52269157e-02 -3.66237973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96864 meters Centerline goodness : 0.991616 Centerline is valid? [True, True] Translation: X:305.62, Y:42.00, Z:-366.49 [[-5.01087853e-01 1.90165266e-01 -8.44244121e-01 3.05615913e+02] [-7.60702265e-02 -9.81460382e-01 -1.75922823e-01 4.19978386e+01] [-8.62046567e-01 -2.39309480e-02 5.06263790e-01 -3.66488066e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.99864 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:304.84, Y:41.26, Z:-366.04 [[-4.55164976e-01 -8.89167793e-01 -4.69625449e-02 3.04841447e+02] [-1.02985593e-01 1.82865209e-04 9.94682831e-01 4.12634906e+01] [-8.84431350e-01 4.57581252e-01 -9.16547063e-02 -3.66036335e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02864 meters Centerline goodness : 0.991720 Centerline is valid? [True, True] Translation: X:304.78, Y:41.26, Z:-366.09 [[-3.94087743e-01 -9.18848276e-01 -2.03149490e-02 3.04775975e+02] [-1.04802704e-01 2.29676377e-02 9.94227781e-01 4.12610883e+01] [-9.13077896e-01 3.93942044e-01 -1.05349048e-01 -3.66093936e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.05864 meters Centerline goodness : 0.992350 Centerline is valid? [True, True] Translation: X:304.91, Y:42.73, Z:-366.38 [[-4.60118321e-01 8.82578111e-01 9.66799257e-02 3.04914439e+02] [-7.41351778e-02 7.03200461e-02 -9.94765835e-01 4.27261159e+01] [-8.84757089e-01 -4.64877369e-01 3.30745437e-02 -3.66375035e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08864 meters Centerline goodness : 0.992930 Centerline is valid? [True, True] Translation: X:304.87, Y:42.72, Z:-366.45 [[-5.16857862e-01 8.46924072e-01 1.24810123e-01 3.04866819e+02] [-9.91479365e-02 8.55914587e-02 -9.91384783e-01 4.27225250e+01] [-8.50310318e-01 -5.24779686e-01 3.97321558e-02 -3.66453092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11863999999997 meters Centerline goodness : 0.991282 Centerline is valid? [True, True] Translation: X:305.48, Y:41.98, Z:-366.75 [[-5.02360341e-01 2.01714407e-01 -8.40800443e-01 3.05479894e+02] [-9.10196583e-02 -9.79341710e-01 -1.80569203e-01 4.19821640e+01] [-8.59854354e-01 -1.41814373e-02 5.10342412e-01 -3.66749127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14864 meters Centerline goodness : 0.991213 Centerline is valid? [True, True] Translation: X:304.67, Y:41.25, Z:-366.28 [[-4.61665541e-01 -8.87035609e-01 5.72334519e-03 3.04669714e+02] [-1.12511785e-01 6.49552889e-02 9.91525042e-01 4.12495464e+01] [-8.79889781e-01 4.57109001e-01 -1.29789579e-01 -3.66277009e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17864 meters Centerline goodness : 0.991911 Centerline is valid? [True, True] Translation: X:304.95, Y:42.67, Z:-366.67 [[-5.10843945e-01 8.53552666e-01 -1.02402685e-01 3.04947443e+02] [-7.14340048e-02 -1.60852186e-01 -9.84390043e-01 4.26658622e+01] [-8.56700442e-01 -4.95554659e-01 1.43143051e-01 -3.66669390e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20864 meters Centerline goodness : 0.992042 Centerline is valid? [True, True] Translation: X:304.71, Y:42.70, Z:-366.65 [[-5.67091775e-01 8.06127526e-01 1.69012812e-01 3.04711418e+02] [-1.00143530e-01 1.36194021e-01 -9.85607661e-01 4.27022339e+01] [-8.17544000e-01 -5.75855538e-01 3.49394695e-03 -3.66646584e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23864 meters Centerline goodness : 0.993921 Centerline is valid? [True, True] Translation: X:305.33, Y:41.96, Z:-367.02 [[-5.78627978e-01 1.92935116e-01 -7.92442871e-01 3.05334130e+02] [-9.66754134e-02 -9.80992203e-01 -1.68250294e-01 4.19583639e+01] [-8.09841668e-01 -2.07445851e-02 5.86281617e-01 -3.67019630e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26864 meters Centerline goodness : 0.994001 Centerline is valid? [True, True] Translation: X:304.70, Y:41.20, Z:-366.59 [[-5.25047523e-01 -8.33162877e-01 -1.73679931e-01 3.04697338e+02] [-7.24220850e-02 -1.59592826e-01 9.84522814e-01 4.12002445e+01] [-8.47985931e-01 5.29499528e-01 2.34544252e-02 -3.66593996e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29864 meters Centerline goodness : 0.993209 Centerline is valid? [True, True] Translation: X:304.00, Y:42.11, Z:-366.34 [[-5.28268810e-01 -2.67320180e-02 8.48656270e-01 3.04000641e+02] [-1.36949155e-01 9.89100100e-01 -5.40917765e-02 4.21072840e+01] [-8.37960019e-01 -1.44797757e-01 -5.26171660e-01 -3.66339108e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32864 meters Centerline goodness : 0.993661 Centerline is valid? [True, True] Translation: X:304.63, Y:41.20, Z:-366.66 [[-4.65053138e-01 -8.62748096e-01 -1.98472421e-01 3.04626601e+02] [-1.53910098e-01 -1.41983507e-01 9.77830438e-01 4.12026116e+01] [-8.71801159e-01 4.85290024e-01 -6.67557685e-02 -3.66662088e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35864 meters Centerline goodness : 0.993229 Centerline is valid? [True, True] Translation: X:304.51, Y:42.67, Z:-366.93 [[-5.08208064e-01 8.38208157e-01 1.97817212e-01 3.04505548e+02] [-1.32466121e-01 1.50879761e-01 -9.79636680e-01 4.26680350e+01] [-8.50986069e-01 -5.24063340e-01 3.43558716e-02 -3.66925375e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.38864 meters Centerline goodness : 0.993749 Centerline is valid? [True, True] Translation: X:304.59, Y:42.64, Z:-367.07 [[-5.62357291e-01 8.25889392e-01 4.07552408e-02 3.04585211e+02] [-1.30514217e-01 -3.99833863e-02 -9.90639878e-01 4.26410941e+01] [-8.16529434e-01 -5.62412697e-01 1.30275256e-01 -3.67067763e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41864 meters Centerline goodness : 0.993809 Centerline is valid? [True, True] Translation: X:304.57, Y:42.62, Z:-367.14 [[-6.17072342e-01 7.86653408e-01 1.99534511e-02 3.04565029e+02] [-1.27207332e-01 -7.46974162e-02 -9.89059448e-01 4.26244910e+01] [-7.76556514e-01 -6.12859455e-01 1.46161791e-01 -3.67144920e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.44864 meters Centerline goodness : 0.994092 Centerline is valid? [True, True] Translation: X:304.43, Y:42.63, Z:-367.14 [[-6.70999977e-01 7.28903892e-01 1.35860761e-01 3.04434378e+02] [-1.30489758e-01 6.42842512e-02 -9.89363410e-01 4.26314662e+01] [-7.29884548e-01 -6.81591264e-01 5.19797617e-02 -3.67144701e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47864 meters Centerline goodness : 0.993407 Centerline is valid? [True, True] Translation: X:304.30, Y:41.20, Z:-366.83 [[-6.35648002e-01 -7.71313420e-01 3.20503676e-02 3.04295175e+02] [-1.72027862e-01 1.81998917e-01 9.68133673e-01 4.11974449e+01] [-7.52567626e-01 6.09878679e-01 -2.48374647e-01 -3.66833406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.50864 meters Centerline goodness : 0.993169 Centerline is valid? [True, True] Translation: X:304.35, Y:41.16, Z:-366.96 [[-5.76718505e-01 -8.08829229e-01 -1.14852270e-01 3.04353507e+02] [-1.76917028e-01 -1.35979891e-02 9.84131831e-01 4.11566150e+01] [-7.97556350e-01 5.87886360e-01 -1.35253451e-01 -3.66963470e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53864 meters Centerline goodness : 0.995074 Centerline is valid? [True, True] Translation: X:304.45, Y:41.14, Z:-367.12 [[-5.18126488e-01 -7.97811407e-01 -3.08288666e-01 3.04448351e+02] [-1.59811457e-01 -2.63792425e-01 9.51248577e-01 4.11412868e+01] [-8.40241180e-01 5.42135145e-01 9.17843934e-03 -3.67123807e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.56864 meters Centerline goodness : 0.995563 Centerline is valid? [True, True] Translation: X:304.16, Y:42.59, Z:-367.28 [[-5.72537282e-01 7.70860504e-01 2.79240298e-01 3.04156091e+02] [-1.55154175e-01 2.32563770e-01 -9.60125656e-01 4.25893478e+01] [-8.05064123e-01 -5.93033031e-01 -1.35492030e-02 -3.67279830e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59864 meters Centerline goodness : 0.994971 Centerline is valid? [True, True] Translation: X:304.87, Y:41.93, Z:-367.67 [[-5.59806725e-01 2.75376709e-01 -7.81526774e-01 3.04871569e+02] [-1.42886718e-01 -9.61115312e-01 -2.36306461e-01 4.19294157e+01] [-8.16210645e-01 -2.06161498e-02 5.77386489e-01 -3.67670958e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.62864 meters Centerline goodness : 0.995659 Centerline is valid? [True, True] Translation: X:304.16, Y:41.13, Z:-367.11 [[-5.12440725e-01 -8.57771426e-01 -4.04064949e-02 3.04159211e+02] [-1.73830118e-01 5.75377947e-02 9.83093328e-01 4.11306361e+01] [-8.40944465e-01 5.10800924e-01 -1.78591218e-01 -3.67113514e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65864 meters Centerline goodness : 0.996146 Centerline is valid? [True, True] Translation: X:304.08, Y:42.57, Z:-367.44 [[-5.75125634e-01 7.72309585e-01 2.69756204e-01 3.04078336e+02] [-1.70676383e-01 2.09212887e-01 -9.62860083e-01 4.25677657e+01] [-8.00062546e-01 -5.99806529e-01 1.14913127e-02 -3.67438735e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.68864 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:304.77, Y:41.92, Z:-367.82 [[-5.80045012e-01 3.01180374e-01 -7.56860731e-01 3.04771964e+02] [-1.59276092e-01 -9.53136736e-01 -2.57218757e-01 4.19168579e+01] [-7.98861008e-01 -2.86486369e-02 6.00833042e-01 -3.67822827e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71864 meters Centerline goodness : 0.996052 Centerline is valid? [True, True] Translation: X:303.99, Y:41.14, Z:-367.18 [[-5.13988839e-01 -8.55406599e-01 6.39923720e-02 3.03989628e+02] [-1.94335536e-01 1.88781841e-01 9.62598107e-01 4.11402035e+01] [-8.35493371e-01 4.82328692e-01 -2.63267659e-01 -3.67183241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.74864 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:304.03, Y:41.10, Z:-367.29 [[-4.54653799e-01 -8.88856754e-01 -5.67767040e-02 3.04031371e+02] [-1.97188504e-01 3.82885576e-02 9.79617619e-01 4.11003378e+01] [-8.68565839e-01 4.56582586e-01 -1.92680372e-01 -3.67287336e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77864 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:303.99, Y:41.08, Z:-367.38 [[-3.99507102e-01 -9.14312915e-01 -6.65279614e-02 3.03988387e+02] [-1.72238123e-01 3.58418115e-03 9.85048823e-01 4.10770720e+01] [-9.00404412e-01 4.04992652e-01 -1.58911446e-01 -3.67377967e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.80864 meters Centerline goodness : 0.996492 Centerline is valid? [True, True] Translation: X:303.38, Y:42.10, Z:-367.39 [[-4.20309354e-01 1.47211410e-01 8.95359619e-01 3.03375858e+02] [-2.36110307e-01 9.35016128e-01 -2.64569016e-01 4.20976913e+01] [-8.76123262e-01 -3.22604466e-01 -3.58237893e-01 -3.67392239e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83864 meters Centerline goodness : 0.996878 Centerline is valid? [True, True] Translation: X:304.19, Y:41.07, Z:-367.59 [[-3.58233775e-01 -8.33928768e-01 -4.19799205e-01 3.04186547e+02] [-2.19310719e-01 -3.61896812e-01 9.06053810e-01 4.10656035e+01] [-9.07508331e-01 4.16645542e-01 -5.32458563e-02 -3.67587275e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86863999999997 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:303.26, Y:41.74, Z:-367.48 [[-3.47406360e-01 -2.82151940e-01 8.94258969e-01 3.03255758e+02] [-2.82108990e-01 9.40925319e-01 1.87280702e-01 4.17392651e+01] [-8.94272519e-01 -1.87215988e-01 -4.06481039e-01 -3.67475531e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89864 meters Centerline goodness : 0.995617 Centerline is valid? [True, True] Translation: X:304.51, Y:42.11, Z:-368.09 [[-3.17050950e-01 6.59258778e-01 -6.81803901e-01 3.04512820e+02] [-2.82635944e-01 -7.51906206e-01 -5.95612274e-01 4.21062163e+01] [-9.05315204e-01 3.86285186e-03 4.24722804e-01 -3.68086127e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92864 meters Centerline goodness : 0.996686 Centerline is valid? [True, True] Translation: X:304.51, Y:42.09, Z:-368.12 [[-3.20960399e-01 6.47095555e-01 -6.91557493e-01 3.04505185e+02] [-2.79473217e-01 -7.62385776e-01 -5.83663131e-01 4.20856024e+01] [-9.04919413e-01 5.93904636e-03 4.25541519e-01 -3.68121878e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95864 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:304.49, Y:42.09, Z:-368.15 [[-3.34690567e-01 6.55985729e-01 -6.76509385e-01 3.04490450e+02] [-2.86809855e-01 -7.54765503e-01 -5.89973849e-01 4.20889473e+01] [-8.97620371e-01 -3.42912362e-03 4.40756066e-01 -3.68146555e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98864 meters Centerline goodness : 0.996392 Centerline is valid? [True, True] Translation: X:304.29, Y:41.10, Z:-367.86 [[-2.99776410e-01 -6.80929414e-01 -6.68183536e-01 3.04294774e+02] [-2.53607155e-01 -6.18314739e-01 7.43888630e-01 4.10978237e+01] [-9.19683378e-01 3.92456389e-01 1.26676010e-02 -3.67859125e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01864 meters Centerline goodness : 0.995517 Centerline is valid? [True, True] Translation: X:304.48, Y:42.04, Z:-368.18 [[-2.73727135e-01 6.18963690e-01 -7.36177564e-01 3.04480429e+02] [-2.34235636e-01 -7.85265564e-01 -5.73141920e-01 4.20366437e+01] [-9.32848928e-01 1.55545242e-02 3.59931847e-01 -3.68184078e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04864 meters Centerline goodness : 0.995999 Centerline is valid? [True, True] Translation: X:304.48, Y:42.02, Z:-368.21 [[-2.78293056e-01 6.05288461e-01 -7.45773996e-01 3.04476903e+02] [-2.29906999e-01 -7.95853818e-01 -5.60142367e-01 4.20190488e+01] [-9.32574794e-01 1.55749301e-02 3.60640645e-01 -3.68213112e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07864 meters Centerline goodness : 0.997123 Centerline is valid? [True, True] Translation: X:303.74, Y:42.40, Z:-368.16 [[-3.45716663e-01 8.97023642e-01 2.75369889e-01 3.03742461e+02] [-2.12914463e-01 2.10819605e-01 -9.54055829e-01 4.24029212e+01] [-9.13864005e-01 -3.88463230e-01 1.18105457e-01 -3.68160708e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10864 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:304.04, Y:40.97, Z:-368.01 [[-3.26816681e-01 -8.36770116e-01 -4.39325198e-01 3.04043993e+02] [-2.31484798e-01 -3.79817390e-01 8.95630246e-01 4.09653542e+01] [-9.16299976e-01 3.94404009e-01 -6.95689029e-02 -3.68007563e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.13864 meters Centerline goodness : 0.995858 Centerline is valid? [True, True] Translation: X:304.43, Y:41.95, Z:-368.38 [[-2.86287113e-01 5.62480070e-01 -7.75664786e-01 3.04425835e+02] [-2.17520576e-01 -8.26566267e-01 -5.19107894e-01 4.19467731e+01] [-9.33126191e-01 2.01091505e-02 3.58986259e-01 -3.68384037e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16864 meters Centerline goodness : 0.996880 Centerline is valid? [True, True] Translation: X:304.41, Y:41.94, Z:-368.42 [[-3.08652359e-01 5.57309761e-01 -7.70804483e-01 3.04414744e+02] [-2.15108456e-01 -8.30274252e-01 -5.14172169e-01 4.19375215e+01] [-9.26532284e-01 7.10610928e-03 3.76148149e-01 -3.68423002e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.19864 meters Centerline goodness : 0.996245 Centerline is valid? [True, True] Translation: X:304.16, Y:41.01, Z:-368.22 [[-2.78710349e-01 -7.06110444e-01 -6.50944377e-01 3.04164581e+02] [-1.76984695e-01 -6.28428932e-01 7.57465178e-01 4.10100612e+01] [-9.43926353e-01 3.26320576e-01 5.01789047e-02 -3.68224677e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22864 meters Centerline goodness : 0.996046 Centerline is valid? [True, True] Translation: X:303.74, Y:40.89, Z:-368.17 [[-2.27087952e-01 -9.62207934e-01 -1.50289570e-01 3.03743382e+02] [-1.60209640e-01 -1.15308672e-01 9.80324835e-01 4.08859156e+01] [-9.60606024e-01 2.46697796e-01 -1.27969776e-01 -3.68173310e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.25864 meters Centerline goodness : 0.996632 Centerline is valid? [True, True] Translation: X:304.36, Y:41.94, Z:-368.48 [[-1.98129291e-01 5.80535463e-01 -7.89761585e-01 3.04360766e+02] [-1.54595073e-01 -8.14157886e-01 -5.59685001e-01 4.19386588e+01] [-9.67907613e-01 1.12032575e-02 2.51056447e-01 -3.68482972e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28864 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:304.04, Y:40.94, Z:-368.35 [[-1.61482869e-01 -8.07607892e-01 -5.67179668e-01 3.04035386e+02] [-1.22234900e-01 -5.53928965e-01 8.23541942e-01 4.09383087e+01] [-9.79276219e-01 2.02317066e-01 -9.26783115e-03 -3.68347755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.31864 meters Centerline goodness : 0.997167 Centerline is valid? [True, True] Translation: X:304.36, Y:41.90, Z:-368.51 [[-1.30889101e-01 5.39122236e-01 -8.31994746e-01 3.04358484e+02] [-1.03227178e-01 -8.42064107e-01 -5.29407395e-01 4.18963735e+01] [-9.86008211e-01 1.65908117e-02 1.65869081e-01 -3.68508977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34864 meters Centerline goodness : 0.996393 Centerline is valid? [True, True] Translation: X:304.36, Y:41.88, Z:-368.54 [[-1.37439570e-01 5.18317922e-01 -8.44071618e-01 3.04358846e+02] [-9.34137560e-02 -8.55143075e-01 -5.09906062e-01 4.18779796e+01] [-9.86095449e-01 8.76663010e-03 1.65948521e-01 -3.68541771e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.37864 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:304.37, Y:41.83, Z:-368.60 [[-1.50596364e-01 4.62511454e-01 -8.73729873e-01 3.04366640e+02] [-6.82796276e-02 -8.86565100e-01 -4.57537120e-01 4.18296820e+01] [-9.86234570e-01 -9.24547627e-03 1.65093590e-01 -3.68601925e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40864 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:303.57, Y:40.85, Z:-368.48 [[-1.20760584e-01 -9.92660193e-01 -6.52859252e-03 3.03573321e+02] [-7.74175823e-02 2.86101999e-03 9.96994650e-01 4.08498303e+01] [-9.89658223e-01 1.20903084e-01 -7.71948506e-02 -3.68477083e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.43864 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:304.34, Y:41.84, Z:-368.67 [[-9.51852973e-02 4.88847591e-01 -8.67160765e-01 3.04338259e+02] [-4.53096819e-02 -8.72340761e-01 -4.86794238e-01 4.18446089e+01] [-9.94427872e-01 -7.04487589e-03 1.05183543e-01 -3.68670450e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46864 meters Centerline goodness : 0.996195 Centerline is valid? [True, True] Translation: X:304.37, Y:41.74, Z:-368.68 [[-9.73745860e-02 3.50276904e-01 -9.31570867e-01 3.04370533e+02] [-4.21951193e-02 -9.36630372e-01 -3.47768771e-01 4.17355418e+01] [-9.94352936e-01 5.44390381e-03 1.05983970e-01 -3.68680992e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.49864 meters Centerline goodness : 0.996729 Centerline is valid? [True, True] Translation: X:303.52, Y:40.84, Z:-368.61 [[-5.57078591e-02 -9.98155180e-01 2.41427255e-02 3.03523576e+02] [-5.98495966e-02 2.74750964e-02 9.97829216e-01 4.08443599e+01] [-9.96651725e-01 5.41419970e-02 -6.12697636e-02 -3.68614497e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52864 meters Centerline goodness : 0.995657 Centerline is valid? [True, True] Translation: X:304.27, Y:41.95, Z:-368.72 [[-4.49810427e-02 6.35760748e-01 -7.70574446e-01 3.04266645e+02] [-2.03954825e-02 -7.71778842e-01 -6.35563878e-01 4.19533117e+01] [-9.98779620e-01 -1.28720883e-02 4.76820643e-02 -3.68723847e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.55864 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:304.33, Y:41.82, Z:-368.80 [[-6.08812967e-02 4.71354049e-01 -8.79840229e-01 3.04329226e+02] [ 1.09676253e-02 -8.81106234e-01 -4.72791196e-01 4.18160122e+01] [-9.98084755e-01 -3.84338990e-02 4.84732555e-02 -3.68798482e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58864 meters Centerline goodness : 0.996293 Centerline is valid? [True, True] Translation: X:303.82, Y:42.28, Z:-368.84 [[-1.43700773e-01 9.85028258e-01 -9.52335012e-02 3.03815567e+02] [ 2.61853002e-02 -9.24139205e-02 -9.95376309e-01 4.22795104e+01] [-9.89274693e-01 -1.45530063e-01 -1.25133088e-02 -3.68842291e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61863999999997 meters Centerline goodness : 0.994832 Centerline is valid? [True, True] Translation: X:303.67, Y:42.30, Z:-368.90 [[-2.14223073e-01 9.70592060e-01 1.09815886e-01 3.03668007e+02] [ 1.89646736e-02 1.16537547e-01 -9.93005207e-01 4.23008305e+01] [-9.76600643e-01 -2.10642005e-01 -4.33719930e-02 -3.68899775e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64864 meters Centerline goodness : 0.996003 Centerline is valid? [True, True] Translation: X:303.62, Y:40.82, Z:-368.97 [[-1.38161543e-01 -9.77823086e-01 -1.57395684e-01 3.03620065e+02] [-1.05971669e-02 -1.57451163e-01 9.87469914e-01 4.08242693e+01] [-9.90353012e-01 1.38098316e-01 1.13915412e-02 -3.68968977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67864 meters Centerline goodness : 0.996684 Centerline is valid? [True, True] Translation: X:303.71, Y:42.30, Z:-369.05 [[-2.09024212e-01 9.77639709e-01 2.30104064e-02 3.03713691e+02] [ 2.49058301e-02 2.88445861e-02 -9.99273581e-01 4.22956257e+01] [-9.77593258e-01 -2.08299279e-01 -3.03781454e-02 -3.69045941e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70864 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:303.66, Y:42.30, Z:-369.12 [[-2.73697630e-01 9.58563535e-01 7.90288361e-02 3.03664533e+02] [ 1.96341913e-02 8.77174506e-02 -9.95951880e-01 4.23016507e+01] [-9.61615363e-01 -2.71038002e-01 -4.28286782e-02 -3.69124382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73864 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:303.48, Y:40.83, Z:-369.17 [[-2.14466568e-01 -9.76510067e-01 -2.07889416e-02 3.03475714e+02] [ 2.89955756e-03 -2.19206312e-02 9.99755509e-01 4.08316353e+01] [-9.76727026e-01 2.14353855e-01 7.53268969e-03 -3.69171340e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76864 meters Centerline goodness : 0.994101 Centerline is valid? [True, True] Translation: X:302.85, Y:41.70, Z:-369.11 [[-2.27687646e-01 -3.63905186e-03 9.73727422e-01 3.02851580e+02] [-6.13935785e-02 9.98057074e-01 -1.06257436e-02 4.17047048e+01] [-9.71796874e-01 -6.21999615e-02 -2.27468680e-01 -3.69114973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79864 meters Centerline goodness : 0.993908 Centerline is valid? [True, True] Translation: X:303.52, Y:40.83, Z:-369.28 [[-1.48526122e-01 -9.78275960e-01 -1.44624122e-01 3.03520256e+02] [-7.99181412e-02 -1.33893857e-01 9.87767951e-01 4.08346126e+01] [-9.85673923e-01 1.58267434e-01 -5.82952611e-02 -3.69282937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82864 meters Centerline goodness : 0.994640 Centerline is valid? [True, True] Translation: X:304.24, Y:41.73, Z:-369.48 [[-1.25956358e-01 3.81667988e-01 -9.15677095e-01 3.04241301e+02] [-5.37538214e-02 -9.24298059e-01 -3.77867205e-01 4.17281622e+01] [-9.90578378e-01 1.62636625e-03 1.36937330e-01 -3.69477448e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85864 meters Centerline goodness : 0.994687 Centerline is valid? [True, True] Translation: X:303.37, Y:42.29, Z:-369.47 [[-2.04348209e-01 9.08321313e-01 3.64957807e-01 3.03372546e+02] [-5.36812562e-02 3.61865858e-01 -9.30683310e-01 4.22860304e+01] [-9.77425257e-01 -2.09774861e-01 -2.51868108e-02 -3.69466252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.88864 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:303.34, Y:42.28, Z:-369.55 [[-2.63356485e-01 8.80532024e-01 3.94089732e-01 3.03339655e+02] [-7.96488252e-02 3.87269445e-01 -9.18519701e-01 4.22786353e+01] [-9.61404923e-01 -2.73286904e-01 -3.18565785e-02 -3.69547426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91864 meters Centerline goodness : 0.995503 Centerline is valid? [True, True] Translation: X:304.21, Y:41.70, Z:-369.75 [[-2.50039376e-01 3.56347965e-01 -9.00275757e-01 3.04212643e+02] [-1.05206643e-01 -9.34304492e-01 -3.40597532e-01 4.16973374e+01] [-9.62502921e-01 9.55219615e-03 2.71103085e-01 -3.69751534e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.94864 meters Centerline goodness : 0.995029 Centerline is valid? [True, True] Translation: X:304.19, Y:41.68, Z:-369.83 [[-2.63092078e-01 3.30764907e-01 -9.06298590e-01 3.04193488e+02] [-7.37082285e-02 -9.43538320e-01 -3.22959030e-01 4.16757238e+01] [-9.61950963e-01 -1.81662987e-02 2.72617553e-01 -3.69832383e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97864 meters Centerline goodness : 0.994396 Centerline is valid? [True, True] Translation: X:303.42, Y:40.81, Z:-369.64 [[-2.37483444e-01 -9.66782867e-01 -9.45119164e-02 3.03420740e+02] [-7.27803773e-02 -7.93131607e-02 9.94189338e-01 4.08117886e+01] [-9.68661257e-01 2.42982121e-01 -5.15272592e-02 -3.69638615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.00864 meters Centerline goodness : 0.994106 Centerline is valid? [True, True] Translation: X:303.53, Y:42.27, Z:-369.83 [[-2.66082775e-01 9.62581324e-01 5.13532050e-02 3.03525519e+02] [-4.02119374e-02 4.21432496e-02 -9.98302032e-01 4.22716833e+01] [-9.63111082e-01 -2.67695987e-01 2.74936672e-02 -3.69829721e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03864 meters Centerline goodness : 0.995321 Centerline is valid? [True, True] Translation: X:303.29, Y:40.82, Z:-369.76 [[-2.38337429e-01 -9.70229507e-01 4.30113187e-02 3.03287976e+02] [-7.79248056e-02 6.32495159e-02 9.94950865e-01 4.08218521e+01] [-9.68051132e-01 2.33782383e-01 -9.06796727e-02 -3.69756321e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.06864 meters Centerline goodness : 0.995273 Centerline is valid? [True, True] Translation: X:303.51, Y:42.26, Z:-369.98 [[-2.68325327e-01 9.63174291e-01 1.72280027e-02 3.03511185e+02] [-4.54508115e-02 5.20607887e-03 -9.98953012e-01 4.22586524e+01] [-9.62255550e-01 -2.68827420e-01 4.23801303e-02 -3.69982820e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09864 meters Centerline goodness : 0.994533 Centerline is valid? [True, True] Translation: X:303.39, Y:42.26, Z:-370.03 [[-3.37623965e-01 9.27437756e-01 1.60839259e-01 3.03394235e+02] [-5.61190493e-02 1.50735707e-01 -9.86979939e-01 4.22631181e+01] [-9.39606679e-01 -3.42254227e-01 1.15493815e-03 -3.70028487e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.12864 meters Centerline goodness : 0.992966 Centerline is valid? [True, True] Translation: X:303.28, Y:40.80, Z:-369.96 [[-2.96128709e-01 -9.55009336e-01 -1.62774849e-02 3.03283568e+02] [-8.88762066e-02 1.05827674e-02 9.95986458e-01 4.08024946e+01] [-9.51004105e-01 2.96386865e-01 -8.80114682e-02 -3.69957502e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15864 meters Centerline goodness : 0.994530 Centerline is valid? [True, True] Translation: X:303.28, Y:40.79, Z:-370.04 [[-2.28735993e-01 -9.71819219e-01 -5.69846564e-02 3.03281933e+02] [-8.73345005e-02 -3.78151218e-02 9.95461050e-01 4.07918718e+01] [-9.69563062e-01 2.32674498e-01 -7.62236666e-02 -3.70040001e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.18864 meters Centerline goodness : 0.994342 Centerline is valid? [True, True] Translation: X:303.28, Y:42.25, Z:-370.23 [[-2.74444328e-01 9.35571753e-01 2.22229173e-01 3.03275672e+02] [-6.77818254e-02 2.11706538e-01 -9.74979982e-01 4.22470378e+01] [-9.59211100e-01 -2.82640825e-01 5.31310245e-03 -3.70230756e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21864 meters Centerline goodness : 0.994294 Centerline is valid? [True, True] Translation: X:303.20, Y:40.79, Z:-370.16 [[-2.27750069e-01 -9.73715037e-01 2.98876128e-03 3.03201558e+02] [-1.03413420e-01 2.72400387e-02 9.94265380e-01 4.07913160e+01] [-9.68212565e-01 2.26134930e-01 -1.06899123e-01 -3.70162303e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.24864 meters Centerline goodness : 0.995465 Centerline is valid? [True, True] Translation: X:303.37, Y:42.23, Z:-370.42 [[-2.70252447e-01 9.61939589e-01 4.04455553e-02 3.03374687e+02] [-7.34311138e-02 2.12926381e-02 -9.97072964e-01 4.22301399e+01] [-9.59985149e-01 -2.72431370e-01 6.48819078e-02 -3.70415313e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27864 meters Centerline goodness : 0.994002 Centerline is valid? [True, True] Translation: X:303.30, Y:42.23, Z:-370.48 [[-3.35134098e-01 9.34436337e-01 1.20473515e-01 3.03300776e+02] [-7.98073088e-02 9.92537373e-02 -9.91856587e-01 4.22302481e+01] [-9.38784283e-01 -3.42019630e-01 4.13115376e-02 -3.70480300e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.30864 meters Centerline goodness : 0.994735 Centerline is valid? [True, True] Translation: X:303.20, Y:40.77, Z:-370.38 [[-2.93304527e-01 -9.53947893e-01 -6.28957269e-02 3.03198436e+02] [-1.09573587e-01 -3.18115462e-02 9.93469504e-01 4.07655778e+01] [-9.49718950e-01 2.98280813e-01 -9.51970221e-02 -3.70381927e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33864 meters Centerline goodness : 0.994338 Centerline is valid? [True, True] Translation: X:303.26, Y:42.21, Z:-370.63 [[-3.33844037e-01 9.35898507e-01 1.12437284e-01 3.03259044e+02] [-8.54278138e-02 8.87503969e-02 -9.92383724e-01 4.22145097e+01] [-9.38749300e-01 -3.40906660e-01 5.03229726e-02 -3.70630937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36863999999997 meters Centerline goodness : 0.995221 Centerline is valid? [True, True] Translation: X:303.27, Y:42.20, Z:-370.72 [[-3.95832980e-01 9.15556250e-01 7.12250295e-02 3.03270400e+02] [-8.85476980e-02 3.91459779e-02 -9.95302415e-01 4.22036154e+01] [-9.14043520e-01 -4.00280333e-01 6.55751293e-02 -3.70721425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39864 meters Centerline goodness : 0.995463 Centerline is valid? [True, True] Translation: X:303.25, Y:40.74, Z:-370.64 [[-3.57120819e-01 -9.07188949e-01 -2.22425113e-01 3.03252609e+02] [-1.06216091e-01 -1.97141378e-01 9.74604237e-01 4.07403616e+01] [-9.27999387e-01 3.71676589e-01 -2.59547736e-02 -3.70639104e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42864 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:303.30, Y:42.17, Z:-370.88 [[-3.95909177e-01 9.16878598e-01 -5.08877233e-02 3.03301562e+02] [-7.24274815e-02 -8.64213539e-02 -9.93622468e-01 4.21713925e+01] [-9.15428961e-01 -3.89698584e-01 1.00622215e-01 -3.70882906e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45864 meters Centerline goodness : 0.995170 Centerline is valid? [True, True] Translation: X:303.29, Y:42.16, Z:-370.96 [[-4.57546599e-01 8.86934314e-01 -6.32347480e-02 3.03288469e+02] [-6.65886734e-02 -1.05093314e-01 -9.92230489e-01 4.21613526e+01] [-8.86688817e-01 -4.49780967e-01 1.07144868e-01 -3.70963357e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48864 meters Centerline goodness : 0.995803 Centerline is valid? [True, True] Translation: X:303.78, Y:41.45, Z:-371.21 [[-4.59303150e-01 1.62860233e-01 -8.73222286e-01 3.03784475e+02] [-7.73874453e-02 -9.86647591e-01 -1.43309855e-01 4.14504616e+01] [-8.84902141e-01 1.75377423e-03 4.65773684e-01 -3.71208652e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51864 meters Centerline goodness : 0.995364 Centerline is valid? [True, True] Translation: X:303.32, Y:42.13, Z:-371.10 [[-5.17555192e-01 8.38902045e-01 -1.68463593e-01 3.03318064e+02] [-3.98614148e-02 -2.20309010e-01 -9.74615313e-01 4.21263114e+01] [-8.54720826e-01 -4.97702018e-01 1.47461894e-01 -3.71096943e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54864 meters Centerline goodness : 0.995903 Centerline is valid? [True, True] Translation: X:303.08, Y:42.17, Z:-371.05 [[-5.78618288e-01 8.07502959e-01 1.14629179e-01 3.03079419e+02] [-4.37098710e-02 1.09642373e-01 -9.93009566e-01 4.21716445e+01] [-8.14426377e-01 -5.79583921e-01 -2.81452321e-02 -3.71045325e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57864 meters Centerline goodness : 0.995853 Centerline is valid? [True, True] Translation: X:303.04, Y:40.70, Z:-371.01 [[-5.37666683e-01 -8.32392304e-01 -1.34304094e-01 3.03040404e+02] [-6.34128279e-02 -1.18914996e-01 9.90877408e-01 4.07029185e+01] [-8.40769499e-01 5.41278371e-01 1.11522817e-02 -3.71008212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60864 meters Centerline goodness : 0.995071 Centerline is valid? [True, True] Translation: X:302.99, Y:40.70, Z:-371.07 [[-4.79654827e-01 -8.67668995e-01 -1.30697212e-01 3.02986597e+02] [-5.59144151e-02 -1.18423027e-01 9.91387697e-01 4.06978224e+01] [-8.75673926e-01 4.82831752e-01 8.28697203e-03 -3.71067406e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.63864 meters Centerline goodness : 0.995904 Centerline is valid? [True, True] Translation: X:302.94, Y:40.69, Z:-371.13 [[-4.19137541e-01 -8.99161042e-01 -1.25829813e-01 3.02935602e+02] [-4.77659441e-02 -1.16560861e-01 9.92034264e-01 4.06936162e+01] [-9.06665394e-01 4.21809182e-01 5.90575664e-03 -3.71130745e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66864 meters Centerline goodness : 0.995954 Centerline is valid? [True, True] Translation: X:302.93, Y:42.16, Z:-371.27 [[-4.64533461e-01 8.78602241e-01 1.10755431e-01 3.02929555e+02] [-2.86865732e-02 1.10073346e-01 -9.93509406e-01 4.21555512e+01] [-8.85090811e-01 -4.64695557e-01 -2.59286651e-02 -3.71273446e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.69864 meters Centerline goodness : 0.995509 Centerline is valid? [True, True] Translation: X:302.87, Y:40.69, Z:-371.27 [[-4.22656804e-01 -8.97021107e-01 -1.29284026e-01 3.02872556e+02] [-4.70292885e-02 -1.20751527e-01 9.91568109e-01 4.06884051e+01] [-9.05068767e-01 4.25173144e-01 8.85018994e-03 -3.71271299e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72864 meters Centerline goodness : 0.996198 Centerline is valid? [True, True] Translation: X:302.82, Y:40.68, Z:-371.35 [[-3.62794521e-01 -9.24110390e-01 -1.20000514e-01 3.02821850e+02] [-3.82384131e-02 -1.13902536e-01 9.92755779e-01 4.06840390e+01] [-9.31084292e-01 3.64754987e-01 5.98670103e-03 -3.71345212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.75864 meters Centerline goodness : 0.996775 Centerline is valid? [True, True] Translation: X:302.83, Y:42.15, Z:-371.48 [[-3.97798206e-01 9.11369558e-01 1.05650914e-01 3.02825369e+02] [-2.17661476e-02 1.05747254e-01 -9.94154793e-01 4.21461045e+01] [-9.17214709e-01 -3.97772606e-01 -2.22290635e-02 -3.71476276e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78864 meters Centerline goodness : 0.996490 Centerline is valid? [True, True] Translation: X:302.80, Y:42.14, Z:-371.55 [[-4.58876059e-01 8.81378409e-01 1.12271381e-01 3.02795761e+02] [-2.96606604e-02 1.11094319e-01 -9.93367151e-01 4.21440367e+01] [-8.88005072e-01 -4.59162447e-01 -2.48362578e-02 -3.71553305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.81864 meters Centerline goodness : 0.997221 Centerline is valid? [True, True] Translation: X:302.89, Y:42.12, Z:-371.69 [[-5.18056707e-01 8.53341271e-01 -5.85313937e-02 3.02890182e+02] [-2.60738491e-02 -8.41533586e-02 -9.96111624e-01 4.21212492e+01] [-8.54948772e-01 -5.14516168e-01 6.58461033e-02 -3.71692216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84864 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:302.58, Y:40.70, Z:-371.53 [[-4.83237023e-01 -8.72400227e-01 7.34834894e-02 3.02584918e+02] [-5.32324395e-02 1.13057478e-01 9.92161435e-01 4.07039282e+01] [-8.73869720e-01 4.75537433e-01 -1.01073552e-01 -3.71528988e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.87864 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:302.56, Y:40.70, Z:-371.60 [[-4.21239199e-01 -9.05484461e-01 5.15308413e-02 3.02555116e+02] [-5.96853311e-02 8.43710865e-02 9.94645254e-01 4.06984315e+01] [-9.04983535e-01 4.15907934e-01 -8.95845488e-02 -3.71600835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90864 meters Centerline goodness : 0.996244 Centerline is valid? [True, True] Translation: X:302.53, Y:40.69, Z:-371.67 [[-3.56420127e-01 -9.33990112e-01 2.50432411e-02 3.02533443e+02] [-6.32601327e-02 5.08654022e-02 9.96699988e-01 4.06908339e+01] [-9.32181768e-01 3.53659697e-01 -7.72137916e-02 -3.71673434e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.93864 meters Centerline goodness : 0.996435 Centerline is valid? [True, True] Translation: X:302.59, Y:42.13, Z:-371.86 [[-4.05597409e-01 8.98707525e-01 1.66779875e-01 3.02589418e+02] [-5.15561097e-02 1.59678450e-01 -9.85821870e-01 4.21251496e+01] [-9.12596685e-01 -4.08445318e-01 -1.84313018e-02 -3.71856739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96864 meters Centerline goodness : 0.997171 Centerline is valid? [True, True] Translation: X:302.56, Y:42.12, Z:-371.93 [[-4.65518514e-01 8.68307855e-01 1.71271661e-01 3.02561695e+02] [-6.31108861e-02 1.60458326e-01 -9.85022914e-01 4.21221578e+01] [-8.82785098e-01 -4.69355510e-01 -1.98966435e-02 -3.71933411e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.99864 meters Centerline goodness : 0.997318 Centerline is valid? [True, True] Translation: X:303.22, Y:41.40, Z:-372.29 [[-4.63979181e-01 1.50244729e-01 -8.73011937e-01 3.03218085e+02] [-6.03481758e-02 -9.88583420e-01 -1.38061286e-01 4.13976740e+01] [-8.83788107e-01 -1.13728846e-02 4.67749121e-01 -3.72293353e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02864 meters Centerline goodness : 0.997560 Centerline is valid? [True, True] Translation: X:302.34, Y:40.71, Z:-371.87 [[-4.23819840e-01 -8.93465229e-01 1.48649344e-01 3.02338440e+02] [-7.31961690e-02 1.97367037e-01 9.77593256e-01 4.07074859e+01] [-9.02784063e-01 4.03442854e-01 -1.49046298e-01 -3.71870722e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.05864 meters Centerline goodness : 0.997804 Centerline is valid? [True, True] Translation: X:302.64, Y:42.09, Z:-372.20 [[-4.64885865e-01 8.83557154e-01 -5.66382253e-02 3.02637349e+02] [-5.21311067e-02 -9.11768850e-02 -9.94469267e-01 4.20896203e+01] [-8.83834532e-01 -4.59362092e-01 8.84476573e-02 -3.72197168e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08864 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:302.31, Y:40.69, Z:-372.01 [[-4.24769988e-01 -9.00578288e-01 9.23536913e-02 3.02307311e+02] [-8.03123348e-02 1.39098277e-01 9.87016514e-01 4.06859668e+01] [-9.01731882e-01 4.11837852e-01 -1.31412318e-01 -3.72014999e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11863999999997 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:302.47, Y:42.10, Z:-372.29 [[-4.66284196e-01 8.80773910e-01 8.25613042e-02 3.02474800e+02] [-6.16627640e-02 6.07409972e-02 -9.96247075e-01 4.20982913e+01] [-8.82483287e-01 -4.69625224e-01 2.59883867e-02 -3.72288075e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14864 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:302.36, Y:40.65, Z:-372.20 [[-4.21911086e-01 -9.03140523e-01 -7.95501822e-02 3.02362097e+02] [-8.37575316e-02 -4.85398701e-02 9.95303249e-01 4.06517504e+01] [-9.02760052e-01 4.26592402e-01 -5.51653115e-02 -3.72197337e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17864 meters Centerline goodness : 0.998489 Centerline is valid? [True, True] Translation: X:302.41, Y:42.09, Z:-372.42 [[-4.66247323e-01 8.80404765e-01 8.66076406e-02 3.02409226e+02] [-6.22636112e-02 6.49994789e-02 -9.95940917e-01 4.20881217e+01] [-8.82460581e-01 -4.69747290e-01 2.45113470e-02 -3.72420402e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20864 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:302.47, Y:42.07, Z:-372.54 [[-5.23120882e-01 8.51493771e-01 -3.60957161e-02 3.02468232e+02] [-5.83799524e-02 -7.80553086e-02 -9.95238238e-01 4.20660844e+01] [-8.50256623e-01 -5.18522638e-01 9.05425277e-02 -3.72543427e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23864 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:302.44, Y:42.06, Z:-372.63 [[-5.77472265e-01 8.14453719e-01 -5.64882545e-02 3.02444938e+02] [-5.20438126e-02 -1.05774258e-01 -9.93027315e-01 4.20553791e+01] [-8.14749793e-01 -5.70505868e-01 1.03468977e-01 -3.72631670e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26864 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:302.38, Y:42.06, Z:-372.69 [[-6.30902777e-01 7.75466610e-01 -2.47633486e-02 3.02381471e+02] [-4.75181874e-02 -7.04776757e-02 -9.96380911e-01 4.20555612e+01] [-7.74405390e-01 -6.27442774e-01 8.13133290e-02 -3.72689268e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29864 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:302.12, Y:40.64, Z:-372.48 [[-6.03415230e-01 -7.97087551e-01 2.32700518e-02 3.02122782e+02] [-7.39353993e-02 8.49789997e-02 9.93635812e-01 4.06395999e+01] [-7.93992202e-01 5.97854502e-01 -1.10210609e-01 -3.72475797e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32864 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:302.19, Y:42.06, Z:-372.74 [[-6.29498803e-01 7.69068088e-01 1.10749867e-01 3.02189063e+02] [-5.73052273e-02 9.61941596e-02 -9.93711625e-01 4.20639604e+01] [-7.74885390e-01 -6.31886825e-01 -1.64824868e-02 -3.72738997e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35864 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:302.14, Y:42.06, Z:-372.81 [[-6.78457559e-01 7.25927065e-01 1.12806191e-01 3.02137573e+02] [-6.46815846e-02 9.39301909e-02 -9.93475421e-01 4.20583317e+01] [-7.31786603e-01 -6.81327392e-01 -1.67735352e-02 -3.72809755e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.38864 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:302.08, Y:42.05, Z:-372.87 [[-7.25516277e-01 6.78367025e-01 1.15949609e-01 3.02084963e+02] [-7.28019583e-02 9.18840517e-02 -9.93104826e-01 4.20520417e+01] [-6.84343486e-01 -7.28955075e-01 -1.72769273e-02 -3.72874221e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41864 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:302.20, Y:41.99, Z:-373.11 [[-7.67500957e-01 6.30078621e-01 -1.18081378e-01 3.02198731e+02] [-6.25912121e-02 -2.56976129e-01 -9.64388723e-01 4.19884775e+01] [-6.37984812e-01 -7.32778412e-01 2.36666809e-01 -3.73113562e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.44864 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:302.04, Y:42.03, Z:-373.04 [[-8.10831221e-01 5.84786684e-01 2.40263553e-02 3.02042061e+02] [-5.38292988e-02 -3.36337491e-02 -9.97983556e-01 4.20296981e+01] [-5.82799398e-01 -8.10489547e-01 5.87499510e-02 -3.73044825e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47864 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:301.91, Y:40.60, Z:-372.83 [[-7.95113597e-01 -6.05186865e-01 -3.92839279e-02 3.01909010e+02] [-7.79131392e-02 3.76962779e-02 9.96247225e-01 4.06021473e+01] [-6.01434877e-01 7.95190449e-01 -7.71248316e-02 -3.72826571e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.50864 meters Centerline goodness : 0.998390 Centerline is valid? [True, True] Translation: X:302.40, Y:41.26, Z:-373.51 [[-7.73350549e-01 9.84498495e-02 -6.26287918e-01 3.02396271e+02] [-8.35954812e-02 -9.95078819e-01 -5.31971762e-02 4.12577798e+01] [-6.28443096e-01 1.12147744e-02 7.77774713e-01 -3.73512615e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53864 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:301.83, Y:42.03, Z:-373.00 [[-8.14092461e-01 5.58557739e-01 1.58955076e-01 3.01829834e+02] [-6.27690606e-02 1.87478660e-01 -9.80261086e-01 4.20299842e+01] [-5.77333101e-01 -8.08000621e-01 -1.17564819e-01 -3.72998727e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.56864 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:301.91, Y:40.58, Z:-373.04 [[-7.88420272e-01 -5.87293182e-01 -1.82975934e-01 3.01912177e+02] [-7.87791772e-02 -1.98605404e-01 9.76908253e-01 4.05846609e+01] [-6.10071566e-01 7.84628964e-01 1.10318053e-01 -3.73039991e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59864 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:302.29, Y:41.25, Z:-373.59 [[-7.74244001e-01 9.02537276e-02 -6.26418783e-01 3.02292718e+02] [-7.41572071e-02 -9.95898727e-01 -5.18308208e-02 4.12498989e+01] [-6.28527594e-01 6.32376539e-03 7.77761579e-01 -3.73591156e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.62864 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:301.89, Y:41.99, Z:-373.27 [[-8.17298265e-01 5.72589819e-01 -6.45325077e-02 3.01887414e+02] [-3.84456843e-02 -1.65932245e-01 -9.85387446e-01 4.19894531e+01] [-5.74930844e-01 -8.02874454e-01 1.57629743e-01 -3.73268449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65864 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:301.64, Y:40.61, Z:-372.91 [[-7.88900377e-01 -6.12843545e-01 4.53760434e-02 3.01640719e+02] [-7.89790927e-02 1.74341081e-01 9.81512858e-01 4.06082671e+01] [-6.09424728e-01 7.70732105e-01 -1.85939571e-01 -3.72909544e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.68864 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:302.18, Y:41.24, Z:-373.67 [[-7.72197732e-01 8.73597591e-02 -6.29348024e-01 3.02184065e+02] [-7.05430730e-02 -9.96166862e-01 -5.17228862e-02 4.12437562e+01] [-6.31454145e-01 4.45584815e-03 7.75400418e-01 -3.73670264e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:301.80, Y:40.58, Z:-373.24 [[-7.42542784e-01 -6.15538539e-01 -2.64088095e-01 3.01800933e+02] [-5.90746206e-02 -3.32558202e-01 9.41230701e-01 4.05839907e+01] [-6.67188432e-01 7.14504969e-01 2.10575987e-01 -3.73237076e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.74864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:301.76, Y:41.97, Z:-373.37 [[-7.80287562e-01 6.16404848e-01 -1.05812964e-01 3.01756657e+02] [-1.18617839e-02 -1.83742025e-01 -9.82902928e-01 4.19717619e+01] [-6.25308419e-01 -7.65691799e-01 1.50683278e-01 -3.73373467e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:301.65, Y:41.99, Z:-373.35 [[-8.23553183e-01 5.66650397e-01 -2.58356805e-02 3.01651433e+02] [-5.07394418e-03 -5.29035731e-02 -9.98586735e-01 4.19926439e+01] [-5.67216370e-01 -8.22258195e-01 4.64440585e-02 -3.73350601e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.80864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:301.47, Y:40.57, Z:-373.16 [[-7.87513008e-01 -6.16286842e-01 -3.71362909e-03 3.01468546e+02] [-4.72750831e-02 5.43996218e-02 9.97399493e-01 4.05696054e+01] [-6.14482163e-01 7.85640637e-01 -7.19754215e-02 -3.73155460e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83864 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:301.97, Y:41.21, Z:-373.83 [[-7.73819137e-01 3.73187227e-02 -6.32306299e-01 3.01973641e+02] [-2.95082931e-02 -9.99302949e-01 -2.28664933e-02 4.12084312e+01] [-6.32718898e-01 9.63749491e-04 7.74380958e-01 -3.73834173e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86863999999997 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:301.58, Y:40.57, Z:-373.42 [[-7.41676993e-01 -6.24750679e-01 -2.44134855e-01 3.01578137e+02] [-2.25834140e-02 -3.40504251e-01 9.39971725e-01 4.05713027e+01] [-6.70376929e-01 7.02668801e-01 2.38435166e-01 -3.73422201e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:301.58, Y:41.96, Z:-373.53 [[-7.83959268e-01 6.03042338e-01 -1.47471368e-01 3.01576135e+02] [ 2.95841410e-02 -2.00986570e-01 -9.79147168e-01 4.19567018e+01] [-6.20106962e-01 -7.71974312e-01 1.39724795e-01 -3.73529457e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:301.40, Y:42.00, Z:-373.42 [[-8.28014373e-01 5.60077171e-01 2.65661521e-02 3.01401147e+02] [ 2.44256699e-02 8.33644594e-02 -9.96219732e-01 4.19956984e+01] [-5.60174602e-01 -8.24235360e-01 -8.27072307e-02 -3.73423426e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.35, Y:42.00, Z:-373.47 [[-8.64576561e-01 5.01692056e-01 2.85035385e-02 3.01345948e+02] [ 1.83571891e-02 8.82190163e-02 -9.95931935e-01 4.19969943e+01] [-5.02165694e-01 -8.60536162e-01 -8.54817496e-02 -3.73470517e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:301.29, Y:42.00, Z:-373.51 [[-8.96896260e-01 4.41147154e-01 3.10851758e-02 3.01287991e+02] [ 1.11238814e-02 9.27721113e-02 -9.95625228e-01 4.19979426e+01] [-4.42101073e-01 -8.92626755e-01 -8.81142283e-02 -3.73511629e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.33, Y:41.95, Z:-373.75 [[-9.21400373e-01 3.73154176e-01 -1.08523332e-01 3.01328848e+02] [ 2.55767158e-02 -2.20421937e-01 -9.75069229e-01 4.19544439e+01] [-3.87772078e-01 -9.01204822e-01 1.93552796e-01 -3.73749350e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.22, Y:41.99, Z:-373.67 [[-9.46759666e-01 3.19625294e-01 -3.85461515e-02 3.01220044e+02] [ 2.76163009e-02 -3.86597165e-02 -9.98870746e-01 4.19876234e+01] [-3.20754539e-01 -9.46755036e-01 2.77745920e-02 -3.73666854e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07864 meters Centerline goodness : 0.999902 Centerline is valid? [True, True] Translation: X:301.16, Y:41.99, Z:-373.70 [[-9.66326854e-01 2.54390666e-01 -3.87014336e-02 3.01164187e+02] [ 2.98060486e-02 -3.87309880e-02 -9.98805041e-01 4.19885665e+01] [-2.55585624e-01 -9.66325670e-01 2.98444132e-02 -3.73697578e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:301.10, Y:41.99, Z:-373.72 [[-9.81891699e-01 1.85147956e-01 -4.01114182e-02 3.01104257e+02] [ 3.34838671e-02 -3.87862524e-02 -9.98686366e-01 4.19900810e+01] [-1.86460511e-01 -9.81944938e-01 3.18844298e-02 -3.73724439e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.13864 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:301.05, Y:41.99, Z:-373.75 [[-9.92372723e-01 1.16868287e-01 -3.92196581e-02 3.01053015e+02] [ 3.49898266e-02 -3.80283377e-02 -9.98663886e-01 4.19901230e+01] [-1.18203596e-01 -9.92419089e-01 3.36490840e-02 -3.73745363e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:301.01, Y:41.99, Z:-373.76 [[-9.98270133e-01 4.49204785e-02 -3.79327315e-02 3.01011431e+02] [ 3.62866178e-02 -3.69105101e-02 -9.98659549e-01 4.19914658e+01] [-4.62603813e-02 -9.98308452e-01 3.52166475e-02 -3.73763802e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.19864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:300.94, Y:41.38, Z:-372.93 [[-9.96882913e-01 -6.87298526e-02 3.87384240e-02 3.00944608e+02] [-6.88598231e-02 9.97624281e-01 -2.02928515e-03 4.13755019e+01] [-3.85069199e-02 -4.69048072e-03 -9.99247325e-01 -3.72932190e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:301.03, Y:41.20, Z:-374.37 [[-9.96237835e-01 4.74265430e-02 -7.25320527e-02 3.01031069e+02] [-4.72426701e-02 -9.98874402e-01 -4.24949281e-03 4.12013991e+01] [-7.26519496e-02 -8.06897677e-04 9.97357029e-01 -3.74372663e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.25864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:301.03, Y:41.20, Z:-374.37 [[-9.96042978e-01 4.85794281e-02 -7.44206015e-02 3.01034302e+02] [-4.83866608e-02 -9.98819023e-01 -4.39210561e-03 4.12002208e+01] [-7.45460784e-02 -7.73761544e-04 9.97217270e-01 -3.74371241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:301.04, Y:41.20, Z:-374.37 [[-9.95911839e-01 5.04731374e-02 -7.49137572e-02 3.01042069e+02] [-5.02777800e-02 -9.98725168e-01 -4.49258393e-03 4.11994145e+01] [-7.50450096e-02 -7.07720121e-04 9.97179896e-01 -3.74370981e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.31864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:301.05, Y:41.20, Z:-374.37 [[-9.95752739e-01 5.48543467e-02 -7.39424343e-02 3.01049807e+02] [-5.46708996e-02 -9.98494269e-01 -4.50421727e-03 4.11960156e+01] [-7.40781728e-02 -4.42587277e-04 9.97252339e-01 -3.74371195e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:301.06, Y:41.20, Z:-374.37 [[-9.95709704e-01 5.72801477e-02 -7.26716536e-02 3.01055428e+02] [-5.71043723e-02 -9.98358091e-01 -4.49585562e-03 4.11950637e+01] [-7.28098566e-02 -3.26697904e-04 9.97345787e-01 -3.74371388e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.37864 meters Centerline goodness : 0.999707 Centerline is valid? [True, True] Translation: X:301.06, Y:41.19, Z:-374.37 [[-9.95576476e-01 5.91520718e-02 -7.29966572e-02 3.01059719e+02] [-5.89745384e-02 -9.98248949e-01 -4.58692682e-03 4.11942129e+01] [-7.31401625e-02 -2.61692281e-04 9.97321637e-01 -3.74371189e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:301.07, Y:41.19, Z:-374.37 [[-9.95413497e-01 6.12442220e-02 -7.34922795e-02 3.01067460e+02] [-6.10646521e-02 -9.98122794e-01 -4.68995068e-03 4.11919957e+01] [-7.36415517e-02 -1.80659736e-04 9.97284758e-01 -3.74370667e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.43864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:301.07, Y:41.19, Z:-374.37 [[-9.95225891e-01 6.32940208e-02 -7.42919425e-02 3.01072058e+02] [-6.31107409e-02 -9.97994918e-01 -4.81435527e-03 4.11914933e+01] [-7.44477010e-02 -1.02751474e-04 9.97224914e-01 -3.74369828e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:301.08, Y:41.19, Z:-374.37 [[-9.94764993e-01 6.74554002e-02 -7.67618215e-02 3.01077218e+02] [-6.72661045e-02 -9.97722281e-01 -5.05185733e-03 4.11919232e+01] [-7.69277547e-02 1.38057881e-04 9.97036660e-01 -3.74368706e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.49864 meters Centerline goodness : 0.999951 Centerline is valid? [True, True] Translation: X:301.07, Y:41.19, Z:-374.37 [[-9.94532070e-01 7.13791785e-02 -7.62297528e-02 3.01072972e+02] [-7.11982693e-02 -9.97449187e-01 -5.09173169e-03 4.11930723e+01] [-7.63987486e-02 3.63536009e-04 9.97077278e-01 -3.74368929e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52864 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:301.06, Y:41.20, Z:-374.37 [[-9.94144379e-01 7.84658840e-02 -7.42970927e-02 3.01062805e+02] [-7.83084574e-02 -9.96916468e-01 -5.03410119e-03 4.11957003e+01] [-7.44630004e-02 8.13467319e-04 9.97223445e-01 -3.74370219e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.55864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:301.06, Y:41.20, Z:-374.37 [[-9.93887980e-01 8.18225948e-02 -7.41063193e-02 3.01058963e+02] [-8.16699834e-02 -9.96646417e-01 -5.09242890e-03 4.11972696e+01] [-7.42744733e-02 9.90957995e-04 9.97237344e-01 -3.74370754e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:301.06, Y:41.24, Z:-374.38 [[-9.93674253e-01 8.59842043e-02 -7.22370720e-02 3.01056617e+02] [-8.17489732e-02 -9.94864767e-01 -5.96758041e-02 4.12387804e+01] [-7.69972943e-02 -5.33930037e-02 9.95600625e-01 -3.74376245e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61863999999997 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:301.05, Y:41.16, Z:-374.37 [[-9.93706446e-01 8.15460485e-02 -7.67967478e-02 3.01054912e+02] [-8.54733774e-02 -9.95119139e-01 4.93173561e-02 4.11633014e+01] [-7.24002780e-02 5.55710521e-02 9.95826319e-01 -3.74365519e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:301.06, Y:41.21, Z:-374.37 [[-9.93651651e-01 8.60753279e-02 -7.24391828e-02 3.01055205e+02] [-8.59345001e-02 -9.96287918e-01 -5.06426606e-03 4.12051773e+01] [-7.26061909e-02 1.19290863e-03 9.97359974e-01 -3.74371651e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.06, Y:41.21, Z:-374.37 [[-9.93673559e-01 8.74827381e-02 -7.04246364e-02 3.01057149e+02] [-8.73486056e-02 -9.96165319e-01 -4.98788455e-03 4.12101402e+01] [-7.05909341e-02 1.19516479e-03 9.97504632e-01 -3.74372536e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:301.06, Y:41.21, Z:-374.37 [[-9.93523241e-01 8.85618383e-02 -7.11924918e-02 3.01057202e+02] [-8.84227266e-02 -9.96069935e-01 -5.10939584e-03 4.12126236e+01] [-7.13651982e-02 1.21873073e-03 9.97449509e-01 -3.74372740e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73864 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:301.06, Y:41.22, Z:-374.37 [[-9.93361417e-01 9.00292929e-02 -7.16088038e-02 3.01058829e+02] [-8.98875271e-02 -9.95938315e-01 -5.20635631e-03 4.12151377e+01] [-7.17866759e-02 1.26494481e-03 9.97419206e-01 -3.74372135e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.07, Y:41.22, Z:-374.37 [[-9.93288666e-01 9.01856805e-02 -7.24166398e-02 3.01065131e+02] [-9.00361590e-02 -9.95924218e-01 -5.33312717e-03 4.12180797e+01] [-7.26024570e-02 1.22278132e-03 9.97360210e-01 -3.74371084e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79864 meters Centerline goodness : 0.999415 Centerline is valid? [True, True] Translation: X:301.07, Y:41.22, Z:-374.37 [[-9.93209773e-01 9.06682787e-02 -7.28945179e-02 3.01066340e+02] [-9.05130596e-02 -9.95880428e-01 -5.43674530e-03 4.12187213e+01] [-7.30871641e-02 1.19807728e-03 9.97324837e-01 -3.74370824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82864 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:301.07, Y:41.22, Z:-374.37 [[-9.93372209e-01 9.08839929e-02 -7.03687022e-02 3.01070807e+02] [-9.07353556e-02 -9.95860870e-01 -5.31246967e-03 4.12214851e+01] [-7.05602555e-02 1.10766950e-03 9.97506904e-01 -3.74373501e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:301.06, Y:41.23, Z:-374.38 [[-9.94917643e-01 8.88610491e-02 -4.73560651e-02 3.01058663e+02] [-8.80651846e-02 -9.95940305e-01 -1.86395213e-02 4.12331190e+01] [-4.88201413e-02 -1.43743679e-02 9.98704146e-01 -3.74375087e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.88864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:301.08, Y:41.21, Z:-374.37 [[-9.93613903e-01 8.87631785e-02 -6.96599523e-02 3.01076779e+02] [-8.96128668e-02 -9.95934525e-01 9.16274401e-03 4.12144635e+01] [-6.85634372e-02 1.53466579e-02 9.97528714e-01 -3.74371862e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:301.07, Y:41.25, Z:-374.38 [[-9.94576497e-01 8.91713009e-02 -5.35356994e-02 3.01068575e+02] [-8.73092132e-02 -9.95524319e-01 -3.61722585e-02 4.12485182e+01] [-5.65216180e-02 -3.13019184e-02 9.97910565e-01 -3.74375669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.94864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:301.07, Y:41.21, Z:-374.37 [[-9.95106599e-01 8.42517834e-02 -5.16187427e-02 3.01069792e+02] [-8.50589536e-02 -9.96282535e-01 1.36412788e-02 4.12138041e+01] [-5.02775498e-02 1.79651628e-02 9.98573693e-01 -3.74372164e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.07, Y:41.23, Z:-374.37 [[-9.95006003e-01 8.50191868e-02 -5.22952359e-02 3.01068861e+02] [-8.44794405e-02 -9.96347435e-01 -1.24504306e-02 4.12325155e+01] [-5.31627497e-02 -7.97038095e-03 9.98554052e-01 -3.74374214e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.00864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:301.07, Y:41.22, Z:-374.37 [[-9.95178450e-01 8.25947041e-02 -5.28958198e-02 3.01069476e+02] [-8.26554863e-02 -9.96577637e-01 -1.04122249e-03 4.12237864e+01] [-5.28007906e-02 3.33592752e-03 9.98599493e-01 -3.74374625e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03864 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:301.07, Y:41.23, Z:-374.38 [[-9.95081869e-01 8.31578558e-02 -5.38223510e-02 3.01067336e+02] [-8.31533705e-02 -9.96534046e-01 -2.32660111e-03 4.12251964e+01] [-5.38292803e-02 2.16035131e-03 9.98547816e-01 -3.74375092e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.06864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.08, Y:41.22, Z:-374.37 [[-9.93737419e-01 8.33491690e-02 -7.44235007e-02 3.01078694e+02] [-8.45080958e-02 -9.96343684e-01 1.25556970e-02 4.12155535e+01] [-7.31048779e-02 1.87664542e-02 9.97147681e-01 -3.74372835e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:301.08, Y:41.23, Z:-374.37 [[-9.93633645e-01 8.68799716e-02 -7.17220270e-02 3.01076040e+02] [-8.67109861e-02 -9.96218480e-01 -5.47223895e-03 4.12324818e+01] [-7.19262367e-02 7.81686954e-04 9.97409648e-01 -3.74374043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.12864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:301.08, Y:41.23, Z:-374.37 [[-9.93534477e-01 8.87132090e-02 -7.08463849e-02 3.01075038e+02] [-8.85482016e-02 -9.96056860e-01 -5.47253359e-03 4.12335681e+01] [-7.10525137e-02 8.36169177e-04 9.97472226e-01 -3.74374033e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15864 meters Centerline goodness : 0.999560 Centerline is valid? [True, True] Translation: X:301.08, Y:41.23, Z:-374.37 [[-9.93428358e-01 8.95773069e-02 -7.12460729e-02 3.01077667e+02] [-8.94077758e-02 -9.95979522e-01 -5.57144206e-03 4.12349756e+01] [-7.14587044e-02 8.35124374e-04 9.97443209e-01 -3.74373870e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.18864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:301.07, Y:41.25, Z:-374.38 [[-9.94639598e-01 8.92658312e-02 -5.21888980e-02 3.01067473e+02] [-8.79369373e-02 -9.95753733e-01 -2.72323176e-02 4.12515829e+01] [-5.43982054e-02 -2.24970096e-02 9.98265856e-01 -3.74376469e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21864 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:301.08, Y:41.22, Z:-374.37 [[-9.93507765e-01 8.66344526e-02 -7.37346066e-02 3.01082064e+02] [-8.81072647e-02 -9.95966673e-01 1.69557315e-02 4.12197198e+01] [-7.19682603e-02 2.33422054e-02 9.97133748e-01 -3.74372526e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.24864 meters Centerline goodness : 0.999854 Centerline is valid? [True, True] Translation: X:301.07, Y:41.26, Z:-374.38 [[-9.94914078e-01 8.61094824e-02 -5.22602575e-02 3.01072365e+02] [-8.46048313e-02 -9.95952093e-01 -3.03554089e-02 4.12554287e+01] [-5.46626013e-02 -2.57795534e-02 9.98172037e-01 -3.74375587e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27864 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:301.10, Y:41.22, Z:-374.37 [[-9.94093841e-01 7.94632606e-02 -7.39122885e-02 3.01095109e+02] [-8.11531877e-02 -9.96498055e-01 2.01441391e-02 4.12166931e+01] [-7.20527328e-02 2.60233824e-02 9.97061276e-01 -3.74369459e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.30864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:301.10, Y:41.23, Z:-374.37 [[-9.94250259e-01 7.91922835e-02 -7.20763773e-02 3.01102184e+02] [-7.89883018e-02 -9.96859358e-01 -5.68049288e-03 4.12341415e+01] [-7.22998624e-02 4.53591273e-05 9.97382939e-01 -3.74370962e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33864 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:301.08, Y:41.25, Z:-374.38 [[-9.95604024e-01 7.82097265e-02 -5.15351042e-02 3.01083572e+02] [-7.69060033e-02 -9.96677667e-01 -2.68159243e-02 4.12468715e+01] [-5.34611536e-02 -2.27346833e-02 9.98311093e-01 -3.74375343e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36863999999997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:301.08, Y:41.23, Z:-374.38 [[-9.95722900e-01 7.35586604e-02 -5.59019756e-02 3.01077937e+02] [-7.30691275e-02 -9.97268899e-01 -1.07538391e-02 4.12291723e+01] [-5.65403397e-02 -6.62313526e-03 9.98378347e-01 -3.74375465e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39864 meters Centerline goodness : 0.999903 Centerline is valid? [True, True] Translation: X:301.08, Y:41.22, Z:-374.37 [[-9.95853742e-01 7.13085818e-02 -5.64837247e-02 3.01078271e+02] [-7.14440566e-02 -9.97444536e-01 3.80211538e-04 4.12177957e+01] [-5.63122703e-02 4.41406151e-03 9.98403448e-01 -3.74374356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42864 meters Centerline goodness : 0.999805 Centerline is valid? [True, True] Translation: X:301.08, Y:41.20, Z:-374.37 [[-9.94541789e-01 6.90841854e-02 -7.81920987e-02 3.01083191e+02] [-7.08007235e-02 -9.97301918e-01 1.93943855e-02 4.11981250e+01] [-7.66412847e-02 2.48245840e-02 9.96749644e-01 -3.74370891e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45864 meters Centerline goodness : 0.999610 Centerline is valid? [True, True] Translation: X:301.08, Y:41.23, Z:-374.38 [[-9.95820036e-01 7.26135311e-02 -5.54051604e-02 3.01076384e+02] [-7.12406094e-02 -9.97110591e-01 -2.63674856e-02 4.12295193e+01] [-5.71597085e-02 -2.23101730e-02 9.98115737e-01 -3.74376382e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48864 meters Centerline goodness : 0.999561 Centerline is valid? [True, True] Translation: X:301.08, Y:41.21, Z:-374.37 [[-9.95736942e-01 7.23608781e-02 -5.72000487e-02 3.01075146e+02] [-7.19306352e-02 -9.97363936e-01 -9.54788609e-03 4.12145243e+01] [-5.77401591e-02 -5.39274707e-03 9.98317080e-01 -3.74374986e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51864 meters Centerline goodness : 0.999708 Centerline is valid? [True, True] Translation: X:301.09, Y:41.23, Z:-374.38 [[-9.93721466e-01 7.62021991e-02 -8.19199210e-02 3.01090695e+02] [-7.34085198e-02 -9.96630346e-01 -3.65942991e-02 4.12274288e+01] [-8.44324453e-02 -3.03509204e-02 9.95966859e-01 -3.74377557e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54864 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:301.10, Y:41.16, Z:-374.37 [[-9.94334586e-01 7.06057943e-02 -7.94578664e-02 3.01097742e+02] [-7.47351042e-02 -9.95936512e-01 5.02506623e-02 4.11631281e+01] [-7.55870024e-02 5.59042634e-02 9.95570851e-01 -3.74365687e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57864 meters Centerline goodness : 0.999756 Centerline is valid? [True, True] Translation: X:301.09, Y:41.20, Z:-374.37 [[-9.94120147e-01 7.54668018e-02 -7.76524018e-02 3.01091960e+02] [-7.52136741e-02 -9.97148268e-01 -6.18347753e-03 4.11993811e+01] [-7.78976052e-02 -3.06597151e-04 9.96961318e-01 -3.74371148e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60864 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:301.09, Y:41.21, Z:-374.37 [[-9.95158323e-01 7.80877369e-02 -5.96843169e-02 3.01085199e+02] [-7.69252358e-02 -9.96804235e-01 -2.15366167e-02 4.12081575e+01] [-6.11753255e-02 -1.68411132e-02 9.97984948e-01 -3.74373589e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.63864 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:301.09, Y:41.20, Z:-374.37 [[-9.95057385e-01 7.84521551e-02 -6.08774118e-02 3.01085979e+02] [-7.79325263e-02 -9.96899405e-01 -1.08672642e-02 4.11977951e+01] [-6.15412159e-02 -6.06922096e-03 9.98086090e-01 -3.74373094e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66864 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:301.10, Y:41.17, Z:-374.37 [[-9.93858534e-01 7.54837370e-02 -8.09161257e-02 3.01099991e+02] [-7.70086644e-02 -9.96903806e-01 1.58892136e-02 4.11732937e+01] [-7.94662164e-02 2.20228733e-02 9.96594257e-01 -3.74369077e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.69864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:301.10, Y:41.19, Z:-374.37 [[-9.93975013e-01 7.67142248e-02 -7.82853831e-02 3.01099201e+02] [-7.64429124e-02 -9.97053026e-01 -6.46104174e-03 4.11867235e+01] [-7.85503319e-02 -4.37751370e-04 9.96910053e-01 -3.74371332e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72864 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:301.10, Y:41.19, Z:-374.37 [[-9.93900842e-01 7.76756197e-02 -7.82790807e-02 3.01101801e+02] [-7.74013294e-02 -9.96978589e-01 -6.53665459e-03 4.11870444e+01] [-7.85503061e-02 -4.37881587e-04 9.96910055e-01 -3.74371196e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.75864 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:301.09, Y:41.20, Z:-374.38 [[-9.95183349e-01 7.78326982e-02 -5.96001121e-02 3.01087780e+02] [-7.61568518e-02 -9.96647594e-01 -2.98949215e-02 4.11969737e+01] [-6.17271108e-02 -2.52119712e-02 9.97774584e-01 -3.74376839e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78864 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:301.08, Y:41.18, Z:-374.38 [[-9.94998216e-01 7.62985089e-02 -6.44754774e-02 3.01084226e+02] [-7.55095250e-02 -9.97038336e-01 -1.45899763e-02 4.11820868e+01] [-6.53977162e-02 -9.64848769e-03 9.97812630e-01 -3.74375528e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.81864 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:301.09, Y:41.15, Z:-374.37 [[-9.94116781e-01 7.18052239e-02 -8.10915201e-02 3.01094958e+02] [-7.42137241e-02 -9.96874496e-01 2.70843620e-02 4.11485366e+01] [-7.88932696e-02 3.29431224e-02 9.96338598e-01 -3.74368422e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84864 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:301.10, Y:41.17, Z:-374.37 [[-9.94093202e-01 7.49289442e-02 -7.85134345e-02 3.01097537e+02] [-7.46263993e-02 -9.97188482e-01 -6.78462114e-03 4.11660852e+01] [-7.88010571e-02 -8.85370834e-04 9.96889969e-01 -3.74372277e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.87864 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:301.10, Y:41.16, Z:-374.37 [[-9.93981279e-01 7.61431655e-02 -7.87618913e-02 3.01102831e+02] [-7.58365762e-02 -9.97096519e-01 -6.88084299e-03 4.11630754e+01] [-7.90571368e-02 -8.66396949e-04 9.96869710e-01 -3.74372378e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90864 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:301.11, Y:41.16, Z:-374.37 [[-9.93838360e-01 7.97234102e-02 -7.70031903e-02 3.01110930e+02] [-7.94355231e-02 -9.96816817e-01 -6.79927610e-03 4.11583937e+01] [-7.73001365e-02 -6.40592706e-04 9.97007662e-01 -3.74372419e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.93864 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:301.11, Y:41.16, Z:-374.37 [[-9.93599476e-01 8.20512634e-02 -7.76380751e-02 3.01114319e+02] [-8.17598512e-02 -9.96627965e-01 -6.93008266e-03 4.11572181e+01] [-7.79448988e-02 -5.38049032e-04 9.96957523e-01 -3.74373507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96864 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:301.13, Y:41.16, Z:-374.37 [[-9.93281324e-01 8.64790519e-02 -7.68998405e-02 3.01129057e+02] [-8.62007070e-02 -9.96253635e-01 -6.93782160e-03 4.11567120e+01] [-7.72117218e-02 -2.62388008e-04 9.97014685e-01 -3.74372969e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.99864 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:301.14, Y:41.16, Z:-374.37 [[-9.93165870e-01 8.98644198e-02 -7.44710754e-02 3.01138151e+02] [-8.96075763e-02 -9.95954006e-01 -6.78978262e-03 4.11568318e+01] [-7.47799257e-02 -7.02077971e-05 9.97200059e-01 -3.74372829e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02864 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:301.14, Y:41.16, Z:-374.37 [[-9.92586731e-01 9.53687876e-02 -7.53417265e-02 3.01140172e+02] [-9.51160127e-02 -9.95441972e-01 -6.94438394e-03 4.11568073e+01] [-7.56605943e-02 2.73301270e-04 9.97133592e-01 -3.74373207e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.05864 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:301.13, Y:41.16, Z:-374.37 [[-9.92299767e-01 9.93073238e-02 -7.40218104e-02 3.01133606e+02] [-9.90688755e-02 -9.95056689e-01 -6.89519336e-03 4.11576426e+01] [-7.43406408e-02 4.91158767e-04 9.97232785e-01 -3.74374252e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08864 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:301.13, Y:41.16, Z:-374.37 [[-9.91948809e-01 1.03042131e-01 -7.36198313e-02 3.01131156e+02] [-1.02811198e-01 -9.94676750e-01 -6.92974253e-03 4.11592981e+01] [-7.39419900e-02 6.94993217e-04 9.97262302e-01 -3.74373396e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11863999999997 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:301.11, Y:41.18, Z:-374.38 [[-9.92733206e-01 1.07764173e-01 -5.35505815e-02 3.01111005e+02] [-1.06141814e-01 -9.93827009e-01 -3.22768033e-02 4.11805080e+01] [-5.66982972e-02 -2.63582985e-02 9.98043357e-01 -3.74380485e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14864 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:301.12, Y:41.14, Z:-374.37 [[-9.91159366e-01 1.08760721e-01 -7.59882733e-02 3.01119507e+02] [-1.10556500e-01 -9.93672053e-01 1.98270176e-02 4.11430718e+01] [-7.33510229e-02 2.80527317e-02 9.96911567e-01 -3.74371329e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17864 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:301.12, Y:41.17, Z:-374.38 [[-9.90814325e-01 1.12976003e-01 -7.43195549e-02 3.01115036e+02] [-1.12757800e-01 -9.93596857e-01 -7.13887288e-03 4.11665062e+01] [-7.46501975e-02 1.30681197e-03 9.97208925e-01 -3.74375029e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20864 meters Centerline goodness : 0.998048 Centerline is valid? [True, True] Translation: X:301.12, Y:41.17, Z:-374.38 [[-9.90776386e-01 1.13794998e-01 -7.35720779e-02 3.01118860e+02] [-1.13578352e-01 -9.93503419e-01 -7.13544985e-03 4.11684852e+01] [-7.39060894e-02 1.28656015e-03 9.97264376e-01 -3.74375990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23864 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:301.12, Y:41.17, Z:-374.38 [[-9.90662093e-01 1.14723522e-01 -7.36690710e-02 3.01123334e+02] [-1.14503748e-01 -9.93396624e-01 -7.21383632e-03 4.11695775e+01] [-7.40102031e-02 1.28891056e-03 9.97256651e-01 -3.74375973e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26864 meters Centerline goodness : 0.996246 Centerline is valid? [True, True] Translation: X:301.13, Y:41.17, Z:-374.38 [[-9.90784035e-01 1.14648084e-01 -7.21305246e-02 3.01127288e+02] [-1.14432363e-01 -9.93405456e-01 -7.12977100e-03 4.11705298e+01] [-7.24722713e-02 1.19000311e-03 9.97369718e-01 -3.74375420e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29864 meters Centerline goodness : 0.995561 Centerline is valid? [True, True] Translation: X:301.13, Y:41.20, Z:-374.38 [[-9.91178664e-01 1.13914591e-01 -6.77371500e-02 3.01132056e+02] [-1.10568109e-01 -9.92545427e-01 -5.12666460e-02 4.12041254e+01] [-7.30722175e-02 -4.33248371e-02 9.96385171e-01 -3.74381432e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32864 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:301.14, Y:41.14, Z:-374.37 [[-9.91166466e-01 1.07883372e-01 -7.71376390e-02 3.01140401e+02] [-1.10884217e-01 -9.93190939e-01 3.57274357e-02 4.11396570e+01] [-7.27580078e-02 4.39651829e-02 9.96380116e-01 -3.74367449e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35864 meters Centerline goodness : 0.996783 Centerline is valid? [True, True] Translation: X:301.14, Y:41.17, Z:-374.37 [[-9.91336784e-01 1.09272768e-01 -7.28755343e-02 3.01143897e+02] [-1.09030226e-01 -9.94011556e-01 -7.31000712e-03 4.11699501e+01] [-7.32379080e-02 6.98957011e-04 9.97314254e-01 -3.74373230e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.38864 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:301.15, Y:41.17, Z:-374.37 [[-9.91512616e-01 1.07216494e-01 -7.35347252e-02 3.01154587e+02] [-1.06958618e-01 -9.94235582e-01 -7.44729847e-03 4.11665786e+01] [-7.39093135e-02 4.81082161e-04 9.97264850e-01 -3.74373644e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41864 meters Centerline goodness : 0.995760 Centerline is valid? [True, True] Translation: X:301.16, Y:41.17, Z:-374.37 [[-9.91562077e-01 1.06633993e-01 -7.37145828e-02 3.01161374e+02] [-1.06367913e-01 -9.94298274e-01 -7.53726582e-03 4.11656127e+01] [-7.40980112e-02 3.67199385e-04 9.97250896e-01 -3.74373361e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.44864 meters Centerline goodness : 0.995565 Centerline is valid? [True, True] Translation: X:301.16, Y:41.16, Z:-374.37 [[-9.91377289e-01 1.08366101e-01 -7.36740075e-02 3.01164736e+02] [-1.08099724e-01 -9.94110964e-01 -7.60536819e-03 4.11642838e+01] [-7.40643027e-02 4.24350578e-04 9.97253378e-01 -3.74373248e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47864 meters Centerline goodness : 0.995997 Centerline is valid? [True, True] Translation: X:301.16, Y:41.16, Z:-374.37 [[-9.91167366e-01 1.10400674e-01 -7.34775012e-02 3.01161354e+02] [-1.10135959e-01 -9.93887035e-01 -7.65718052e-03 4.11641448e+01] [-7.38736937e-02 5.02967622e-04 9.97267479e-01 -3.74374123e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.50864 meters Centerline goodness : 0.995417 Centerline is valid? [True, True] Translation: X:301.16, Y:41.16, Z:-374.37 [[-9.90887062e-01 1.13372720e-01 -7.27286477e-02 3.01160352e+02] [-1.13116200e-01 -9.93552318e-01 -7.64966582e-03 4.11648075e+01] [-7.31269799e-02 6.46833365e-04 9.97322429e-01 -3.74374598e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53864 meters Centerline goodness : 0.995413 Centerline is valid? [True, True] Translation: X:301.15, Y:41.17, Z:-374.38 [[-9.90212354e-01 1.18530067e-01 -7.36893306e-02 3.01153325e+02] [-1.18275620e-01 -9.92949990e-01 -7.82269422e-03 4.11657588e+01] [-7.40970445e-02 9.69522798e-04 9.97250564e-01 -3.74375101e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.56864 meters Centerline goodness : 0.994048 Centerline is valid? [True, True] Translation: X:301.15, Y:41.17, Z:-374.37 [[-9.89952695e-01 1.21223814e-01 -7.27904419e-02 3.01153090e+02] [-1.20977746e-01 -9.92624603e-01 -7.79627312e-03 4.11666933e+01] [-7.31986775e-02 1.08808200e-03 9.97316785e-01 -3.74374403e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59864 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:301.15, Y:41.17, Z:-374.37 [[-9.89311139e-01 1.26269624e-01 -7.29345787e-02 3.01146593e+02] [-1.26031176e-01 -9.91994977e-01 -7.88085082e-03 4.11684711e+01] [-7.33458478e-02 1.39541721e-03 9.97305590e-01 -3.74374882e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.62864 meters Centerline goodness : 0.994587 Centerline is valid? [True, True] Translation: X:301.15, Y:41.17, Z:-374.38 [[-9.88876796e-01 1.28995440e-01 -7.40463260e-02 3.01146780e+02] [-1.28752050e-01 -9.91643972e-01 -8.07110840e-03 4.11700144e+01] [-7.44687290e-02 1.55228444e-03 9.97222141e-01 -3.74376702e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65864 meters Centerline goodness : 0.993268 Centerline is valid? [True, True] Translation: X:301.14, Y:41.17, Z:-374.38 [[-9.88453409e-01 1.32623442e-01 -7.32862901e-02 3.01143566e+02] [-1.32389983e-01 -9.91164969e-01 -8.05580647e-03 4.11736300e+01] [-7.37071923e-02 1.73958131e-03 9.97278408e-01 -3.74377669e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.68864 meters Centerline goodness : 0.993318 Centerline is valid? [True, True] Translation: X:301.14, Y:41.19, Z:-374.38 [[-9.89886017e-01 1.31713168e-01 -5.27002376e-02 3.01136161e+02] [-1.30213662e-01 -9.91002577e-01 -3.09563281e-02 4.11947884e+01] [-5.63034273e-02 -2.37809454e-02 9.98130448e-01 -3.74381886e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71864 meters Centerline goodness : 0.992784 Centerline is valid? [True, True] Translation: X:301.15, Y:41.16, Z:-374.37 [[-9.88081124e-01 1.33006734e-01 -7.74912952e-02 3.01145013e+02] [-1.34616853e-01 -9.90769905e-01 1.59153716e-02 4.11615451e+01] [-7.46591916e-02 2.61573126e-02 9.96865989e-01 -3.74374540e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.74864 meters Centerline goodness : 0.992971 Centerline is valid? [True, True] Translation: X:301.15, Y:41.18, Z:-374.38 [[-9.87781650e-01 1.35755908e-01 -7.65359058e-02 3.01145327e+02] [-1.35498749e-01 -9.90740477e-01 -8.56715604e-03 4.11834923e+01] [-7.69902619e-02 1.90803995e-03 9.97030019e-01 -3.74376655e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77864 meters Centerline goodness : 0.992975 Centerline is valid? [True, True] Translation: X:301.15, Y:41.19, Z:-374.38 [[-9.87478810e-01 1.37362663e-01 -7.75699620e-02 3.01146762e+02] [-1.37097844e-01 -9.90518823e-01 -8.75452459e-03 4.11856363e+01] [-7.80370523e-02 1.98976700e-03 9.96948474e-01 -3.74376990e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.80864 meters Centerline goodness : 0.992674 Centerline is valid? [True, True] Translation: X:301.15, Y:41.19, Z:-374.38 [[-9.87616009e-01 1.37048572e-01 -7.63695442e-02 3.01149877e+02] [-1.36785630e-01 -9.90562572e-01 -8.68812035e-03 4.11910250e+01] [-7.68395066e-02 1.86572945e-03 9.97041729e-01 -3.74377648e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83864 meters Centerline goodness : 0.991803 Centerline is valid? [True, True] Translation: X:301.16, Y:41.19, Z:-374.38 [[-9.87635729e-01 1.36079213e-01 -7.78338881e-02 3.01156743e+02] [-1.35797404e-01 -9.90696409e-01 -8.92695350e-03 4.11947579e+01] [-7.83245262e-02 1.75306176e-03 9.96926374e-01 -3.74376844e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86863999999997 meters Centerline goodness : 0.990291 Centerline is valid? [True, True] Translation: X:301.16, Y:41.20, Z:-374.38 [[-9.87729026e-01 1.34814306e-01 -7.88446157e-02 3.01162595e+02] [-1.34515268e-01 -9.90869587e-01 -9.11617953e-03 4.11977588e+01] [-7.93537232e-02 1.60148946e-03 9.96845235e-01 -3.74376953e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89864 meters Centerline goodness : 0.990674 Centerline is valid? [True, True] Translation: X:301.18, Y:41.20, Z:-374.37 [[-9.88335050e-01 1.28783333e-01 -8.12938048e-02 3.01179460e+02] [-1.28438689e-01 -9.91672172e-01 -9.47660526e-03 4.12022739e+01] [-8.18372328e-02 1.07520858e-03 9.96645128e-01 -3.74374643e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92864 meters Centerline goodness : 0.990373 Centerline is valid? [True, True] Translation: X:301.19, Y:41.20, Z:-374.37 [[-9.88547345e-01 1.26324929e-01 -8.25600302e-02 3.01189198e+02] [-1.25954300e-01 -9.91988589e-01 -9.70323498e-03 4.12033712e+01] [-8.31243684e-02 8.06683633e-04 9.96538855e-01 -3.74373511e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95864 meters Centerline goodness : 0.985670 Centerline is valid? [True, True] Translation: X:301.21, Y:41.20, Z:-374.37 [[-9.88815266e-01 1.20995074e-01 -8.72041351e-02 3.01205372e+02] [-1.20553118e-01 -9.92653065e-01 -1.03363026e-02 4.12049738e+01] [-8.78140936e-02 2.92036565e-04 9.96136838e-01 -3.74371733e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98864 meters Centerline goodness : 0.980645 Centerline is valid? [True, True] Translation: X:301.13, Y:41.13, Z:-374.36 [[-9.92331644e-01 1.21696118e-01 2.16324714e-02 3.01130359e+02] [-1.18888476e-01 -9.87623072e-01 1.02304440e-01 4.11339829e+01] [ 3.38147811e-02 9.89480811e-02 9.94517892e-01 -3.74359093e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01864 meters Centerline goodness : 0.980498 Centerline is valid? [True, True] Translation: X:301.21, Y:41.28, Z:-374.38 [[-9.88994449e-01 1.22415205e-01 -8.30933115e-02 3.01206118e+02] [-1.13222176e-01 -9.87730958e-01 -1.07556000e-01 4.12785926e+01] [-9.52403260e-02 -9.69642814e-02 9.90720550e-01 -3.74376739e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04864 meters Centerline goodness : 0.978322 Centerline is valid? [True, True] Translation: X:301.21, Y:41.21, Z:-374.37 [[-9.88482015e-01 1.16757169e-01 -9.62863921e-02 3.01214250e+02] [-1.16180709e-01 -9.93160455e-01 -1.15910640e-02 4.12080324e+01] [-9.69811769e-02 -2.70936990e-04 9.95286179e-01 -3.74368661e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07864 meters Centerline goodness : 0.972953 Centerline is valid? [True, True] Translation: X:301.21, Y:41.21, Z:-374.37 [[-9.88438852e-01 1.15997306e-01 -9.76384171e-02 3.01207369e+02] [-1.15391103e-01 -9.93249427e-01 -1.18519845e-02 4.12054616e+01] [-9.83541001e-02 -4.48357344e-04 9.95151380e-01 -3.74368559e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10864 meters Centerline goodness : 0.970641 Centerline is valid? [True, True] Translation: X:301.21, Y:41.20, Z:-374.37 [[-9.88365733e-01 1.15120225e-01 -9.94007646e-02 3.01206372e+02] [-1.14477496e-01 -9.93351357e-01 -1.21648708e-02 4.12038315e+01] [-1.00140307e-01 -6.44190865e-04 9.94973117e-01 -3.74368280e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.13864 meters Centerline goodness : 0.968805 Centerline is valid? [True, True] Translation: X:301.21, Y:41.20, Z:-374.37 [[-9.88204865e-01 1.15467499e-01 -1.00590262e-01 3.01208659e+02] [-1.14800965e-01 -9.93311001e-01 -1.24094002e-02 4.12021989e+01] [-1.01350296e-01 -7.15170448e-04 9.94850545e-01 -3.74368226e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16864 meters Centerline goodness : 0.966745 Centerline is valid? [True, True] Translation: X:301.21, Y:41.20, Z:-374.37 [[-9.87947177e-01 1.14776205e-01 -1.03859508e-01 3.01213972e+02] [-1.14050843e-01 -9.93390953e-01 -1.29158655e-02 4.12013072e+01] [-1.04655530e-01 -9.14928315e-04 9.94508111e-01 -3.74367507e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.19864 meters Centerline goodness : 0.961642 Centerline is valid? [True, True] Translation: X:301.21, Y:41.20, Z:-374.37 [[-9.87344568e-01 1.15164923e-01 -1.09030934e-01 3.01207521e+02] [-1.14355593e-01 -9.93345854e-01 -1.36679099e-02 4.11983359e+01] [-1.09879490e-01 -1.02663946e-03 9.93944387e-01 -3.74365527e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22864 meters Centerline goodness : 0.281269 Centerline is valid? [True, False] Translation: X:300.39, Y:41.71, Z:-374.09 [[ 9.40140030e-01 -9.50915713e-02 3.27252680e-01 3.00394091e+02] [ 2.76405966e-01 7.74475952e-01 -5.69022620e-01 4.17113168e+01] [-1.99340076e-01 6.25415537e-01 7.54399722e-01 -3.74089220e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.25864 meters Centerline goodness : 0.955411 Centerline is valid? [False, True] Translation: X:300.35, Y:41.64, Z:-374.12 [[ 9.38494659e-01 -1.19797598e-01 3.23846122e-01 3.00345891e+02] [ 2.74180375e-01 8.28643268e-01 -4.88032229e-01 4.16382455e+01] [-2.09887820e-01 5.46807892e-01 8.10523431e-01 -3.74124592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28864 meters Centerline goodness : 0.954174 Centerline is valid? [True, True] Translation: X:300.44, Y:41.27, Z:-374.32 [[ 9.45178483e-01 -2.46936524e-01 2.13681982e-01 3.00444776e+02] [ 2.40604369e-01 9.69031017e-01 5.55736062e-02 4.12724294e+01] [-2.20787621e-01 -1.11415832e-03 9.75321273e-01 -3.74315898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.31864 meters Centerline goodness : 0.286364 Centerline is valid? [True, False] Translation: X:300.46, Y:41.29, Z:-374.32 [[ 9.49300585e-01 -2.35092388e-01 2.08710249e-01 3.00456504e+02] [ 2.31909437e-01 9.71916580e-01 3.99521614e-02 4.12901335e+01] [-2.12241401e-01 1.04752662e-02 9.77161121e-01 -3.74318898e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34864 meters Centerline goodness : 0.286680 Centerline is valid? [False, False] Translation: X:300.49, Y:41.31, Z:-374.33 [[ 9.55053736e-01 -2.27945198e-01 1.89508175e-01 3.00490869e+02] [ 2.26642729e-01 9.73551663e-01 2.88137478e-02 4.13065823e+01] [-1.91063955e-01 1.54319726e-02 9.81456275e-01 -3.74325097e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.37864 meters Centerline goodness : 0.300162 Centerline is valid? [False, False] Translation: X:300.52, Y:41.32, Z:-374.33 [[ 9.58124374e-01 -2.20763779e-01 1.82376087e-01 3.00516498e+02] [ 2.19951172e-01 9.75192288e-01 2.49295600e-02 4.13198480e+01] [-1.83355298e-01 1.62282150e-02 9.82912753e-01 -3.74330570e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40864 meters Centerline goodness : 0.296588 Centerline is valid? [False, False] Translation: X:300.54, Y:41.33, Z:-374.33 [[ 9.61034888e-01 -2.14346258e-01 1.74549782e-01 3.00538988e+02] [ 2.13543501e-01 9.76648619e-01 2.35933977e-02 4.13285756e+01] [-1.75530960e-01 1.45998932e-02 9.84365646e-01 -3.74334537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.43864 meters Centerline goodness : 0.277146 Centerline is valid? [False, False] Translation: X:300.56, Y:41.34, Z:-374.34 [[ 9.63411615e-01 -2.08372230e-01 1.68579577e-01 3.00560611e+02] [ 2.08023399e-01 9.77920833e-01 1.99275970e-02 4.13378602e+01] [-1.69009838e-01 1.58700182e-02 9.85486589e-01 -3.74335823e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46864 meters Centerline goodness : 0.267729 Centerline is valid? [False, False] Translation: X:300.58, Y:41.35, Z:-374.34 [[ 9.66470878e-01 -1.98707754e-01 1.62632315e-01 3.00582227e+02] [ 1.98053128e-01 9.79979086e-01 2.03948537e-02 4.13464777e+01] [-1.63428883e-01 1.24988066e-02 9.86475940e-01 -3.74336645e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.49864 meters Centerline goodness : 0.241602 Centerline is valid? [False, False] Translation: X:300.60, Y:41.35, Z:-374.34 [[ 9.69322865e-01 -1.90377921e-01 1.55465205e-01 3.00603251e+02] [ 1.89406950e-01 9.81670339e-01 2.11743234e-02 4.13532483e+01] [-1.56646704e-01 8.92143443e-03 9.87614408e-01 -3.74337793e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52864 meters Centerline goodness : 0.279087 Centerline is valid? [False, False] Translation: X:300.63, Y:41.36, Z:-374.34 [[ 9.72098562e-01 -1.80716236e-01 1.49552761e-01 3.00626063e+02] [ 1.79411192e-01 9.83521705e-01 2.22863073e-02 4.13586364e+01] [-1.51115884e-01 5.16695187e-03 9.88502550e-01 -3.74338977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.55864 meters Centerline goodness : 0.278024 Centerline is valid? [False, False] Translation: X:300.64, Y:41.36, Z:-374.34 [[ 9.74258909e-01 -1.74588169e-01 1.42613288e-01 3.00642617e+02] [ 1.72875467e-01 9.84641158e-01 2.44102991e-02 4.13623196e+01] [-1.44684663e-01 8.72387571e-04 9.89477431e-01 -3.74341463e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58864 meters Centerline goodness : 0.315136 Centerline is valid? [False, False] Translation: X:300.66, Y:41.37, Z:-374.34 [[ 9.76461485e-01 -1.68070717e-01 1.35185804e-01 3.00660940e+02] [ 1.66110651e-01 9.85771323e-01 2.57322850e-02 4.13683686e+01] [-1.37587132e-01 -2.67078330e-03 9.90486066e-01 -3.74343985e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61863999999997 meters Centerline goodness : 0.315136 Centerline is valid? [False, False] Translation: X:300.68, Y:41.37, Z:-374.34 [[ 9.78129536e-01 -1.62775017e-01 1.29487080e-01 3.00680671e+02] [ 1.61163480e-01 9.86662026e-01 2.28993336e-02 4.13749702e+01] [-1.31487425e-01 -1.52992607e-03 9.91316658e-01 -3.74343905e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64864 meters Centerline goodness : 0.324373 Centerline is valid? [False, False] Translation: X:300.71, Y:41.39, Z:-374.35 [[ 9.80624253e-01 -1.52956967e-01 1.22393794e-01 3.00707843e+02] [ 1.51329610e-01 9.88226364e-01 2.25389022e-02 4.13854953e+01] [-1.24400256e-01 -3.58038900e-03 9.92225658e-01 -3.74348040e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67864 meters Centerline goodness : 0.348043 Centerline is valid? [False, False] Translation: X:300.73, Y:41.39, Z:-374.35 [[ 9.82387959e-01 -1.46143242e-01 1.16430454e-01 3.00731910e+02] [ 1.44827821e-01 9.89260242e-01 1.97250069e-02 4.13930234e+01] [-1.18062696e-01 -2.51524036e-03 9.93002957e-01 -3.74349202e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70864 meters Centerline goodness : 0.341214 Centerline is valid? [False, False] Translation: X:300.76, Y:41.40, Z:-374.35 [[ 9.83980180e-01 -1.37503321e-01 1.13471763e-01 3.00755226e+02] [ 1.36291154e-01 9.90497763e-01 1.84093168e-02 4.13988693e+01] [-1.14924870e-01 -2.64920522e-03 9.93370654e-01 -3.74351157e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73864 meters Centerline goodness : 0.347793 Centerline is valid? [False, False] Translation: X:300.76, Y:41.40, Z:-374.36 [[ 9.84392132e-01 -1.35739500e-01 1.12013029e-01 3.00760563e+02] [ 1.34308632e-01 9.90732457e-01 2.02580688e-02 4.13991144e+01] [-1.13724764e-01 -4.89756683e-03 9.93500222e-01 -3.74356794e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76864 meters Centerline goodness : 0.291002 Centerline is valid? [False, False] Translation: X:300.77, Y:41.40, Z:-374.36 [[ 9.84750600e-01 -1.34071715e-01 1.10864925e-01 3.00765207e+02] [ 1.32407789e-01 9.90945097e-01 2.22708757e-02 4.13987633e+01] [-1.12846948e-01 -7.25187871e-03 9.93585918e-01 -3.74362436e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79864 meters Centerline goodness : 0.323509 Centerline is valid? [False, False] Translation: X:300.79, Y:41.40, Z:-374.36 [[ 9.86359058e-01 -1.26801644e-01 1.04962618e-01 3.00790359e+02] [ 1.25318022e-01 9.91901941e-01 2.06381136e-02 4.14032155e+01] [-1.06729571e-01 -7.20288265e-03 9.94261996e-01 -3.74364786e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82864 meters Centerline goodness : 0.372231 Centerline is valid? [False, False] Translation: X:300.80, Y:41.40, Z:-374.37 [[ 9.86717118e-01 -1.25085443e-01 1.03648254e-01 3.00795563e+02] [ 1.23339411e-01 9.92095357e-01 2.31125848e-02 4.14009463e+01] [-1.05719999e-01 -1.00216685e-02 9.94345437e-01 -3.74370477e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85864 meters Centerline goodness : 0.329915 Centerline is valid? [False, False] Translation: X:300.82, Y:41.40, Z:-374.37 [[ 9.88515701e-01 -1.16300699e-01 9.64927781e-02 3.00818638e+02] [ 1.14408770e-01 9.93120847e-01 2.49322568e-02 4.14039853e+01] [-9.87286284e-02 -1.36063072e-02 9.95021370e-01 -3.74371216e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.88864 meters Centerline goodness : 0.174754 Centerline is valid? [False, False] Translation: X:300.82, Y:41.40, Z:-374.38 [[ 9.88877163e-01 -1.14405071e-01 9.50443881e-02 3.00824104e+02] [ 1.12273230e-01 9.93296760e-01 2.75003414e-02 4.14024452e+01] [-9.75534612e-02 -1.65235192e-02 9.95093109e-01 -3.74377137e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91864 meters Centerline goodness : 0.455661 Centerline is valid? [False, False] Translation: X:300.85, Y:41.40, Z:-374.38 [[ 9.90274322e-01 -1.06717278e-01 8.92647217e-02 3.00851163e+02] [ 1.04731957e-01 9.94143347e-01 2.66499865e-02 4.14038913e+01] [-9.15859433e-02 -1.70419283e-02 9.95651338e-01 -3.74380208e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.94864 meters Centerline goodness : 0.313594 Centerline is valid? [False, False] Translation: X:300.87, Y:41.41, Z:-374.38 [[ 9.91405043e-01 -1.00151640e-01 8.41765338e-02 3.00873706e+02] [ 9.84039780e-02 9.94840688e-01 2.46710807e-02 4.14068990e+01] [-8.62130900e-02 -1.61757281e-02 9.96145395e-01 -3.74379522e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97864 meters Centerline goodness : 0.154899 Centerline is valid? [False, False] Translation: X:300.90, Y:41.41, Z:-374.38 [[ 9.92461607e-01 -9.35844048e-02 7.91322862e-02 3.00896233e+02] [ 9.20538902e-02 9.95493401e-01 2.27809120e-02 4.14099259e+01] [-8.09076068e-02 -1.53247457e-02 9.96603789e-01 -3.74379175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.00864 meters Centerline goodness : 0.478586 Centerline is valid? [False, False] Translation: X:300.92, Y:41.41, Z:-374.38 [[ 9.93711235e-01 -8.23913466e-02 7.58264344e-02 3.00918702e+02] [ 8.06284856e-02 9.96404313e-01 2.60286684e-02 4.14082615e+01] [-7.76983234e-02 -1.97512096e-02 9.96781250e-01 -3.74378592e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03864 meters Centerline goodness : 0.278475 Centerline is valid? [False, False] Translation: X:300.94, Y:41.41, Z:-374.38 [[ 9.94583281e-01 -7.69504621e-02 6.98764884e-02 3.00940312e+02] [ 7.54480313e-02 9.96863376e-01 2.38956910e-02 4.14116505e+01] [-7.14960966e-02 -1.84942113e-02 9.97269408e-01 -3.74377937e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.06864 meters Centerline goodness : 0.287718 Centerline is valid? [False, False] Translation: X:300.96, Y:41.41, Z:-374.38 [[ 9.95324428e-01 -6.82090271e-02 6.83872235e-02 3.00963333e+02] [ 6.67463310e-02 9.97494311e-01 2.34526666e-02 4.14135625e+01] [-6.98155500e-02 -1.87784157e-02 9.97383156e-01 -3.74379558e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09864 meters Centerline goodness : 0.238241 Centerline is valid? [False, False] Translation: X:300.97, Y:41.41, Z:-374.38 [[ 9.95504417e-01 -6.68939076e-02 6.70534188e-02 3.00968602e+02] [ 6.53554121e-02 9.97551740e-01 2.48836323e-02 4.14114976e+01] [-6.85538180e-02 -2.03894620e-02 9.97439043e-01 -3.74384241e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.12864 meters Centerline goodness : 0.168299 Centerline is valid? [False, False] Translation: X:300.99, Y:41.41, Z:-374.38 [[ 9.96215193e-01 -6.01840310e-02 6.27150060e-02 3.00990604e+02] [ 5.88413198e-02 9.98001367e-01 2.30427870e-02 4.14146663e+01] [-6.39764695e-02 -1.92653408e-02 9.97765432e-01 -3.74383175e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15864 meters Centerline goodness : 0.189121 Centerline is valid? [False, False] Translation: X:301.01, Y:41.41, Z:-374.39 [[ 9.96641466e-01 -5.11602140e-02 6.39407625e-02 3.01012475e+02] [ 4.97339480e-02 9.98481194e-01 2.37031392e-02 4.14133856e+01] [-6.50563066e-02 -2.04435048e-02 9.97672161e-01 -3.74385595e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.18864 meters Centerline goodness : 0.161131 Centerline is valid? [False, False] Translation: X:301.03, Y:41.42, Z:-374.39 [[ 9.97262367e-01 -4.60077469e-02 5.78883308e-02 3.01033823e+02] [ 4.48028956e-02 9.98754837e-01 2.19425579e-02 4.14176471e+01] [-5.88257781e-02 -1.92889224e-02 9.98081893e-01 -3.74386305e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21864 meters Centerline goodness : 0.154945 Centerline is valid? [False, False] Translation: X:301.06, Y:41.42, Z:-374.39 [[ 9.97552977e-01 -3.69925415e-02 5.93262937e-02 3.01055239e+02] [ 3.57408356e-02 9.99118398e-01 2.20231506e-02 4.14202848e+01] [-6.00886839e-02 -1.98488881e-02 9.97995677e-01 -3.74388425e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.24864 meters Centerline goodness : 0.156737 Centerline is valid? [False, False] Translation: X:301.08, Y:41.42, Z:-374.39 [[ 9.97991016e-01 -3.05145766e-02 5.55229003e-02 3.01076448e+02] [ 2.94348006e-02 9.99363330e-01 2.01625339e-02 4.14236213e+01] [-5.61028017e-02 -1.84877222e-02 9.98253815e-01 -3.74387028e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27864 meters Centerline goodness : 0.149845 Centerline is valid? [False, False] Translation: X:301.10, Y:41.42, Z:-374.39 [[ 9.98072605e-01 -2.17058511e-02 5.81371796e-02 3.01096997e+02] [ 2.05498109e-02 9.99580494e-01 2.04093506e-02 4.14244715e+01] [-5.85557930e-02 -1.91753057e-02 9.98099958e-01 -3.74389270e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.30864 meters Centerline goodness : 0.157217 Centerline is valid? [False, False] Translation: X:301.12, Y:41.43, Z:-374.39 [[ 9.98480933e-01 -1.71420004e-02 5.23639107e-02 3.01121707e+02] [ 1.62962982e-02 9.99730476e-01 1.65349984e-02 4.14310726e+01] [-5.26332403e-02 -1.56565427e-02 9.98491169e-01 -3.74390203e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33864 meters Centerline goodness : 0.155192 Centerline is valid? [False, False] Translation: X:301.14, Y:41.44, Z:-374.39 [[ 9.98682420e-01 -9.60611238e-03 5.04097768e-02 3.01142724e+02] [ 8.86383534e-03 9.99849285e-01 1.49278198e-02 4.14356047e+01] [-5.05455777e-02 -1.44613273e-02 9.98617051e-01 -3.74389488e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36863999999997 meters Centerline goodness : 0.156367 Centerline is valid? [False, False] Translation: X:301.17, Y:41.44, Z:-374.39 [[ 9.98579947e-01 -3.23292378e-03 5.31755361e-02 3.01165594e+02] [ 2.61040271e-03 9.99927298e-01 1.17721980e-02 4.14406894e+01] [-5.32097288e-02 -1.16166713e-02 9.98515787e-01 -3.74394128e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39864 meters Centerline goodness : 0.165335 Centerline is valid? [False, False] Translation: X:301.19, Y:41.45, Z:-374.40 [[ 9.98779076e-01 3.95646454e-04 4.93983820e-02 3.01189169e+02] [-7.23394680e-04 9.99977845e-01 6.61709490e-03 4.14470529e+01] [-4.93946695e-02 -6.64475046e-03 9.98757235e-01 -3.74395389e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42864 meters Centerline goodness : 0.160309 Centerline is valid? [False, False] Translation: X:301.22, Y:41.45, Z:-374.40 [[ 9.98868279e-01 7.53305191e-03 4.69618358e-02 3.01218913e+02] [-7.74351933e-03 9.99960767e-01 4.30135354e-03 4.14532992e+01] [-4.69275911e-02 -4.66013549e-03 9.98887423e-01 -3.74402161e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45864 meters Centerline goodness : 0.175919 Centerline is valid? [False, False] Translation: X:301.23, Y:41.45, Z:-374.41 [[ 9.98957034e-01 7.56350773e-03 4.50293048e-02 3.01229487e+02] [-7.75590541e-03 9.99961519e-01 4.09954306e-03 4.14547311e+01] [-4.49965651e-02 -4.44451040e-03 9.98977255e-01 -3.74413056e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48864 meters Centerline goodness : 0.184167 Centerline is valid? [False, False] Translation: X:301.24, Y:41.46, Z:-374.42 [[ 9.99036957e-01 7.46337871e-03 4.32372111e-02 3.01239850e+02] [-7.63541806e-03 9.99963572e-01 3.81518595e-03 4.14557322e+01] [-4.32071618e-02 -4.14164594e-03 9.99057550e-01 -3.74423965e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51864 meters Centerline goodness : 0.189324 Centerline is valid? [False, False] Translation: X:301.25, Y:41.46, Z:-374.43 [[ 9.99044434e-01 7.54733170e-03 4.30494645e-02 3.01249793e+02] [-7.69851713e-03 9.99964764e-01 3.34719443e-03 4.14566105e+01] [-4.30226852e-02 -3.67541300e-03 9.99067335e-01 -3.74434399e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54864 meters Centerline goodness : 0.175664 Centerline is valid? [False, False] Translation: X:301.26, Y:41.46, Z:-374.45 [[ 9.99120064e-01 7.52906238e-03 4.12602932e-02 3.01260435e+02] [-7.66425991e-03 9.99965763e-01 3.11949407e-03 4.14578468e+01] [-4.12353937e-02 -3.43297872e-03 9.99143562e-01 -3.74445616e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57864 meters Centerline goodness : 0.625813 Centerline is valid? [False, False] Translation: X:301.31, Y:41.46, Z:-374.45 [[ 9.99393844e-01 7.12804479e-03 3.40754483e-02 3.01312743e+02] [-7.24058093e-03 9.99968729e-01 3.18029887e-03 4.14605798e+01] [-3.40517135e-02 -3.42509715e-03 9.99414203e-01 -3.74446806e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60864 meters Centerline goodness : 0.192597 Centerline is valid? [False, False] Translation: X:301.32, Y:41.46, Z:-374.46 [[ 9.99455540e-01 7.15833864e-03 3.22083968e-02 3.01323822e+02] [-7.25260648e-03 9.99969749e-01 2.81093261e-03 4.14625657e+01] [-3.21873008e-02 -3.04299700e-03 9.99477222e-01 -3.74457846e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.63864 meters Centerline goodness : 0.165358 Centerline is valid? [False, False] Translation: X:301.34, Y:41.46, Z:-374.47 [[ 9.99497839e-01 7.24760852e-03 3.08470856e-02 3.01335832e+02] [-7.31942600e-03 9.99970757e-01 2.21589437e-03 4.14639926e+01] [-3.08301237e-02 -2.44056459e-03 9.99521659e-01 -3.74468949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66864 meters Centerline goodness : 0.204582 Centerline is valid? [False, False] Translation: X:301.35, Y:41.47, Z:-374.48 [[ 9.99553786e-01 7.33598214e-03 2.89553571e-02 3.01347021e+02] [-7.39707170e-03 9.99970635e-01 2.00323243e-03 4.14659543e+01] [-2.89398112e-02 -2.21652341e-03 9.99578698e-01 -3.74480824e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.69864 meters Centerline goodness : 0.076321 Centerline is valid? [False, False] Translation: X:301.36, Y:41.47, Z:-374.49 [[ 9.99578852e-01 7.85404198e-03 2.79362282e-02 3.01358554e+02] [-7.90018206e-03 9.99967605e-01 1.54163160e-03 4.14704999e+01] [-2.79232152e-02 -1.76168363e-03 9.99608519e-01 -3.74491138e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72864 meters Centerline goodness : 0.265359 Centerline is valid? [False, False] Translation: X:301.39, Y:41.47, Z:-374.50 [[ 9.99890638e-01 7.19394028e-03 1.29212590e-02 3.01386544e+02] [-7.19985984e-03 9.99973996e-01 4.11666453e-04 4.14717740e+01] [-1.29179615e-02 -5.04652686e-04 9.99916432e-01 -3.74502658e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.75864 meters Centerline goodness : 0.506801 Centerline is valid? [False, False] Translation: X:301.41, Y:41.47, Z:-374.51 [[ 9.99982174e-01 5.93870333e-03 -6.19579604e-04 3.01409233e+02] [-5.93909763e-03 9.99982161e-01 -6.36521078e-04 4.14714572e+01] [ 6.15788441e-04 6.40189475e-04 9.99999605e-01 -3.74511776e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78864 meters Centerline goodness : 0.650506 Centerline is valid? [False, False] Translation: X:301.41, Y:41.47, Z:-374.51 [[ 9.99981568e-01 6.04036021e-03 -6.14777028e-04 3.01410035e+02] [-6.04072959e-03 9.99981574e-01 -6.00759311e-04 4.14711217e+01] [ 6.11136897e-04 6.04461940e-04 9.99999631e-01 -3.74512438e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.81864 meters Centerline goodness : 0.078011 Centerline is valid? [False, False] Translation: X:301.42, Y:41.47, Z:-374.52 [[ 9.99988056e-01 4.57591643e-03 -1.71706666e-03 3.01416040e+02] [-4.57932228e-03 9.99987545e-01 -1.98486798e-03 4.14729425e+01] [ 1.70796268e-03 1.99270727e-03 9.99996556e-01 -3.74518072e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84864 meters Centerline goodness : 0.078946 Centerline is valid? [False, False] Translation: X:301.43, Y:41.47, Z:-374.53 [[ 9.99988169e-01 3.61366956e-03 -3.25616394e-03 3.01425090e+02] [-3.62040401e-03 9.99991315e-01 -2.06469944e-03 4.14686581e+01] [ 3.24867452e-03 2.07646364e-03 9.99992567e-01 -3.74526286e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.87864 meters Centerline goodness : 0.078323 Centerline is valid? [False, False] Translation: X:301.43, Y:41.47, Z:-374.53 [[ 9.99989185e-01 1.85259926e-03 -4.26597740e-03 3.01431135e+02] [-1.86589040e-03 9.99993411e-01 -3.11374547e-03 4.14666905e+01] [ 4.26018077e-03 3.12167164e-03 9.99986053e-01 -3.74532142e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90864 meters Centerline goodness : 0.080258 Centerline is valid? [False, False] Translation: X:301.42, Y:41.46, Z:-374.52 [[ 9.99994955e-01 1.80790458e-03 -2.61177076e-03 3.01421289e+02] [-1.81461968e-03 9.99995049e-01 -2.57101475e-03 4.14625875e+01] [ 2.60710967e-03 2.57574115e-03 9.99993284e-01 -3.74523049e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.93864 meters Centerline goodness : 0.075402 Centerline is valid? [False, False] Translation: X:301.43, Y:41.45, Z:-374.53 [[ 9.99989587e-01 1.18974575e-03 -4.40567992e-03 3.01432473e+02] [-1.19766011e-03 9.99997673e-01 -1.79419699e-03 4.14542550e+01] [ 4.40353503e-03 1.79945481e-03 9.99988685e-01 -3.74533032e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96864 meters Centerline goodness : 0.080281 Centerline is valid? [False, False] Translation: X:301.42, Y:41.45, Z:-374.52 [[ 9.99995698e-01 1.04120978e-03 -2.74210714e-03 3.01422694e+02] [-1.04424450e-03 9.99998844e-01 -1.10551381e-03 4.14491039e+01] [ 2.74095290e-03 1.10837248e-03 9.99995629e-01 -3.74523931e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.99864 meters Centerline goodness : 0.072683 Centerline is valid? [False, False] Translation: X:301.43, Y:41.44, Z:-374.53 [[ 9.99990765e-01 -1.16495661e-04 -4.29608500e-03 3.01432770e+02] [ 1.14982321e-04 9.99999931e-01 -3.52505698e-04 4.14378830e+01] [ 4.29612577e-03 3.52008469e-04 9.99990710e-01 -3.74532944e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02864 meters Centerline goodness : 0.077133 Centerline is valid? [False, False] Translation: X:301.43, Y:41.43, Z:-374.53 [[ 9.99990453e-01 -2.81647389e-04 -4.36061443e-03 3.01433291e+02] [ 2.83704226e-04 9.99999849e-01 4.71073671e-04 4.14323130e+01] [ 4.36048109e-03 -4.72306298e-04 9.99990382e-01 -3.74533600e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.05864 meters Centerline goodness : 0.074965 Centerline is valid? [False, False] Translation: X:301.44, Y:41.43, Z:-374.54 [[ 9.99980801e-01 -6.92884394e-04 -6.15775496e-03 3.01444304e+02] [ 6.98265543e-04 9.99999376e-01 8.71774737e-04 4.14278369e+01] [ 6.15714708e-03 -8.76057748e-04 9.99980661e-01 -3.74543814e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08864 meters Centerline goodness : 0.074436 Centerline is valid? [False, False] Translation: X:301.44, Y:41.42, Z:-374.54 [[ 9.99980162e-01 -9.67163858e-04 -6.22412151e-03 3.01444743e+02] [ 9.79974138e-04 9.99997407e-01 2.05544612e-03 4.14196035e+01] [ 6.22211742e-03 -2.06150482e-03 9.99978517e-01 -3.74544057e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11863999999997 meters Centerline goodness : 0.074039 Centerline is valid? [False, False] Translation: X:301.44, Y:41.42, Z:-374.54 [[ 9.99981468e-01 -2.31293357e-03 -5.63144142e-03 3.01440680e+02] [ 2.32024848e-03 9.99996473e-01 1.29275316e-03 4.14176685e+01] [ 5.62843151e-03 -1.30579554e-03 9.99983308e-01 -3.74540130e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14864 meters Centerline goodness : 0.073973 Centerline is valid? [False, False] Translation: X:301.46, Y:41.42, Z:-374.53 [[ 9.99950867e-01 6.87082304e-03 -7.14529631e-03 3.01458506e+02] [-6.85388311e-03 9.99973650e-01 2.39257061e-03 4.14154822e+01] [ 7.16154696e-03 -2.34348003e-03 9.99971610e-01 -3.74532212e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17864 meters Centerline goodness : 0.684993 Centerline is valid? [False, False] Translation: X:301.47, Y:41.41, Z:-374.54 [[ 9.99936318e-01 6.90029058e-03 -8.93005024e-03 3.01469460e+02] [-6.87792249e-03 9.99973138e-01 2.53310315e-03 4.14148552e+01] [ 8.94728952e-03 -2.47152164e-03 9.99956918e-01 -3.74542159e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20864 meters Centerline goodness : 0.074568 Centerline is valid? [False, False] Translation: X:301.46, Y:41.41, Z:-374.53 [[ 9.99951331e-01 6.70379176e-03 -7.23839247e-03 3.01459841e+02] [-6.68547239e-03 9.99974395e-01 2.55209857e-03 4.14131735e+01] [ 7.25531587e-03 -2.50358229e-03 9.99970546e-01 -3.74533712e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23864 meters Centerline goodness : 0.073050 Centerline is valid? [False, False] Translation: X:301.47, Y:41.41, Z:-374.54 [[ 9.99936881e-01 6.61069648e-03 -9.08470845e-03 3.01470638e+02] [-6.58998581e-03 9.99975623e-01 2.30777519e-03 4.14138619e+01] [ 9.09974300e-03 -2.24776143e-03 9.99956070e-01 -3.74543959e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26864 meters Centerline goodness : 0.074556 Centerline is valid? [False, False] Translation: X:301.46, Y:41.42, Z:-374.53 [[ 9.99948335e-01 6.93442117e-03 -7.43247297e-03 3.01460418e+02] [-6.91756447e-03 9.99973448e-01 2.29129390e-03 4.14153116e+01] [ 7.44816442e-03 -2.23976091e-03 9.99969754e-01 -3.74534349e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29864 meters Centerline goodness : 0.706875 Centerline is valid? [False, False] Translation: X:301.48, Y:41.42, Z:-374.53 [[ 9.99959083e-01 -1.33796663e-03 -8.94660186e-03 3.01483002e+02] [ 1.36289299e-03 9.99995205e-01 2.78061028e-03 4.14173581e+01] [ 8.94283860e-03 -2.79268977e-03 9.99956112e-01 -3.74531236e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32864 meters Centerline goodness : 0.075015 Centerline is valid? [False, False] Translation: X:301.49, Y:41.42, Z:-374.54 [[ 9.99945762e-01 -1.51859450e-03 -1.03037181e-02 3.01493509e+02] [ 1.54337894e-03 9.99995934e-01 2.39786305e-03 4.14188967e+01] [ 1.03000349e-02 -2.41363554e-03 9.99944040e-01 -3.74541537e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35864 meters Centerline goodness : 0.075800 Centerline is valid? [False, False] Translation: X:301.48, Y:41.42, Z:-374.53 [[ 9.99961547e-01 -1.38180529e-03 -8.65998904e-03 3.01483190e+02] [ 1.39966232e-03 9.99996906e-01 2.05629426e-03 4.14209858e+01] [ 8.65712085e-03 -2.06833625e-03 9.99960387e-01 -3.74532043e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.38864 meters Centerline goodness : 0.746078 Centerline is valid? [False, False] Translation: X:301.47, Y:41.42, Z:-374.52 [[ 9.99974284e-01 -1.05205166e-03 -7.09391878e-03 3.01473089e+02] [ 1.06692430e-03 9.99997240e-01 2.09307513e-03 4.14224067e+01] [ 7.09169718e-03 -2.10058998e-03 9.99972647e-01 -3.74521949e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41864 meters Centerline goodness : 0.075480 Centerline is valid? [False, False] Translation: X:301.48, Y:41.42, Z:-374.53 [[ 9.99968182e-01 -1.14833811e-03 -7.89407084e-03 3.01482885e+02] [ 1.16320752e-03 9.99997558e-01 1.87928357e-03 4.14233578e+01] [ 7.89189350e-03 -1.88840622e-03 9.99967075e-01 -3.74532456e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.44864 meters Centerline goodness : 0.729939 Centerline is valid? [False, False] Translation: X:301.47, Y:41.42, Z:-374.52 [[ 9.99978812e-01 -1.57878351e-03 -6.31522817e-03 3.01472789e+02] [ 1.58987115e-03 9.99997203e-01 1.75106450e-03 4.14213785e+01] [ 6.31244596e-03 -1.76106780e-03 9.99978526e-01 -3.74522718e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47864 meters Centerline goodness : 0.789122 Centerline is valid? [False, False] Translation: X:301.47, Y:41.42, Z:-374.52 [[ 9.99977539e-01 -1.77014794e-03 -6.46443313e-03 3.01473088e+02] [ 1.78304567e-03 9.99996430e-01 1.98996475e-03 4.14191434e+01] [ 6.46088753e-03 -2.00144644e-03 9.99977125e-01 -3.74523262e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.50864 meters Centerline goodness : 0.074928 Centerline is valid? [False, False] Translation: X:301.48, Y:41.42, Z:-374.53 [[ 9.99970985e-01 -2.17292719e-03 -7.30116070e-03 3.01482958e+02] [ 2.18788889e-03 9.99995522e-01 2.04185906e-03 4.14172585e+01] [ 7.29669119e-03 -2.05777395e-03 9.99971262e-01 -3.74533977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53864 meters Centerline goodness : 0.074928 Centerline is valid? [False, False] Translation: X:301.48, Y:41.42, Z:-374.53 [[ 9.99970985e-01 -2.17292719e-03 -7.30116070e-03 3.01482958e+02] [ 2.18788889e-03 9.99995522e-01 2.04185906e-03 4.14172585e+01] [ 7.29669119e-03 -2.05777395e-03 9.99971262e-01 -3.74533977e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.56864 meters Centerline goodness : 0.076281 Centerline is valid? [False, False] Translation: X:301.47, Y:41.41, Z:-374.52 [[ 9.99980749e-01 -2.53712545e-03 -5.66249569e-03 3.01472770e+02] [ 2.54996701e-03 9.99994191e-01 2.26176096e-03 4.14138812e+01] [ 5.65672443e-03 -2.27615660e-03 9.99981410e-01 -3.74524393e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59864 meters Centerline goodness : 0.073069 Centerline is valid? [False, False] Translation: X:301.48, Y:41.41, Z:-374.53 [[ 9.99976707e-01 -2.99117699e-03 -6.13496318e-03 3.01481855e+02] [ 3.00669589e-03 9.99992300e-01 2.52192126e-03 4.14104449e+01] [ 6.12737242e-03 -2.54030848e-03 9.99978001e-01 -3.74534379e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.62864 meters Centerline goodness : 0.744879 Centerline is valid? [False, False] Translation: X:301.48, Y:41.40, Z:-374.53 [[ 9.99970685e-01 -5.30354976e-03 -5.52287668e-03 3.01476607e+02] [ 5.31058177e-03 9.99985106e-01 1.25936595e-03 4.14047728e+01] [ 5.51611531e-03 -1.28865872e-03 9.99983956e-01 -3.74528881e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65864 meters Centerline goodness : 0.715256 Centerline is valid? [False, False] Translation: X:301.46, Y:41.40, Z:-374.54 [[ 9.99978411e-01 2.95218480e-03 -5.87038392e-03 3.01463751e+02] [-2.94722780e-03 9.99995293e-01 8.52879899e-04 4.14018247e+01] [ 5.87287415e-03 -8.35560128e-04 9.99982405e-01 -3.74541116e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.68864 meters Centerline goodness : 0.077083 Centerline is valid? [False, False] Translation: X:301.45, Y:41.40, Z:-374.53 [[ 9.99986880e-01 2.79581480e-03 -4.29215210e-03 3.01453471e+02] [-2.79060713e-03 9.99995363e-01 1.21880816e-03 4.13988599e+01] [ 4.29553976e-03 -1.20681446e-03 9.99990046e-01 -3.74530956e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71864 meters Centerline goodness : 0.074327 Centerline is valid? [False, False] Translation: X:301.46, Y:41.40, Z:-374.54 [[ 9.99983095e-01 2.38155126e-03 -5.30448325e-03 3.01463437e+02] [-2.37444851e-03 9.99996277e-01 1.34490521e-03 4.13957413e+01] [ 5.30766646e-03 -1.33228725e-03 9.99985027e-01 -3.74541641e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.74864 meters Centerline goodness : 0.076356 Centerline is valid? [False, False] Translation: X:301.45, Y:41.39, Z:-374.53 [[ 9.99991333e-01 1.95414880e-03 -3.67635930e-03 3.01453552e+02] [-1.94834111e-03 9.99996850e-01 1.58265923e-03 4.13919861e+01] [ 3.67944047e-03 -1.57548271e-03 9.99991990e-01 -3.74532107e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77864 meters Centerline goodness : 0.074081 Centerline is valid? [False, False] Translation: X:301.46, Y:41.39, Z:-374.54 [[ 9.99983802e-01 1.31978573e-03 -5.53663184e-03 3.01464201e+02] [-1.30792243e-03 9.99996843e-01 2.14576646e-03 4.13856987e+01] [ 5.53944631e-03 -2.13849021e-03 9.99982371e-01 -3.74542689e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.80864 meters Centerline goodness : 0.823454 Centerline is valid? [False, False] Translation: X:301.45, Y:41.38, Z:-374.53 [[ 9.99991388e-01 1.17698501e-03 -3.97983074e-03 3.01453685e+02] [-1.16639202e-03 9.99995774e-01 2.66294284e-03 4.13820578e+01] [ 3.98294816e-03 -2.65827787e-03 9.99988535e-01 -3.74532285e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83864 meters Centerline goodness : 0.075517 Centerline is valid? [False, False] Translation: X:301.46, Y:41.38, Z:-374.54 [[ 9.99983305e-01 8.46817748e-04 -5.71592287e-03 3.01464531e+02] [-8.31283542e-04 9.99995957e-01 2.71953620e-03 4.13800197e+01] [ 5.71820271e-03 -2.71473925e-03 9.99979966e-01 -3.74543356e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86863999999997 meters Centerline goodness : 0.074482 Centerline is valid? [False, False] Translation: X:301.48, Y:41.38, Z:-374.55 [[ 9.99971653e-01 5.26903931e-04 -7.51098968e-03 3.01475367e+02] [-5.06828405e-04 9.99996295e-01 2.67447316e-03 4.13785707e+01] [ 7.51237104e-03 -2.67059057e-03 9.99968216e-01 -3.74553788e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89864 meters Centerline goodness : 0.070465 Centerline is valid? [False, False] Translation: X:301.49, Y:41.38, Z:-374.56 [[ 9.99956080e-01 6.11887623e-04 -9.35224792e-03 3.01486033e+02] [-5.88040376e-04 9.99996570e-01 2.55243183e-03 4.13796670e+01] [ 9.35377764e-03 -2.54682023e-03 9.99953009e-01 -3.74564193e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92864 meters Centerline goodness : 0.076525 Centerline is valid? [False, False] Translation: X:301.48, Y:41.38, Z:-374.55 [[ 9.99969548e-01 1.01902455e-03 -7.73725593e-03 3.01475460e+02] [-9.99753915e-04 9.99996390e-01 2.49408872e-03 4.13821268e+01] [ 7.73976954e-03 -2.48627742e-03 9.99966957e-01 -3.74554047e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95864 meters Centerline goodness : 0.754646 Centerline is valid? [False, False] Translation: X:301.47, Y:41.38, Z:-374.54 [[ 9.99980026e-01 1.36974572e-03 -6.17016009e-03 3.01465266e+02] [-1.35516997e-03 9.99996283e-01 2.36585774e-03 4.13845830e+01] [ 6.17337778e-03 -2.35744887e-03 9.99978166e-01 -3.74543897e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98864 meters Centerline goodness : 0.745917 Centerline is valid? [False, False] Translation: X:301.48, Y:41.39, Z:-374.55 [[ 9.99966999e-01 1.23615340e-03 -8.02954722e-03 3.01476294e+02] [-1.22095262e-03 9.99997454e-01 1.89773210e-03 4.13862773e+01] [ 8.03187267e-03 -1.88786577e-03 9.99965962e-01 -3.74554741e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01864 meters Centerline goodness : 0.731960 Centerline is valid? [False, False] Translation: X:301.49, Y:41.39, Z:-374.57 [[ 9.99951319e-01 1.13085331e-03 -9.80209507e-03 3.01487013e+02] [-1.11501685e-03 9.99998065e-01 1.62093455e-03 4.13873700e+01] [ 9.80390914e-03 -1.60992614e-03 9.99950645e-01 -3.74565153e+02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 9961.86 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%| | 0/14439 [00:00